diff --git a/CMakeLists.txt b/CMakeLists.txt
index b5330130..a53cb714 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -19,6 +19,7 @@ option(APPEND_PROJECT_NAME_TO_INCLUDEDIR
 
 if(APPEND_PROJECT_NAME_TO_INCLUDEDIR)
   set(CMAKE_INSTALL_INCLUDEDIR "${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}")
+  set(CMAKE_INSTALL_FULL_INCLUDEDIR "${CMAKE_INSTALL_FULL_INCLUDEDIR}/${PROJECT_NAME}")
 endif()
 
 # set the default build type
@@ -59,9 +60,9 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}"
 
 enable_testing()
 
-set(CMAKE_CONFIG_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR}/${PROJECT_NAME}/cmake)
-string(REGEX REPLACE "[^/]+" ".." RELATIVE_PATH_CMAKE_DIR_TO_PREFIX "${CMAKE_CONFIG_INSTALL_DIR}")
-string(REGEX REPLACE "[^/]+" ".." RELATIVE_PATH_LIBDIR_TO_PREFIX "${CMAKE_INSTALL_LIBDIR}")
+set(CMAKE_CONFIG_INSTALL_DIR ${CMAKE_INSTALL_FULL_LIBDIR}/${PROJECT_NAME}/cmake)
+file(RELATIVE_PATH RELATIVE_PATH_CMAKE_DIR_TO_PREFIX "${CMAKE_CONFIG_INSTALL_DIR}" "${CMAKE_INSTALL_PREFIX}")
+file(RELATIVE_PATH RELATIVE_PATH_LIBDIR_TO_PREFIX "${CMAKE_INSTALL_FULL_LIBDIR}" "${CMAKE_INSTALL_PREFIX}")
 
 add_subdirectory(urdf_parser)
 
