diff --git a/background_processing/CMakeLists.txt b/background_processing/CMakeLists.txt
index 567093a2..a3d6af65 100644
--- a/background_processing/CMakeLists.txt
+++ b/background_processing/CMakeLists.txt
@@ -10,4 +10,4 @@ install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/backtrace/CMakeLists.txt b/backtrace/CMakeLists.txt
index 51e315a7..70f02062 100644
--- a/backtrace/CMakeLists.txt
+++ b/backtrace/CMakeLists.txt
@@ -1,2 +1 @@
-install(DIRECTORY include/
-  DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/collision_detection/CMakeLists.txt b/collision_detection/CMakeLists.txt
index 9d5b4627..71703403 100644
--- a/collision_detection/CMakeLists.txt
+++ b/collision_detection/CMakeLists.txt
@@ -26,9 +26,7 @@ endif()
 
 
 install(TARGETS ${MOVEIT_LIB_NAME}
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib)
-
-install(DIRECTORY include/
-  DESTINATION include)
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/collision_detection_fcl/CMakeLists.txt b/collision_detection_fcl/CMakeLists.txt
index 36841cb8..df685149 100644
--- a/collision_detection_fcl/CMakeLists.txt
+++ b/collision_detection_fcl/CMakeLists.txt
@@ -10,10 +10,10 @@ target_link_libraries(${MOVEIT_LIB_NAME} moveit_collision_detection ${catkin_LIB
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib)
-install(DIRECTORY include/
-  DESTINATION include)
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
   catkin_add_gtest(test_fcl_collision_detection test/test_fcl_collision_detection.cpp)
diff --git a/constraint_samplers/CMakeLists.txt b/constraint_samplers/CMakeLists.txt
index 9258fcd2..e69971b5 100644
--- a/constraint_samplers/CMakeLists.txt
+++ b/constraint_samplers/CMakeLists.txt
@@ -17,11 +17,10 @@ target_link_libraries(${MOVEIT_LIB_NAME}
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib)
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
-install(DIRECTORY include/
-  DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
   find_package(orocos_kdl REQUIRED)
diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
index 3aa21699..70f02062 100644
--- a/controller_manager/CMakeLists.txt
+++ b/controller_manager/CMakeLists.txt
@@ -1 +1 @@
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/distance_field/CMakeLists.txt b/distance_field/CMakeLists.txt
index 86298884..487c869b 100644
--- a/distance_field/CMakeLists.txt
+++ b/distance_field/CMakeLists.txt
@@ -10,11 +10,10 @@ target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${console_bridge_LI
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib)
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
-install(DIRECTORY include/
-  DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
   catkin_add_gtest(test_voxel_grid test/test_voxel_grid.cpp)
diff --git a/dynamics_solver/CMakeLists.txt b/dynamics_solver/CMakeLists.txt
index ea8c3b85..01b15702 100644
--- a/dynamics_solver/CMakeLists.txt
+++ b/dynamics_solver/CMakeLists.txt
@@ -7,8 +7,7 @@ target_link_libraries(${MOVEIT_LIB_NAME} moveit_robot_state ${catkin_LIBRARIES}
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib)
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
-install(DIRECTORY include/
-  DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/exceptions/CMakeLists.txt b/exceptions/CMakeLists.txt
index 73235e3c..7e6a57e5 100644
--- a/exceptions/CMakeLists.txt
+++ b/exceptions/CMakeLists.txt
@@ -5,6 +5,6 @@ add_library(${MOVEIT_LIB_NAME} src/exceptions.cpp)
 target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${console_bridge_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib)
-install(DIRECTORY include/ DESTINATION include)
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/kinematic_constraints/CMakeLists.txt b/kinematic_constraints/CMakeLists.txt
index 64694692..1d8e2838 100644
--- a/kinematic_constraints/CMakeLists.txt
+++ b/kinematic_constraints/CMakeLists.txt
@@ -10,11 +10,10 @@ target_link_libraries(${MOVEIT_LIB_NAME}
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib)
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
-install(DIRECTORY include/
-  DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
   catkin_add_gtest(test_constraints test/test_constraints.cpp)
diff --git a/kinematics_base/CMakeLists.txt b/kinematics_base/CMakeLists.txt
index 044da70f..f3ee2272 100644
--- a/kinematics_base/CMakeLists.txt
+++ b/kinematics_base/CMakeLists.txt
@@ -9,9 +9,7 @@ add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${console_bridge_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib)
-
-install(DIRECTORY include/
-  DESTINATION include)
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/kinematics_metrics/CMakeLists.txt b/kinematics_metrics/CMakeLists.txt
