diff --git a/CMakeLists.txt b/CMakeLists.txt
index b5330130..424cf3f9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required( VERSION 3.5 FATAL_ERROR )
-project (urdfdom CXX C)
+project (urdfdom CXX)
 
 set (URDF_MAJOR_VERSION 4)
 set (URDF_MINOR_VERSION 0)
@@ -12,6 +12,8 @@ message (STATUS "${PROJECT_NAME} version ${URDF_VERSION}")
 
 include(GNUInstallDirs)
 
+option(BUILD_APPS "Build applications" ON)
+option(USE_VENDORED_DEPS "Use vendored dependencies" ON)
 option(APPEND_PROJECT_NAME_TO_INCLUDEDIR
   "When ON headers are installed to a folder ending with an extra ${PROJECT_NAME}. \
   This avoids include directory search order issues when overriding this package
@@ -27,8 +29,8 @@ if (NOT CMAKE_BUILD_TYPE)
 endif()
 
 # If compiler support symbol visibility, enable it.
-include(CheckCCompilerFlag)
-check_c_compiler_flag(-fvisibility=hidden HAS_VISIBILITY)
+include(CheckCXXCompilerFlag)
+check_cxx_compiler_flag(-fvisibility=hidden HAS_VISIBILITY)
 if (HAS_VISIBILITY)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fvisibility=hidden")
 endif()
@@ -41,15 +43,17 @@ endif()
 # with MSVC being set off, but MSVCXX ON.
 if(MSVC OR MSVC90 OR MSVC10)
   set(MSVC ON)
-endif (MSVC OR MSVC90 OR MSVC10)
+endif()
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
-find_package(tinyxml2_vendor QUIET)
-find_package(TinyXML2 REQUIRED)
-
 find_package(urdfdom_headers 1.0 REQUIRED)
-find_package(console_bridge_vendor QUIET) # Provides console_bridge 0.4.0 on platforms without it.
+
+if(USE_VENDORED_DEPS)
+  find_package(tinyxml2_vendor QUIET)
+  find_package(console_bridge_vendor QUIET) # Provides console_bridge 0.4.0 on platforms without it.
+endif()
+find_package(TinyXML2 REQUIRED)
 find_package(console_bridge REQUIRED)
 
 # Control where libraries and executables are placed during the build
@@ -67,7 +71,6 @@ add_subdirectory(urdf_parser)
 
 set(PKG_NAME ${PROJECT_NAME})
 set(PKG_LIBRARIES urdfdom_sensor urdfdom_model_state urdfdom_model urdfdom_world)
-set(PKG_DEPENDS urdfdom_headers)
 set(PKG_EXPORTS urdfdom)
 set(cmake_conf_file "cmake/urdfdom-config")
 include(CMakePackageConfigHelpers)
@@ -79,6 +82,7 @@ write_basic_package_version_file(
 configure_package_config_file("${cmake_conf_file}.cmake.in"
   "${CMAKE_CURRENT_BINARY_DIR}/${cmake_conf_file}.cmake"
   INSTALL_DESTINATION ${CMAKE_CONFIG_INSTALL_DIR}
+  PATH_VARS CMAKE_INSTALL_INCLUDEDIR CMAKE_INSTALL_LIBDIR
 )
 install(FILES
   "${CMAKE_CURRENT_BINARY_DIR}/${cmake_conf_file}.cmake"
@@ -108,6 +112,6 @@ add_custom_target(uninstall
 
 message(STATUS "Configuration successful. Type make to compile urdfdom")
 
-SET_DIRECTORY_PROPERTIES(PROPERTIES
-  ADDITIONAL_MAKE_CLEAN_FILES ${CMAKE_BINARY_DIR}/cmake/urdfdom-config.cmake
-  ADDITIONAL_MAKE_CLEAN_FILES ${CMAKE_BINARY_DIR}/cmake/pkgconfig/urdfdom.pc)
+set_directory_properties(PROPERTIES
+  ADDITIONAL_CLEAN_FILES ${CMAKE_BINARY_DIR}/cmake/urdfdom-config.cmake
+  ADDITIONAL_CLEAN_FILES ${CMAKE_BINARY_DIR}/cmake/pkgconfig/urdfdom.pc)
diff --git a/cmake/urdfdom-config.cmake.in b/cmake/urdfdom-config.cmake.in
index ee84f41d..51802e08 100644
--- a/cmake/urdfdom-config.cmake.in
+++ b/cmake/urdfdom-config.cmake.in
@@ -5,47 +5,29 @@ if (@PKG_NAME@_CONFIG_INCLUDED)
 endif()
 set(@PKG_NAME@_CONFIG_INCLUDED TRUE)
 
-set(CMAKE_MODULE_PATH_BACKUP_URDFDOM ${CMAKE_MODULE_PATH})
-list(APPEND CMAKE_MODULE_PATH "${@PROJECT_NAME@_DIR}")
-
-set(@PKG_NAME@_INCLUDE_DIRS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_INCLUDEDIR@")
+set(@PKG_NAME@_INCLUDE_DIRS "@PACKAGE_CMAKE_INSTALL_INCLUDEDIR@")
+if(@APPEND_PROJECT_NAME_TO_INCLUDEDIR@)
+  list(APPEND @PKG_NAME@_INCLUDE_DIRS "@PACKAGE_CMAKE_INSTALL_INCLUDEDIR@/..")
+endif()
 
