diff --git a/Finddynamixel_pan_tilt.cmake b/Finddynamixel_pan_tilt.cmake
index 1cacb48f7e0abed127ee3b4ff1a1ccd3b9df0d73..f174e90faa1bec6c5b452f47e24855f10b3e5c89 100644
--- a/Finddynamixel_pan_tilt.cmake
+++ b/Finddynamixel_pan_tilt.cmake
@@ -1,9 +1,9 @@
 #edit the following line to add the librarie's header files
-FIND_PATH(dynamixel_pan_tilt_INCLUDE_DIR dynamixel_pan_tilt.h dynamixel_pan_tilt_exceptions.h /usr/include/iridrivers /usr/local/include/iridrivers)
+FIND_PATH(dynamixel_pan_tilt_INCLUDE_DIR dynamixel_pan_tilt.h dynamixel_pan_tilt_exceptions.h /usr/local/include/iridrivers /usr/local/include/iri/dynamixel_pan_tilt /usr/include/iri/dynamixel_pan_tilt)
 
 FIND_LIBRARY(dynamixel_pan_tilt_LIBRARY
     NAMES dynamixel_pan_tilt
-    PATHS /usr/lib /usr/local/lib /usr/local/lib/iridrivers) 
+    PATHS /usr/local/lib/iridrivers /usr/local/lib/iri/dynamixel_pan_tilt /usr/lib/iri/dynamixel_pan_tilt) 
 
 IF (dynamixel_pan_tilt_INCLUDE_DIR AND dynamixel_pan_tilt_LIBRARY)
    SET(dynamixel_pan_tilt_FOUND TRUE)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 93c9bee7b6482f3cba12767babd6a4fcfba55a49..5bfdcb38428f7e236cd12e0953a92d986e62f134 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -30,10 +30,10 @@ ADD_DEPENDENCIES(dynamixel_pan_tilt xsd_files_gen)
 
 INSTALL(TARGETS dynamixel_pan_tilt
         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_pan_tilt.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
 
diff --git a/src/xml/CMakeLists.txt b/src/xml/CMakeLists.txt
index e34fbe70eeb965dd44b2d1d9284a773c227a4dac..2a169705307f4d7a9a17d464caea86f1cfd35596 100644
--- a/src/xml/CMakeLists.txt
+++ b/src/xml/CMakeLists.txt
@@ -40,7 +40,7 @@ IF(XSD_FOUND)
          DEPENDS ${XSD_PATH_FILES}
          COMMENT "Parsing the xml template file ${XSD_FILES}")
 
-      INSTALL(FILES ${XSD_PATH_FILES} DESTINATION include/iridrivers/xml)
-      INSTALL(FILES ${XSD_HEADERS_INT} DESTINATION include/iridrivers/xml)
+      INSTALL(FILES ${XSD_PATH_FILES} DESTINATION include/iri/${PROJECT_NAME}/xml)
+      INSTALL(FILES ${XSD_HEADERS_INT} DESTINATION include/iri/${PROJECT_NAME}/xml)
    ENDIF(XSD_FILES)
 ENDIF(XSD_FOUND)