diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7f16d18..9e3e9c6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,151 +1,151 @@
 PROJECT(liboncilla C CXX)
 
 CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 SET(LIBNAME "oncilla")
 
 SET(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE)
 SET(LIBONCILLA_CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 
 SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 # CMake module path and modules
 FIND_PACKAGE(RSC REQUIRED)
 SET(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${RSC_CMAKE_MODULE_PATH}")
 MESSAGE(STATUS "RSC version: ${RSC_VERSION}")
 
 INCLUDE(CheckIncludeFileCXX)
 INCLUDE(InstallFilesRecursive)
 INCLUDE(EnableCoverageReport)
 INCLUDE(EnableSlocCount)
 INCLUDE(GenerateDoxygen)
 INCLUDE(GenerateCppcheck)
 INCLUDE(PedanticCompilerWarnings)
 
 FIND_PACKAGE(PkgConfig REQUIRED)
 
 SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 # --- user options ---
 OPTION(BUILD_TESTS "Decide whether unit-tests are built" ON)
 OPTION(BUILD_EXAMPLES "Decide whether the examples are built" ON)
 OPTION(BUILD_DOCS "Decide whether the docygen documentation is built" OFF)
 
 # Dependencies
 FIND_PACKAGE(Threads REQUIRED)
 MESSAGE(STATUS "Threading library: ${CMAKE_THREAD_LIBS_INIT}")
 
 set(OLD_CXX_FLAGS ${CMAKE_CXX_FLAGS})
 FIND_PACKAGE(NemoMath REQUIRED)
 MESSAGE(STATUS "NemoMath version: ${NemoMath_VERSION}")
 set(CMAKE_CXX_FLAGS ${OLD_CXX_FLAGS})
 
 FIND_PACKAGE(RCI REQUIRED)
 MESSAGE(STATUS "RCI version: ${RCI_VERSION}")
 
 # --- global definitions ---
 SET(LIBONCILLA_NAME "${LIBNAME}")
 SET(DRIVER_TEST_NAME "OncillaTest")
 SET(NODE_TEST_NAME "${DRIVER_TEST_NAME}Nodes")
 SET(LIBONCILLA_VERSION_MAJOR 0)
 SET(LIBONCILLA_VERSION_MINOR 2)
 SET(LIBONCILLA_VERSION_PATCH 0)
 SET(LIBONCILLA_VERSION_STRING "${LIBONCILLA_VERSION_MAJOR}.${LIBONCILLA_VERSION_MINOR}.${LIBONCILLA_VERSION_PATCH}")
 SET(LIBONCILLA_CMAKE_MODULE_PATH "share/cmake/Modules")
 
 SET(OUTPUT_PATH ${PROJECT_BINARY_DIR}/build)
 SET(ARCHIVE_OUTPUT_PATH ${OUTPUT_PATH})
 SET(LIBRARY_OUTPUT_PATH ${OUTPUT_PATH})
 SET(EXECUTABLE_OUTPUT_PATH ${OUTPUT_PATH})
 
 
 # Includes
 INCLUDE_DIRECTORIES(BEFORE src ${PROJECT_BINARY_DIR}/src)
 message(STATUS ${RSC_INCLUDE_DIRS})
 INCLUDE_DIRECTORIES(SYSTEM ${RCI_INCLUDE_DIRS} ${RSC_INCLUDE_DIRS} ${NemoMath_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${LIBRARIES_INCLUDE_DIRS})
 #INCLUDE_DIRECTORIES(BEFORE SYSTEM ${PROTOBUF_INCLUDE_DIR} ${RST_INCLUDE_DIRS})
 
 LINK_DIRECTORIES(${RCI_LIBRARY_DIR}
                  ${LIBRARIES_LIBRARY_DIRS})
 
 ADD_DEFINITIONS(${NEMOMATH_DEFINITIONS})
 
 ADD_SUBDIRECTORY(src)
 
 IF(BUILD_TESTS)
     ENABLE_TESTING()
     INCLUDE(ProvideGoogleMock)
     MESSAGE(STATUS "Building tests - deactivate by adapting BUILD_TESTS")
     IF(GMOCK_AVAILABLE)
         ADD_SUBDIRECTORY(test)
     ELSE()
         MESSAGE(WARNING "Could not build unit tests even though desired because Google Mock could not be installed.")
     ENDIF()
 ENDIF()
 
 #IF(BUILD_EXAMPLES)
 #    ADD_SUBDIRECTORY(examples)
 #ENDIF()
 
