diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8df75d17d..a1f7d8966 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,360 +4,63 @@ if(COMMAND CMAKE_POLICY)
   CMAKE_POLICY(SET CMP0003 NEW)
   CMAKE_POLICY(SET CMP0004 NEW)
 endif(COMMAND CMAKE_POLICY)
-enable_testing()
 
-# with -fPIC
-if(UNIX AND NOT WIN32)
-  set (CMAKE_INSTALL_PREFIX "/usr" CACHE STRING "Install Prefix")
- find_program(CMAKE_UNAME uname /bin /usr/bin /usr/local/bin )
- if(CMAKE_UNAME)
-   exec_program(uname ARGS -m OUTPUT_VARIABLE CMAKE_SYSTEM_PROCESSOR)
-   set(CMAKE_SYSTEM_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR} CACHE INTERNAL
-     "processor type (i386 and x86_64)")
-   if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
-     ADD_DEFINITIONS(-fPIC)
-   endif(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
- endif(CMAKE_UNAME)
-endif()
-
-project (sdformat13)
+project (sdformat13 VERSION 13.0.0)
 
 # The protocol version has nothing to do with the package version set below.
 # It represents the current version of sdformat implement by the software
 set (SDF_PROTOCOL_VERSION 1.9)
 
-set (SDF_MAJOR_VERSION 13)
-set (SDF_MINOR_VERSION 0)
-set (SDF_PATCH_VERSION 0)
-
-set (SDF_VERSION ${SDF_MAJOR_VERSION}.${SDF_MINOR_VERSION})
-set (SDF_VERSION_FULL ${SDF_MAJOR_VERSION}.${SDF_MINOR_VERSION}.${SDF_PATCH_VERSION}~pre1)
-
-string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
-string(REGEX REPLACE "[0-9]+" "" PROJECT_NAME_NO_VERSION ${PROJECT_NAME})
-string(TOLOWER ${PROJECT_NAME_NO_VERSION} PROJECT_NAME_NO_VERSION_LOWER)
-set(PROJECT_EXPORT_NAME ${PROJECT_NAME_LOWER})
-set(PROJECT_LIBRARY_TARGET_NAME ${PROJECT_NAME_LOWER})
-
 set (project_cmake_dir ${PROJECT_SOURCE_DIR}/cmake
   CACHE PATH "Location of CMake scripts")
 
-message (STATUS "${PROJECT_NAME} version ${SDF_VERSION_FULL}")
-set (CMAKE_INCLUDE_DIRECTORIES_PROJECT_BEFORE ON)
-
-#============================================================================
-# We turn off extensions because (1) we do not ever want to use non-standard
-# compiler extensions, and (2) this variable is on by default, causing cmake
-# to choose the flag -std=gnu++14 instead of -std=c++14 when the C++14
-# features are requested. Explicitly turning this flag off will force cmake to
-# choose -std=c++14.
-# See https://github.com/ignitionrobotics/ign-cmake/issues/13 for more info.
-set(CMAKE_CXX_EXTENSIONS off)
-
-# Include GNUInstallDirs to get canonical paths
-include(GNUInstallDirs)
-
-# Default test type for test all over source
-set(TEST_TYPE "UNIT")
-
-# developer's option to cache PKG_CONFIG_PATH and
-# LD_LIBRARY_PATH for local installs
-if(PKG_CONFIG_PATH)
-  set (ENV{PKG_CONFIG_PATH} ${PKG_CONFIG_PATH}:$ENV{PKG_CONFIG_PATH})
-endif()
-if(LD_LIBRARY_PATH)
-  set (ENV{LD_LIBRARY_PATH} ${LD_LIBRARY_PATH}:$ENV{LD_LIBRARY_PATH})
-endif()
-
-set (INCLUDE_INSTALL_DIR "${CMAKE_INSTALL_INCLUDEDIR}/sdformat-${SDF_VERSION}/sdf")
-set (LIB_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR} CACHE STRING "Installation directory for libraries (relative to CMAKE_INSTALL_PREFIX)")
-set (BIN_INSTALL_DIR ${CMAKE_INSTALL_BINDIR} CACHE STRING "Installation directory for binaries (relative to CMAKE_INSTALL_PREFIX)")
-set (USE_FULL_RPATH OFF CACHE BOOL "Set to true to enable full rpath")
-
-set(PKG_NAME SDFormat)
-set(sdf_target sdformat${SDF_MAJOR_VERSION})
-set(sdf_config_install_dir "${LIB_INSTALL_DIR}/cmake/${PROJECT_NAME_LOWER}/")
-set(sdf_import_target_name ${PROJECT_EXPORT_NAME}::${sdf_target})
-set(sdf_target_output_filename "${sdf_target}-targets.cmake")
-
+message (STATUS "${PROJECT_NAME} version ${PROJECT_VERSION_FULL}")
 
 OPTION(SDFORMAT_DISABLE_CONSOLE_LOGFILE "Disable the sdformat console logfile" OFF)
 
-if (USE_FULL_RPATH)
-  # use, i.e. don't skip the full RPATH for the build tree
-  set(CMAKE_SKIP_BUILD_RPATH  FALSE)
-
-  # when building, don't use the install RPATH already
-  # (but later on when installing)
-  set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
-
-  set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}")
-
-  # add the automatically determined parts of the RPATH
-  # which point to directories outside the build tree to the install RPATH
-  set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
-
-  # the RPATH to be used when installing, but only if its not a system directory
-  list(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}" isSystemDir)
-  if("${isSystemDir}" STREQUAL "-1")
-    set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}")
-  endif("${isSystemDir}" STREQUAL "-1")
-endif()
-
 set (BUILD_SDF ON CACHE INTERNAL "Build SDF" FORCE)
-set (build_errors "" CACHE INTERNAL "build errors" FORCE)
-set (build_warnings "" CACHE INTERNAL "build warnings" FORCE)
 
 set (sdf_cmake_dir ${PROJECT_SOURCE_DIR}/cmake CACHE PATH
      "Location of CMake scripts")
 
-message (STATUS "\n\n====== Finding 3rd Party Packages ======")
-include (${sdf_cmake_dir}/SDFUtils.cmake)
-include (${sdf_cmake_dir}/SearchForStuff.cmake)
-message (STATUS "----------------------------------------\n")
-
-#####################################
-# Set the default build type
-if (NOT CMAKE_BUILD_TYPE)
-  set (CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING
-    "Choose the type of build, options are: Debug Release RelWithDebInfo Profile Check" FORCE)
-endif (NOT CMAKE_BUILD_TYPE)
-string(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE_UPPERCASE)
-
-set (BUILD_TYPE_PROFILE FALSE)
-set (BUILD_TYPE_RELEASE FALSE)
-set (BUILD_TYPE_RELWITHDEBINFO FALSE)
-set (BUILD_TYPE_DEBUG FALSE)
-
-if ("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "PROFILE")
-  set (BUILD_TYPE_PROFILE TRUE)
-elseif ("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELEASE")
-  set (BUILD_TYPE_RELEASE TRUE)
-elseif ("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELWITHDEBINFO")
-  set (BUILD_TYPE_RELWITHDEBINFO TRUE)
-elseif ("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "DEBUG")
-  set (BUILD_TYPE_DEBUG TRUE)
-elseif ("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "COVERAGE")
-  include (${project_cmake_dir}/CodeCoverage.cmake)
-  set (BUILD_TYPE_DEBUG TRUE)
-  SETUP_TARGET_FOR_COVERAGE(coverage ctest coverage)
-else()
-  # NONE is a valid CMAKE_BUILD_TYPE
-  if (NOT "${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "NONE")
-    build_error("CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} unknown. Valid options are: Debug Release RelWithDebInfo Profile Coverage None")
-  endif()
-endif()
-
-#============================================================================
-# Ask whether we should make a shared or static library.
-option(BUILD_SHARED_LIBS "Set this to true to generate shared libraries (recommended), or false for static libraries" ON)
-
-#####################################
-# Handle CFlags
-unset (CMAKE_C_FLAGS_ALL CACHE)
-
-# USE_HOST_CFLAGS (default TRUE)
-# Will check building host machine for proper cflags
-if(NOT DEFINED USE_HOST_CFLAGS OR USE_HOST_CFLAGS)
-  message(STATUS "Enable host CFlags")
-  include (${project_cmake_dir}/HostCFlags.cmake)
-endif()
-
-# USE_UPSTREAM_CFLAGS (default TRUE)
-# Will use predefined ignition developers cflags
-if(NOT DEFINED USE_UPSTREAM_CFLAGS OR USE_UPSTREAM_CFLAGS)
-  message(STATUS "Enable upstream CFlags")
-  include(${project_cmake_dir}/DefaultCFlags.cmake)
-endif()
-
-# Check if warning options are avaliable for the compiler and return WARNING_CXX_FLAGS variable
-if (MSVC)
-  set(WARN_LEVEL "/W4")
-
-  # Unable to be filtered flags (failing due to limitations in filter_valid_compiler_warnings)
-  # Handling exceptions rightly and ignore unknown pragmas
-  set(UNFILTERED_FLAGS "/EHsc /wd4068")
-else()
-  # Equivalent to Wall (according to man gcc) but removed the unknown pragmas since we use
-  # MSVC only pragmas all over the code
-  list(APPEND WARN_LEVEL -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull)
-  list(APPEND WARN_LEVEL -Wparentheses -Wreorder -Wreturn-type)
-  list(APPEND WARN_LEVEL -Wsequence-point -Wsign-compare -Wstrict-aliasing)
-  list(APPEND WARN_LEVEL -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized)
-  list(APPEND WARN_LEVEL -Wunused-function -Wunused-label -Wunused-value)
-  list(APPEND WARN_LEVEL -Wunused-variable -Wvolatile-register-var)
-
-  # Unable to be filtered flags (failing due to limitations in filter_valid_compiler_warnings)
-  set(UNFILTERED_FLAGS "-Wc++17-compat")
-endif()
-
-filter_valid_compiler_warnings(${WARN_LEVEL} -Wextra -Wno-long-long
-  -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value
-  -Wfloat-equal -Wshadow -Winit-self -Wswitch-default
-  -Wmissing-include-dirs -pedantic -Wno-pragmas)
-set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}${WARNING_CXX_FLAGS} ${UNFILTERED_FLAGS}")
+#################################################
+# Find ign-cmake
+find_package(ignition-cmake2 2.9 REQUIRED)
+set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR})
 
