diff --git a/cmake/urdfdom_headers-config.cmake.in b/cmake/urdfdom_headers-config.cmake.in
--- a/cmake/urdfdom_headers-config.cmake.in
+++ b/cmake/urdfdom_headers-config.cmake.in
@@ -3,8 +3,8 @@ if (@PACKAGE_NAME@_CONFIG_INCLUDED)
 endif()
 set(@PACKAGE_NAME@_CONFIG_INCLUDED TRUE)
 
-set(@PACKAGE_NAME@_INCLUDE_DIRS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/include")
+set(@PACKAGE_NAME@_INCLUDE_DIRS "${CMAKE_CURRENT_LIST_DIR}/../../../include")
 
-include("${@PACKAGE_NAME@_DIR}/@PACKAGE_NAME@Export.cmake")
+include("${CMAKE_CURRENT_LIST_DIR}/@PACKAGE_NAME@Export.cmake")
 
 list(APPEND @PACKAGE_NAME@_TARGETS @PACKAGE_NAME@::@PACKAGE_NAME@)
diff --git a/CMakeLists.txt b/CMakeLists.txt
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -23,10 +23,10 @@ add_subdirectory(urdf_model_state)
 add_subdirectory(urdf_world)
 add_subdirectory(urdf_exception)
 
-if(WIN32 AND NOT CYGWIN)
+if(FALSE)
   set(CMAKE_CONFIG_INSTALL_DIR CMake)
 else()
-  set(CMAKE_CONFIG_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR}/${PROJECT_NAME}/cmake)
+  set(CMAKE_CONFIG_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME})
 endif()
 string(REGEX REPLACE "[^/]+" ".." RELATIVE_PATH_CMAKE_DIR_TO_PREFIX "${CMAKE_CONFIG_INSTALL_DIR}")