diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4173bd2..a618f57 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,143 +1,98 @@
-PROJECT( liboncilla C CXX )
+project( liboncilla C CXX )
 
-CMAKE_MINIMUM_REQUIRED( VERSION 2.6 )
-SET( LIBNAME "oncilla" )
+cmake_minimum_required(VERSION 2.8 )
 
-SET( CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE )
-SET( LIBONCILLA_CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake )
+#set( LIBNAME "oncilla" )
 
-SET( CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE )
+#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: ${RSC_VERSION}" )
+find_package(RSC REQUIRED )
+find_package(BiorobCMakeUtils 0.3.4 REQUIRED)
+include_all_biorob_cmake_utils()
+set(CMAKE_MODULE_PATH "${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 )
-INCLUDE( SuperPedanticCompilerWarnings )
+include( CheckIncludeFileCXX )
+include( EnableCoverageReport )
+include( EnableSlocCount )
+include( GenerateDoxygen )
+include( GenerateCppcheck )
+include( PedanticCompilerWarnings )
+include( SuperPedanticCompilerWarnings )
 
-SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+#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)
+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)
+
+find_package(RCI REQUIRED)
 
-# Dependencies
-FIND_PACKAGE(Threads REQUIRED)
-MESSAGE(STATUS "Threading library: ${CMAKE_THREAD_LIBS_INIT}")
 
-FIND_PACKAGE(RCI REQUIRED)
-MESSAGE(STATUS "RCI version: ${RCI_VERSION}")
-ADD_DEFINITIONS(${RCI_DEFINITIONS})
+add_definitions(${RCI_DEFINITIONS})
 
 # --- 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 3)
-SET(LIBONCILLA_VERSION_PATCH 0dev)
-SET(LIBONCILLA_VERSION_STRING "${LIBONCILLA_VERSION_MAJOR}.${LIBONCILLA_VERSION_MINOR}.${LIBONCILLA_VERSION_PATCH}")
-SET(LIBONCILLA_VERSION_ABI    "${LIBONCILLA_VERSION_MAJOR}.${LIBONCILLA_VERSION_MINOR}")
-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})
+
+make_std_versionning(MAJOR 0 MINOR 3 PATCH 0~dev1)
+set(LIBONCILLA_CMAKE_MODULE_PATH "share/cmake/Modules")
+
 
 # Includes
-INCLUDE_DIRECTORIES(BEFORE src
-                ${PROJECT_BINARY_DIR}/src)
-INCLUDE_DIRECTORIES(SYSTEM
-                ${RCI_INCLUDE_DIRS}
-                ${RSC_INCLUDE_DIRS}
-                ${Boost_INCLUDE_DIRS})
-
-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()
+include_directories(BEFORE src
+                    ${PROJECT_BINARY_DIR}/src)
+include_directories(SYSTEM
+                    ${RCI_INCLUDE_DIRS}
+                    ${RSC_INCLUDE_DIRS}
+                    ${Boost_INCLUDE_DIRS})
+
+add_subdirectory(src)
+
+find_package(GMock)
+
+if(BUILD_TESTS AND GMOCK_FOUND)
+    enable_testing()
+    message(STATUS "Building tests - deactivate by adapting BUILD_TESTS")
+    add_subdirectory(test)
+elseif(BUILD_TESTS AND NOT GMOCK_FOUND)
+        message(WARNING "Could not build unit tests even though desired because Google Mock could not be installed.")
+endif(BUILD_TESTS AND GMOCK_FOUND)
+
+if(BUILD_EXAMPLES)
+    add_subdirectory(examples)
+endif(BUILD_EXAMPLES)
 
