diff --git a/.gitignore b/.gitignore
index 4af768a7d9d0328dbaf8cbe79d9c82168a7a5ffa..d3c2b98503a75fbbc575622cd9ffc8866dae39dc 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,6 +3,8 @@
 .project
 .cproject
 build/
+build_release/
+build_debug/
 bin/
 lib/
 gnss.found
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c31312a7033c003e32aa91b03f704f41c283441d..45e536db9d7da35a17c73c984e4caa2c13d2bbbc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 # Pre-requisites about cmake itself
-CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.10)
 
 if(COMMAND cmake_policy)
   cmake_policy(SET CMP0005 NEW)
@@ -16,7 +16,8 @@ MESSAGE("Starting ${PROJECT_NAME} CMakeLists ...")
 
 SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
 SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
-SET(CMAKE_INSTALL_PREFIX /usr/local)
+set(INCLUDE_INSTALL_DIR include/iri-algorithms/wolf)
+set(LIB_INSTALL_DIR lib/)
 
 IF (NOT CMAKE_BUILD_TYPE)
   SET(CMAKE_BUILD_TYPE "DEBUG")
@@ -104,8 +105,6 @@ message("CONFIG DIRECTORY ${PROJECT_BINARY_DIR}")
 include_directories("${PROJECT_BINARY_DIR}/conf")
 
 # ============ INCLUDES ============ 
-INCLUDE_DIRECTORIES(${wolfcore_INCLUDE_DIRS})
-INCLUDE_DIRECTORIES(${gnss_utils_INCLUDE_DIRS})
 INCLUDE_DIRECTORIES(BEFORE "include")
 
 # ============ HEADERS ============ 
@@ -179,8 +178,8 @@ endif()
 
 #Link the created libraries
 #===============EXAMPLE=========================
-TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolfcore_LIBRARIES})
-TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${gnss_utils_LIBRARIES})
+TARGET_LINK_LIBRARIES(${PLUGIN_NAME} wolfcore)
+TARGET_LINK_LIBRARIES(${PLUGIN_NAME} gnss_utils)
 
 #Build tests
 #===============EXAMPLE=========================
@@ -192,11 +191,35 @@ ENDIF(BUILD_TESTS)
 #install library
 #=============================================================
 INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets
-      RUNTIME DESTINATION bin
-      LIBRARY DESTINATION lib
-      ARCHIVE DESTINATION lib)
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION ${LIB_INSTALL_DIR}
+  ARCHIVE DESTINATION ${LIB_INSTALL_DIR}
+)
+install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/${PLUGIN_NAME}/cmake)
+
+
+# Configure the package installation
+include(CMakePackageConfigHelpers)
+configure_package_config_file(
+  ${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/${PLUGIN_NAME}Config.cmake
+  INSTALL_DESTINATION ${LIB_INSTALL_DIR}/${PLUGIN_NAME}/cmake
+  PATH_VARS INCLUDE_INSTALL_DIR LIB_INSTALL_DIR
+)
+
+install(
+  FILES 
+  ${CMAKE_CURRENT_BINARY_DIR}/${PLUGIN_NAME}Config.cmake
+  DESTINATION 
+  ${LIB_INSTALL_DIR}/${PLUGIN_NAME}/cmake
+)
+
+# Specifies include directories to use when compiling the plugin target
+# This way, include_directories does not need to be called in plugins depending on this one
+target_include_directories(${PLUGIN_NAME} INTERFACE
+  $<INSTALL_INTERFACE:${INCLUDE_INSTALL_DIR}>
+)
 
-install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/cmake/${PLUGIN_NAME})
 #install headers
 INSTALL(FILES ${HDRS_CAPTURE}
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/capture)
@@ -217,8 +240,6 @@ INSTALL(FILES ${PROJECT_NAME}.found
 INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/internal)
 
-INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake" DESTINATION "lib/cmake/${PLUGIN_NAME}")
-
 INSTALL(DIRECTORY ${SPDLOG_INCLUDE_DIRS} DESTINATION "include/iri-algorithms/")
 
