diff -up ./CMakeLists.txt.fedora ./CMakeLists.txt
--- ./CMakeLists.txt.fedora	2014-02-15 22:09:36.000000000 -0500
+++ ./CMakeLists.txt	2014-04-16 20:30:02.039232528 -0400
@@ -6,6 +6,7 @@ set (URDF_MINOR_VERSION 3)
 set (URDF_PATCH_VERSION 0)
 
 set (URDF_VERSION ${URDF_MAJOR_VERSION}.${URDF_MINOR_VERSION}.${URDF_PATCH_VERSION})
+set (URDF_INCLUDE_DIR "include" CACHE PATH "Installation directory for URDF headers")
 
 message (STATUS "${PROJECT_NAME} version ${URDF_VERSION}")
 
@@ -31,7 +32,7 @@ if (NOT MSVC)
   set(PACKAGE_DESC "Unified Robot Description Format")
   set(pkg_conf_file "${CMAKE_CURRENT_SOURCE_DIR}/cmake/pkgconfig/urdfdom_headers.pc")
   configure_file("${pkg_conf_file}.in" "${pkg_conf_file}" @ONLY)
-  install(FILES ${pkg_conf_file} DESTINATION lib/pkgconfig/ COMPONENT pkgconfig)
+  install(FILES ${pkg_conf_file} DESTINATION share/pkgconfig/ COMPONENT pkgconfig)
 endif()
 
 message(STATUS "Configuration successful. Type make install to install urdfdom_headers.")
diff -up ./cmake/pkgconfig/urdfdom_headers.pc.in.fedora ./cmake/pkgconfig/urdfdom_headers.pc.in
--- ./cmake/pkgconfig/urdfdom_headers.pc.in.fedora	2014-02-15 22:09:36.000000000 -0500
+++ ./cmake/pkgconfig/urdfdom_headers.pc.in	2014-04-16 20:29:03.454579576 -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}/@URDF_INCLUDE_DIR@
 
 Name: @PACKAGE_NAME@
 Description: @PACKAGE_DESC@
diff -up ./cmake/urdfdom_headers-config.cmake.in.fedora ./cmake/urdfdom_headers-config.cmake.in
--- ./cmake/urdfdom_headers-config.cmake.in.fedora	2014-02-15 22:09:36.000000000 -0500
+++ ./cmake/urdfdom_headers-config.cmake.in	2014-04-16 20:29:03.454579576 -0400
@@ -3,4 +3,4 @@ if (@PACKAGE_NAME@_CONFIG_INCLUDED)
 endif()
 set(@PACKAGE_NAME@_CONFIG_INCLUDED TRUE)
 
-set(@PACKAGE_NAME@_INCLUDE_DIRS @CMAKE_INSTALL_PREFIX@/include)
+set(@PACKAGE_NAME@_INCLUDE_DIRS @CMAKE_INSTALL_PREFIX@/@URDF_INCLUDE_DIR@)
diff -up ./urdf_exception/CMakeLists.txt.fedora ./urdf_exception/CMakeLists.txt
--- ./urdf_exception/CMakeLists.txt.fedora	2014-02-15 22:09:36.000000000 -0500
+++ ./urdf_exception/CMakeLists.txt	2014-04-16 20:29:03.454579576 -0400
@@ -1 +1 @@
-INSTALL(DIRECTORY include/urdf_exception DESTINATION include)
+INSTALL(DIRECTORY include/urdf_exception DESTINATION ${URDF_INCLUDE_DIR})
diff -up ./urdf_model/CMakeLists.txt.fedora ./urdf_model/CMakeLists.txt
--- ./urdf_model/CMakeLists.txt.fedora	2014-02-15 22:09:36.000000000 -0500
+++ ./urdf_model/CMakeLists.txt	2014-04-16 20:29:03.454579576 -0400
@@ -1 +1 @@
-INSTALL(DIRECTORY include/urdf_model DESTINATION include)
+INSTALL(DIRECTORY include/urdf_model DESTINATION ${URDF_INCLUDE_DIR})
diff -up ./urdf_model_state/CMakeLists.txt.fedora ./urdf_model_state/CMakeLists.txt
--- ./urdf_model_state/CMakeLists.txt.fedora	2014-02-15 22:09:36.000000000 -0500
+++ ./urdf_model_state/CMakeLists.txt	2014-04-16 20:29:03.455579621 -0400
@@ -1 +1 @@
-INSTALL(DIRECTORY include/urdf_model_state DESTINATION include)
+INSTALL(DIRECTORY include/urdf_model_state DESTINATION ${URDF_INCLUDE_DIR})
diff -up ./urdf_sensor/CMakeLists.txt.fedora ./urdf_sensor/CMakeLists.txt
--- ./urdf_sensor/CMakeLists.txt.fedora	2014-02-15 22:09:36.000000000 -0500
+++ ./urdf_sensor/CMakeLists.txt	2014-04-16 20:29:03.455579621 -0400
@@ -1 +1 @@
-INSTALL(DIRECTORY include/urdf_sensor DESTINATION include)
+INSTALL(DIRECTORY include/urdf_sensor DESTINATION ${URDF_INCLUDE_DIR})