-# --- 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 ${CMAKE_BINARY_DIR}/${PKG_CONFIG_FILE} DESTINATION lib/pkgconfig)
+set(PKG_CONFIG_FILE liboncilla-${VERSION_MAJOR}.pc )
+configure_file(liboncilla.pc.in ${PKG_CONFIG_FILE} @ONLY)
+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})
+configure_file(liboncillaConfig.cmake.in LibOncillaConfig.cmake @ONLY)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/LibOncillaConfig.cmake DESTINATION share/liboncilla)
 
 # --- documentation generation ---
-IF(BUILD_DOCS)
-  ADD_SUBDIRECTORY(doc)
-ENDIF(BUILD_DOCS)
+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)
+if(BUILD_TESTS)
+    enable_coverage_report(TARGETS liboncilla TESTS ${DTO_TEST_NAME} ${INTEGRATED_TEST_NAME} FILTER "*3rdparty*" "*test/*")
+endif(BUILD_TESTS)
 
 # --- sloccount ---
-ENABLE_SLOCCOUNT(FOLDERS src test examples)
+enable_sloccount(FOLDERS src test examples)
 
 # --- cppcheck ---
-GENERATE_CPPCHECK(SOURCES src test examples
+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 ${CMAKE_SYSTEM_PROCESSOR})
-    # SET(CPACK_DEBIAN_PACKAGE_DEPENDS "amarsi-rci-all")
-    # SET(CPACK_DEBIAN_PACKAGE_SUGGESTS "cmake, cmake-data, doxygen, lcov, cppcheck, sloccount")
-# ENDIF(CMAKE_SYSTEM_NAME STREQUAL "Linux")
-
-INCLUDE(CPack)
+
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index b8a310b..d096859 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -1,13 +1,10 @@
-SET(EXAMPLE1 "SimpleSineMovement")
-ADD_EXECUTABLE(${EXAMPLE1}
+set(EXAMPLE1 "SimpleSineMovement")
+add_executable(${EXAMPLE1}
         ${EXAMPLE1}.cpp)
-TARGET_LINK_LIBRARIES(${EXAMPLE1}
-        ${LIBNAME})
-
-INSTALL(TARGETS ${EXAMPLE1}
-        RUNTIME DESTINATION bin/examples/oncilla
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib)
+target_link_libraries(${EXAMPLE1}
+                      oncilla)
 