 #################################################
 # OS Specific initialization
-if (UNIX)
-  sdf_setup_unix()
-endif ()
-
 if (WIN32)
   sdf_setup_windows()
 endif ()
 
-if (APPLE)
-  sdf_setup_apple()
-endif ()
-
-#################################################
-# Print warnings and errors
-if ( build_warnings )
-  message(WARNING "-- BUILD WARNINGS")
-  foreach (msg ${build_warnings})
-    message(WARNING "-- ${msg}")
-  endforeach ()
-  message(WARNING "-- END BUILD WARNINGS\n")
-endif (build_warnings)
-
-########### Add uninstall target ###############
-configure_file(
-  "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in"
-  "${CMAKE_CURRENT_BINARY_DIR}/cmake/cmake_uninstall.cmake"
-  IMMEDIATE @ONLY)
-add_custom_target(uninstall
-  "${CMAKE_COMMAND}" -P
-  "${CMAKE_CURRENT_BINARY_DIR}/cmake/cmake_uninstall.cmake")
-
-if (build_errors)
-  message(SEND_ERROR "-- BUILD ERRORS: These must be resolved before compiling.")
-  foreach (msg ${build_errors})
-    message(SEND_ERROR "-- ${msg}")
-  endforeach ()
-  message(SEND_ERROR "-- END BUILD ERRORS\n")
-  message (FATAL_ERROR "Errors encountered in build. Please see the BUILD ERRORS above.")
-
-else (build_errors)
+if (BUILD_SDF)
+  ign_configure_project(REPLACE_IGNITION_INCLUDE_PATH sdf NO_IGNITION_PREFIX)
 
-  ########################################
-  # Write the config.h file
-  configure_file (${sdf_cmake_dir}/sdf_config.h.in
-    ${PROJECT_BINARY_DIR}/sdf/sdf_config.h)
-  sdf_install_includes("" ${PROJECT_BINARY_DIR}/sdf/sdf_config.h)
+  message (STATUS "\n\n====== Finding 3rd Party Packages ======")
+  include (${sdf_cmake_dir}/SDFUtils.cmake)
+  include (${sdf_cmake_dir}/SearchForStuff.cmake)
+  message (STATUS "----------------------------------------\n")
 
-  message (STATUS "C Flags:${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE}}")
-  message (STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
-  message (STATUS "Install path: ${CMAKE_INSTALL_PREFIX}")
+  ign_configure_build(QUIT_IF_BUILD_ERRORS)
+  ign_create_packages()
 
-  if (BUILD_SDF)
-    include_directories(include
-      ${PROJECT_BINARY_DIR}
-      ${PROJECT_BINARY_DIR}/include
-      )
+  add_subdirectory(sdf)
+  add_subdirectory(conf)
+  add_subdirectory(doc)
+endif(BUILD_SDF)
 
-    link_directories(${PROJECT_BINARY_DIR}/src)
+########################################
+# Setup Codecheck
 
-    if (NOT DEFINED BUILD_TESTING OR BUILD_TESTING)
-      set(BUILD_SDF_TEST TRUE)
-    else()
-      set(BUILD_SDF_TEST FALSE)
-    endif()
-
-    if (BUILD_SDF_TEST)
-      add_subdirectory(test)
-    endif()
-    add_subdirectory(src)
-    add_subdirectory(include/sdf)
-    add_subdirectory(sdf)
-    add_subdirectory(conf)
-    add_subdirectory(doc)
-  endif(BUILD_SDF)
-
-  ########################################
-  # Setup Codecheck
-  include (IgnCodeCheck)
-  set(CPPCHECK_DIRS
-    ${PROJECT_SOURCE_DIR}/src
-    ${PROJECT_SOURCE_DIR}/include
-    ${PROJECT_SOURCE_DIR}/test/integration
-    ${PROJECT_SOURCE_DIR}/test/performance)
-
-  set(CPPCHECK_INCLUDE_DIRS
-    ${PROJECT_BINARY_DIR}
-    ${PROJECT_SOURCE_DIR}/include
-    ${PROJECT_SOURCE_DIR}/test/integration
-    ${PROJECT_SOURCE_DIR}/test/performance)
-
-  # Ignore vendored directories.
-  file(WRITE ${PROJECT_BINARY_DIR}/cppcheck.suppress
-    "*:${PROJECT_SOURCE_DIR}/src/urdf/*\n"
-    )
-  ign_setup_target_for_codecheck()
-
-  ########################################
-  # Make the package config file
-  set(PC_CONFIG_INSTALL_DIR ${LIB_INSTALL_DIR}/pkgconfig)
-  file(RELATIVE_PATH
-    PC_CONFIG_RELATIVE_PATH_TO_PREFIX
-    "${CMAKE_INSTALL_PREFIX}/${PC_CONFIG_INSTALL_DIR}"
-    "${CMAKE_INSTALL_PREFIX}"
+# Ignore vendored directories.
+file(WRITE ${PROJECT_BINARY_DIR}/cppcheck.suppress
+  "*:${PROJECT_SOURCE_DIR}/src/urdf/*\n"
   )
-  configure_file(${CMAKE_SOURCE_DIR}/cmake/sdformat_pc.in
-    ${CMAKE_CURRENT_BINARY_DIR}/cmake/${PROJECT_NAME_LOWER}.pc @ONLY)
-  install(FILES ${CMAKE_CURRENT_BINARY_DIR}/cmake/${PROJECT_NAME_LOWER}.pc DESTINATION
-    ${PC_CONFIG_INSTALL_DIR} COMPONENT pkgconfig)
-
-  ########################################
-  # Configure documentation uploader
-  configure_file("${CMAKE_SOURCE_DIR}/cmake/upload_doc.sh.in"
-    ${CMAKE_BINARY_DIR}/upload_doc.sh @ONLY)
-
-  ########################################
-  # Make the cmake config files
-  set(sdf_config_input  "${CMAKE_CURRENT_SOURCE_DIR}/cmake/sdf_config.cmake.in")
-  set(sdf_config_output "cmake/${sdf_target}-config.cmake")
-  set(sdf_version_output "cmake/${sdf_target}-config-version.cmake")
-  set(sdf_config_install_dir "${LIB_INSTALL_DIR}/cmake/${PROJECT_NAME_LOWER}/")
-
-  include(CMakePackageConfigHelpers)
-  #--------------------------------------
-  # Configure and install the config file
-  configure_package_config_file(
-    ${sdf_config_input}
-    ${sdf_config_output}
-    INSTALL_DESTINATION ${sdf_config_install_dir}
-    NO_CHECK_REQUIRED_COMPONENTS_MACRO)
-
-  #--------------------------------------
-  # Configure and install the version file
-  write_basic_package_version_file(
-      ${CMAKE_CURRENT_BINARY_DIR}/${sdf_version_output}
-      VERSION "${SDF_VERSION_FULL}"
-      COMPATIBILITY SameMajorVersion)
-
-  install(FILES
-    ${CMAKE_CURRENT_BINARY_DIR}/${sdf_config_output}
-    ${CMAKE_CURRENT_BINARY_DIR}/${sdf_version_output}
-    DESTINATION ${sdf_config_install_dir}
-    COMPONENT cmake)
-
-  ########################################
-  # Package Creation:
-  include (${sdf_cmake_dir}/sdf_cpack.cmake)
-  set (CPACK_PACKAGE_VERSION "${SDF_VERSION_FULL}")
-  set (CPACK_PACKAGE_VERSION_MAJOR "${SDF_MAJOR_VERSION}")
-  set (CPACK_PACKAGE_VERSION_MINOR "${SDF_MINOR_VERSION}")
-  set (CPACK_PACKAGE_VERSION_PATCH "${SDF_PATCH_VERSION}")
-
-  if (CPACK_GENERATOR)
-    message(STATUS "Found CPack generators: ${CPACK_GENERATOR}")
 
-    configure_file("${sdf_cmake_dir}/cpack_options.cmake.in"
-                   ${SDF_CPACK_CFG_FILE} @ONLY)
-    set(CPACK_PROJECT_CONFIG_FILE ${SDF_CPACK_CFG_FILE})
-    include (CPack)
-  endif()
+########################################
+# Configure documentation uploader
+configure_file("${CMAKE_SOURCE_DIR}/cmake/upload_doc.sh.in"
+  ${CMAKE_BINARY_DIR}/upload_doc.sh @ONLY)
 
