diff --git a/.travis.yml b/.travis.yml
index 2e692af2..2fa49387 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,10 +1,12 @@
 language: cpp
+sudo: required
+dist: trusty
 compiler:
   - gcc
   - clang
 before_install:
   - sudo apt-get update -qq
-  - sudo apt-get install -qq libqt4-dev libqt4-opengl-dev libqglviewer-qt4-dev  
+  - sudo apt-get install -qq libqt4-dev libqt4-opengl-dev libqglviewer-dev  
 before_script:
   - mkdir build
   - cd build
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1c56033d..d7fc92e8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8.8)
 PROJECT( octomap-distribution )
 
 ENABLE_TESTING()  # enable CTest environment of subprojects
diff --git a/dynamicEDT3D/CMakeLists.txt b/dynamicEDT3D/CMakeLists.txt
index 195a8704..5ff8e478 100644
--- a/dynamicEDT3D/CMakeLists.txt
+++ b/dynamicEDT3D/CMakeLists.txt
@@ -1,4 +1,4 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8.8)
 PROJECT(dynamicEDT3D)
 
 ENABLE_TESTING()
@@ -96,10 +96,18 @@ ELSE()
 ENDIF()
 # not used right now (export depends?)
 #set(DYNEDT3D_CMAKE_DIR "${PROJECT_BINARY_DIR}")
-configure_file(dynamicEDT3DConfig.cmake.in
-  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3DConfig.cmake" @ONLY)
-configure_file(dynamicEDT3DConfig-version.cmake.in
-  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3DConfig-version.cmake" @ONLY)
+include(CMakePackageConfigHelpers)
+
+CONFIGURE_PACKAGE_CONFIG_FILE(
+  dynamicEDT3DConfig.cmake.in
+  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3DConfig.cmake"
+  PATH_VARS DYNAMICEDT3D_INCLUDE_DIRS DYNAMICEDT3D_LIB_DIR
+  INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/dynamicEDT3D)
+
+WRITE_BASIC_PACKAGE_VERSION_FILE(
+  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3DConfig-version.cmake"
+  VERSION ${DYNAMICEDT3D_VERSION}
+  COMPATIBILITY AnyNewerVersion)
 
