diff --git a/CMakeLists.txt b/CMakeLists.txt
index cb37422..2eeb4a7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,30 +1,31 @@
-# After installation this project can be found  by 'find_package(... CONFIG)' command:
+# After installation this project can be found  by 'find_package' command:
 #
-#    find_package(libcreate CONFIG REQUIRED)
-#    target_link_libraries(... libcreate::create)
+#    find_package(libcreate REQUIRED)
+#    include_directores(${libcreate_INCLUDE_DIRS})
+#    target_link_libraries(... ${libcreate_LIBRARIES})
 #
-# Reference for this file:
-#   https://github.com/forexample/package-example/blob/cf2ea1d6a209fb9eca2ab83fdd0ac15fe4d3e807/Foo/CMakeLists.txt
 
 cmake_minimum_required(VERSION 2.8.12)
 project(libcreate)
 
-set(package_version 1.4.0)
+set(PACKAGE_VERSION 1.5.0)
 
-find_package(Boost REQUIRED system thread)
+find_package(Boost REQUIRED COMPONENTS system thread)
 find_package(Threads REQUIRED)
 
 #########
 # Build #
 #########
 
+set(LIBRARY_NAME create)
+
 # Specify locations of header files
 include_directories(
   include
 )
 
 # Declare cpp library
-add_library(create SHARED
+add_library(${LIBRARY_NAME} SHARED
   src/create.cpp
   src/serial.cpp
   src/serial_stream.cpp
@@ -34,26 +35,18 @@ add_library(create SHARED
   src/types.cpp
 )
 
-# Global includes. Used by all targets
-#   * header can be included by C++ code `#include <create/create.h>`
-target_include_directories(
-  create PUBLIC
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/include>"
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>"
-)
-
 # Manually link to thread library for build on ARM
 if(THREADS_HAVE_PTHREAD_ARG)
-  set_property(TARGET create PROPERTY COMPILE_OPTIONS "-pthread")
-  set_property(TARGET create PROPERTY INTERFACE_COMPILE_OPTIONS "-pthread")
+  set_property(TARGET ${LIBRARY_NAME} PROPERTY COMPILE_OPTIONS "-pthread")
+  set_property(TARGET ${LIBRARY_NAME} PROPERTY INTERFACE_COMPILE_OPTIONS "-pthread")
 endif()
 
 if(CMAKE_THREAD_LIBS_INIT)
-  target_link_libraries(create "${CMAKE_THREAD_LIBS_INIT}")
+  target_link_libraries(${LIBRARY_NAME} "${CMAKE_THREAD_LIBS_INIT}")
 endif()
 
 # Link to Boost
-target_link_libraries(create
+target_link_libraries(${LIBRARY_NAME}
   ${Boost_LIBRARIES}
 )
 
@@ -65,90 +58,93 @@ add_executable(odom_example examples/odom_example.cpp)
 # Specify libraries to link executable targets against
 target_link_libraries(create_demo
   ${Boost_LIBRARIES}
-  create
+  ${LIBRARY_NAME}
 )
 target_link_libraries(bumper_example
   ${Boost_LIBRARIES}
-  create
+  ${LIBRARY_NAME}
 )
 target_link_libraries(odom_example
   ${Boost_LIBRARIES}
-  create
+  ${LIBRARY_NAME}
+)
+
+#################
+# Configuration #
+#################
+
+# Install directories layout:
+#   * <prefix>/lib/
+#   * <prefix>/bin/
+#   * <prefix>/include/
+#   * <prefix>/lib/cmake/<PROJECT-NAME>
+#   * <prefix>/share/<PROJECT_NAME>
+set(LIB_INSTALL_DIR "lib")
+set(BIN_INSTALL_DIR "bin")
+set(INCLUDE_INSTALL_DIR "include")
+set(CONFIG_INSTALL_DIR "${LIB_INSTALL_DIR}/cmake/${PROJECT_NAME}")
+set(SHARE_INSTALL_DIR "share/${PROJECT_NAME}")
+
+set(GENERATED_DIR "${CMAKE_CURRENT_BINARY_DIR}/generated")
+set(VERSION_CONFIG "${GENERATED_DIR}/${PROJECT_NAME}-config-version.cmake")
+set(PROJECT_CONFIG "${GENERATED_DIR}/${PROJECT_NAME}-config.cmake")
+set(TARGETS_EXPORT_NAME "${PROJECT_NAME}-targets")
+
+include(CMakePackageConfigHelpers)
+
+# Configure '<PROJECT-NAME>-config-version.cmake'
+write_basic_package_version_file(
+  "${VERSION_CONFIG}"
+  VERSION "${PACKAGE_VERSION}"
+  COMPATIBILITY SameMajorVersion
+)
+
+# Configure '<PROJECT-NAME>-config.cmake'
+configure_package_config_file(
+  "config.cmake.in"
+  "${PROJECT_CONFIG}"
+  INSTALL_DESTINATION "${CONFIG_INSTALL_DIR}"
+  PATH_VARS
+    INCLUDE_INSTALL_DIR
+    LIBRARY_NAME
 )
 