-  message(STATUS "Configuration successful. Type make to compile sdf")
-endif(build_errors)
+message(STATUS "Configuration successful. Type make to compile sdf")
diff --git a/cmake/CodeCoverage.cmake b/cmake/CodeCoverage.cmake
deleted file mode 100644
index 7eb4f7c56..000000000
--- a/cmake/CodeCoverage.cmake
+++ /dev/null
@@ -1,135 +0,0 @@
-#
-# 2012-01-31, Lars Bilke
-# - Enable Code Coverage
-#
-# 2013-09-17, Joakim Söderberg
-# - Added support for Clang.
-# - Some additional usage instructions.
-#
-# USAGE:
-# 1. Copy this file into your cmake modules path.
-#
-# 2. Add the following line to your CMakeLists.txt:
-#      INCLUDE(CodeCoverage)
-#
-# 3. Set compiler flags to turn off optimization and enable coverage:
-#    SET(CMAKE_CXX_FLAGS "-g -O0 -fprofile-arcs -ftest-coverage")
-#	 SET(CMAKE_C_FLAGS "-g -O0 -fprofile-arcs -ftest-coverage")
-#
-# 3. Use the function SETUP_TARGET_FOR_COVERAGE to create a custom make target
-#    which runs your test executable and produces a lcov code coverage report:
-#    Example:
-#	 SETUP_TARGET_FOR_COVERAGE(
-#				my_coverage_target  # Name for custom target.
-#				test_driver         # Name of the test driver executable that runs the tests.
-#									# NOTE! This should always have a ZERO as exit code
-#									# otherwise the coverage generation will not complete.
-#				coverage            # Name of output directory.
-#				)
-#
-# 4. Build a Debug build:
-#	 cmake -DCMAKE_BUILD_TYPE=Debug ..
-#	 make
-#	 make my_coverage_target
-#
-#
-
-# Check prereqs
-
-FIND_PROGRAM( GCOV_PATH NAMES gcov-8 gcov )
-FIND_PROGRAM( LCOV_PATH lcov )
-FIND_PROGRAM( GREP_PATH grep )
-FIND_PROGRAM( GENHTML_PATH genhtml )
-FIND_PROGRAM( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/tests)
-
-IF(NOT GCOV_PATH)
-	MESSAGE(FATAL_ERROR "gcov not found! Aborting...")
-ENDIF() # NOT GCOV_PATH
-
-IF(NOT CMAKE_COMPILER_IS_GNUCXX)
-	# Clang version 3.0.0 and greater now supports gcov as well.
-	MESSAGE(WARNING "Compiler is not GNU gcc! Clang Version 3.0.0 and greater supports gcov as well, but older versions don't.")
-
-	IF(NOT "${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
-		MESSAGE(FATAL_ERROR "Compiler is not GNU gcc! Aborting...")
-	ENDIF()
-ENDIF() # NOT CMAKE_COMPILER_IS_GNUCXX
-
-SET(CMAKE_CXX_FLAGS_COVERAGE
-    "-g -O0 --coverage -fprofile-arcs -ftest-coverage"
-    CACHE STRING "Flags used by the C++ compiler during coverage builds."
-    FORCE )
-SET(CMAKE_C_FLAGS_COVERAGE
-    "-g -O0 --coverage -fprofile-arcs -ftest-coverage"
-    CACHE STRING "Flags used by the C compiler during coverage builds."
-    FORCE )
-SET(CMAKE_EXE_LINKER_FLAGS_COVERAGE
-    ""
-    CACHE STRING "Flags used for linking binaries during coverage builds."
-    FORCE )
-SET(CMAKE_SHARED_LINKER_FLAGS_COVERAGE
-    ""
-    CACHE STRING "Flags used by the shared libraries linker during coverage builds."
-    FORCE )
-MARK_AS_ADVANCED(
-    CMAKE_CXX_FLAGS_COVERAGE
-    CMAKE_C_FLAGS_COVERAGE
-    CMAKE_EXE_LINKER_FLAGS_COVERAGE
-    CMAKE_SHARED_LINKER_FLAGS_COVERAGE )
-
-IF ( NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR CMAKE_BUILD_TYPE STREQUAL "Coverage"))
-  MESSAGE( WARNING "Code coverage results with an optimized (non-Debug) build may be misleading" )
-ENDIF() # NOT CMAKE_BUILD_TYPE STREQUAL "Debug"
-
-
-# Param _targetname     The name of new the custom make target
-# Param _testrunner     The name of the target which runs the tests.
-#						MUST return ZERO always, even on errors.
-#						If not, no coverage report will be created!
-# Param _outputname     lcov output is generated as _outputname.info
-#                       HTML report is generated in _outputname/index.html
-# Optional fourth parameter is passed as arguments to _testrunner
-#   Pass them in list form, e.g.: "-j;2" for -j 2
-FUNCTION(SETUP_TARGET_FOR_COVERAGE _targetname _testrunner _outputname)
-
-  IF(NOT LCOV_PATH)
-    MESSAGE(FATAL_ERROR "lcov not found! Aborting...")
-  ENDIF() # NOT LCOV_PATH
-
-  IF(NOT GENHTML_PATH)
-    MESSAGE(FATAL_ERROR "genhtml not found! Aborting...")
-  ENDIF() # NOT GENHTML_PATH
-
-  IF(NOT GREP_PATH)
-    MESSAGE(FATAL_ERROR "grep not found! Run code coverage on linux or mac.")
-  ENDIF()
-
-  # Setup target
-  ADD_CUSTOM_TARGET(${_targetname}
-
-  COMMAND ${CMAKE_COMMAND} -E remove ${_outputname}.info.cleaned
-    ${_outputname}.info
-  # Capturing lcov counters and generating report
-  COMMAND ${LCOV_PATH} -q --no-checksum --directory ${PROJECT_BINARY_DIR}
-    --gcov-tool ${GCOV_PATH} --capture --output-file ${_outputname}.info 2>/dev/null
-  COMMAND ${LCOV_PATH} -q --remove ${_outputname}.info
-    --gcov-tool ${GCOV_PATH} '*/test/*' '/usr/*' '*_TEST*' --output-file ${_outputname}.info.cleaned
-  COMMAND ${GENHTML_PATH} -q --legend -o ${_outputname}
-    ${_outputname}.info.cleaned
-  COMMAND ${LCOV_PATH} --summary ${_outputname}.info.cleaned 2>&1 | grep "lines" | cut -d ' ' -f 4 | cut -d '%' -f 1 > coverage/lines.txt
-  COMMAND ${LCOV_PATH} --summary ${_outputname}.info.cleaned 2>&1 | grep "functions" | cut -d ' ' -f 4 | cut -d '%' -f 1 > coverage/functions.txt
-  COMMAND ${CMAKE_COMMAND} -E rename ${_outputname}.info.cleaned
-    ${_outputname}.info
-
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
-  COMMENT "Resetting code coverage counters to zero.\n"
-          "Processing code coverage counters and generating report."
-  )
-
-  # Show info where to find the report
-  ADD_CUSTOM_COMMAND(TARGET ${_targetname} POST_BUILD
-    COMMAND COMMAND ${LCOV_PATH} -q --zerocounters --directory ${PROJECT_BINARY_DIR};
-  COMMENT "Open ./${_outputname}/index.html in your browser to view the coverage report."
-  )
-
-ENDFUNCTION() # SETUP_TARGET_FOR_COVERAGE
diff --git a/cmake/DefaultCFlags.cmake b/cmake/DefaultCFlags.cmake
deleted file mode 100644
index be57d0a3d..000000000
--- a/cmake/DefaultCFlags.cmake
+++ /dev/null
@@ -1,79 +0,0 @@
-# Build type link flags
-set (CMAKE_LINK_FLAGS_RELEASE " " CACHE INTERNAL "Link flags for release" FORCE)
-set (CMAKE_LINK_FLAGS_RELWITHDEBINFO " " CACHE INTERNAL "Link flags for release with debug support" FORCE)
-set (CMAKE_LINK_FLAGS_DEBUG " " CACHE INTERNAL "Link flags for debug" FORCE)
-set (CMAKE_LINK_FLAGS_PROFILE " -pg" CACHE INTERNAL "Link flags for profile" FORCE)
-set (CMAKE_LINK_FLAGS_COVERAGE " --coverage" CACHE INTERNAL "Link flags for static code coverage" FORCE)
-
-set (CMAKE_C_FLAGS_RELEASE "")
-if (NOT "${CMAKE_CXX_COMPILER_ID} " STREQUAL "Clang " AND NOT MSVC)
-  # -s doesn't work with clang or Visual Studio, see alternative in link below:
-  # http://stackoverflow.com/questions/6085491/gcc-vs-clang-symbol-strippingu
-  set (CMAKE_C_FLAGS_RELEASE "-s")
-endif()
-
-if (NOT MSVC)
-  set (CMAKE_C_FLAGS_RELEASE " ${CMAKE_C_FLAGS_RELEASE} -O3 -DNDEBUG ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for release" FORCE)
-  set (CMAKE_CXX_FLAGS_RELEASE ${CMAKE_C_FLAGS_RELEASE})
-
-  set (CMAKE_C_FLAGS_RELWITHDEBINFO " -g -O2 ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for release with debug support" FORCE)
-  set (CMAKE_CXX_FLAGS_RELWITHDEBINFO ${CMAKE_C_FLAGS_RELWITHDEBINFO})
-
-  set (CMAKE_C_FLAGS_DEBUG " -ggdb3 ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for debug" FORCE)
-  set (CMAKE_CXX_FLAGS_DEBUG ${CMAKE_C_FLAGS_DEBUG})
-
-  set (CMAKE_C_FLAGS_PROFILE " -fno-omit-frame-pointer -g -pg ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for profile" FORCE)
-  set (CMAKE_CXX_FLAGS_PROFILE ${CMAKE_C_FLAGS_PROFILE})
-
-  set (CMAKE_C_FLAGS_COVERAGE " -g -O0 -Wformat=2 --coverage -fno-inline ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for static code coverage" FORCE)
-  set (CMAKE_CXX_FLAGS_COVERAGE "${CMAKE_C_FLAGS_COVERAGE}")
-  foreach(flag
-          -fno-default-inline
-          -fno-elide-constructors
-          -fno-implicit-inline-templates)
-    CHECK_CXX_COMPILER_FLAG(${flag} R${flag})
-    if (R${flag})
-      set (CMAKE_CXX_FLAGS_COVERAGE "${CMAKE_CXX_FLAGS_COVERAGE} ${flag}")
-    endif()
-  endforeach()
-endif()
-
-#####################################
-# Set all the global build flags
-set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
-set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
-set (CMAKE_CXX_EXTENSIONS off)
-set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
-set (CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} ${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
-set (CMAKE_MODULE_LINKER_FLAGS "${CMAKE_MODULE_LINKER_FLAGS} ${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
-
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
-if (UNIX)
-    # Add visibility in UNIX
-    check_gcc_visibility()
-    if (GCC_SUPPORTS_VISIBILITY)
-      SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fvisibility=hidden")
-    endif()
-endif()
-
-# Compiler-specific C++17 activation.
-if ("${CMAKE_CXX_COMPILER_ID} " MATCHES "GNU ")
-    execute_process(
-        COMMAND ${CMAKE_CXX_COMPILER} -dumpversion OUTPUT_VARIABLE GCC_VERSION)
-    if (NOT (GCC_VERSION VERSION_GREATER_EQUAL 7.0))
-        message(STATUS "Found version ${GCC_VERSION}")
-        message(FATAL_ERROR "${PROJECT_NAME} requires g++ 7.0 or greater.")
-    endif ()
-elseif ("${CMAKE_CXX_COMPILER_ID} " MATCHES "Clang ")
-  if(APPLE)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -stdlib=libc++")
-  endif()
-elseif ("${CMAKE_CXX_COMPILER_ID} " STREQUAL "MSVC ")
-    if (MSVC_VERSION LESS 1914)
-        message(FATAL_ERROR "${PROJECT_NAME} requires VS 2017 or greater.")
-    endif()
-else ()
-    message(FATAL_ERROR "Your C++ compiler does not support C++17.")
-endif ()
diff --git a/cmake/FindSSE.cmake b/cmake/FindSSE.cmake
deleted file mode 100644
index cdbcfcc3d..000000000
--- a/cmake/FindSSE.cmake
+++ /dev/null
@@ -1,115 +0,0 @@
-# Check if SSE instructions are available on the machine where
-# the project is compiled.
-
-IF (ARCH MATCHES "i386" OR ARCH MATCHES "x86_64")
-  IF(CMAKE_SYSTEM_NAME MATCHES "Linux")
-     EXEC_PROGRAM(cat ARGS "/proc/cpuinfo" OUTPUT_VARIABLE CPUINFO)
-
-     STRING(REGEX REPLACE "^.*(sse2).*$" "\\1" SSE_THERE ${CPUINFO})
-     STRING(COMPARE EQUAL "sse2" "${SSE_THERE}" SSE2_TRUE)
-     IF (SSE2_TRUE)
-        set(SSE2_FOUND true CACHE BOOL "SSE2 available on host")
-     ELSE (SSE2_TRUE)
-        set(SSE2_FOUND false CACHE BOOL "SSE2 available on host")
-     ENDIF (SSE2_TRUE)
-
-     # /proc/cpuinfo apparently omits sse3 :(
-     STRING(REGEX REPLACE "^.*[^s](sse3).*$" "\\1" SSE_THERE ${CPUINFO})
-     STRING(COMPARE EQUAL "sse3" "${SSE_THERE}" SSE3_TRUE)
-     IF (NOT SSE3_TRUE)
-        STRING(REGEX REPLACE "^.*(T2300).*$" "\\1" SSE_THERE ${CPUINFO})
-        STRING(COMPARE EQUAL "T2300" "${SSE_THERE}" SSE3_TRUE)
-     ENDIF (NOT SSE3_TRUE)
-
-     STRING(REGEX REPLACE "^.*(ssse3).*$" "\\1" SSE_THERE ${CPUINFO})
-     STRING(COMPARE EQUAL "ssse3" "${SSE_THERE}" SSSE3_TRUE)
-     IF (SSE3_TRUE OR SSSE3_TRUE)
-        set(SSE3_FOUND true CACHE BOOL "SSE3 available on host")
-     ELSE (SSE3_TRUE OR SSSE3_TRUE)
