diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4ec8e0b72..1fd04cf1d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -137,10 +137,8 @@ ENDFOREACH(INC ${PC_INCLUDE_DIRS})
 CONFIGURE_FILE (${CMAKE_CURRENT_SOURCE_DIR}/stage.pc.in ${CMAKE_CURRENT_BINARY_DIR}/stage.pc @ONLY)
 INSTALL (FILES ${CMAKE_CURRENT_BINARY_DIR}/stage.pc DESTINATION ${PROJECT_LIB_DIR}/pkgconfig/)
 
-# Create the CMake module files
-CONFIGURE_FILE (${CMAKE_CURRENT_SOURCE_DIR}/stage-config.cmake.in ${CMAKE_CURRENT_BINARY_DIR}/stage-config.cmake @ONLY)
-CONFIGURE_FILE (${CMAKE_CURRENT_SOURCE_DIR}/stage-config-version.cmake.in ${CMAKE_CURRENT_BINARY_DIR}/stage-config-version.cmake @ONLY)
-INSTALL (FILES ${CMAKE_CURRENT_BINARY_DIR}/stage-config.cmake ${CMAKE_CURRENT_BINARY_DIR}/stage-config-version.cmake DESTINATION ${PROJECT_LIB_DIR}/cmake/${PROJECT_NAME})
+# Install catkin package.xml
+install(FILES package.xml DESTINATION share/stage)
 
 MESSAGE( STATUS "Installation path CMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}" )
 
@@ -179,6 +177,25 @@ IF ( BUILD_PLAYER_PLUGIN )
   ENDIF ( PLAYER_FOUND )
 ENDIF ( BUILD_PLAYER_PLUGIN )
 
+# Create the CMake module files (needs to be run after the stage target was created)
+if (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}.${CMAKE_PATCH_VERSION} GREATER 2.8.11)
+  # Use a generator expression if the version of cmake allows it.
+  set(STAGE_TARGET_NAME "$<TARGET_FILE_NAME:stage>")
+else()
+  # Otherwise use the LOCATION property of the target (this will produce a warning on newer versions of cmake)
+  get_property(location_ TARGET stage PROPERTY LOCATION)
+  get_filename_component(STAGE_TARGET_NAME "${location_}" NAME)
+  unset(location_)
+endif()
+CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/stage-config.cmake.in ${CMAKE_CURRENT_BINARY_DIR}/stage-config.cmake @ONLY)
+if (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}.${CMAKE_PATCH_VERSION} GREATER 2.8.11)
+  # Also run it through file(GENERATE ...) to expand generator expressions (if the version of cmake supports it).
+  FILE (GENERATE
+    OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/stage-config.cmake
+    INPUT ${CMAKE_CURRENT_BINARY_DIR}/stage-config.cmake)
+endif()
+CONFIGURE_FILE (${CMAKE_CURRENT_SOURCE_DIR}/stage-config-version.cmake.in ${CMAKE_CURRENT_BINARY_DIR}/stage-config-version.cmake @ONLY)
+INSTALL (FILES ${CMAKE_CURRENT_BINARY_DIR}/stage-config.cmake ${CMAKE_CURRENT_BINARY_DIR}/stage-config-version.cmake DESTINATION ${PROJECT_LIB_DIR}/cmake/${PROJECT_NAME})
 
 # generate a cpack config file used to create packaged tarballs
 IF ( CPACK_CFG )
diff --git a/cmake/internal/FindOS.cmake b/cmake/internal/FindOS.cmake
index cec449124..5666bbcef 100644
--- a/cmake/internal/FindOS.cmake
+++ b/cmake/internal/FindOS.cmake
@@ -45,28 +45,28 @@ ELSE (PROJECT_OS_LINUX)
 ENDIF (PROJECT_OS_LINUX)
 