 foreach(lib @PKG_LIBRARIES@)
-  set(onelib "${lib}-NOTFOUND")
-  set(onelibd "${lib}-NOTFOUND")
-  find_library(onelib ${lib}
-    PATHS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_LIBDIR@"
-    NO_DEFAULT_PATH)
-  find_library(onelibd ${lib}d
-    PATHS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_LIBDIR@"
-    NO_DEFAULT_PATH)
-  if(onelib-NOTFOUND AND onelibd-NOTFOUND)
-    message(FATAL_ERROR "Library '${lib}' in package @PKG_NAME@ is not installed properly")
-  endif()
-  if(onelib AND onelibd)
-    list(APPEND @PKG_NAME@_LIBRARIES $<$<NOT:$<CONFIG:Debug>>:${onelib}>)
-    list(APPEND @PKG_NAME@_LIBRARIES $<$<CONFIG:Debug>:${onelibd}>)
-  else()
-    if(onelib)
-      list(APPEND @PKG_NAME@_LIBRARIES ${onelib})
-    else()
-      list(APPEND @PKG_NAME@_LIBRARIES ${onelibd})
-    endif()
-  endif()
   list(APPEND @PKG_NAME@_TARGETS @PROJECT_NAME@::${lib})
 endforeach()
 
-find_package(tinyxml2_vendor QUIET)
-foreach(dep @PKG_DEPENDS@)
-  if(NOT ${dep}_FOUND)
-    find_package(${dep})
-  endif()
-  list(APPEND @PKG_NAME@_INCLUDE_DIRS ${${dep}_INCLUDE_DIRS})
-  list(APPEND @PKG_NAME@_LIBRARIES ${${dep}_LIBRARIES})
-endforeach()
+include(CMakeFindDependencyMacro)
+if(@USE_VENDORED_DEPS@)
+  find_dependency(tinyxml2_vendor QUIET)
+  find_dependency(console_bridge_vendor QUIET)
+else()
+  find_dependency(TinyXML2 REQUIRED)
+  find_dependency(console_bridge REQUIRED)
+endif()
+
+find_dependency(urdfdom_headers REQUIRED)
+list(APPEND @PKG_NAME@_INCLUDE_DIRS "${urdfdom_headers_INCLUDE_DIRS}")
 
 foreach(exp @PKG_EXPORTS@)
   include(${@PROJECT_NAME@_DIR}/${exp}Export.cmake)
 endforeach()
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH_BACKUP_URDFDOM})
+set(@PKG_NAME@_LIBRARIES ${@PKG_NAME@_TARGETS})
diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
index 20a6a050..610f6e94 100644
--- a/urdf_parser/CMakeLists.txt
+++ b/urdf_parser/CMakeLists.txt
@@ -22,6 +22,9 @@ macro(add_urdfdom_library)
   set_target_properties(${add_urdfdom_library_LIBNAME} PROPERTIES
     DEFINE_SYMBOL URDFDOM_EXPORTS
     SOVERSION ${URDF_MAJOR_MINOR_VERSION})
+  if(MSVC)
+    target_compile_definitions(${add_urdfdom_library_LIBNAME} PUBLIC _USE_MATH_DEFINES)
+  endif()
 endmacro()
 
 if(TARGET console_bridge::console_bridge)
@@ -80,41 +83,44 @@ target_link_libraries(urdf_parser INTERFACE
   urdfdom::urdfdom_world)
 
 # --------------------------------
+if(BUILD_APPS)
+  add_executable(check_urdf src/check_urdf.cpp)
+  target_include_directories(check_urdf PUBLIC include)
+  target_link_libraries(check_urdf urdfdom_model urdfdom_world)
+
+  # Deprecated executable
+  add_executable(urdf_to_graphiz src/urdf_to_graphviz.cpp)
+  target_link_libraries(urdf_to_graphiz urdfdom_model)
+
+  add_executable(urdf_to_graphviz src/urdf_to_graphviz.cpp)
+  target_include_directories(urdf_to_graphviz PUBLIC include)
+  target_link_libraries(urdf_to_graphviz urdfdom_model)
+
+  # urdf_mem_test is a binary for testing, not a unit test
+  add_executable(urdf_mem_test test/memtest.cpp)
+  target_include_directories(urdf_mem_test PUBLIC include)
+  target_link_libraries(urdf_mem_test urdfdom_model)
+endif()
 
-add_executable(check_urdf src/check_urdf.cpp)
-target_include_directories(check_urdf PUBLIC include)
-target_link_libraries(check_urdf urdfdom_model urdfdom_world)
-
-# Deprecated executable
-add_executable(urdf_to_graphiz src/urdf_to_graphviz.cpp)
-target_link_libraries(urdf_to_graphiz urdfdom_model)
-
-add_executable(urdf_to_graphviz src/urdf_to_graphviz.cpp)
-target_include_directories(urdf_to_graphviz PUBLIC include)
-target_link_libraries(urdf_to_graphviz urdfdom_model)
-
-# urdf_mem_test is a binary for testing, not a unit test
-add_executable(urdf_mem_test test/memtest.cpp)
-target_include_directories(urdf_mem_test PUBLIC include)
-target_link_libraries(urdf_mem_test urdfdom_model)
-
-include(CTest)
 if(BUILD_TESTING)
+  include(CTest)
   # TODO: check Shane's comment https://github.com/ros/urdfdom/pull/157/files#r664960227
   add_subdirectory(test)
 endif()
 
-INSTALL(
-  TARGETS
-  check_urdf
-  urdf_to_graphiz
-  urdf_to_graphviz
-  urdf_mem_test
-  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
-  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
-)
-INSTALL(
+if(BUILD_APPS)
+  install(
+    TARGETS
+    check_urdf
+    urdf_to_graphiz
+    urdf_to_graphviz
+    urdf_mem_test
+    RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  )
+endif()
+install(
   TARGETS
   urdfdom_model
   urdfdom_world
@@ -134,4 +140,4 @@ install(
   FILE "urdfdomExport.cmake"
 )
 
-INSTALL(DIRECTORY include/urdf_parser DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+install(DIRECTORY include/urdf_parser DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})