-        set(SSE3_FOUND false CACHE BOOL "SSE3 available on host")
-     ENDIF (SSE3_TRUE OR SSSE3_TRUE)
-     IF (SSSE3_TRUE)
-        set(SSSE3_FOUND true CACHE BOOL "SSSE3 available on host")
-     ELSE (SSSE3_TRUE)
-        set(SSSE3_FOUND false CACHE BOOL "SSSE3 available on host")
-     ENDIF (SSSE3_TRUE)
-
-     STRING(REGEX REPLACE "^.*(sse4_1).*$" "\\1" SSE_THERE ${CPUINFO})
-     STRING(COMPARE EQUAL "sse4_1" "${SSE_THERE}" SSE41_TRUE)
-     IF (SSE41_TRUE)
-        set(SSE4_1_FOUND true CACHE BOOL "SSE4.1 available on host")
-     ELSE (SSE41_TRUE)
-        set(SSE4_1_FOUND false CACHE BOOL "SSE4.1 available on host")
-     ENDIF (SSE41_TRUE)
-
-     STRING(REGEX REPLACE "^.*(sse4_2).*$" "\\1" SSE_THERE ${CPUINFO})
-     STRING(COMPARE EQUAL "sse4_2" "${SSE_THERE}" SSE42_TRUE)
-     IF (SSE42_TRUE)
-        set(SSE4_2_FOUND true CACHE BOOL "SSE4.2 available on host")
-     ELSE (SSE42_TRUE)
-        set(SSE4_2_FOUND false CACHE BOOL "SSE4.2 available on host")
-     ENDIF (SSE42_TRUE)
-
-  ELSEIF(CMAKE_SYSTEM_NAME MATCHES "Darwin")
-     EXEC_PROGRAM("/usr/sbin/sysctl -n machdep.cpu.features" OUTPUT_VARIABLE
-        CPUINFO)
-
-     STRING(REGEX REPLACE "^.*[^S](SSE2).*$" "\\1" SSE_THERE ${CPUINFO})
-     STRING(COMPARE EQUAL "SSE2" "${SSE_THERE}" SSE2_TRUE)
-     IF (SSE2_TRUE)
-        set(SSE2_FOUND true CACHE BOOL "SSE2 available on host")
-     ELSE (SSE2_TRUE)
-        set(SSE2_FOUND false CACHE BOOL "SSE2 available on host")
-     ENDIF (SSE2_TRUE)
-
-     STRING(REGEX REPLACE "^.*[^S](SSE3).*$" "\\1" SSE_THERE ${CPUINFO})
-     STRING(COMPARE EQUAL "SSE3" "${SSE_THERE}" SSE3_TRUE)
-     IF (SSE3_TRUE)
-        set(SSE3_FOUND true CACHE BOOL "SSE3 available on host")
-     ELSE (SSE3_TRUE)
-        set(SSE3_FOUND false CACHE BOOL "SSE3 available on host")
-     ENDIF (SSE3_TRUE)
-
-     STRING(REGEX REPLACE "^.*(SSSE3).*$" "\\1" SSE_THERE ${CPUINFO})
-     STRING(COMPARE EQUAL "SSSE3" "${SSE_THERE}" SSSE3_TRUE)
-     IF (SSSE3_TRUE)
-        set(SSSE3_FOUND true CACHE BOOL "SSSE3 available on host")
-     ELSE (SSSE3_TRUE)
-        set(SSSE3_FOUND false CACHE BOOL "SSSE3 available on host")
-     ENDIF (SSSE3_TRUE)
-
-     STRING(REGEX REPLACE "^.*(SSE4.1).*$" "\\1" SSE_THERE ${CPUINFO})
-     STRING(COMPARE EQUAL "SSE4.1" "${SSE_THERE}" SSE41_TRUE)
-     IF (SSE41_TRUE)
-        set(SSE4_1_FOUND true CACHE BOOL "SSE4.1 available on host")
-     ELSE (SSE41_TRUE)
-        set(SSE4_1_FOUND false CACHE BOOL "SSE4.1 available on host")
-     ENDIF (SSE41_TRUE)
-  ELSEIF(CMAKE_SYSTEM_NAME MATCHES "Windows")
-     # TODO
-     set(SSE2_FOUND   true  CACHE BOOL "SSE2 available on host")
-     set(SSE3_FOUND   false CACHE BOOL "SSE3 available on host")
-     set(SSSE3_FOUND  false CACHE BOOL "SSSE3 available on host")
-     set(SSE4_1_FOUND false CACHE BOOL "SSE4.1 available on host")
-  ELSE(CMAKE_SYSTEM_NAME MATCHES "Linux")
-     set(SSE2_FOUND   true  CACHE BOOL "SSE2 available on host")
-     set(SSE3_FOUND   false CACHE BOOL "SSE3 available on host")
-     set(SSSE3_FOUND  false CACHE BOOL "SSSE3 available on host")
-     set(SSE4_1_FOUND false CACHE BOOL "SSE4.1 available on host")
-  ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux")
-ENDIF(ARCH MATCHES "i386" OR ARCH MATCHES "x86_64")
-
-if(NOT SSE2_FOUND)
-      MESSAGE(STATUS "Could not find hardware support for SSE2 on this machine.")
-endif(NOT SSE2_FOUND)
-if(NOT SSE3_FOUND)
-      MESSAGE(STATUS "Could not find hardware support for SSE3 on this machine.")
-endif(NOT SSE3_FOUND)
-if(NOT SSSE3_FOUND)
-      MESSAGE(STATUS "Could not find hardware support for SSSE3 on this machine.")
-endif(NOT SSSE3_FOUND)
-if(NOT SSE4_1_FOUND)
-      MESSAGE(STATUS "Could not find hardware support for SSE4.1 on this machine.")
-endif(NOT SSE4_1_FOUND)
-
-mark_as_advanced(SSE2_FOUND SSE3_FOUND SSSE3_FOUND SSE4_1_FOUND)
diff --git a/cmake/HostCFlags.cmake b/cmake/HostCFlags.cmake
deleted file mode 100644
index f38d8d7fd..000000000
--- a/cmake/HostCFlags.cmake
+++ /dev/null
@@ -1,27 +0,0 @@
-include (${project_cmake_dir}/FindSSE.cmake)
-
-if (SSE2_FOUND)
-  set (CMAKE_C_FLAGS_ALL "-msse -msse2 ${CMAKE_C_FLAGS_ALL}")
-  if (NOT APPLE)
-    set (CMAKE_C_FLAGS_ALL "-mfpmath=sse ${CMAKE_C_FLAGS_ALL}")
-  endif()
-endif()
-
-if (SSE3_FOUND)
-  set (CMAKE_C_FLAGS_ALL "-msse3 ${CMAKE_C_FLAGS_ALL}")
-endif()
-if (SSSE3_FOUND)
-  set (CMAKE_C_FLAGS_ALL "-mssse3 ${CMAKE_C_FLAGS_ALL}")
-endif()
-
-if (SSE4_1_FOUND OR SSE4_2_FOUND)
-  if (SSE4_1_FOUND)
-    set (CMAKE_C_FLAGS_ALL "-msse4.1 ${CMAKE_C_FLAGS_ALL}")
-  endif()
-  if (SSE4_2_FOUND)
-    set (CMAKE_C_FLAGS_ALL "-msse4.2 ${CMAKE_C_FLAGS_ALL}")
-  endif()
-else()
-  message(STATUS "\nSSE4 disabled.\n")
-endif()
-
diff --git a/cmake/Modules/FindTinyXML2.cmake b/cmake/Modules/FindTinyXML2.cmake
deleted file mode 100644
index fd3571e9b..000000000
--- a/cmake/Modules/FindTinyXML2.cmake
+++ /dev/null
@@ -1,42 +0,0 @@
-# CMake Logic to find system TinyXML2, sourced from:
-# ros2/tinyxml2_vendor
-# https://github.com/ros2/tinyxml2_vendor/commit/fde8000d31d68ff555431d63af3c324afba9f117#diff-120198e331f1dd3e7806c31af0cfb425
-
-# The CMake Logic here is licensed under Apache License 2.0
-# TinyXML2 itself is licensed under the zlib License
-
-# TinyXML2_FOUND
-# TinyXML2_INCLUDE_DIRS
-# TinyXML2_LIBRARIES
-
-# try to find the CMake config file for TinyXML2 first
-find_package(TinyXML2 CONFIG NAMES tinyxml2 QUIET)
-if(TinyXML2_FOUND)
-  message(STATUS "Found TinyXML2 via Config file: ${TinyXML2_DIR}")
-  if(NOT TINYXML2_LIBRARY)
-    # in this case, we're probably using TinyXML2 version 5.0.0 or greater
-    # in which case tinyxml2 is an exported target and we should use that
-    if(TARGET tinyxml2)
-      set(TINYXML2_LIBRARY tinyxml2)
-    elseif(TARGET tinyxml2::tinyxml2)
-      set(TINYXML2_LIBRARY tinyxml2::tinyxml2)
-    endif()
-  endif()
-else()
-  find_path(TINYXML2_INCLUDE_DIR NAMES tinyxml2.h)
-
-  find_library(TINYXML2_LIBRARY tinyxml2)
-
-  include(FindPackageHandleStandardArgs)
-  find_package_handle_standard_args(TinyXML2 DEFAULT_MSG TINYXML2_LIBRARY TINYXML2_INCLUDE_DIR)
-
-  mark_as_advanced(TINYXML2_INCLUDE_DIR TINYXML2_LIBRARY)
-endif()
-
-# Set mixed case INCLUDE_DIRS and LIBRARY variables from upper case ones.
-if(NOT TinyXML2_INCLUDE_DIRS)
-  set(TinyXML2_INCLUDE_DIRS ${TINYXML2_INCLUDE_DIR})
-endif()
-if(NOT TinyXML2_LIBRARIES)
-  set(TinyXML2_LIBRARIES ${TINYXML2_LIBRARY})
-endif()
diff --git a/cmake/SDFUtils.cmake b/cmake/SDFUtils.cmake
index 21ac67827..dc979f278 100644
--- a/cmake/SDFUtils.cmake
+++ b/cmake/SDFUtils.cmake
@@ -1,234 +1,12 @@
-################################################################################
-#APPEND_TO_CACHED_STRING(_string _cacheDesc [items...])
-# Appends items to a cached list.
-MACRO (APPEND_TO_CACHED_STRING _string _cacheDesc)
-  FOREACH (newItem ${ARGN})
-    SET (${_string} "${${_string}} ${newItem}" CACHE INTERNAL ${_cacheDesc} FORCE)
-  ENDFOREACH (newItem ${ARGN})
-  #STRING(STRIP ${${_string}} ${_string})
-ENDMACRO (APPEND_TO_CACHED_STRING)
-
-################################################################################
-# APPEND_TO_CACHED_LIST (_list _cacheDesc [items...]
-# Appends items to a cached list.
-MACRO (APPEND_TO_CACHED_LIST _list _cacheDesc)
-  SET (tempList ${${_list}})
-  FOREACH (newItem ${ARGN})
-    LIST (APPEND tempList ${newItem})
-  ENDFOREACH (newItem ${newItem})
-  SET (${_list} ${tempList} CACHE INTERNAL ${_cacheDesc} FORCE)
-ENDMACRO(APPEND_TO_CACHED_LIST)
-
-#################################################
-# Macro to turn a list into a string (why doesn't CMake have this built-in?)
-MACRO (LIST_TO_STRING _string _list)
-    SET (${_string})
-    FOREACH (_item ${_list})
-      SET (${_string} "${${_string}} ${_item}")
-    ENDFOREACH (_item)
-    #STRING(STRIP ${${_string}} ${_string})
-ENDMACRO (LIST_TO_STRING)
-
-#################################################
-# BUILD ERROR macro
-macro (BUILD_ERROR)
-  foreach (str ${ARGN})
-    SET (msg "\t${str}")
-    MESSAGE (STATUS ${msg})
-    APPEND_TO_CACHED_LIST(build_errors "build errors" ${msg})
-  endforeach ()
-endmacro (BUILD_ERROR)
-
-#################################################
-# BUILD WARNING macro
-macro (BUILD_WARNING)
-  foreach (str ${ARGN})
-    SET (msg "\t${str}" )
-    MESSAGE (STATUS ${msg} )
-    APPEND_TO_CACHED_LIST(build_warnings "build warning" ${msg})
-  endforeach (str ${ARGN})
-endmacro (BUILD_WARNING)
-
-#################################################
-macro (sdf_add_library _name)
-  set(LIBS_DESTINATION ${PROJECT_BINARY_DIR}/src)
-  add_library(${_name} ${ARGN})
-  set_target_properties(${_name} PROPERTIES DEFINE_SYMBOL "BUILDING_SDFORMAT_SHARED")
-  if(NOT BUILD_SHARED_LIBS)
-    target_compile_definitions(${_name} PUBLIC SDFORMAT_STATIC_DEFINE)
-  endif()
-  set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${LIBS_DESTINATION})
-  if (MSVC)
-    set_target_properties( ${_name} PROPERTIES ARCHIVE_OUTPUT_DIRECTORY ${LIBS_DESTINATION})
-    set_target_properties( ${_name} PROPERTIES ARCHIVE_OUTPUT_DIRECTORY_DEBUG ${LIBS_DESTINATION})
-    set_target_properties( ${_name} PROPERTIES ARCHIVE_OUTPUT_DIRECTORY_RELEASE ${LIBS_DESTINATION})
-  endif ()
-endmacro ()
-
-#################################################
-macro (sdf_add_executable _name)
-  add_executable(${_name} ${ARGN})
-endmacro ()
-
-
-#################################################
-macro (sdf_install_includes _subdir)
-  install(FILES ${ARGN} DESTINATION ${INCLUDE_INSTALL_DIR}/${_subdir} COMPONENT headers)
-endmacro()
-
-#################################################
-macro (sdf_install_library _name)
-  set_target_properties(${_name} PROPERTIES SOVERSION ${SDF_MAJOR_VERSION} VERSION ${SDF_VERSION_FULL})
-  install (
-    TARGETS ${_name}
-    EXPORT ${_name}
-    ARCHIVE DESTINATION ${LIB_INSTALL_DIR}
-    LIBRARY DESTINATION ${LIB_INSTALL_DIR}
-    RUNTIME DESTINATION ${BIN_INSTALL_DIR}
-    COMPONENT shlib)
-
-# Export and install target
-export(
-  EXPORT ${_name}
-  FILE ${PROJECT_BINARY_DIR}/cmake/${sdf_target_output_filename}
-  NAMESPACE ${PROJECT_EXPORT_NAME}::)
-
-install(
-  EXPORT ${_name}
-  DESTINATION ${sdf_config_install_dir}
-  FILE ${sdf_target_output_filename}
-  NAMESPACE ${PROJECT_EXPORT_NAME}::)
-
-endmacro ()
-
-#################################################
-macro (sdf_install_executable _name)
-  set_target_properties(${_name} PROPERTIES VERSION ${SDF_VERSION_FULL})
-  install (TARGETS ${_name} DESTINATION ${BIN_INSTALL_DIR})
-endmacro ()
-
-#################################################
-macro (sdf_setup_unix)
-endmacro()
-
 #################################################
 macro (sdf_setup_windows)
   # Need for M_PI constant
-  add_definitions(-D_USE_MATH_DEFINES -DWINDOWS_LEAN_AND_MEAN)
+  add_definitions(-D_USE_MATH_DEFINES)
   # And force linking to MSVC dynamic runtime
   set(CMAKE_C_FLAGS_DEBUG "/MDd ${CMAKE_C_FLAGS_DEBUG}")
   set(CMAKE_C_FLAGS_RELEASE "/MD ${CMAKE_C_FLAGS_RELEASE}")
 endmacro()
 