 ###########
 # Install #
 ###########
 
-# Layout. This works for all platforms:
-#   * <prefix>/lib/cmake/<PROJECT-NAME>
-#   * <prefix>/lib/
-#   * <prefix>/include/
-set(config_install_dir "lib/cmake/${PROJECT_NAME}")
-set(include_install_dir "include")
-
-set(generated_dir "${CMAKE_CURRENT_BINARY_DIR}/generated")
-
-# Configuration
-set(version_config "${generated_dir}/${PROJECT_NAME}-config-version.cmake")
-set(project_config "${generated_dir}/${PROJECT_NAME}-config.cmake")
-set(targets_export_name "${PROJECT_NAME}-targets")
-set(namespace "${PROJECT_NAME}::")
-
-# Include module with function 'write_basic_package_version_file'
-include(CMakePackageConfigHelpers)
-
-# Configure '<PROJECT-NAME>-config-version.cmake'
-write_basic_package_version_file(
-  "${version_config}"
-  VERSION "${package_version}"
-  COMPATIBILITY SameMajorVersion
-)
-
-# Configure '<PROJECT-NAME>-config.cmake'
-# Use variables:
-#   * targets_export_name
-#   * PROJECT_NAME
-configure_package_config_file(
-  "config.cmake.in"
-  "${project_config}"
-  INSTALL_DESTINATION "${config_install_dir}"
-)
-
 # Install targets
 install(
-  TARGETS create
-  EXPORT "${targets_export_name}"
-  ARCHIVE DESTINATION "lib"
-  LIBRARY DESTINATION "lib"
-  RUNTIME DESTINATION "bin"
-  INCLUDES DESTINATION "${include_install_dir}"
+  TARGETS ${LIBRARY_NAME}
+  EXPORT "${TARGETS_EXPORT_NAME}"
+  LIBRARY DESTINATION "${LIB_INSTALL_DIR}"
+  ARCHIVE DESTINATION "${LIB_INSTALL_DIR}"
+  RUNTIME DESTINATION "${BIN_INSTALL_DIR}"
+  INCLUDES DESTINATION "${INCLUDE_INSTALL_DIR}"
 )
 
 # Install headers
-install(DIRECTORY include/create
-  DESTINATION include
+install(
+  DIRECTORY include/
+  DESTINATION ${INCLUDE_INSTALL_DIR}
   FILES_MATCHING PATTERN "*.h"
   PATTERN ".svn" EXCLUDE
 )
 
 # Install config
-#   * <prefix>/lib/cmake/libcreate/libcreate-config.cmake
-#   * <prefix>/lib/cmake/libcreate/libcreate-config-version.cmake
 install(
-  FILES "${project_config}" "${version_config}"
-  DESTINATION "${config_install_dir}"
+  FILES "${PROJECT_CONFIG}" "${VERSION_CONFIG}"
+  DESTINATION "${CONFIG_INSTALL_DIR}"
 )
 
-# Install config
-#   * <prefix>/lib/cmake/libcreate/libcreate-targets.cmake
+# Install targets
 install(
-  EXPORT "${targets_export_name}"
-  NAMESPACE "${namespace}"
-  DESTINATION "${config_install_dir}"
+  EXPORT "${TARGETS_EXPORT_NAME}"
+  DESTINATION "${CONFIG_INSTALL_DIR}"
 )
 
 # Install package.xml (for catkin)
-install(FILES package.xml
-  DESTINATION share/${PROJECT_NAME}
+install(
+  FILES package.xml
+  DESTINATION ${SHARE_INSTALL_DIR}
 )
diff --git a/config.cmake.in b/config.cmake.in
index 9b4c9ee..fbd7630 100644
--- a/config.cmake.in
+++ b/config.cmake.in
@@ -1,4 +1,10 @@
 @PACKAGE_INIT@
+find_package(Boost REQUIRED COMPONENTS system thread)
+find_package(Threads REQUIRED)
 
-include("${CMAKE_CURRENT_LIST_DIR}/@targets_export_name@.cmake")
+include("${CMAKE_CURRENT_LIST_DIR}/@TARGETS_EXPORT_NAME@.cmake")
+set_and_check(libcreate_INCLUDE_DIRS "@PACKAGE_INCLUDE_INSTALL_DIR@")
+list(APPEND libcreate_INCLUDE_DIRS "${Boost_INCLUDE_DIRS}")
+set(libcreate_LIBRARIES "@LIBRARY_NAME@")
+list(APPEND libcreate_LIBRARIES "${Boost_LIBRARIES}")
 check_required_components("@PROJECT_NAME@")