diff --git a/CMakeLists.txt b/CMakeLists.txt
index c375ec6eb86a0490816ccd5d2684a8371ff74be4..736dae36633fc7747aa8287db3b95d32256be898 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,6 +12,9 @@ endif(COMMAND cmake_policy)
 # MAC OSX RPATH
 SET(CMAKE_MACOSX_RPATH 1)
 
+# install prefix
+SET(CMAKE_INSTALL_PREFIX /usr/local)
+
 # The project name
 PROJECT(core)
 set(PLUGIN_NAME "wolf${PROJECT_NAME}")
@@ -20,6 +23,13 @@ set(PLUGIN_NAME "wolf${PROJECT_NAME}")
 SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
 SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
 SET(CMAKE_SKIP_INSTALL_ALL_DEPENDENCY FALSE)
+SET(LIB_INSTALL_DIR lib)
+# plugin_core is not really needed, why was it used in the first place?
+#SET(INCLUDE_INSTALL_DIR "include/iri-algorithms/wolf/plugin_${PROJECT_NAME}")
+SET(INCLUDE_INSTALL_DIR "include/iri-algorithms/wolf")
+message("CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
+message("LIB_INSTALL_DIR: ${LIB_INSTALL_DIR}")
+message("INCLUDE_INSTALL_DIR: ${INCLUDE_INSTALL_DIR}")
 
 # Build type
 IF (NOT CMAKE_BUILD_TYPE)
@@ -94,6 +104,7 @@ FIND_PACKAGE(yaml-cpp REQUIRED)
 
 # ============ config.h ============ 
 set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR})
+set(_WOLF_LIB_DIR ${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR})
 # Define the directory where will be the configured config.h
 SET(WOLF_CONFIG_DIR ${PROJECT_BINARY_DIR}/conf/core/internal)
 
@@ -123,6 +134,7 @@ ENDIF (SPDLOG_INCLUDE_DIR)
 
 # ============ INCLUDES ============ 
 INCLUDE_DIRECTORIES("include") # In this same project
+
 # ============ HEADERS ============ 
 SET(HDRS_CAPTURE
   include/core/capture/capture_base.h
@@ -444,16 +456,11 @@ ENDIF(BUILD_DEMOS)
 #=============================================================
 INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets
   RUNTIME DESTINATION bin
-  LIBRARY DESTINATION lib
-  ARCHIVE DESTINATION lib)
+  LIBRARY DESTINATION ${LIB_INSTALL_DIR}
+  ARCHIVE DESTINATION ${LIB_INSTALL_DIR})
 
 
 # Configure the package installation
-# plugin_core is not really needed, why was it used in the first place?
-# set(INCLUDE_INSTALL_DIR include/iri-algorithms/wolf/plugin_core)
-set(INCLUDE_INSTALL_DIR include/iri-algorithms/wolf)
-set(LIB_INSTALL_DIR lib/)
-
 configure_package_config_file(
   ${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake.in
   ${CMAKE_CURRENT_BINARY_DIR}/${PLUGIN_NAME}Config.cmake
@@ -472,7 +479,7 @@ install(
 install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/cmake/${PLUGIN_NAME})
 #install headers
 INSTALL(FILES ${HDRS_CAPTURE}
-   DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/capture)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/capture)
 INSTALL(FILES ${HDRS_CERES_WRAPPER}
   DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/ceres_wrapper)
 INSTALL(FILES ${HDRS_COMMON}
diff --git a/internal/config.h.in b/internal/config.h.in
index 7c0fe4756e443695c5450cfb46054e8b7cd107a7..8f0d62ec930e2db6e5f4bc874126b8e0787eb856 100644
--- a/internal/config.h.in
+++ b/internal/config.h.in
@@ -32,5 +32,6 @@
 #cmakedefine _WOLF_TRACE
 
 #define _WOLF_ROOT_DIR "${_WOLF_ROOT_DIR}"
+#define _WOLF_LIB_DIR "${_WOLF_LIB_DIR}"
 
 #endif /* WOLF_INTERNAL_CONFIG_H_ */
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 1e5c88a2db6cf68a2032c8be1b50dbbe3c2206d9..d2078f8ac2cc8dad9cef2a835dd2c174f664d6e0 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -125,8 +125,8 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server)
 
     // Load plugins
     auto loaders = std::vector<std::shared_ptr<Loader>>();
-    std::string plugins_path;
-    try
+    std::string plugins_path = _WOLF_LIB_DIR;
+    /*try
     {
         plugins_path = _server.getParam<std::string>("plugins_path");
     }
@@ -145,7 +145,7 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server)
       auto l = std::make_shared<LoaderRaw>(plugin);
       l->load();
       loaders.push_back(l);
-    }
+    }*/
 
     // load raw libs
     std::vector<std::string> raw_libs;