-#################################################
-macro (sdf_setup_apple)
-  set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,-undefined -Wl,dynamic_lookup")
-endmacro()
-
-#################################################
-# VAR: SDF_BUILD_TESTS_EXTRA_EXE_SRCS
-# Hack: extra sources to build binaries can be supplied to gz_build_tests in
-# the variable SDF_BUILD_TESTS_EXTRA_EXE_SRCS. This variable will be clean up
-# at the end of the function
-#
-include_directories(${PROJECT_SOURCE_DIR}/test/gtest/include)
-macro (sdf_build_tests)
-  # Build all the tests
-  foreach(GTEST_SOURCE_file ${ARGN})
-    string(REGEX REPLACE ".cc" "" BINARY_NAME ${GTEST_SOURCE_file})
-    set(BINARY_NAME ${TEST_TYPE}_${BINARY_NAME})
-
-    add_executable(${BINARY_NAME}
-      ${GTEST_SOURCE_file}
-      ${SDF_BUILD_TESTS_EXTRA_EXE_SRCS}
-    )
-
-    add_dependencies(${BINARY_NAME}
-      gtest gtest_main ${sdf_target}
-      )
-
-    link_directories(${IGNITION-MATH_LIBRARY_DIRS})
-    target_link_libraries(${BINARY_NAME} ${tinyxml2_LIBRARIES})
-
-    if (UNIX)
-      target_link_libraries(${BINARY_NAME} PRIVATE
-        libgtest.a
-        libgtest_main.a
-        ${sdf_target}
-        pthread
-        ${IGNITION-MATH_LIBRARIES}
-      )
-    elseif(WIN32)
-      target_link_libraries(${BINARY_NAME} PRIVATE
-        gtest.lib
-        gtest_main.lib
-        ${sdf_target}
-        ${IGNITION-MATH_LIBRARIES}
-      )
-
-      # Copy in sdformat library
-      add_custom_command(TARGET ${BINARY_NAME}
-        COMMAND ${CMAKE_COMMAND} -E copy_if_different
-        $<TARGET_FILE:sdformat${SDF_MAJOR_VERSION}>
-        $<TARGET_FILE_DIR:${BINARY_NAME}> VERBATIM)
-
-    endif()
-
-    add_test(${BINARY_NAME} ${CMAKE_CURRENT_BINARY_DIR}/${BINARY_NAME}
-      --gtest_output=xml:${CMAKE_BINARY_DIR}/test_results/${BINARY_NAME}.xml)
-
-    set (_env_vars)
-    set (sdf_paths)
-
-    # Get all the sdf protocol directory names
-    file(GLOB dirs RELATIVE "${PROJECT_SOURCE_DIR}/sdf"
-         "${PROJECT_SOURCE_DIR}/sdf/*")
-    list(SORT dirs)
-
-    # Add each sdf protocol to the sdf_path variable
-    foreach(dir ${dirs})
-      if (IS_DIRECTORY ${PROJECT_SOURCE_DIR}/sdf/${dir})
-        set(sdf_paths "${PROJECT_SOURCE_DIR}/sdf/${dir}:${sdf_paths}")
-      endif()
-    endforeach()
-
-    # Set the SDF_PATH environment variable
-    list(APPEND _env_vars "SDF_PATH=${sdf_paths}")
-
-    set_tests_properties(${BINARY_NAME} PROPERTIES
-      TIMEOUT 240
-      ENVIRONMENT "${_env_vars}")
-
-    if(PYTHONINTERP_FOUND)
-      # Check that the test produced a result and create a failure if it didn't.
-      # Guards against crashed and timed out tests.
-      add_test(check_${BINARY_NAME} ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/tools/check_test_ran.py
-               ${CMAKE_BINARY_DIR}/test_results/${BINARY_NAME}.xml)
-    endif()
-
-    if(SDFORMAT_RUN_VALGRIND_TESTS AND VALGRIND_PROGRAM)
-      add_test(memcheck_${BINARY_NAME} ${VALGRIND_PROGRAM} --leak-check=full
-               --error-exitcode=1 --show-leak-kinds=all ${CMAKE_CURRENT_BINARY_DIR}/${BINARY_NAME})
-    endif()
-  endforeach()
-
-  set(GZ_BUILD_TESTS_EXTRA_EXE_SRCS "")
-endmacro()
-
-#################################################
-# Macro to setup supported compiler warnings
-# Based on work of Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST.
-include(CheckCXXCompilerFlag)
-
-macro(filter_valid_compiler_warnings)
-  foreach(flag ${ARGN})
-    CHECK_CXX_COMPILER_FLAG(${flag} R${flag})
-    if(${R${flag}})
-      set(WARNING_CXX_FLAGS "${WARNING_CXX_FLAGS} ${flag}")
-    endif()
-  endforeach()
-endmacro()
-
 #################################################
 # Copied from catkin/cmake/empy.cmake
 function(find_python_module module)
diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
index 54bcc61db..072aabf78 100644
--- a/cmake/SearchForStuff.cmake
+++ b/cmake/SearchForStuff.cmake
@@ -1,14 +1,8 @@
-include (FindPkgConfig)
-
-# Detect the architecture
-include (${project_cmake_dir}/TargetArch.cmake)
-target_architecture(ARCH)
 message(STATUS "Building for arch: ${ARCH}")
 