@@ -69,6 +70,12 @@ set(PKG_NAME ${PROJECT_NAME})
 set(PKG_LIBRARIES urdfdom_sensor urdfdom_model_state urdfdom_model urdfdom_world)
 set(PKG_DEPENDS urdfdom_headers)
 set(PKG_EXPORTS urdfdom)
+string(REPLACE
+  "${CMAKE_INSTALL_PREFIX}" "\${${PROJECT_NAME}_DIR}/${RELATIVE_PATH_CMAKE_DIR_TO_PREFIX}"
+  CMAKE_CONF_LIBDIR "${CMAKE_INSTALL_FULL_LIBDIR}")
+string(REPLACE
+  "${CMAKE_INSTALL_PREFIX}" "\${${PROJECT_NAME}_DIR}/${RELATIVE_PATH_CMAKE_DIR_TO_PREFIX}"
+  CMAKE_CONF_INCLUDEDIR "${CMAKE_INSTALL_FULL_INCLUDEDIR}")
 set(cmake_conf_file "cmake/urdfdom-config")
 include(CMakePackageConfigHelpers)
 write_basic_package_version_file(
@@ -92,6 +99,8 @@ install(FILES package.xml DESTINATION share/${PROJECT_NAME})
 set(PKG_DESC "Unified Robot Description Format")
 set(PKG_DEPENDS "urdfdom_headers") # make the list separated by spaces instead of ;
 set(PKG_URDF_LIBS "-lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world")
+string(REPLACE "${CMAKE_INSTALL_PREFIX}" "\${prefix}" PKG_CONF_LIBDIR "${CMAKE_INSTALL_FULL_LIBDIR}")
+string(REPLACE "${CMAKE_INSTALL_PREFIX}" "\${prefix}" PKG_CONF_INCLUDEDIR "${CMAKE_INSTALL_FULL_INCLUDEDIR}")
 set(pkg_conf_file "cmake/pkgconfig/urdfdom.pc")
 configure_file("${CMAKE_CURRENT_SOURCE_DIR}/${pkg_conf_file}.in" "${CMAKE_BINARY_DIR}/${pkg_conf_file}" @ONLY)
 install(FILES ${CMAKE_BINARY_DIR}/${pkg_conf_file}
diff --git a/cmake-absolute-paths.patch b/cmake-absolute-paths.patch
new file mode 100644
index 00000000..e1e663f0
--- /dev/null
+++ b/cmake-absolute-paths.patch
@@ -0,0 +1,86 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index b533013..a53cb71 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -19,6 +19,7 @@ option(APPEND_PROJECT_NAME_TO_INCLUDEDIR
+ 
+ if(APPEND_PROJECT_NAME_TO_INCLUDEDIR)
+   set(CMAKE_INSTALL_INCLUDEDIR "${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}")
++  set(CMAKE_INSTALL_FULL_INCLUDEDIR "${CMAKE_INSTALL_FULL_INCLUDEDIR}/${PROJECT_NAME}")
+ endif()
+ 
+ # set the default build type
+@@ -59,9 +60,9 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}"
+ 
+ enable_testing()
+ 
+-set(CMAKE_CONFIG_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR}/${PROJECT_NAME}/cmake)
+-string(REGEX REPLACE "[^/]+" ".." RELATIVE_PATH_CMAKE_DIR_TO_PREFIX "${CMAKE_CONFIG_INSTALL_DIR}")
+-string(REGEX REPLACE "[^/]+" ".." RELATIVE_PATH_LIBDIR_TO_PREFIX "${CMAKE_INSTALL_LIBDIR}")
++set(CMAKE_CONFIG_INSTALL_DIR ${CMAKE_INSTALL_FULL_LIBDIR}/${PROJECT_NAME}/cmake)
++file(RELATIVE_PATH RELATIVE_PATH_CMAKE_DIR_TO_PREFIX "${CMAKE_CONFIG_INSTALL_DIR}" "${CMAKE_INSTALL_PREFIX}")
++file(RELATIVE_PATH RELATIVE_PATH_LIBDIR_TO_PREFIX "${CMAKE_INSTALL_FULL_LIBDIR}" "${CMAKE_INSTALL_PREFIX}")
+ 
+ add_subdirectory(urdf_parser)
+ 
+@@ -69,6 +70,12 @@ set(PKG_NAME ${PROJECT_NAME})
+ set(PKG_LIBRARIES urdfdom_sensor urdfdom_model_state urdfdom_model urdfdom_world)
+ set(PKG_DEPENDS urdfdom_headers)
+ set(PKG_EXPORTS urdfdom)
++string(REPLACE
++  "${CMAKE_INSTALL_PREFIX}" "\${${PROJECT_NAME}_DIR}/${RELATIVE_PATH_CMAKE_DIR_TO_PREFIX}"
++  CMAKE_CONF_LIBDIR "${CMAKE_INSTALL_FULL_LIBDIR}")
++string(REPLACE
++  "${CMAKE_INSTALL_PREFIX}" "\${${PROJECT_NAME}_DIR}/${RELATIVE_PATH_CMAKE_DIR_TO_PREFIX}"
++  CMAKE_CONF_INCLUDEDIR "${CMAKE_INSTALL_FULL_INCLUDEDIR}")
+ set(cmake_conf_file "cmake/urdfdom-config")
+ include(CMakePackageConfigHelpers)
+ write_basic_package_version_file(
+@@ -92,6 +99,8 @@ install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+ set(PKG_DESC "Unified Robot Description Format")
+ set(PKG_DEPENDS "urdfdom_headers") # make the list separated by spaces instead of ;
+ set(PKG_URDF_LIBS "-lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world")
++string(REPLACE "${CMAKE_INSTALL_PREFIX}" "\${prefix}" PKG_CONF_LIBDIR "${CMAKE_INSTALL_FULL_LIBDIR}")
++string(REPLACE "${CMAKE_INSTALL_PREFIX}" "\${prefix}" PKG_CONF_INCLUDEDIR "${CMAKE_INSTALL_FULL_INCLUDEDIR}")
+ set(pkg_conf_file "cmake/pkgconfig/urdfdom.pc")
+ configure_file("${CMAKE_CURRENT_SOURCE_DIR}/${pkg_conf_file}.in" "${CMAKE_BINARY_DIR}/${pkg_conf_file}" @ONLY)
+ install(FILES ${CMAKE_BINARY_DIR}/${pkg_conf_file}
+diff --git a/cmake/pkgconfig/urdfdom.pc.in b/cmake/pkgconfig/urdfdom.pc.in
+index 77d1d9f..01ccb89 100644
+--- a/cmake/pkgconfig/urdfdom.pc.in
++++ b/cmake/pkgconfig/urdfdom.pc.in
+@@ -1,8 +1,8 @@
+ # This file was generated by CMake for @PROJECT_NAME@
+ prefix=${pcfiledir}/../@RELATIVE_PATH_LIBDIR_TO_PREFIX@
+ exec_prefix=${prefix}
+-libdir=${prefix}/@CMAKE_INSTALL_LIBDIR@
+-includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@
++libdir=@PKG_CONF_LIBDIR@
++includedir=@PKG_CONF_INCLUDEDIR@
+ 
+ Name: @PKG_NAME@
+ Description: @PKG_DESC@
+diff --git a/cmake/urdfdom-config.cmake.in b/cmake/urdfdom-config.cmake.in
+index ee84f41..9a77019 100644
+--- a/cmake/urdfdom-config.cmake.in
++++ b/cmake/urdfdom-config.cmake.in
+@@ -8,16 +8,16 @@ set(@PKG_NAME@_CONFIG_INCLUDED TRUE)
+ set(CMAKE_MODULE_PATH_BACKUP_URDFDOM ${CMAKE_MODULE_PATH})
+ list(APPEND CMAKE_MODULE_PATH "${@PROJECT_NAME@_DIR}")
+ 
+-set(@PKG_NAME@_INCLUDE_DIRS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_INCLUDEDIR@")
++set(@PKG_NAME@_INCLUDE_DIRS "@CMAKE_CONF_INCLUDEDIR@")
+ 
+ foreach(lib @PKG_LIBRARIES@)
+   set(onelib "${lib}-NOTFOUND")
+   set(onelibd "${lib}-NOTFOUND")
+   find_library(onelib ${lib}
+-    PATHS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_LIBDIR@"
++    PATHS "@CMAKE_CONF_LIBDIR@"
+     NO_DEFAULT_PATH)
+   find_library(onelibd ${lib}d
+-    PATHS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_LIBDIR@"
++    PATHS "@CMAKE_CONF_LIBDIR@"
+     NO_DEFAULT_PATH)
+   if(onelib-NOTFOUND AND onelibd-NOTFOUND)
+     message(FATAL_ERROR "Library '${lib}' in package @PKG_NAME@ is not installed properly")
diff --git a/cmake/pkgconfig/urdfdom.pc.in b/cmake/pkgconfig/urdfdom.pc.in
index 77d1d9f9..01ccb892 100644
--- a/cmake/pkgconfig/urdfdom.pc.in
+++ b/cmake/pkgconfig/urdfdom.pc.in
@@ -1,8 +1,8 @@
 # This file was generated by CMake for @PROJECT_NAME@
 prefix=${pcfiledir}/../@RELATIVE_PATH_LIBDIR_TO_PREFIX@
 exec_prefix=${prefix}
-libdir=${prefix}/@CMAKE_INSTALL_LIBDIR@
-includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@
+libdir=@PKG_CONF_LIBDIR@
+includedir=@PKG_CONF_INCLUDEDIR@
 
