diff --git a/dynamicEDT3D/src/CMakeLists.txt b/dynamicEDT3D/src/CMakeLists.txt
index 0b9357c..bbef680 100644
--- a/dynamicEDT3D/src/CMakeLists.txt
+++ b/dynamicEDT3D/src/CMakeLists.txt
@@ -2,35 +2,29 @@ SET( dynamicEDT3D_SRCS
    dynamicEDT3D.cpp
    )
 
-add_library(dynamicedt3d SHARED ${dynamicEDT3D_SRCS})
+add_library(dynamicedt3d ${dynamicEDT3D_SRCS})
 set_target_properties(dynamicedt3d PROPERTIES
   VERSION ${DYNAMICEDT3D_VERSION}
   SOVERSION ${DYNAMICEDT3D_SOVERSION}
 )
 target_link_libraries(dynamicedt3d ${OCTOMAP_LIBRARIES})
 
-add_library(dynamicedt3d-static STATIC ${dynamicEDT3D_SRCS})
-target_link_libraries(dynamicedt3d-static ${OCTOMAP_LIBRARIES})
-
-SET_TARGET_PROPERTIES(dynamicedt3d-static PROPERTIES OUTPUT_NAME "dynamicedt3d") 
-
 if(NOT EXISTS "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D")
   file(MAKE_DIRECTORY "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D")
 endif()
 
-export(TARGETS dynamicedt3d dynamicedt3d-static
+export(TARGETS dynamicedt3d
   FILE "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3DTargets.cmake")
 
 # directly depend on the octomap library target when building the
 # complete distribution, so it it recompiled as needed
 if (CMAKE_PROJECT_NAME STREQUAL "octomap-distribution")
-  ADD_DEPENDENCIES(dynamicedt3d-static octomap-static)
   ADD_DEPENDENCIES(dynamicedt3d octomap)
 endif()
 
-ADD_SUBDIRECTORY(examples)
 
-install(TARGETS dynamicedt3d dynamicedt3d-static
+
+install(TARGETS dynamicedt3d
   EXPORT dynamicEDT3DTargets
   INCLUDES DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}"
   ${INSTALL_TARGETS_DEFAULT_ARGS}
diff --git a/octomap/CMakeLists.txt b/octomap/CMakeLists.txt
index 87a78e9..edae7f1 100644
--- a/octomap/CMakeLists.txt
+++ b/octomap/CMakeLists.txt
@@ -161,7 +161,7 @@ install_pkg_config_file(octomap
     VERSION ${OCTOMAP_VERSION})
 
 # Documentation
-FIND_PACKAGE(Doxygen)
+
 IF(DOXYGEN_FOUND)
   configure_file(${CMAKE_CURRENT_SOURCE_DIR}/octomap.dox.in ${CMAKE_CURRENT_BINARY_DIR}/octomap.dox @ONLY)
   ADD_CUSTOM_TARGET(docs ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/octomap.dox
diff --git a/octomap/src/CMakeLists.txt b/octomap/src/CMakeLists.txt
index 45b384f..837fee8 100644
--- a/octomap/src/CMakeLists.txt
+++ b/octomap/src/CMakeLists.txt
@@ -11,14 +11,11 @@ SET (octomap_SRCS
   )
 
 # dynamic and static libs, see CMake FAQ:
-ADD_LIBRARY( octomap SHARED ${octomap_SRCS})
+ADD_LIBRARY( octomap ${octomap_SRCS})
 set_target_properties( octomap PROPERTIES
   VERSION ${OCTOMAP_VERSION}
   SOVERSION ${OCTOMAP_SOVERSION}
 )
-ADD_LIBRARY( octomap-static STATIC ${octomap_SRCS})
-SET_TARGET_PROPERTIES(octomap-static PROPERTIES OUTPUT_NAME "octomap") 
-add_dependencies(octomap-static octomath-static)
 
 TARGET_LINK_LIBRARIES(octomap octomath)
 
@@ -26,10 +23,10 @@ if(NOT EXISTS "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap")
   file(MAKE_DIRECTORY "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap")
 endif()
 
-export(TARGETS octomap octomap-static
+export(TARGETS octomap
   APPEND FILE "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap/octomap-targets.cmake")
 
-ADD_SUBDIRECTORY( testing )
+
 
 ADD_EXECUTABLE(graph2tree graph2tree.cpp)
 TARGET_LINK_LIBRARIES(graph2tree octomap)
@@ -67,7 +64,7 @@ TARGET_LINK_LIBRARIES(intersection_example octomap)
 ADD_EXECUTABLE(octree2pointcloud octree2pointcloud.cpp)
 TARGET_LINK_LIBRARIES(octree2pointcloud octomap)
 
-install(TARGETS octomap octomap-static
+install(TARGETS octomap
   EXPORT octomap-targets
   INCLUDES DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}"
   ${INSTALL_TARGETS_DEFAULT_ARGS}
diff --git a/octomap/src/math/CMakeLists.txt b/octomap/src/math/CMakeLists.txt
index 3b47ec4..9a26c46 100644
--- a/octomap/src/math/CMakeLists.txt
+++ b/octomap/src/math/CMakeLists.txt
@@ -5,24 +5,21 @@ SET (octomath_SRCS
  )
 
 
-ADD_LIBRARY( octomath SHARED ${octomath_SRCS})
+ADD_LIBRARY( octomath ${octomath_SRCS})
 
 SET_TARGET_PROPERTIES( octomath PROPERTIES
   VERSION ${OCTOMAP_VERSION}
   SOVERSION ${OCTOMAP_SOVERSION}
 )
 
-ADD_LIBRARY( octomath-static STATIC ${octomath_SRCS})
-SET_TARGET_PROPERTIES(octomath-static PROPERTIES OUTPUT_NAME "octomath")
-
 if(NOT EXISTS "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap")
   file(MAKE_DIRECTORY "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap")
 endif()
 
-export(TARGETS octomath octomath-static
+export(TARGETS octomath
   APPEND FILE "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap/octomap-targets.cmake")
 
-install(TARGETS octomath octomath-static
+install(TARGETS octomath
   EXPORT octomap-targets
   INCLUDES DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}"
   ${INSTALL_TARGETS_DEFAULT_ARGS}