diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4c7e690..4b391b5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -73,12 +73,15 @@ set_package_properties(OpenGL PROPERTIES
     URL "http://opengl.org"
     PURPOSE "Used to render graphics in ompl_app.")
 set(OpenGL_GL_PREFERENCE GLVND)
-find_package(OpenGL)
+if (OMPLAPP_WITH_OPENGL)
+find_package(OpenGL REQUIRED)
+endif()
 set_package_properties(Python PROPERTIES
     URL "http://python.org"
     PURPOSE "Used for python bindings.")
 # This includes our own FindPython.cmake in ompl/CMakeModules. It defines,
 # among other things, the find_python_module() function used below.
+if (OMPLAPP_WITH_PYTHON)
 find_package(Python)
 find_boost_python()
 
@@ -105,55 +108,76 @@ find_python_module(OpenGL)
 if (NOT OPENGL_FOUND OR NOT PY_OPENGL)
     message(WARNING "Both OpenGL and the Python OpenGL module need to be installed to use the GUI")
 endif()
+endif()
 set_package_properties(Eigen3 PROPERTIES
     URL "http://eigen.tuxfamily.org"
     PURPOSE "A linear algebra library used throughout OMPL.")
-find_package(Eigen3 REQUIRED)
+find_package(Eigen3 CONFIG REQUIRED)
 set_package_properties(Triangle PROPERTIES
     URL "http://www.cs.cmu.edu/~quake/triangle.html"
     PURPOSE "Used to create triangular decompositions of polygonal 2D environments.")
+if (OMPLAPP_WITH_TRIANGLE)
 find_package(Triangle QUIET)
+endif()
 set_package_properties(flann PROPERTIES
     URL "https://github.com/mariusmuja/flann"
     PURPOSE "If detetected, FLANN can be used for nearest neighbor queries by OMPL.")
+if (OMPLAPP_WITH_FLANN)
 find_package(flann 1.8.3 QUIET)
+endif()
 set_package_properties(spot PROPERTIES
     URL "http://spot.lrde.epita.fr"
     PURPOSE "Used for constructing finite automata from LTL formulae.")
+if (OMPLAPP_WITH_SPOT)
 find_package(spot)
+endif()
 set_package_properties(MORSE PROPERTIES
     URL "https://www.openrobots.org/wiki/morse"
     PURPOSE "OMPL includes a plugin for the MORSE Robot Simulation engine.")
+if (OMPLAPP_WITH_MORSE)
 find_package(MORSE QUIET)
+endif()
 set_package_properties(ODE PROPERTIES
     URL "http://ode.org"
     PURPOSE "The Open Dynamics Engine can be used as a \"black box\" for kinodynamic planning.")
-find_package(ODE QUIET)
+if (OMPLAPP_WITH_ODE)
+find_package(ODE CONFIG REQUIRED)
+set(ODE_LIBRARIES ODE::ODE)
+endif()
 set_package_properties(Drawstuff PROPERTIES
     URL "http://ode.org"
     PURPOSE "Part of the ODE source distribution, used in one demo program.")
+if (OMPLAPP_WITH_DRAWSTUFF)
 find_package(Drawstuff QUIET)
+endif()
 set_package_properties(assimp PROPERTIES
     URL "http://assimp.org"
     PURPOSE "Used in ompl_app for reading meshes representing robots and environments.")
-find_package(assimp REQUIRED)
+find_package(assimp CONFIG REQUIRED)
+set(ASSIMP_LIBRARIES assimp::assimp)
 set_package_properties(ccd PROPERTIES
     URL "https://github.com/danfis/libccd"
     PURPOSE "Collision detection library used by fcl.")
-find_package(ccd REQUIRED)
+find_package(ccd CONFIG REQUIRED)
 set_package_properties(fcl PROPERTIES
     URL "https://github.com/flexible-collision-library/fcl"
     PURPOSE "The default collision checking library.")
+if (OMPLAPP_WITH_OCTOMAP)
 find_package(octomap QUIET)
+endif()
 find_package(fcl REQUIRED)
 set_package_properties(Threads PROPERTIES
     URL "https://en.wikipedia.org/wiki/POSIX_Threads"
     PURPOSE "Pthreads is sometimes needed, depending on OS / compiler.")
+if (OMPLAPP_WITH_THREADS)
 find_package(Threads QUIET)
+endif()
 set_package_properties(Doxygen PROPERTIES
     URL "http://doxygen.org"
     PURPOSE "Used to create the OMPL documentation (i.e., http://ompl.kavrakilab.org).")
+if (OMPLAPP_WITH_DOXYGEN)
 find_package(Doxygen)
+endif()
 
 enable_testing()
 
@@ -177,9 +201,7 @@ include_directories(SYSTEM "${Boost_INCLUDE_DIR}")
 include_directories(
     "${OMPLAPP_INCLUDE_DIRS}"
     "${OMPL_INCLUDE_DIRS}"
-    "${EIGEN3_INCLUDE_DIR}"
-    "${FCL_INCLUDE_DIRS}"
-    "${ASSIMP_INCLUDE_DIRS}")
+    "${FCL_INCLUDE_DIRS}")
 
 # ROS installs fcl in /usr. In /usr/include/fcl/config.h it says octomap was
 # enabled. Octomap is installed in /opt/ros/${ROS_DISTRO}/include (most
@@ -242,12 +264,14 @@ endif()
 set_package_properties(PQP PROPERTIES
     URL "http://gamma.cs.unc.edu/SSV/"
     PURPOSE "Used as an alternative, additional collision checking library (the default is FCL).")
+IF (OMPLAPP_WITH_PQP)
 find_package(PQP QUIET)
 if(PQP_FOUND)
     include_directories("${PQP_INCLUDE_DIR}")
     set(OMPLAPP_MODULE_LIBRARIES ${OMPLAPP_MODULE_LIBRARIES} ${PQP_LIBRARY})
     set(OMPLAPP_LIBRARIES ${OMPLAPP_LIBRARIES} ${PQP_LIBRARY})
 endif()
+endif()
 
 add_subdirectory(ompl/doc)
 add_subdirectory(ompl/src)