 #################################################
 # Find tinyxml2.
-list(INSERT CMAKE_MODULE_PATH 0 "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules")
-find_package(TinyXML2 REQUIRED)
+ign_find_package(TINYXML2 REQUIRED)
 
 ################################################
 # Find urdfdom parser. Logic:
@@ -16,61 +10,36 @@ find_package(TinyXML2 REQUIRED)
 #  1. if USE_INTERNAL_URDF is unset, try to use system installation, fallback to internal copy
 #  2. if USE_INTERNAL_URDF is set to True, use the internal copy
 #  3. if USE_INTERNAL_URDF is set to False, force to search system installation, fail on error
-
-if (NOT PKG_CONFIG_FOUND)
-  if (NOT DEFINED USE_INTERNAL_URDF)
-    BUILD_WARNING("Couldn't find pkg-config for urdfdom, using internal copy")
-    set(USE_INTERNAL_URDF true)
-  elseif(NOT USE_INTERNAL_URDF)
-    BUILD_ERROR("Couldn't find pkg-config for urdfdom")
-  endif()
-endif()
-
 if (NOT DEFINED USE_INTERNAL_URDF OR NOT USE_INTERNAL_URDF)
-  # check for urdfdom with pkg-config
-  pkg_check_modules(URDF urdfdom>=1.0)
-
-  if (NOT URDF_FOUND)
-    find_package(urdfdom QUIET)
-    if (urdfdom_FOUND)
-      set(URDF_INCLUDE_DIRS ${urdfdom_INCLUDE_DIRS})
-      # ${urdfdom_LIBRARIES} already contains absolute library filenames
-      set(URDF_LIBRARY_DIRS "")
-      set(URDF_LIBRARIES ${urdfdom_LIBRARIES})
-    elseif (NOT DEFINED USE_INTERNAL_URDF)
-      message(STATUS "Couldn't find urdfdom >= 1.0, using internal copy")
-      set(USE_INTERNAL_URDF true)
+  ign_find_package(IgnURDFDOM QUIET)
+  if (NOT IgnURDFDOM_FOUND)
+    if (NOT DEFINED USE_INTERNAL_URDF)
+      # fallback to internal urdf
+      set(USE_INTERNAL_URDF ON)
     else()
-      BUILD_ERROR("Couldn't find the urdfdom >= 1.0 system installation")
+      ign_build_error("Couldn't find the urdfdom >= 1.0 system installation")
     endif()
-  else()
-    # what am I doing here? pkg-config and cmake
-    set(URDF_INCLUDE_DIRS ${URDF_INCLUDEDIR})
-    set(URDF_LIBRARY_DIRS ${URDF_LIBDIR})
   endif()
 endif()
 
+if (USE_INTERNAL_URDF)
+  message(STATUS "Using internal URDF")
+endif()
+
 #################################################
 # Find ign command line utility:
-find_package(ignition-tools)
-if (IGNITION-TOOLS_BINARY_DIRS)
-  message(STATUS "Looking for ignition-tools-config.cmake - found")
-else()
-  BUILD_WARNING ("ignition-tools not found, for command line utilities and for \
-generating aggregated SDFormat descriptions for sdformat.org, please install \
-ignition-tools.")
-endif()
+ign_find_package(ignition-tools)
 
 ################################################
 # Find the Python interpreter for running the
 # check_test_ran.py script
-find_package(PythonInterp 3 QUIET)
+ign_find_package(PythonInterp VERSION 3 QUIET)
 
 ################################################
 # Find psutil python package for memory tests
 find_python_module(psutil)
 if(NOT PY_PSUTIL)
-  BUILD_WARNING("Python psutil package not found. Memory leak tests will be skipped")
+  ign_build_warning("Python psutil package not found. Memory leak tests will be skipped")
 endif()
 
 ################################################
@@ -80,54 +49,26 @@ find_program(VALGRIND_PROGRAM NAMES valgrind PATH ${VALGRIND_ROOT}/bin)
 option(SDFORMAT_RUN_VALGRIND_TESTS "Run sdformat tests with Valgrind" FALSE)
 mark_as_advanced(SDFORMAT_RUN_VALGRIND_TESTS)
 if (SDFORMAT_RUN_VALGRIND_TESTS AND NOT VALGRIND_PROGRAM)
-  BUILD_WARNING("valgrind not found. Memory check tests will be skipped.")
+  ign_build_warning("valgrind not found. Memory check tests will be skipped.")
 endif()
 
 ################################################
 # Find ruby executable to produce xml schemas
 find_program(RUBY ruby)
 if (NOT RUBY)
-    BUILD_ERROR ("Ruby version 1.9 is needed to build xml schemas")
+    ign_build_error ("Ruby version 1.9 is needed to build xml schemas")
 else()
     message(STATUS "Found ruby executable: ${RUBY}")
 endif()
 
-#################################################
-# Macro to check for visibility capability in compiler
-# Original idea from: https://gitorious.org/ferric-cmake-stuff/
-macro (check_gcc_visibility)
-  include (CheckCXXCompilerFlag)
-  check_cxx_compiler_flag(-fvisibility=hidden GCC_SUPPORTS_VISIBILITY)
-endmacro()
-
-########################################
-# Find ignition cmake2
-# Only for using the testing macros and creating the codecheck target, not 
-# really being use to configure the whole project
-find_package(ignition-cmake2 2.3 REQUIRED)
-set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR})
-
 ########################################
 # Find ignition math
 # Set a variable for generating ProjectConfig.cmake
-find_package(ignition-math6 6.8 QUIET)
-if (NOT ignition-math6_FOUND)
-  message(STATUS "Looking for ignition-math6-config.cmake - not found")
-  BUILD_ERROR ("Missing: Ignition math (libignition-math6-dev)")
-else()
-  set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})
-  message(STATUS "Looking for ignition-math${IGN_MATH_VER}-config.cmake - found")
-endif()
+ign_find_package(ignition-math6 VERSION 6.8 REQUIRED)
+set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})
 