 export(PACKAGE ${PLUGIN_NAME})
diff --git a/cmake_modules/wolfgnssConfig.cmake b/cmake_modules/wolfgnssConfig.cmake
deleted file mode 100644
index e55f091a2ce3b7150072fae7ab9fe018a5b49c19..0000000000000000000000000000000000000000
--- a/cmake_modules/wolfgnssConfig.cmake
+++ /dev/null
@@ -1,88 +0,0 @@
-#edit the following line to add the librarie's header files
-FIND_PATH(
-    wolfgnss_INCLUDE_DIRS
-    NAMES gnss.found
-    PATHS /usr/local/include/iri-algorithms/wolf/plugin_gnss)
-IF(wolfgnss_INCLUDE_DIRS)
-  MESSAGE("Found gnss include dirs: ${wolfgnss_INCLUDE_DIRS}")
-ELSE(wolfgnss_INCLUDE_DIRS)
-  MESSAGE("Couldn't find gnss include dirs")
-ENDIF(wolfgnss_INCLUDE_DIRS)
-
-FIND_LIBRARY(
-    wolfgnss_LIBRARIES
-    NAMES libwolfgnss.so
-    PATHS /usr/local/lib)
-IF(wolfgnss_LIBRARIES)
-  MESSAGE("Found gnss lib: ${wolfgnss_LIBRARIES}")
-ELSE(wolfgnss_LIBRARIES)
-  MESSAGE("Couldn't find wolf gnss lib")
-ENDIF(wolfgnss_LIBRARIES)
-
-IF (wolfgnss_INCLUDE_DIRS AND wolfgnss_LIBRARIES)
-   SET(wolfgnss_FOUND TRUE)
- ELSE(wolfgnss_INCLUDE_DIRS AND wolfgnss_LIBRARIES)
-   set(wolfgnss_FOUND FALSE)
-ENDIF (wolfgnss_INCLUDE_DIRS AND wolfgnss_LIBRARIES)
-
-IF (wolfgnss_FOUND)
-   IF (NOT wolfgnss_FIND_QUIETLY)
-      MESSAGE(STATUS "Found gnss: ${wolfgnss_LIBRARIES}")
-   ENDIF (NOT wolfgnss_FIND_QUIETLY)
-ELSE (wolfgnss_FOUND)
-   IF (wolfgnss_FIND_REQUIRED)
-      MESSAGE(FATAL_ERROR "Could not find wolf gnss")
-   ENDIF (wolfgnss_FIND_REQUIRED)
-ENDIF (wolfgnss_FOUND)
-
-
-macro(wolf_report_not_found REASON_MSG)
-  set(wolfgnss_FOUND FALSE)
-  unset(wolfgnss_INCLUDE_DIRS)
-  unset(wolfgnss_LIBRARIES)
-
-  # Reset the CMake module path to its state when this script was called.
-  set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
-
-  # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by
-  # FindPackage() use the camelcase library name, not uppercase.
-  if (wolfgnss_FIND_QUIETLY)
-    message(STATUS "Failed to find wolf gnss- " ${REASON_MSG} ${ARGN})
-  elseif(wolfgnss_FIND_REQUIRED)
-    message(FATAL_ERROR "Failed to find wolf gnss - " ${REASON_MSG} ${ARGN})
-  else()
-    # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error
-    # that prevents generation, but continues configuration.
-    message(SEND_ERROR "Failed to find wolf gnss - " ${REASON_MSG} ${ARGN})
-  endif ()
-  return()
-endmacro(wolf_report_not_found)
-
-if(NOT wolfgnss_FOUND)
-  wolf_report_not_found("Something went wrong while setting up wolf gnss.")
-endif(NOT wolfgnss_FOUND)
-# Set the include directories for wolf (itself).
-set(wolfgnss_FOUND TRUE)
-
-# Now we gather all the required dependencies for Wolf Laser
-
-FIND_PACKAGE(gnss_utils REQUIRED)
-list(APPEND wolfgnss_INCLUDE_DIRS ${gnss_utils_INCLUDE_DIRS})
-list(APPEND wolfgnss_LIBRARIES ${gnss_utils_LIBRARY})
-if(NOT wolf_FOUND)
-  FIND_PACKAGE(wolfcore REQUIRED)
-
-  #We reverse in order to insert at the start
-  list(REVERSE wolfgnss_INCLUDE_DIRS)
-  list(APPEND wolfgnss_INCLUDE_DIRS ${wolfcore_INCLUDE_DIRS})
-  list(REVERSE wolfgnss_INCLUDE_DIRS)
-
-  list(REVERSE wolfgnss_LIBRARIES)
-  list(APPEND wolfgnss_LIBRARIES ${wolfcore_LIBRARIES})
-  list(REVERSE wolfgnss_LIBRARIES)
-endif()
-
-# provide both INCLUDE_DIR and INCLUDE_DIRS
-SET(wolfgnss_INCLUDE_DIR ${wolfgnss_INCLUDE_DIRS})
-# provide both LIBRARY and LIBRARIES 
-SET(wolfgnss_LIBRARY ${wolfgnss_LIBRARIES})
\ No newline at end of file
diff --git a/cmake_modules/wolfgnssConfig.cmake.in b/cmake_modules/wolfgnssConfig.cmake.in
new file mode 100644
index 0000000000000000000000000000000000000000..4a1566d2c80ea6132af01bd04c849aad1a8f880b
--- /dev/null
+++ b/cmake_modules/wolfgnssConfig.cmake.in
@@ -0,0 +1,13 @@
+set(@PLUGIN_NAME@_VERSION 0.0.1)
+
+
+@PACKAGE_INIT@
+
+set_and_check(@PLUGIN_NAME@_INCLUDE_DIR "@PACKAGE_INCLUDE_INSTALL_DIR@")
+set(@PLUGIN_NAME@_INCLUDE_DIRS @PLUGIN_NAME@_INCLUDE_DIR)
+set_and_check(@PLUGIN_NAME@_LIB_INSTALL_DIR "@PACKAGE_LIB_INSTALL_DIR@")
+set(@PLUGIN_NAME@_LIB_INSTALL_DIRS @PLUGIN_NAME@_LIB_INSTALL_DIR)
+
+include("${CMAKE_CURRENT_LIST_DIR}/@PLUGIN_NAME@Targets.cmake")
+
+check_required_components(@PLUGIN_NAME@)
\ No newline at end of file
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index fc829135d4db9a3019a429f1a5195ed38fa160d4..eced537f0d3e20ff77e2764e857919f6b04a629f 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,26 +1,19 @@
 # Retrieve googletest from github & compile
 add_subdirectory(gtest)
 