 # Install the export set for use with the install-tree
 #install(EXPORT FooBarLibraryDepends DESTINATION
@@ -111,10 +119,18 @@ configure_file(dynamicEDT3DConfig-version.cmake.in
 set(DYNAMICEDT3D_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
 set(DYNAMICEDT3D_LIB_DIR "${CMAKE_INSTALL_PREFIX}/lib")
 #set(DYNAMICEDT3D_CMAKE_DIR "${INSTALL_DATA_DIR}/FooBar/CMake")
-configure_file(dynamicEDT3DConfig.cmake.in
-  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig.cmake" @ONLY)
-configure_file(dynamicEDT3DConfig-version.cmake.in
-  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig-version.cmake" @ONLY)
+
+CONFIGURE_PACKAGE_CONFIG_FILE(
+  dynamicEDT3DConfig.cmake.in
+  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig.cmake"
+  PATH_VARS DYNAMICEDT3D_INCLUDE_DIRS DYNAMICEDT3D_LIB_DIR
+  INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/dynamicEDT3D)
+
+WRITE_BASIC_PACKAGE_VERSION_FILE(
+  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig-version.cmake"
+  VERSION ${DYNAMICEDT3D_VERSION}
+  COMPATIBILITY AnyNewerVersion)
+
 install(FILES
   "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig.cmake"
   "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig-version.cmake" 
diff --git a/dynamicEDT3D/dynamicEDT3DConfig-version.cmake.in b/dynamicEDT3D/dynamicEDT3DConfig-version.cmake.in
deleted file mode 100644
index 722ebb3d..00000000
--- a/dynamicEDT3D/dynamicEDT3DConfig-version.cmake.in
+++ /dev/null
@@ -1,11 +0,0 @@
-set(PACKAGE_VERSION "@DYNAMICEDT3D_VERSION@")
- 
-# Check whether the requested PACKAGE_FIND_VERSION is compatible
-if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
-  set(PACKAGE_VERSION_COMPATIBLE FALSE)
-else()
-  set(PACKAGE_VERSION_COMPATIBLE TRUE)
-  if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}")
-    set(PACKAGE_VERSION_EXACT TRUE)
-  endif()
-endif()
\ No newline at end of file
diff --git a/dynamicEDT3D/dynamicEDT3DConfig.cmake.in b/dynamicEDT3D/dynamicEDT3DConfig.cmake.in
index 9cd3df84..5055b589 100644
--- a/dynamicEDT3D/dynamicEDT3DConfig.cmake.in
+++ b/dynamicEDT3D/dynamicEDT3DConfig.cmake.in
@@ -1,5 +1,4 @@
 # - Config file for the dynamicEDT3D package
-# (example from http://www.vtk.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file)
 #
 #  Usage from an external project:
 #    In your CMakeLists.txt, add these lines:
@@ -12,12 +11,14 @@
 #  DYNAMICEDT3D_INCLUDE_DIRS - include directories for dynamicEDT3D
 #  DYNAMICEDT3D_LIBRARY_DIRS - library directories for dynamicEDT3D (normally not used!)
 #  DYNAMICEDT3D_LIBRARIES    - libraries to link against
- 
+
+@PACKAGE_INIT@
+
 # Tell the user project where to find our headers and libraries
-set(DYNAMICEDT3D_INCLUDE_DIRS "@DYNAMICEDT3D_INCLUDE_DIRS@")
-set(DYNAMICEDT3D_LIBRARY_DIRS "@DYNAMICEDT3D_LIB_DIR@")
- 
+set(DYNAMICEDT3D_INCLUDE_DIRS "@PACKAGE_DYNAMICEDT3D_INCLUDE_DIRS@")
+set(DYNAMICEDT3D_LIBRARY_DIRS "@PACKAGE_DYNAMICEDT3D_LIB_DIR@")
+
 # Our library dependencies (contains definitions for IMPORTED targets)
 # include("@FOOBAR_CMAKE_DIR@/FooBarLibraryDepends.cmake")
- 
-set(DYNAMICEDT3D_LIBRARIES "@DYNAMICEDT3D_LIB_DIR@/@DYNAMICEDT3D_LIBRARY@")
+
+set(DYNAMICEDT3D_LIBRARIES "@PACKAGE_DYNAMICEDT3D_LIB_DIR@/@DYNAMICEDT3D_LIBRARY@")
diff --git a/octomap/CMakeLists.txt b/octomap/CMakeLists.txt
index fcafca18..1ba3417f 100644
--- a/octomap/CMakeLists.txt
+++ b/octomap/CMakeLists.txt
@@ -1,4 +1,4 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8.8)
 PROJECT( octomap )
 
 ENABLE_TESTING()
@@ -103,11 +103,18 @@ ENDIF()
 
 # not used right now (export depends?)
 #set(OCTOMAP_CMAKE_DIR "${PROJECT_BINARY_DIR}")
-configure_file(octomap-config.cmake.in
-  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap/octomap-config.cmake" @ONLY)
-configure_file(octomap-config-version.cmake.in
-  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap/octomap-config-version.cmake" @ONLY)
+include(CMakePackageConfigHelpers)
 
+CONFIGURE_PACKAGE_CONFIG_FILE(
+  octomap-config.cmake.in
+  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap/octomap-config.cmake"
+  PATH_VARS OCTOMAP_INCLUDE_DIRS OCTOMAP_LIB_DIR
+  INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/octomap)
+
+WRITE_BASIC_PACKAGE_VERSION_FILE(
+  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap/octomap-config-version.cmake"
+  VERSION ${OCTOMAP_VERSION}
+  COMPATIBILITY AnyNewerVersion)
 
 # Create a octomap-config.cmake file for the use from the install tree
 # and install it
@@ -115,10 +122,17 @@ set(OCTOMAP_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
 set(OCTOMAP_LIB_DIR "${CMAKE_INSTALL_PREFIX}/lib")
 #set(OCTOMAP_CMAKE_DIR "${INSTALL_DATA_DIR}/FooBar/CMake")
 