 ########################################
 # Find ignition utils
 # Set a variable for generating ProjectConfig.cmake
-find_package(ignition-utils1 QUIET)
-if (NOT ignition-utils1_FOUND)
-  message(STATUS "Looking for ignition-utils1-config.cmake - not found")
-  BUILD_ERROR ("Missing: Ignition utils(libignition-utils1-dev)")
-else()
-  set(IGN_UTILS_VER ${ignition-utils1_VERSION_MAJOR})
-  message(STATUS "Looking for ignition-utils${IGN_UTILS_VER}-config.cmake - found")
-endif()
-
+ign_find_package(ignition-utils1 REQUIRED)
+set(IGN_UTILS_VER ${ignition-utils1_VERSION_MAJOR})
diff --git a/cmake/TargetArch.cmake b/cmake/TargetArch.cmake
deleted file mode 100644
index d50073c82..000000000
--- a/cmake/TargetArch.cmake
+++ /dev/null
@@ -1,158 +0,0 @@
-# Copyright (c) 2012 Petroules Corporation. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-#     Redistributions of source code must retain the above copyright notice, this
-#     list of conditions and the following disclaimer.  Redistributions in binary
-#     form must reproduce the above copyright notice, this list of conditions and
-#     the following disclaimer in the documentation and/or other materials
-#     provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
-# ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
-# ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
-# Based on the Qt 5 processor detection code, so should be very accurate
-# https://qt.gitorious.org/qt/qtbase/blobs/master/src/corelib/global/qprocessordetection.h
-# Currently handles arm (v5, v6, v7), x86 (32/64), ia64, and ppc (32/64)
-
-# Regarding POWER/PowerPC, just as is noted in the Qt source,
-# "There are many more known variants/revisions that we do not handle/detect."
-
-
-
-set(archdetect_c_code "
-#if defined(__arm__) || defined(__TARGET_ARCH_ARM)
-    #if defined(__ARM_ARCH_7__) \\
-        || defined(__ARM_ARCH_7A__) \\
-        || defined(__ARM_ARCH_7R__) \\
-        || defined(__ARM_ARCH_7M__) \\
-        || (defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM-0 >= 7)
-        #error cmake_ARCH armv7
-    #elif defined(__ARM_ARCH_6__) \\
-        || defined(__ARM_ARCH_6J__) \\
-        || defined(__ARM_ARCH_6T2__) \\
-        || defined(__ARM_ARCH_6Z__) \\
-        || defined(__ARM_ARCH_6K__) \\
-        || defined(__ARM_ARCH_6ZK__) \\
-        || defined(__ARM_ARCH_6M__) \\
-        || (defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM-0 >= 6)
-        #error cmake_ARCH armv6
-    #elif defined(__ARM_ARCH_5TEJ__) \\
-        || (defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM-0 >= 5)
-        #error cmake_ARCH armv5
-    #else
-        #error cmake_ARCH arm
-    #endif
-#elif defined(__i386) || defined(__i386__) || defined(_M_IX86)
-    #error cmake_ARCH i386
-#elif defined(__x86_64) || defined(__x86_64__) || defined(__amd64) || defined(_M_X64)
-    #error cmake_ARCH x86_64
-#elif defined(__ia64) || defined(__ia64__) || defined(_M_IA64)
-    #error cmake_ARCH ia64
-#elif defined(__ppc__) || defined(__ppc) || defined(__powerpc__) \\
-      || defined(_ARCH_COM) || defined(_ARCH_PWR) || defined(_ARCH_PPC)  \\
-      || defined(_M_MPPC) || defined(_M_PPC)
-    #if defined(__ppc64__) || defined(__powerpc64__) || defined(__64BIT__)
-        #error cmake_ARCH ppc64
-    #else
-        #error cmake_ARCH ppc
-    #endif
-#endif
-
-#error cmake_ARCH unknown
-")
-
-# Set ppc_support to TRUE before including this file or ppc and ppc64
-# will be treated as invalid architectures since they are no longer supported by Apple
-
-function(target_architecture output_var)
-    if(APPLE AND CMAKE_OSX_ARCHITECTURES)
-        # On OS X we use CMAKE_OSX_ARCHITECTURES *if* it was set
-        # First let's normalize the order of the values
-
-        # Note that it's not possible to compile PowerPC applications if you are using
-        # the OS X SDK version 10.6 or later - you'll need 10.4/10.5 for that, so we
-        # disable it by default
-        # See this page for more information:
-        # http://stackoverflow.com/questions/5333490/how-can-we-restore-ppc-ppc64-as-well-as-full-10-4-10-5-sdk-support-to-xcode-4
-
-        # Architecture defaults to i386 or ppc on OS X 10.5 and earlier, depending on the CPU type detected at runtime.
-        # On OS X 10.6+ the default is x86_64 if the CPU supports it, i386 otherwise.
-
-        foreach(osx_arch ${CMAKE_OSX_ARCHITECTURES})
-            if("${osx_arch}" STREQUAL "ppc" AND ppc_support)
-                set(osx_arch_ppc TRUE)
-            elseif("${osx_arch}" STREQUAL "i386")
-                set(osx_arch_i386 TRUE)
-            elseif("${osx_arch}" STREQUAL "x86_64")
-                set(osx_arch_x86_64 TRUE)
-            elseif("${osx_arch}" STREQUAL "ppc64" AND ppc_support)
-                set(osx_arch_ppc64 TRUE)
-            else()
-                message(FATAL_ERROR "Invalid OS X arch name: ${osx_arch}")
-            endif()
-        endforeach()
-
-        # Now add all the architectures in our normalized order
-        if(osx_arch_ppc)
-            list(APPEND ARCH ppc)
-        endif()
-
-        if(osx_arch_i386)
-            list(APPEND ARCH i386)
-        endif()
-
-        if(osx_arch_x86_64)
-            list(APPEND ARCH x86_64)
-        endif()
-
-        if(osx_arch_ppc64)
-            list(APPEND ARCH ppc64)
-        endif()
-    else()
-        file(WRITE "${CMAKE_BINARY_DIR}/arch.c" "${archdetect_c_code}")
-
-        enable_language(C)
-
-        # Detect the architecture in a rather creative way...
-        # This compiles a small C program which is a series of ifdefs that selects a
-        # particular #error preprocessor directive whose message string contains the
-        # target architecture. The program will always fail to compile (both because
-        # file is not a valid C program, and obviously because of the presence of the
-        # #error preprocessor directives... but by exploiting the preprocessor in this
-        # way, we can detect the correct target architecture even when cross-compiling,
-        # since the program itself never needs to be run (only the compiler/preprocessor)
-        try_run(
-            run_result_unused
-            compile_result_unused
-            "${CMAKE_BINARY_DIR}"
-            "${CMAKE_BINARY_DIR}/arch.c"
-            COMPILE_OUTPUT_VARIABLE ARCH
-            CMAKE_FLAGS CMAKE_OSX_ARCHITECTURES=${CMAKE_OSX_ARCHITECTURES}
-        )
-
-        # Parse the architecture name from the compiler output
-        string(REGEX MATCH "cmake_ARCH ([a-zA-Z0-9_]+)" ARCH "${ARCH}")
-
-        # Get rid of the value marker leaving just the architecture name
-        string(REPLACE "cmake_ARCH " "" ARCH "${ARCH}")
-
-        # If we are compiling with an unknown architecture this variable should
-        # already be set to "unknown" but in the case that it's empty (i.e. due
-        # to a typo in the code), then set it to unknown
-        if (NOT ARCH)
-            set(ARCH unknown)
-        endif()
-    endif()
-
-    set(${output_var} "${ARCH}" PARENT_SCOPE)
-endfunction()
diff --git a/cmake/cmake_uninstall.cmake.in b/cmake/cmake_uninstall.cmake.in
deleted file mode 100644
index 2037e3653..000000000
--- a/cmake/cmake_uninstall.cmake.in
+++ /dev/null
@@ -1,21 +0,0 @@
-if(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
-  message(FATAL_ERROR "Cannot find install manifest: @CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
-endif(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
-
-file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
-string(REGEX REPLACE "\n" ";" files "${files}")
-foreach(file ${files})
-  message(STATUS "Uninstalling $ENV{DESTDIR}${file}")
-  if(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
-    exec_program(
-      "@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
-      OUTPUT_VARIABLE rm_out
-      RETURN_VALUE rm_retval
-      )
-    if(NOT "${rm_retval}" STREQUAL 0)
-      message(FATAL_ERROR "Problem when removing $ENV{DESTDIR}${file}")
-    endif(NOT "${rm_retval}" STREQUAL 0)
-  else(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
-    message(STATUS "File $ENV{DESTDIR}${file} does not exist.")
-  endif(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
-endforeach(file)
diff --git a/cmake/cpack_options.cmake.in b/cmake/cpack_options.cmake.in
deleted file mode 100644
index b5cb6d5c1..000000000
--- a/cmake/cpack_options.cmake.in
+++ /dev/null
@@ -1,23 +0,0 @@
-set(CPACK_PACKAGE_NAME "@PROJECT_NAME_NO_VERSION@")
-set(CPACK_PACKAGE_VENDOR "sdformat.org")
-set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Scene Description Format (SDF)")
-set(CPACK_PACKAGE_INSTALL_DIRECTORY "@PROJECT_NAME_NO_VERSION_LOWER@")
-set(CPACK_RESOURCE_FILE_LICENSE "@CMAKE_CURRENT_SOURCE_DIR@/LICENSE")
-set(CPACK_RESOURCE_FILE_README "@CMAKE_CURRENT_SOURCE_DIR@/README.md")
-set(CPACK_PACKAGE_DESCRIPTION_FILE "@CMAKE_CURRENT_SOURCE_DIR@/README.md")
-set(CPACK_PACKAGE_MAINTAINER "Nate Koenig <nate@osrfoundation.org>")
-set(CPACK_PACKAGE_CONTACT "Nate Koenig <nate@osrfoundation.org>")
-
-set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE "@DPKG_ARCH@")
-set(CPACK_DEBIAN_PACKAGE_DEPENDS "@DEBIAN_PACKAGE_DEPENDS@")
-set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
-set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
-set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
-set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "Format and parser for scene description files.")
-
-set(CPACK_RPM_PACKAGE_ARCHITECTURE "@DPKG_ARCH@")
-set(CPACK_RPM_PACKAGE_REQUIRES "@DEBIAN_PACKAGE_DEPENDS@")
-set(CPACK_RPM_PACKAGE_DESCRIPTION "Format and parser for scene description files.")
-
-set (CPACK_PACKAGE_FILE_NAME "@PROJECT_NAME_NO_VERSION_LOWER@-@SDF_VERSION_FULL@")
-set (CPACK_SOURCE_PACKAGE_FILE_NAME "@PROJECT_NAME_NO_VERSION_LOWER@-@SDF_VERSION_FULL@")
diff --git a/cmake/sdf_config.cmake.in b/cmake/sdf_config.cmake.in
deleted file mode 100644
index eea1d4022..000000000
--- a/cmake/sdf_config.cmake.in
+++ /dev/null
@@ -1,44 +0,0 @@
-# We explicitly set the desired cmake version to ensure that the policy settings
-# of users or of toolchains do not result in the wrong behavior for our modules.
-# Note that the call to find_package(~) will PUSH a new policy stack before
-# taking on these version settings, and then that stack will POP after the
-# find_package(~) has exited, so this will not affect the cmake policy settings
-# of a caller.
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
-
-if(@PKG_NAME@_CONFIG_INCLUDED)
-  return()
-endif()
-set(@PKG_NAME@_CONFIG_INCLUDED TRUE)
-
-@PACKAGE_INIT@
-
-if(NOT TARGET @sdf_import_target_name@)
-  include("${CMAKE_CURRENT_LIST_DIR}/@sdf_target_output_filename@")
-endif()
-
-list(APPEND @PKG_NAME@_INCLUDE_DIRS "${PACKAGE_PREFIX_DIR}/include/sdformat-@SDF_VERSION@")
-
-list(APPEND @PKG_NAME@_CFLAGS "-I${PACKAGE_PREFIX_DIR}/include/sdformat-@SDF_VERSION@")
-if (NOT WIN32)
-  list(APPEND @PKG_NAME@_CXX_FLAGS "${@PKG_NAME@_CFLAGS} -std=c++17")
-endif()
-
-list(APPEND @PKG_NAME@_LIBRARY_DIRS "${PACKAGE_PREFIX_DIR}/@CMAKE_INSTALL_LIBDIR@")
-
-set(@PKG_NAME@_LIBRARIES @sdf_import_target_name@)
-
-# These variables are used by ignition-cmake to automatically configure the
-# pkgconfig files for ignition projects.
-set(@PROJECT_NAME_LOWER@_PKGCONFIG_ENTRY "@PROJECT_NAME_LOWER@")
-set(@PROJECT_NAME_LOWER@_PKGCONFIG_TYPE PKGCONFIG_REQUIRES)
-
-find_package(ignition-math@IGN_MATH_VER@)
-list(APPEND @PKG_NAME@_INCLUDE_DIRS ${IGNITION-MATH_INCLUDE_DIRS})
-list(APPEND @PKG_NAME@_LIBRARY_DIRS ${IGNITION-MATH_LIBRARY_DIRS})
-
-find_package(ignition-utils@IGN_UTILS_VER@)
-list(APPEND @PKG_NAME@_INCLUDE_DIRS ${IGNITION-UTILS_INCLUDE_DIRS})
-list(APPEND @PKG_NAME@_LIBRARY_DIRS ${IGNITION-UTILS_LIBRARY_DIRS})
-
-list(APPEND @PKG_NAME@_LDFLAGS "-L${PACKAGE_PREFIX_DIR}/@LIB_INSTALL_DIR@")
diff --git a/cmake/sdf_cpack.cmake b/cmake/sdf_cpack.cmake
deleted file mode 100644
index 6267aae34..000000000
--- a/cmake/sdf_cpack.cmake
+++ /dev/null
@@ -1,25 +0,0 @@
-################################################################################
-#Find available package generators
-
-# DEB
-if ("${CMAKE_SYSTEM}" MATCHES "Linux")
-  find_program(DPKG_PROGRAM dpkg)
-  if (EXISTS ${DPKG_PROGRAM})
-    list (APPEND CPACK_GENERATOR "DEB")
-  endif(EXISTS ${DPKG_PROGRAM})
-
-  find_program(RPMBUILD_PROGRAM rpmbuild)
-endif()
-
-list (APPEND CPACK_SOURCE_GENERATOR "TBZ2")
-list (APPEND CPACK_SOURCE_GENERATOR "ZIP")
-list (APPEND CPACK_SOURCE_IGNORE_FILES ";TODO;/.hg/;.swp$;/build/")
-
-include (InstallRequiredSystemLibraries)
-
-#execute_process(COMMAND dpkg --print-architecture _NPROCE)
-set (DEBIAN_PACKAGE_DEPENDS "libtinyxml-dev")
-
-set (RPM_PACKAGE_DEPENDS "libtinyxml-dev")
-
-set (SDF_CPACK_CFG_FILE "${PROJECT_BINARY_DIR}/cpack_options.cmake")
diff --git a/cmake/sdformat_pc.in b/cmake/sdformat_pc.in
deleted file mode 100644
index 621509b53..000000000
--- a/cmake/sdformat_pc.in
+++ /dev/null
@@ -1,10 +0,0 @@
-prefix=${pcfiledir}/@PC_CONFIG_RELATIVE_PATH_TO_PREFIX@
-libdir=${prefix}/@LIB_INSTALL_DIR@
-includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@
-
-Name: SDF
-Description: Robot Modeling Language (SDF)
-Version: @SDF_VERSION_FULL@
-Requires: ignition-math@IGN_MATH_VER@, ignition-utils@IGN_UTILS_VER@
-Libs: -L${libdir} -lsdformat@SDF_MAJOR_VERSION@
-CFlags: -I${includedir}/sdformat-@SDF_VERSION@ -std=c++17
diff --git a/conf/CMakeLists.txt b/conf/CMakeLists.txt
index 001e28ee5..388c30cc1 100644
--- a/conf/CMakeLists.txt
+++ b/conf/CMakeLists.txt
@@ -1,23 +1,23 @@
 # Used only for internal testing.
-set(ign_library_path "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${sdf_target}")
+set(ign_library_path "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${PROJECT_NAME}")
 