index 678f5caf..cd0ce4df 100644
--- a/kinematics_metrics/CMakeLists.txt
+++ b/kinematics_metrics/CMakeLists.txt
@@ -7,8 +7,7 @@ target_link_libraries(${MOVEIT_LIB_NAME} moveit_robot_state ${catkin_LIBRARIES}
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib)
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
-install(DIRECTORY include/
-  DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/macros/CMakeLists.txt b/macros/CMakeLists.txt
index 51e315a7..70f02062 100644
--- a/macros/CMakeLists.txt
+++ b/macros/CMakeLists.txt
@@ -1,2 +1 @@
-install(DIRECTORY include/
-  DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/planning_interface/CMakeLists.txt b/planning_interface/CMakeLists.txt
index 5a7998f5..9c542f2e 100644
--- a/planning_interface/CMakeLists.txt
+++ b/planning_interface/CMakeLists.txt
@@ -12,4 +12,4 @@ install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/planning_request_adapter/CMakeLists.txt b/planning_request_adapter/CMakeLists.txt
index 2427d58b..e0838d42 100644
--- a/planning_request_adapter/CMakeLists.txt
+++ b/planning_request_adapter/CMakeLists.txt
@@ -6,7 +6,7 @@ target_link_libraries(${MOVEIT_LIB_NAME} moveit_planning_scene ${catkin_LIBRARIE
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib)
-install(DIRECTORY include/
-  DESTINATION include)
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/planning_scene/CMakeLists.txt b/planning_scene/CMakeLists.txt
index 2dda1daf..05be5127 100644
--- a/planning_scene/CMakeLists.txt
+++ b/planning_scene/CMakeLists.txt
@@ -16,9 +16,9 @@ target_link_libraries(${MOVEIT_LIB_NAME}
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib)
-install(DIRECTORY include/ DESTINATION include)
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 if(CATKIN_ENABLE_TESTING)
   catkin_add_gtest(test_planning_scene test/test_planning_scene.cpp)
diff --git a/profiler/CMakeLists.txt b/profiler/CMakeLists.txt
index 4eaa8d6d..2848960f 100644
--- a/profiler/CMakeLists.txt
+++ b/profiler/CMakeLists.txt
@@ -6,6 +6,6 @@ add_library(${MOVEIT_LIB_NAME}
 target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${console_bridge_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib)
-install(DIRECTORY include/ DESTINATION include)
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/robot_model/CMakeLists.txt b/robot_model/CMakeLists.txt
index a6c9fa9d..0dee7cee 100644
--- a/robot_model/CMakeLists.txt
+++ b/robot_model/CMakeLists.txt
@@ -21,6 +21,6 @@ if(CATKIN_ENABLE_TESTING)
 endif()
 
 install(TARGETS ${MOVEIT_LIB_NAME}
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib)
-install(DIRECTORY include/ DESTINATION include)
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/robot_state/CMakeLists.txt b/robot_state/CMakeLists.txt
index 9e0efa3b..bec25815 100644
--- a/robot_state/CMakeLists.txt
+++ b/robot_state/CMakeLists.txt
@@ -11,9 +11,9 @@ target_link_libraries(${MOVEIT_LIB_NAME} moveit_robot_model moveit_kinematics_ba
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib)
-install(DIRECTORY include/ DESTINATION include)
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 # Unit tests
 if(CATKIN_ENABLE_TESTING)
diff --git a/robot_trajectory/CMakeLists.txt b/robot_trajectory/CMakeLists.txt
index a06043e4..bfb48e61 100644
--- a/robot_trajectory/CMakeLists.txt
+++ b/robot_trajectory/CMakeLists.txt
@@ -11,4 +11,4 @@ install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/sensor_manager/CMakeLists.txt b/sensor_manager/CMakeLists.txt
index 3aa21699..70f02062 100644
--- a/sensor_manager/CMakeLists.txt
+++ b/sensor_manager/CMakeLists.txt
@@ -1 +1 @@
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/trajectory_processing/CMakeLists.txt b/trajectory_processing/CMakeLists.txt
index 2a38612a..5b5d21e0 100644
--- a/trajectory_processing/CMakeLists.txt
+++ b/trajectory_processing/CMakeLists.txt
@@ -9,8 +9,7 @@ target_link_libraries(${MOVEIT_LIB_NAME} moveit_robot_state moveit_robot_traject
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib)
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
-install(DIRECTORY include/
-  DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
diff --git a/transforms/CMakeLists.txt b/transforms/CMakeLists.txt
index 9279ae0c..f73ae4f4 100644
--- a/transforms/CMakeLists.txt
+++ b/transforms/CMakeLists.txt
@@ -8,9 +8,9 @@ target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${console_bridge_LI
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib)
-install(DIRECTORY include/ DESTINATION include)
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 # Unit tests
 if(CATKIN_ENABLE_TESTING)