-configure_file(octomap-config.cmake.in
-  "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config.cmake" @ONLY)
-configure_file(octomap-config-version.cmake.in
-  "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config-version.cmake" @ONLY)
+CONFIGURE_PACKAGE_CONFIG_FILE(
+  octomap-config.cmake.in
+  "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config.cmake"
+  PATH_VARS OCTOMAP_INCLUDE_DIRS OCTOMAP_LIB_DIR
+  INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/octomap)
+
+WRITE_BASIC_PACKAGE_VERSION_FILE(
+  ${PROJECT_BINARY_DIR}/InstallFiles/octomap-config-version.cmake
+  VERSION ${OCTOMAP_VERSION}
+  COMPATIBILITY AnyNewerVersion)
+
 install(FILES
   "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config.cmake"
   "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config-version.cmake" 
diff --git a/octomap/octomap-config-version.cmake.in b/octomap/octomap-config-version.cmake.in
deleted file mode 100644
index c1a11734..00000000
--- a/octomap/octomap-config-version.cmake.in
+++ /dev/null
@@ -1,11 +0,0 @@
-set(PACKAGE_VERSION "@OCTOMAP_VERSION@")
- 
-# Check whether the requested PACKAGE_FIND_VERSION is compatible
-if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
-  set(PACKAGE_VERSION_COMPATIBLE FALSE)
-else()
-  set(PACKAGE_VERSION_COMPATIBLE TRUE)
-  if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}")
-    set(PACKAGE_VERSION_EXACT TRUE)
-  endif()
-endif()
\ No newline at end of file
diff --git a/octomap/octomap-config.cmake.in b/octomap/octomap-config.cmake.in
index 2f5ba8c5..5ab5dee4 100644
--- a/octomap/octomap-config.cmake.in
+++ b/octomap/octomap-config.cmake.in
@@ -17,18 +17,16 @@
 #                                 LINK_DIRECTORIES with this path is NOT needed.
 #      - OCTOMAP_INCLUDE_DIRS   : The OctoMap include directories.
 #
-# Based on the example CMake Tutorial
-# http://www.vtk.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file
-# and OpenCVConfig.cmake.in from OpenCV
 # ===================================================================================
 
- 
-set(OCTOMAP_INCLUDE_DIRS "@OCTOMAP_INCLUDE_DIRS@")
-set(OCTOMAP_LIBRARY_DIRS "@OCTOMAP_LIB_DIR@")
+@PACKAGE_INIT@
+
+set(OCTOMAP_INCLUDE_DIRS "@PACKAGE_OCTOMAP_INCLUDE_DIRS@")
+set(OCTOMAP_LIBRARY_DIRS "@PACKAGE_OCTOMAP_LIB_DIR@")
  
 
 # Set library names
 set(OCTOMAP_LIBRARIES 
-  "@OCTOMAP_LIB_DIR@/@OCTOMAP_LIBRARY@"
-  "@OCTOMAP_LIB_DIR@/@OCTOMATH_LIBRARY@"
+  "@PACKAGE_OCTOMAP_LIB_DIR@/@OCTOMAP_LIBRARY@"
+  "@PACKAGE_OCTOMAP_LIB_DIR@/@OCTOMATH_LIBRARY@"
 )
diff --git a/octovis/CMakeLists.txt b/octovis/CMakeLists.txt
index 87fb9a51..8d1a0636 100644
--- a/octovis/CMakeLists.txt
+++ b/octovis/CMakeLists.txt
@@ -1,4 +1,4 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8.8)
 PROJECT( octovis )
 
 # # version (e.g. for packaging)
@@ -61,6 +61,7 @@ SET( BUILD_VIEWER 0)
 # Look for required libraries:
 FIND_PACKAGE(OpenGL)
 FIND_PACKAGE(Qt4)
+
 IF (OpenGL-NOTFOUND OR Qt4-NOTFOUND) 
 	MESSAGE ( "OpenGL and QT4 are required for octovis but could not be found.")	
 ELSE()
@@ -84,7 +85,7 @@ IF(BUILD_VIEWER)
   INCLUDE( CMakeLists_src.txt )
     
   # Create an octovis-config.cmake file for the use from the build tree
-  set(OCTOVIS_INCLUDE_DIR "${INCLUDE_DIRS}")
+  set(OCTOVIS_INCLUDE_DIRS "${INCLUDE_DIRS}")
   set(OCTOVIS_LIB_DIR     "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
   # Set library names as absolute paths
   # Windows, spec. MSVC requires the .lib suffix for imported libs
@@ -98,28 +99,44 @@ IF(BUILD_VIEWER)
     )
   ENDIF()
 