-# Include gtest directory.
-include_directories(${GTEST_INCLUDE_DIRS})
-
 ############# USE THIS TEST AS AN EXAMPLE #################
 #                                                         #
 # Create a specific test executable for gtest_example     #
 # wolf_add_gtest(gtest_example gtest_example.cpp)         #
-# target_link_libraries(gtest_example ${PLUGIN_NAME})     #
 #                                                         #
 ###########################################################
 
 # FactorGnssFix2d test
 wolf_add_gtest(gtest_factor_gnss_fix_2d gtest_factor_gnss_fix_2d.cpp)
-target_link_libraries(gtest_factor_gnss_fix_2d ${PLUGIN_NAME})
 
 # FactorGnssPseudoRange test
 wolf_add_gtest(gtest_factor_gnss_pseudo_range gtest_factor_gnss_pseudo_range.cpp)
-target_link_libraries(gtest_factor_gnss_pseudo_range ${PLUGIN_NAME})
 
 # FactorGnssTdcp test
 wolf_add_gtest(gtest_factor_gnss_tdcp gtest_factor_gnss_tdcp.cpp)
-target_link_libraries(gtest_factor_gnss_tdcp ${PLUGIN_NAME})
 
diff --git a/test/gtest/CMakeLists.txt b/test/gtest/CMakeLists.txt
index 559756b02472653c655c44152c452ba8767ef6f2..0fe7d7a08d4d323f4171f9a210fb547914e894c2 100644
--- a/test/gtest/CMakeLists.txt
+++ b/test/gtest/CMakeLists.txt
@@ -1,65 +1,80 @@
-cmake_minimum_required(VERSION 2.8.8)
-project(gtest_builder C CXX)
+if(${CMAKE_VERSION} VERSION_LESS "3.11.0") 
+  message("CMake version less than 3.11.0")
 
-# We need thread support
-#find_package(Threads REQUIRED)
+  # Enable ExternalProject CMake module
+  include(ExternalProject)
 
-# Enable ExternalProject CMake module
-include(ExternalProject)
+  set(GTEST_FORCE_SHARED_CRT ON)
+  set(GTEST_DISABLE_PTHREADS OFF)
 
-set(GTEST_FORCE_SHARED_CRT ON)
-set(GTEST_DISABLE_PTHREADS OFF)
+  # For some reason I need to disable PTHREADS
+  # with g++ (Ubuntu 4.9.3-8ubuntu2~14.04) 4.9.3
+  # This is a known issue for MinGW :
+  # https://github.com/google/shaderc/pull/174
+  #if(MINGW)
+  #    set(GTEST_DISABLE_PTHREADS ON)
+  #endif()
 
