diff --git a/CMakeLists.txt b/CMakeLists.txt
index edca49a..0dd0f51 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -21,7 +21,9 @@ endif()
 
 message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
 
-set(_ompl_cmake_modules_path "${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules")
+find_package(ompl CONFIG REQUIRED)
+
+set(_ompl_cmake_modules_path "${ompl_DIR}/CMakeModules")
 if(NOT EXISTS "${_ompl_cmake_modules_path}")
     message(FATAL_ERROR "Missing ${_ompl_cmake_modules_path}. Did you check out the submodules (\"git submodule update --init --recursive\"?")
 endif()
@@ -49,7 +51,6 @@ set(OMPL_CMAKE_UTIL_DIR "${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules"
 
 if(MSVC)
     add_definitions(-DBOOST_ALL_NO_LIB)
-    add_definitions(-DBOOST_PROGRAM_OPTIONS_DYN_LINK)
 endif(MSVC)
 # Ensure dynamic linking with boost unit_test_framework
 add_definitions(-DBOOST_TEST_DYN_LINK)
@@ -157,12 +158,7 @@ find_package(Doxygen)
 enable_testing()
 
 include_directories(SYSTEM "${Boost_INCLUDE_DIR}")
-include_directories(
-    "${OMPLAPP_INCLUDE_DIRS}"
-    "${OMPL_INCLUDE_DIRS}"
-    "${EIGEN3_INCLUDE_DIR}"
-    "${FCL_INCLUDE_DIRS}"
-    "${ASSIMP_INCLUDE_DIRS}")
+include_directories("${OMPLAPP_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
@@ -174,13 +170,19 @@ endif()
 
 set(OMPLAPP_MODULE_LIBRARIES
     ${OPENGL_LIBRARIES}
-    ${ASSIMP_LIBRARY}
-    ${FCL_LIBRARIES})
+    ccd
+    ompl::ompl
+    Eigen3::Eigen
+    assimp::assimp
+    fcl)
 set(OMPLAPP_LIBRARIES
     ${OPENGL_LIBRARIES}
-    ${ASSIMP_LIBRARIES}
-    ${FCL_LIBRARIES})
-link_directories(${ASSIMP_LIBRARY_DIRS} ${CCD_LIBRARY_DIRS} ${OCTOMAP_LIBRARY_DIRS} ${FCL_LIBRARY_DIRS})
+    ccd
+    ompl::ompl
+    Eigen3::Eigen
+    assimp::assimp
+    fcl)
+link_directories(${OCTOMAP_LIBRARY_DIRS})
 
 if (OPENGL_INCLUDE_DIR)
     include_directories("${OPENGL_INCLUDE_DIR}")
@@ -221,18 +223,15 @@ if(PQP_FOUND)
     set(OMPLAPP_LIBRARIES ${OMPLAPP_LIBRARIES} ${PQP_LIBRARY})
 endif()
 
-add_subdirectory(ompl/doc)
-add_subdirectory(ompl/src)
-add_subdirectory(ompl/py-bindings)
-add_subdirectory(ompl/tests)
-add_subdirectory(ompl/demos)
-add_subdirectory(ompl/scripts)
 add_subdirectory(gui)
 add_subdirectory(doc)
 add_subdirectory(src)
 add_subdirectory(demos)
 add_subdirectory(benchmark)
-add_subdirectory(py-bindings)
+
+if(OMPL_BUILD_PYBINDINGS)
+    add_subdirectory(py-bindings)
+endif()
 
 install(DIRECTORY resources
     DESTINATION "${CMAKE_INSTALL_DATAROOTDIR}/ompl"
@@ -259,6 +258,8 @@ if(OMPL_BUILD_PYBINDINGS)
     endif()
 endif()
 
+return()
+
 if(OPENGL_FOUND AND NOT MSVC)
     target_link_flags(ompl ompl_app_base ompl_app)
     set(PKG_NAME "ompl")
diff --git a/benchmark/CMakeLists.txt b/benchmark/CMakeLists.txt
index 7da2b7f..d7397c4 100644
--- a/benchmark/CMakeLists.txt
+++ b/benchmark/CMakeLists.txt
@@ -1,6 +1,6 @@
 add_executable(ompl_benchmark
     CFGBenchmark.cpp BenchmarkOptions.cpp BenchmarkTypes.cpp benchmark.cpp)
-target_link_libraries(ompl_benchmark ${OMPLAPP_LIBRARIES} ompl ompl_app_base ${Boost_PROGRAM_OPTIONS_LIBRARY})
+target_link_libraries(ompl_benchmark ${OMPLAPP_LIBRARIES} ompl_app_base ${Boost_PROGRAM_OPTIONS_LIBRARY})
 install(TARGETS ompl_benchmark
     RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
     COMPONENT omplapp
diff --git a/demos/CMakeLists.txt b/demos/CMakeLists.txt
index 9c50d41..750aaee 100644
--- a/demos/CMakeLists.txt
+++ b/demos/CMakeLists.txt
@@ -1,5 +1,5 @@
 if (OMPL_BUILD_DEMOS)
-    set(OMPLAPP_DEMO_LIBRARIES ${OMPLAPP_LIBRARIES} ompl ompl_app_base)
+    set(OMPLAPP_DEMO_LIBRARIES ${OMPLAPP_LIBRARIES} ompl_app_base)
 
     macro(add_omplapp_demo demo_name)
       add_executable(${ARGV})
diff --git a/src/omplapp/CMakeLists.txt b/src/omplapp/CMakeLists.txt
index 2d0c8e5..d95567f 100644
--- a/src/omplapp/CMakeLists.txt
+++ b/src/omplapp/CMakeLists.txt
@@ -23,7 +23,7 @@ foreach(_target ${OMPLAPP_TARGETS})
         add_library(${_target} SHARED ${${_target}_SRC})
     endif(MSVC)
 
-    target_link_libraries(${_target} ompl ${OMPLAPP_LIBRARIES})
+    target_link_libraries(${_target} ${OMPLAPP_LIBRARIES})
     if(_target STREQUAL ompl_app)
         target_compile_definitions(ompl_app PRIVATE -DGL_SILENCE_DEPRECATION)
         target_link_libraries(ompl_app ompl_app_base)
@@ -39,6 +39,7 @@ foreach(_target ${OMPLAPP_TARGETS})
     endif(WIN32)
 
     install(TARGETS ${_target}
+        EXPORT omplapp
         DESTINATION ${CMAKE_INSTALL_LIBDIR}
         COMPONENT omplapp)
     if(NOT MSVC)
@@ -54,3 +55,8 @@ configure_file("${CMAKE_CURRENT_SOURCE_DIR}/config.h.in"
 install(FILES "${CMAKE_CURRENT_BINARY_DIR}/config.h"
     DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/omplapp"
     COMPONENT omplapp)
+
+install(EXPORT omplapp
+    FILE omplapp-targets.cmake
+    DESTINATION "share/ompl"
+)