+  include(CMakePackageConfigHelpers)
+
+  CONFIGURE_PACKAGE_CONFIG_FILE(
+    octovis-config.cmake.in
+    "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octovis/octovis-config.cmake"
+    PATH_VARS OCTOVIS_INCLUDE_DIRS OCTOVIS_LIB_DIR
+    INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/octovis)
+
+  WRITE_BASIC_PACKAGE_VERSION_FILE(
+    "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octovis/octovis-config-version.cmake"
+    VERSION ${OCTOVIS_VERSION}
+    COMPATIBILITY AnyNewerVersion)
+
   # not used right now (export depends?)
   #set(OCTOMAP_CMAKE_DIR "${PROJECT_BINARY_DIR}")
-  configure_file(octovis-config.cmake.in
-    "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octovis/octovis-config.cmake" @ONLY)
-  configure_file(octovis-config-version.cmake.in
-    "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octovis/octovis-config-version.cmake" @ONLY)  
     
   # Create a octovis-config.cmake file for the use from the install tree
   # and install it
   set(OCTOVIS_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
   set(OCTOVIS_LIB_DIR "${CMAKE_INSTALL_PREFIX}/lib")
   #set(OCTOMAP_CMAKE_DIR "${INSTALL_DATA_DIR}/FooBar/CMake")
-  configure_file(octovis-config.cmake.in
-    "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config.cmake" @ONLY)
-  configure_file(octovis-config-version.cmake.in
-    "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config-version.cmake" @ONLY)
+
+  CONFIGURE_PACKAGE_CONFIG_FILE(
+    octovis-config.cmake.in
+    "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config.cmake"
+    PATH_VARS OCTOVIS_INCLUDE_DIRS OCTOVIS_LIB_DIR
+    INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/octovis)
+
+  WRITE_BASIC_PACKAGE_VERSION_FILE(
+    "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config-version.cmake"
+    VERSION ${OCTOVIS_VERSION}
+    COMPATIBILITY AnyNewerVersion)
+
   install(FILES
     "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config.cmake"
     "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config-version.cmake" 
     DESTINATION share/octovis/)
-    
-    
+
   # #installation:
   # # store all header files to install:
   file(GLOB octovis_HDRS  *.h *.hxx *.hpp)
diff --git a/octovis/octovis-config-version.cmake.in b/octovis/octovis-config-version.cmake.in
deleted file mode 100644
index c8263826..00000000
--- a/octovis/octovis-config-version.cmake.in
+++ /dev/null
@@ -1,11 +0,0 @@
-set(PACKAGE_VERSION "@OCTOVIS_VERSION@")
- 
-# Check whether the requested PACKAGE_FIND_VERSION is compatible
-if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
-  set(PACKAGE_VERSION_COMPATIBLE FALSE)
-else()
-  set(PACKAGE_VERSION_COMPATIBLE TRUE)
-  if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}")
-    set(PACKAGE_VERSION_EXACT TRUE)
-  endif()
-endif()
\ No newline at end of file
diff --git a/octovis/octovis-config.cmake.in b/octovis/octovis-config.cmake.in
index 89425d5d..7969b521 100644
--- a/octovis/octovis-config.cmake.in
+++ b/octovis/octovis-config.cmake.in
@@ -1,17 +1,17 @@
-# - Config file for the OctoMap package
-# (example from http://www.vtk.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file)
 # It defines the following variables
 #  OCTOVIS_INCLUDE_DIRS - include directories for OctoMap viewer
 #  OCTOVIS_LIBRARY_DIRS - library directories for OctoMap viewer 
 #  OCTOVIS_LIBRARIES    - libraries to link against
  
-set(OCTOVIS_INCLUDE_DIRS "@QGLViewer_INCLUDE_DIR@" "@OCTOVIS_INCLUDE_DIR@")
-set(OCTOVIS_LIBRARY_DIRS "@QGLViewer_LIBRARY_DIR@" "@OCTOVIS_LIB_DIR@")
+@PACKAGE_INIT@
+
+set(OCTOVIS_INCLUDE_DIRS "@QGLViewer_INCLUDE_DIR@" "@PACKAGE_OCTOVIS_INCLUDE_DIRS@")
+set(OCTOVIS_LIBRARY_DIRS "@QGLViewer_LIBRARY_DIR@" "@PACKAGE_OCTOVIS_LIB_DIR@")
 
 
 # Set library names as absolute paths:
 set(OCTOVIS_LIBRARIES
   "@QGLViewer_LIBRARIES@"
   "@QT_LIBRARIES@"
-  "@OCTOVIS_LIB_DIR@/@OCTOVIS_LIBRARY@"
+  "@PACKAGE_OCTOVIS_LIB_DIR@/@OCTOVIS_LIBRARY@"
 )