diff -up ./CMakeLists.txt.fedora ./CMakeLists.txt
--- ./CMakeLists.txt.fedora	2020-05-08 14:20:07.000000000 -0400
+++ ./CMakeLists.txt	2020-08-04 20:32:32.586955156 -0400
@@ -26,7 +26,7 @@ add_subdirectory(urdf_exception)
 if(WIN32 AND NOT CYGWIN)
   set(CMAKE_CONFIG_INSTALL_DIR CMake)
 else()
-  set(CMAKE_CONFIG_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR}/${PROJECT_NAME}/cmake)
+  set(CMAKE_CONFIG_INSTALL_DIR ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}/cmake)
 endif()
 string(REGEX REPLACE "[^/]+" ".." RELATIVE_PATH_CMAKE_DIR_TO_PREFIX "${CMAKE_CONFIG_INSTALL_DIR}")
 
@@ -38,11 +38,12 @@ set(cmake_conf_version_file "${PROJECT_N
 # allow users of gazebo to specify the API or version to depend on
 # TODO: keep this instruction until deprecate Ubuntu/Precise and update with
 # https://github.com/Kitware/CMake/blob/v2.8.8/Modules/CMakePackageConfigHelpers.cmake
-include(WriteBasicConfigVersionFile)
-write_basic_config_version_file(
+include(CMakePackageConfigHelpers)
+write_basic_package_version_file(
   ${CMAKE_CURRENT_BINARY_DIR}/${cmake_conf_version_file}
   VERSION "${URDF_VERSION}"
-  COMPATIBILITY SameMajorVersion)
+  COMPATIBILITY SameMajorVersion)
+  #ARCH_INDEPENDENT)
 install(FILES
   "${CMAKE_BINARY_DIR}/${cmake_conf_file}"
   "${CMAKE_BINARY_DIR}/${cmake_conf_version_file}"
@@ -53,7 +54,7 @@ if (NOT MSVC)
   set(PACKAGE_DESC "Unified Robot Description Format")
   set(pkg_conf_file "urdfdom_headers.pc")
   configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/pkgconfig/${pkg_conf_file}.in" "${CMAKE_BINARY_DIR}/${pkg_conf_file}" @ONLY)
-  install(FILES "${CMAKE_BINARY_DIR}/${pkg_conf_file}" DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig/ COMPONENT pkgconfig)
+  install(FILES "${CMAKE_BINARY_DIR}/${pkg_conf_file}" DESTINATION ${CMAKE_INSTALL_DATADIR}/pkgconfig/ COMPONENT pkgconfig)
 endif()
 
 add_library(${PROJECT_NAME} INTERFACE)
diff -up ./cmake/pkgconfig/urdfdom_headers.pc.in.fedora ./cmake/pkgconfig/urdfdom_headers.pc.in
--- ./cmake/pkgconfig/urdfdom_headers.pc.in.fedora	2020-05-08 14:20:07.000000000 -0400
+++ ./cmake/pkgconfig/urdfdom_headers.pc.in	2020-08-04 20:31:08.536562909 -0400
@@ -1,7 +1,7 @@
 # This file was generated by CMake for @PROJECT_NAME@
 prefix=@CMAKE_INSTALL_PREFIX@
 exec_prefix=${prefix}
-includedir=${prefix}/include
+includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@
 
 Name: @PACKAGE_NAME@
 Description: @PACKAGE_DESC@
diff -up ./urdf_exception/CMakeLists.txt.fedora ./urdf_exception/CMakeLists.txt
--- ./urdf_exception/CMakeLists.txt.fedora	2020-05-08 14:20:07.000000000 -0400
+++ ./urdf_exception/CMakeLists.txt	2020-08-04 20:31:08.536562909 -0400
@@ -1 +1 @@
-INSTALL(DIRECTORY include/urdf_exception DESTINATION include)
+INSTALL(DIRECTORY include/urdf_exception DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
diff -up ./urdf_model/CMakeLists.txt.fedora ./urdf_model/CMakeLists.txt
--- ./urdf_model/CMakeLists.txt.fedora	2020-05-08 14:20:07.000000000 -0400
+++ ./urdf_model/CMakeLists.txt	2020-08-04 20:31:08.537562902 -0400
@@ -1 +1 @@
-INSTALL(DIRECTORY include/urdf_model DESTINATION include)
+INSTALL(DIRECTORY include/urdf_model DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
diff -up ./urdf_model_state/CMakeLists.txt.fedora ./urdf_model_state/CMakeLists.txt
--- ./urdf_model_state/CMakeLists.txt.fedora	2020-05-08 14:20:07.000000000 -0400
+++ ./urdf_model_state/CMakeLists.txt	2020-08-04 20:31:08.537562902 -0400
@@ -1 +1 @@
-INSTALL(DIRECTORY include/urdf_model_state DESTINATION include)
+INSTALL(DIRECTORY include/urdf_model_state DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
diff -up ./urdf_sensor/CMakeLists.txt.fedora ./urdf_sensor/CMakeLists.txt
--- ./urdf_sensor/CMakeLists.txt.fedora	2020-05-08 14:20:07.000000000 -0400
+++ ./urdf_sensor/CMakeLists.txt	2020-08-04 20:31:08.537562902 -0400
@@ -1 +1 @@
-INSTALL(DIRECTORY include/urdf_sensor DESTINATION include)
+INSTALL(DIRECTORY include/urdf_sensor DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})