 # --- cmake config file ---
 SET(LIB_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX})
 IF(CMAKE_LINK_LIBRARY_SUFFIX)
     SET(LIB_SUFFIX ${CMAKE_LINK_LIBRARY_SUFFIX})
 ENDIF()
 
 # --- pkgconfig file ---
 set(PKG_CONFIG_FILE lib${LIBONCILLA_NAME}-${LIBONCILLA_VERSION_MAJOR}.pc)
 CONFIGURE_FILE(lib${LIBONCILLA_NAME}.pc.in ${PKG_CONFIG_FILE} @ONLY)
-INSTALL(FILES ${PKG_CONFIG_FILE} DESTINATION lib/pkgconfig)
+INSTALL(FILES ${CMAKE_BINARY_DIR}/${PKG_CONFIG_FILE} DESTINATION lib/pkgconfig)
 
 # --- cmake config file ---
 SET(LIB_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX})
 IF(CMAKE_LINK_LIBRARY_SUFFIX)
     SET(LIB_SUFFIX ${CMAKE_LINK_LIBRARY_SUFFIX})
 ENDIF()
 CONFIGURE_FILE(${CMAKE_PROJECT_NAME}Config.cmake.in ${CMAKE_PROJECT_NAME}Config.cmake @ONLY)
 INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_PROJECT_NAME}Config.cmake DESTINATION share/lib${LIBNAME})
 
 # --- documentation generation ---
 IF(BUILD_DOCS)
   ADD_SUBDIRECTORY(doc)
 ENDIF(BUILD_DOCS)
 
 # --- coverage ---
 IF(BUILD_TESTS)
     ENABLE_COVERAGE_REPORT(TARGETS ${LIBONCILLA_NAME} TESTS ${DTO_TEST_NAME} ${INTEGRATED_TEST_NAME} FILTER "*3rdparty*" "*test/*")
 ENDIF(BUILD_TESTS)
 
 # --- sloccount ---
 ENABLE_SLOCCOUNT(FOLDERS src test examples)
 
 # --- cppcheck ---
 GENERATE_CPPCHECK(SOURCES src test examples
     "${CMAKE_CURRENT_BINARY_DIR}/src" "${CMAKE_CURRENT_BINARY_DIR}/test" "${CMAKE_CURRENT_BINARY_DIR}/examples"
     ENABLE_IDS style)
 
 # --- package ---
 INCLUDE(CheckLSBTypes)
 
 SET(CPACK_PACKAGE_VERSION_MAJOR ${LIBONCILLA_VERSION_MAJOR})
 SET(CPACK_PACKAGE_VERSION_MINOR ${LIBONCILLA_VERSION_MINOR})
 SET(CPACK_PACKAGE_VERSION_PATCH ${LIBONCILLA_VERSION_PATCH})
 SET(CPACK_PACKAGE_VERSION "${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}")
 SET(CPACK_PACKAGE_FILE_NAME ${CMAKE_PROJECT_NAME}-${CPACK_PACKAGE_VERSION}_${LSB_CODENAME}_${LSB_PROCESSOR_ARCH})
 
 SET(CPACK_GENERATOR "TGZ")
 SET(CPACK_PACKAGE_VENDOR "CoR-Lab Bielefeld University")
 
 # IF(CMAKE_SYSTEM_NAME STREQUAL "Linux")
     # SET(CPACK_GENERATOR "${CPACK_GENERATOR};DEB")
     # SET(CPACK_DEBIAN_PACKAGE_NAME "amarsi-liboncilla")
     # SET(CPACK_DEBIAN_PACKAGE_VERSION ${LIBONCILLA_VERSION_MAJOR}.${LIBONCILLA_VERSION_MINOR}.${LIBONCILLA_VERSION_PATCH})
     # SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "Arne Nordmann (anordman@cor-lab.uni-bielefeld.de)")
     # SET(CPACK_DEBIAN_PACKAGE_DESCRIPTION "AMARSi RCI representations of the AMARSi quadruped robot 'Oncilla'.")
     # SET(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
     # SET(CPACK_DEBIAN_PACKAGE_SECTION "devel")
     # SET(CPACK_DEBIAN_ARCHITECTURE ${CMAKE_SYSTEM_PROCESSOR})
     # SET(CPACK_DEBIAN_PACKAGE_DEPENDS "amarsi-rci-all")
     # SET(CPACK_DEBIAN_PACKAGE_SUGGESTS "cmake, cmake-data, doxygen, lcov, cppcheck, sloccount")
 # ENDIF(CMAKE_SYSTEM_NAME STREQUAL "Linux")
 
 INCLUDE(CPack)