-# For some reason I need to disable PTHREADS
-# with g++ (Ubuntu 4.9.3-8ubuntu2~14.04) 4.9.3
-# This is a known issue for MinGW :
-# https://github.com/google/shaderc/pull/174
-#if(MINGW)
-    set(GTEST_DISABLE_PTHREADS ON)
-#endif()
+  # Download GoogleTest
+  ExternalProject_Add(googletest
+      GIT_REPOSITORY https://github.com/google/googletest.git
+      GIT_TAG        v1.8.x
+      # TIMEOUT 1 # We'll try this
+      CMAKE_ARGS -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG:PATH=DebugLibs
+      -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE:PATH=ReleaseLibs
+      -DCMAKE_CXX_FLAGS=${MSVC_COMPILER_DEFS}
+      -Dgtest_force_shared_crt=${GTEST_FORCE_SHARED_CRT}
+      -Dgtest_disable_pthreads=${GTEST_DISABLE_PTHREADS}
+      -DBUILD_GTEST=ON
+      PREFIX "${CMAKE_CURRENT_BINARY_DIR}"
+      # Disable install step
+      INSTALL_COMMAND ""
+      UPDATE_DISCONNECTED 1 # 1: do not update googletest; 0: update googletest via github
+  )
 
-# Download GoogleTest
-ExternalProject_Add(googletest
-    GIT_REPOSITORY https://github.com/google/googletest.git
-    GIT_TAG        v1.8.x
-    # TIMEOUT 1 # We'll try this
-    CMAKE_ARGS -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG:PATH=DebugLibs
-    -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE:PATH=ReleaseLibs
-    -DCMAKE_CXX_FLAGS=${MSVC_COMPILER_DEFS}
-    -Dgtest_force_shared_crt=${GTEST_FORCE_SHARED_CRT}
-    -Dgtest_disable_pthreads=${GTEST_DISABLE_PTHREADS}
-    -DBUILD_GTEST=ON
-    PREFIX "${CMAKE_CURRENT_BINARY_DIR}"
-    # Disable install step
-    INSTALL_COMMAND ""
-    UPDATE_DISCONNECTED 1 # 1: do not update googletest; 0: update googletest via github
-)
+  # Get GTest source and binary directories from CMake project
 
-# Get GTest source and binary directories from CMake project
+  # Specify include dir
+  ExternalProject_Get_Property(googletest source_dir)
+  set(GTEST_INCLUDE_DIRS ${source_dir}/googletest/include PARENT_SCOPE)
 
-# Specify include dir
-ExternalProject_Get_Property(googletest source_dir)
-set(GTEST_INCLUDE_DIRS ${source_dir}/googletest/include PARENT_SCOPE)
+  # Specify MainTest's link libraries
+  ExternalProject_Get_Property(googletest binary_dir)
+  set(GTEST_LIBS_DIR ${binary_dir}/googlemock/gtest PARENT_SCOPE)
 
-# Specify MainTest's link libraries
-ExternalProject_Get_Property(googletest binary_dir)
-set(GTEST_LIBS_DIR ${binary_dir}/googlemock/gtest PARENT_SCOPE)
+  # Create a libgtest target to be used as a dependency by test programs
+  add_library(libgtest IMPORTED STATIC GLOBAL)
+  add_dependencies(libgtest googletest)
 
-# Create a libgtest target to be used as a dependency by test programs
-add_library(libgtest IMPORTED STATIC GLOBAL)
-add_dependencies(libgtest googletest)
+  # Set libgtest properties
+  set_target_properties(libgtest PROPERTIES
+      "IMPORTED_LOCATION" "${binary_dir}/googlemock/gtest/libgtest.a"
+      "IMPORTED_LINK_INTERFACE_LIBRARIES" "${CMAKE_THREAD_LIBS_INIT}"
+  )
 
-# Set libgtest properties
-set_target_properties(libgtest PROPERTIES
-    "IMPORTED_LOCATION" "${binary_dir}/googlemock/gtest/libgtest.a"
-    "IMPORTED_LINK_INTERFACE_LIBRARIES" "${CMAKE_THREAD_LIBS_INIT}"
-)
+else()
 
+  message("CMake version equal or greater than 3.11.0")
+
+  include(FetchContent)
+
+  FetchContent_Declare(
+    googletest
+    GIT_REPOSITORY https://github.com/google/googletest.git 
+    GIT_TAG main)
+
+  FetchContent_MakeAvailable(googletest)
+    
+endif()
+  
 function(wolf_add_gtest target)
   add_executable(${target} ${ARGN})
-  add_dependencies(${target} libgtest)
-  target_link_libraries(${target} libgtest)
-
-  #WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/bin
+  if(${CMAKE_VERSION} VERSION_LESS "3.11.0") 
+    add_dependencies(${target} libgtest)
+    target_link_libraries(${target} libgtest ${PLUGIN_NAME})
+    target_include_directories(${target} PUBLIC ${GTEST_INCLUDE_DIRS})
+  else()
+    target_link_libraries(${target} PUBLIC gtest_main ${PLUGIN_NAME})
+  endif()
   add_test(NAME ${target} COMMAND ${target})
 endfunction()