diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3d1204e41..97629ed89 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,6 @@
 ## FCL 0
 
-### FCL 0.7.0 (????-??-??)
+### FCL 0.6.1 (2020-02-26)
 
 * Math
 
@@ -13,6 +13,12 @@
     convex distance:
      [#446](https://github.com/flexible-collision-library/fcl/pull/446)
 
+* Build/Test/Misc
+
+  * Clean up install config files and ensure find_dependency is called as
+    appropriate:
+     [#452](https://github.com/flexible-collision-library/fcl/pull/452)
+
 ### FCL 0.6.0 (2020-02-10)
 
 * Core/Common
diff --git a/CMakeLists.txt b/CMakeLists.txt
index a5961de41..e90e56b2a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -73,6 +73,7 @@ endif (MSVC OR MSVC90 OR MSVC10)
 
 set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib)
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
+include(CMakePackageConfigHelpers)
 include(GenerateExportHeader)
 include(GNUInstallDirs)
 include(CompilerSettings)
@@ -264,6 +265,47 @@ else()
   message(STATUS "FCL does not use OctoMap (as requested)")
 endif()
 
+if(TARGET ccd)
+  set(FIND_DEPENDENCY_CCD "find_dependency(ccd)")
+else()
+  set(FIND_DEPENDENCY_CCD)
+endif()
+
+if(TARGET Eigen3::Eigen)
+  set(FIND_DEPENDENCY_EIGEN3 "find_dependency(Eigen3)")
+else()
+  set(FIND_DEPENDENCY_EIGEN3)
+endif()
+
+if(TARGET octomap)
+  set(FIND_DEPENDENCY_OCTOMAP "find_dependency(octomap)")
+else()
+  set(FIND_DEPENDENCY_OCTOMAP)
+endif()
+
+if(WIN32 AND NOT CYGWIN)
+  set(FCL_INSTALL_CONFIGDIR CMake)
+else()
+  set(FCL_INSTALL_CONFIGDIR ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME})
+endif()
+
+configure_package_config_file(fcl-config.cmake.in fcl-config.cmake
+  INSTALL_DESTINATION ${FCL_INSTALL_CONFIGDIR}
+  PATH_VARS CMAKE_INSTALL_INCLUDEDIR CMAKE_INSTALL_LIBDIR
+)
+
+write_basic_package_version_file(fcl-config-version.cmake
+  VERSION ${FCL_VERSION}
+  COMPATIBILITY AnyNewerVersion
+)
+
+install(FILES
+  "${CMAKE_CURRENT_BINARY_DIR}/fcl-config.cmake"
+  "${CMAKE_CURRENT_BINARY_DIR}/fcl-config-version.cmake"
+  DESTINATION ${FCL_INSTALL_CONFIGDIR}
+  COMPONENT Development
+)
+
 # FCL's own include dir should be at the front of the include path
 include_directories(BEFORE "include")
 include_directories(BEFORE "${CMAKE_CURRENT_BINARY_DIR}/include")
@@ -283,7 +325,10 @@ install(FILES "${CMAKE_CURRENT_BINARY_DIR}/fcl.pc"
 )
 
 # Install catkin package.xml
-install(FILES package.xml DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME})
+install(FILES package.xml
+  DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}
+  COMPONENT Development
+)
 
 # Add uninstall target
 configure_file(
diff --git a/fcl-config.cmake.in b/fcl-config.cmake.in
new file mode 100644
index 000000000..0bc4fe040
--- /dev/null
+++ b/fcl-config.cmake.in
@@ -0,0 +1,20 @@
+# Generated by CMake @CMAKE_VERSION@ for @PROJECT_NAME@.
+
+@PACKAGE_INIT@
+
+set(FCL_VERSION "@FCL_VERSION@")
+set(FCL_ABI_VERSION "@FCL_ABI_VERSION@")
+
+set_and_check(FCL_INCLUDE_DIRS "@PACKAGE_CMAKE_INSTALL_INCLUDEDIR@")
+set(FCL_LIBRARIES @PROJECT_NAME@)
+set_and_check(FCL_LIBRARY_DIRS "@PACKAGE_CMAKE_INSTALL_LIBDIR@")
+
+include(CMakeFindDependencyMacro)
+
+@FIND_DEPENDENCY_CCD@
+@FIND_DEPENDENCY_EIGEN3@
+@FIND_DEPENDENCY_OCTOMAP@
+
+include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@-targets.cmake")
+
+check_required_components(@PROJECT_NAME@)
diff --git a/package.xml b/package.xml
index 9605ebac2..15f1e3338 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>fcl</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>FCL: the Flexible Collision Library</description>
   <maintainer email="fcl@tri.global">TRI Geometry Team</maintainer>
   <license>BSD</license>
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 64b81e507..425724e78 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -112,23 +112,33 @@ endif()
 target_include_directories(${PROJECT_NAME} INTERFACE
   $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
   $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
-  $<INSTALL_INTERFACE:include>)
+  $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
 
 export(TARGETS ${PROJECT_NAME}
-  FILE "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake")
+  FILE "${PROJECT_BINARY_DIR}/${PROJECT_NAME}-targets.cmake"
+)
+
+if(CMAKE_VERSION VERSION_LESS 3.12)
+  set(NAMELINK_COMPONENT_OPTION)
+else()
+  set(NAMELINK_COMPONENT_OPTION NAMELINK_COMPONENT Development)
+endif()
 
 install(TARGETS ${PROJECT_NAME}
-  EXPORT ${PROJECT_NAME}Config
+  EXPORT ${PROJECT_NAME}-targets
   ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    COMPONENT Development
   LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+    COMPONENT Runtime ${NAMELINK_COMPONENT_OPTION}
+  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+    COMPONENT Runtime
+  INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)
 
-if(WIN32 AND NOT CYGWIN)
-  install(EXPORT ${PROJECT_NAME}Config DESTINATION CMake)
-else()
-  install(EXPORT ${PROJECT_NAME}Config
-    DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME})
-endif()
+install(EXPORT ${PROJECT_NAME}-targets
+  DESTINATION ${FCL_INSTALL_CONFIGDIR}
+  COMPONENT Development
+)
 
 # Setup the coveralls target and tell it to gather coverage data for all the lib sources.
 if(FCL_COVERALLS)