diff --git a/cmake/urdfdom-config.cmake.in b/cmake/urdfdom-config.cmake.in
index d8eb93d..3e5c42a 100644
--- a/cmake/urdfdom-config.cmake.in
+++ b/cmake/urdfdom-config.cmake.in
@@ -3,8 +3,12 @@ if (@PKG_NAME@_CONFIG_INCLUDED)
 endif()
 set(@PKG_NAME@_CONFIG_INCLUDED TRUE)
 
-set(@PKG_NAME@_INCLUDE_DIRS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_INCLUDEDIR@" "@TinyXML_INCLUDE_DIRS@")
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+ 
+set(@PKG_NAME@_INCLUDE_DIRS "${_IMPORT_PREFIX}/include" "@TinyXML_INCLUDE_DIRS@")
 
+if (0)
 foreach(lib @PKG_LIBRARIES@)
   set(onelib "${lib}-NOTFOUND")
   set(onelibd "${lib}-NOTFOUND")
@@ -29,10 +33,14 @@ foreach(lib @PKG_LIBRARIES@)
   endif()
   list(APPEND @PKG_NAME@_TARGETS @PROJECT_NAME@::${lib})
 endforeach()
+endif()
+
+include(CMakeFindDependencyMacro)
+find_dependency(console_bridge)
 
 foreach(dep @PKG_DEPENDS@)
   if(NOT ${dep}_FOUND)
-    find_package(${dep})
+    find_dependency(${dep})
   endif()
   list(APPEND @PKG_NAME@_INCLUDE_DIRS ${${dep}_INCLUDE_DIRS})
   list(APPEND @PKG_NAME@_LIBRARIES ${${dep}_LIBRARIES})
@@ -41,3 +49,5 @@ endforeach()
 foreach(exp @PKG_EXPORTS@)
   include(${@PROJECT_NAME@_DIR}/${exp}Export.cmake)
 endforeach()
+
+set(@PKG_NAME@_LIBRARIES urdfdom::urdfdom_model urdfdom::urdfdom_world urdfdom::urdfdom_sensor urdfdom::urdfdom_model_state)