+#you only install example source, never executable !
+install(FILES ${EXAMPLE1} DESTINATION share/liboncilla/examples)
 # List examples here to automatically generate Webots file
-SET(LIBONCILLA_EXAMPLES_LIST "SimpleSineMovement" PARENT_SCOPE)
+set(LIBONCILLA_EXAMPLES_LIST "SimpleSineMovement" PARENT_SCOPE)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 29a7f2b..213d71d 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,35 +1 @@
-SET(ONCILLAHEADERS
-    liboncilla/OncillaTrunk.h
-    liboncilla/OncillaL0.h
-    liboncilla/OncillaL1L2.h
-    liboncilla/OncillaL3.h
-    liboncilla/OncillaL4.h
-    liboncilla/Oncilla.h
-    liboncilla/OncillaSynchronizer.h
-    liboncilla/BackendFactory.h
-	liboncilla/common.h)
-
-SET(ONCILLASOURCES
-    liboncilla/OncillaTrunk.cpp
-    liboncilla/OncillaL0.cpp
-    liboncilla/OncillaL1L2.cpp
-    liboncilla/OncillaL3.cpp
-    liboncilla/OncillaL4.cpp
-    liboncilla/Oncilla.cpp
-    liboncilla/OncillaSynchronizer.cpp
-    liboncilla/BackendFactory.cpp)
-
-ADD_LIBRARY(${LIBONCILLA_NAME} SHARED ${ONCILLASOURCES})
-TARGET_LINK_LIBRARIES(${LIBONCILLA_NAME}
-                      ${RSC_LIBRARIES}
-                      ${RCI_LIBRARIES} -ldl)
-SET_TARGET_PROPERTIES(${LIBONCILLA_NAME}
-                      PROPERTIES
-                      VERSION ${LIBONCILLA_VERSION_STRING}
-					  SOVERSION ${LIBONCILLA_VERSION_ABI})
-
-INSTALL(TARGETS ${LIBONCILLA_NAME}
-        RUNTIME DESTINATION bin
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib)
-INSTALL_FILES_RECURSIVE(include ONCILLAHEADERS)
+add_subdirectory(liboncilla)
\ No newline at end of file
diff --git a/src/liboncilla/CMakeLists.txt b/src/liboncilla/CMakeLists.txt
new file mode 100644
index 0000000..0d2b172
--- /dev/null
+++ b/src/liboncilla/CMakeLists.txt
@@ -0,0 +1,35 @@
+set(ONCILLAHEADERS
+    OncillaTrunk.h
+    OncillaL0.h
+    OncillaL1L2.h
+    OncillaL3.h
+    OncillaL4.h
+    Oncilla.h
+    OncillaSynchronizer.h
+    BackendFactory.h
+	common.h)
+
+set(ONCILLASOURCES
+    OncillaTrunk.cpp
+    OncillaL0.cpp
+    OncillaL1L2.cpp
+    OncillaL3.cpp
+    OncillaL4.cpp
+    Oncilla.cpp
+    OncillaSynchronizer.cpp
+    BackendFactory.cpp)
+
+add_library(oncilla SHARED ${ONCILLASOURCES} ${ONCILLAHEADERS})
+target_link_libraries(oncilla
+                      ${RSC_LIBRARIES}
+                      ${RCI_LIBRARIES} -ldl)
+set_target_properties(oncilla
+                      PROPERTIES
+                      VERSION ${VERSION_STRING}
+					  SOVERSION ${VERSION_ABI})
+
+install(TARGETS oncilla
+        DESTINATION lib)
+
+install(FILES ${ONCILLAHEADERS}
+        DESTINATION include/liboncilla-${VERSION_API}/liboncilla )
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 97c6cb5..fd295fd 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,20 +1,17 @@
-ENABLE_TESTING()
+set(TEST_RESULT_DIR ${CMAKE_BINARY_DIR}/testresults)
+set(TEST_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
 
-SET(TEST_RESULT_DIR ${CMAKE_BINARY_DIR}/testresults)
-SET(TEST_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
+include_directories(BEFORE SYSTEM ${GMOCK_INCLUDE_DIRS})
 
-INCLUDE_DIRECTORIES(BEFORE SYSTEM ${GMOCK_INCLUDE_DIRS})
-INCLUDE_DIRECTORIES(BEFORE ${CMAKE_CURRENT_BINARY_DIR})
-
-CONFIGURE_FILE(testconfig.h.in ${CMAKE_CURRENT_BINARY_DIR}/testconfig.h)
+configure_file(testconfig.h.in ${CMAKE_CURRENT_BINARY_DIR}/testconfig.h)
 
 # --- DTO tests ---
-SET(TEST_SOURCES nodes/NodeTestSuite.cpp
+set(TEST_SOURCES nodes/NodeTestSuite.cpp
                  nodes/OncillaL0Test.cpp
                  nodes/OncillaL1L2Test.cpp
                  )
-ADD_EXECUTABLE(${NODE_TEST_NAME} ${TEST_SOURCES})
-TARGET_LINK_LIBRARIES(${NODE_TEST_NAME}
-                      ${LIBONCILLA_NAME}
+add_executable(liboncilla-test ${TEST_SOURCES})
+target_link_libraries(liboncilla-test
+                      oncilla
                       ${GMOCK_LIBRARIES})
-ADD_TEST(${NODE_TEST_NAME} ${EXECUTABLE_OUTPUT_PATH}/${NODE_TEST_NAME} "--gtest_output=xml:${TEST_RESULT_DIR}/")
+add_test(liboncilla-test liboncilla-test "--gtest_output=xml:${TEST_RESULT_DIR}/")