 # 32 or 64 bit Linux
-IF (PROJECT_OS_LINUX)
-    # Set the library directory suffix accordingly
-    IF (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "x86_64")
-        SET (PROJECT_PROC_64BIT TRUE BOOL INTERNAL)
-        MESSAGE (STATUS "Linux x86_64 Detected")
-    ELSEIF (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "ppc64")
-        MESSAGE (STATUS "Linux ppc64 Detected")
-        SET (PROJECT_PROC_64BIT TRUE BOOL INTERNAL)
-    ELSEIF ($CMAKE_SYSTEM_PROCESSOR} STREQUAL "s390x")
-	MESSAGE (STATEUS "Linux s390x Detected")
-	SET (PROJECT_PROC_64BIT TRUE BOOL INTERNAL)
-    ENDIF (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "x86_64")
-ENDIF (PROJECT_OS_LINUX)
+# IF (PROJECT_OS_LINUX)
+#     # Set the library directory suffix accordingly
+#     IF (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "x86_64")
+#         SET (PROJECT_PROC_64BIT TRUE BOOL INTERNAL)
+#         MESSAGE (STATUS "Linux x86_64 Detected")
+#     ELSEIF (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "ppc64")
+#         MESSAGE (STATUS "Linux ppc64 Detected")
+#         SET (PROJECT_PROC_64BIT TRUE BOOL INTERNAL)
+#     ELSEIF ($CMAKE_SYSTEM_PROCESSOR} STREQUAL "s390x")
+# 	MESSAGE (STATEUS "Linux s390x Detected")
+# 	SET (PROJECT_PROC_64BIT TRUE BOOL INTERNAL)
+#     ENDIF (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "x86_64")
+# ENDIF (PROJECT_OS_LINUX)
 
-IF(PROJECT_PROC_64BIT)
+# IF(PROJECT_PROC_64BIT)
     # Set the install path to lib64
-    SET(PROJECT_LIB_DIR "lib64")
-    SET(PROJECT_PLUGIN_DIR "lib64/${PROJECT_NAME}-${APIVERSION}")
-ELSE (PROJECT_PROC_64BIT)
+    # SET(PROJECT_LIB_DIR "lib64")
+    # SET(PROJECT_PLUGIN_DIR "lib64/${PROJECT_NAME}-${APIVERSION}")
+# ELSE (PROJECT_PROC_64BIT)
     SET(PROJECT_LIB_DIR "lib")
     SET(PROJECT_PLUGIN_DIR "lib/${PROJECT_NAME}-${APIVERSION}")
-ENDIF (PROJECT_PROC_64BIT)
+# ENDIF (PROJECT_PROC_64BIT)
 
 MESSAGE(STATUS "Installing Libraries to ${CMAKE_INSTALL_PREFIX}/${PROJECT_LIB_DIR}")
 MESSAGE(STATUS "Installing Plugins to ${CMAKE_INSTALL_PREFIX}/${PROJECT_PLUGIN_DIR}")
diff --git a/libstage/world.cc b/libstage/world.cc
index 8a3311fbd..cc44ad52a 100644
--- a/libstage/world.cc
+++ b/libstage/world.cc
@@ -86,6 +86,9 @@
 #include <cmath>
 using std::abs;
 
+#include <cstdlib>
+
+#include <stdlib.h>
 #include <assert.h>
 #include <libgen.h> // for dirname(3)
 #include <limits.h>
diff --git a/stage-config.cmake.in b/stage-config.cmake.in
index 74f2c9760..368d0519c 100644
--- a/stage-config.cmake.in
+++ b/stage-config.cmake.in
@@ -8,7 +8,7 @@ set(STAGE_INCLUDE_DIRS "@CMAKE_INSTALL_PREFIX@/include/@PROJECT_NAME@-@APIVERSIO
   "@OPENGL_INCLUDE_DIR@")
 list(REMOVE_DUPLICATES STAGE_INCLUDE_DIRS)
 set(STAGE_LIBRARIES
-  "@CMAKE_INSTALL_PREFIX@/@PROJECT_LIB_DIR@/libstage.so"
+  "${stage_DIR}/../../../@PROJECT_LIB_DIR@/@STAGE_TARGET_NAME@"
   "@FLTK_LIBRARIES@"
   "@OPENGL_gl_LIBRARIES@")
 
diff --git a/stage.pc.in b/stage.pc.in
index 9577c9414..5968ce012 100644
--- a/stage.pc.in
+++ b/stage.pc.in
@@ -1,4 +1,4 @@
-prefix=@CMAKE_INSTALL_PREFIX@
+prefix="@CMAKE_INSTALL_PREFIX@"
 
 Name: stage
 Description: Stage robot simulation program, C++ library and Player plugin - part of the Player Project (http://playerstage.org)