 Name: @PKG_NAME@
 Description: @PKG_DESC@
diff --git a/cmake/urdfdom-config.cmake.in b/cmake/urdfdom-config.cmake.in
index ee84f41d..9a770192 100644
--- a/cmake/urdfdom-config.cmake.in
+++ b/cmake/urdfdom-config.cmake.in
@@ -8,16 +8,16 @@ set(@PKG_NAME@_CONFIG_INCLUDED TRUE)
 set(CMAKE_MODULE_PATH_BACKUP_URDFDOM ${CMAKE_MODULE_PATH})
 list(APPEND CMAKE_MODULE_PATH "${@PROJECT_NAME@_DIR}")
 
-set(@PKG_NAME@_INCLUDE_DIRS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_INCLUDEDIR@")
+set(@PKG_NAME@_INCLUDE_DIRS "@CMAKE_CONF_INCLUDEDIR@")
 
 foreach(lib @PKG_LIBRARIES@)
   set(onelib "${lib}-NOTFOUND")
   set(onelibd "${lib}-NOTFOUND")
   find_library(onelib ${lib}
-    PATHS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_LIBDIR@"
+    PATHS "@CMAKE_CONF_LIBDIR@"
     NO_DEFAULT_PATH)
   find_library(onelibd ${lib}d
-    PATHS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_LIBDIR@"
+    PATHS "@CMAKE_CONF_LIBDIR@"
     NO_DEFAULT_PATH)
   if(onelib-NOTFOUND AND onelibd-NOTFOUND)
     message(FATAL_ERROR "Library '${lib}' in package @PKG_NAME@ is not installed properly")