diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..638c8d2a4f126823299db9c14b149df08d613908
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,3 @@
+bin
+build
+lib
diff --git a/Finddynamixel_motor_cont.cmake b/Finddynamixel_motor_cont.cmake
index 727f72c23753aad83a36a84e484ef9443305f2bf..1345ff3e11628aef4f95af30dd218a37b215bee3 100644
--- a/Finddynamixel_motor_cont.cmake
+++ b/Finddynamixel_motor_cont.cmake
@@ -1,9 +1,12 @@
 #edit the following line to add the librarie's header files
-FIND_PATH(dynamixel_motor_cont_INCLUDE_DIR dynamixel.h /usr/include/iridrivers /usr/local/include/iridrivers)
+FIND_PATH(dynamixel_motor_cont_INCLUDE_DIR dynamixel.h /usr/include/iri/dynamixel_motor_cont /usr/local/include/iri/dynamixel_motor_cont)
 
 FIND_LIBRARY(dynamixel_motor_cont_LIBRARY
     NAMES dynamixel_motor_cont
-    PATHS /usr/lib /usr/local/lib /usr/local/lib/iridrivers) 
+    PATHS /usr/lib /usr/local/lib /usr/local/lib/iri/dynamixel_motor_cont)
+    
+SET(dynamixel_motor_cont_INCLUDE_DIRS ${dynamixel_motor_cont_INCLUDE_DIR})
+SET(dynamixel_motor_cont_LIBRARIES    ${dynamixel_motor_cont_LIBRARY})
 
 IF (dynamixel_motor_cont_INCLUDE_DIR AND dynamixel_motor_cont_LIBRARY)
    SET(dynamixel_motor_cont_FOUND TRUE)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index b6a1c2f0cbccd873f24ea67b8a1864311fa1dd66..1e8d99d8383032482d8632818a49e099efbba03c 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -27,11 +27,11 @@ ADD_DEPENDENCIES(dynamixel_motor_cont xsd_files_gen)
 
 INSTALL(TARGETS dynamixel_motor_cont
   RUNTIME DESTINATION bin
-  LIBRARY DESTINATION lib/iridrivers
-  ARCHIVE DESTINATION lib/iridrivers
+  LIBRARY DESTINATION lib/iri/${PROJECT_NAME}
+  ARCHIVE DESTINATION lib/iri/${PROJECT_NAME}
 )
 
-INSTALL(FILES ${headers} DESTINATION include/iridrivers)
+INSTALL(FILES ${headers} DESTINATION include/iri/${PROJECT_NAME})
 
 INSTALL(FILES ../Finddynamixel_motor_cont.cmake DESTINATION ${CMAKE_ROOT}/Modules/)