diff --git a/omplConfig.cmake.in b/omplConfig.cmake.in
index 465de25..ad373fa 100644
--- a/omplConfig.cmake.in
+++ b/omplConfig.cmake.in
@@ -18,8 +18,10 @@ set(OMPL_MAJOR_VERSION @PROJECT_VERSION_MAJOR@)
 set(OMPL_MINOR_VERSION @PROJECT_VERSION_MINOR@)
 set(OMPL_PATCH_VERSION @PROJECT_VERSION_PATCH@)
 
+find_dependency(Boost 1.58 COMPONENTS serialization filesystem system program_options)
+find_dependency(Eigen3)
 set_and_check(OMPL_INCLUDE_DIR "@PACKAGE_INCLUDE_INSTALL_DIR@")
-set(OMPL_INCLUDE_DIRS "${OMPL_INCLUDE_DIR};@Boost_INCLUDE_DIR@;@EIGEN3_INCLUDE_DIR@")
+set(OMPL_INCLUDE_DIRS "${OMPL_INCLUDE_DIR};${Boost_INCLUDE_DIR};${EIGEN3_INCLUDE_DIR}")
 foreach(_dir @FLANN_INCLUDE_DIRS@;@ODE_INCLUDE_DIRS@;@SPOT_INCLUDE_DIRS@;@TRIANGLE_INCLUDE_DIR@;@FCL_INCLUDE_DIRS@;@PQP_INCLUDE_DIR@;@ASSIMP_INCLUDE_DIRS@;@OPENGL_INCLUDE_DIR@)
     if(_dir)
         list(APPEND OMPL_INCLUDE_DIRS "${_dir}")
@@ -29,7 +31,7 @@ list(REMOVE_DUPLICATES OMPL_INCLUDE_DIRS)
 set(OMPL_INCLUDE_DIRS "${OMPL_INCLUDE_DIRS}" CACHE STRING "Include path for OMPL and its dependencies")
 
 set_and_check(OMPL_LIBRARY_DIR @PACKAGE_LIB_INSTALL_DIR@)
-set(OMPL_LIBRARY_DIRS "${OMPL_LIBRARY_DIR};@Boost_LIBRARY_DIRS@")
+set(OMPL_LIBRARY_DIRS "${OMPL_LIBRARY_DIR};${Boost_LIBRARY_DIRS}")
 foreach(_dir @FLANN_LIBRARY_DIRS@;@ODE_LIBRARY_DIRS@;@SPOT_LIBRARY_DIRS@;@FCL_LIBRARY_DIRS@;@ASSIMP_LIBRARY_DIRS@)
     if(_dir)
         list(APPEND OMPL_LIBRARY_DIRS "${_dir}")
@@ -40,7 +42,7 @@ set(OMPL_LIBRARY_DIRS "${OMPL_LIBRARY_DIRS}" CACHE STRING "Library path for OMPL
 
 find_library(OMPL_LIBRARIES NAMES ompl.${OMPL_VERSION} ompl
     PATHS ${OMPL_LIBRARY_DIR} NO_DEFAULT_PATH)
-foreach(_lib @Boost_SERIALIZATION_LIBRARY@;@Boost_FILESYSTEM_LIBRARY@;@Boost_SYSTEM_LIBRARY@;@ODE_LIBRARIES@;@SPOT_LIBRARIES@)
+foreach(_lib ${Boost_SERIALIZATION_LIBRARY};${Boost_FILESYSTEM_LIBRARY};${Boost_SYSTEM_LIBRARY};@ODE_LIBRARIES@;@SPOT_LIBRARIES@)
     if(_lib)
         list(APPEND OMPL_LIBRARIES "${_lib}")
     endif()
@@ -61,3 +63,4 @@ endif()
 
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(ompl DEFAULT_MSG OMPL_INCLUDE_DIRS OMPL_LIBRARY_DIRS OMPL_LIBRARIES)
+include(${CMAKE_CURRENT_LIST_DIR}/ompl-targets.cmake)