 # Generate a configuration file for internal testing.
 # Note that the major version of the library is included in the name.
 # Ex: sdformat0.yaml
 configure_file(
   "${PROJECT_NAME_NO_VERSION_LOWER}.yaml.in"
-    "${CMAKE_BINARY_DIR}/test/conf/${sdf_target}.yaml" @ONLY)
+    "${CMAKE_BINARY_DIR}/test/conf/${PROJECT_NAME}.yaml" @ONLY)
 
 # Used for the installed version.
-set(ign_library_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/ignition/cmd${sdf_target}")
+set(ign_library_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/ignition/cmd${PROJECT_NAME}")
 
 # Generate the configuration file that is installed.
 # Note that the major version of the library is included in the name.
 # Ex: sdformat0.yaml
 configure_file(
-  "${PROJECT_NAME_NO_VERSION_LOWER}.yaml.in"
-  "${CMAKE_CURRENT_BINARY_DIR}/${sdf_target}.yaml" @ONLY)
+  "${CMAKE_SOURCE_DIR}/conf/${PROJECT_NAME_NO_VERSION_LOWER}.yaml.in"
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.yaml" @ONLY)
 
 # Install the yaml configuration files in an unversioned location.
-install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${sdf_target}.yaml
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.yaml
   DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/ignition/)
diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt
index 019149959..66d4caa6a 100644
--- a/doc/CMakeLists.txt
+++ b/doc/CMakeLists.txt
@@ -15,7 +15,7 @@ if (DOXYGEN_FOUND)
             ${CMAKE_BINARY_DIR}/doxygen/html/search
     COMMAND make -C ${CMAKE_BINARY_DIR}/doxygen/latex
     COMMAND mv ${CMAKE_BINARY_DIR}/doxygen/latex/refman.pdf
-    ${CMAKE_BINARY_DIR}/doxygen/latex/sdf-${SDF_VERSION_FULL}.pdf
+    ${CMAKE_BINARY_DIR}/doxygen/latex/sdf-${PROJECT_VERSION_FULL}.pdf
 
     COMMENT "Generating API documentation with Doxygen" VERBATIM)
 endif()
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 39caedb85..995fa11ad 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -4,11 +4,8 @@ find_package(sdformat13 REQUIRED)
 
 set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
 
-include_directories(${SDFormat_INCLUDE_DIRS})
-link_directories(${SDFormat_LIBRARY_DIRS})
-
 add_executable(simple simple.cc)
-target_link_libraries(simple ${SDFormat_LIBRARIES})
+target_link_libraries(simple sdformat13)
 
 add_executable(dom dom.cc)
-target_link_libraries(dom ${SDFormat_LIBRARIES})
+target_link_libraries(dom sdformat13)
diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
new file mode 100644
index 000000000..722dbe56c
--- /dev/null
+++ b/include/CMakeLists.txt
@@ -0,0 +1 @@
+add_subdirectory(sdf)
diff --git a/include/sdf/CMakeLists.txt b/include/sdf/CMakeLists.txt
index e1422b316..94f57dcfe 100644
--- a/include/sdf/CMakeLists.txt
+++ b/include/sdf/CMakeLists.txt
@@ -1,73 +1,8 @@
-include (${sdf_cmake_dir}/SDFUtils.cmake)
-
-set (headers
-  Actor.hh
-  AirPressure.hh
-  Altimeter.hh
-  Assert.hh
-  Atmosphere.hh
-  Box.hh
-  Camera.hh
-  Capsule.hh
-  Collision.hh
-  Console.hh
-  Cylinder.hh
-  Element.hh
-  Ellipsoid.hh
-  Error.hh
-  Exception.hh
-  Filesystem.hh
-  ForceTorque.hh
-  Frame.hh
-  Geometry.hh
-  Gui.hh
-  Heightmap.hh
-  Imu.hh
-  InterfaceElements.hh
-  InterfaceFrame.hh
-  InterfaceJoint.hh
-  InterfaceLink.hh
-  InterfaceModel.hh
-  InterfaceModelPoseGraph.hh
-  Joint.hh
-  JointAxis.hh
-  Lidar.hh
-  Light.hh
-  Link.hh
-  Magnetometer.hh
-  Material.hh
-  Mesh.hh
-  Model.hh
-  NavSat.hh
-  Noise.hh
-  Param.hh
-  parser.hh
-  ParserConfig.hh
-  ParticleEmitter.hh
-  Pbr.hh
-  Physics.hh
-  Plane.hh
-  PrintConfig.hh
-  Root.hh
-  Scene.hh
-  SDFImpl.hh
-  SemanticPose.hh
-  Sensor.hh
-  Sky.hh
-  Sphere.hh
-  Surface.hh
-  Types.hh
-  system_util.hh
-  Visual.hh
-  World.hh
+# Exlcude some files so that they are not added to the master header.
+ign_install_all_headers(EXCLUDE_FILES sdf.hh sdf_config.h)
+install(
+  FILES
+    sdf.hh
+    sdf_config.h
+  DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL}/${PROJECT_INCLUDE_DIR}
 )
-
-set (sdf_headers "" CACHE INTERNAL "SDF headers" FORCE)
-foreach (hdr ${headers})
-  set(sdf_headers "${sdf_headers}#include <sdf/${hdr}>\n")
-endforeach()
-configure_file (${CMAKE_CURRENT_SOURCE_DIR}/sdf.hh.in
-                ${CMAKE_CURRENT_BINARY_DIR}/sdf.hh)
-
-sdf_install_includes("" ${headers}
-  ${CMAKE_CURRENT_BINARY_DIR}/sdf.hh)
diff --git a/cmake/sdf_config.h.in b/include/sdf/config.hh.in
similarity index 61%
rename from cmake/sdf_config.h.in
rename to include/sdf/config.hh.in
index 17351e009..24534394a 100644
--- a/cmake/sdf_config.h.in
+++ b/include/sdf/config.hh.in
@@ -1,5 +1,8 @@
 /* config.h. Generated by CMake for @PROJECT_NAME@. */
 
+#ifndef SDF_CONFIG_HH_
+#define SDF_CONFIG_HH_
+
 /* Protocol version */
 #define SDF_PROTOCOL_VERSION "${SDF_PROTOCOL_VERSION}"
 /* \deprecated SDF_VERSION is deprecated. Please
@@ -11,17 +14,18 @@
 #define SDF_VERSION "${SDF_PROTOCOL_VERSION}"
 
 /* Package version number */
-#define SDF_MAJOR_VERSION ${SDF_MAJOR_VERSION}
-#define SDF_MINOR_VERSION ${SDF_MINOR_VERSION}
-#define SDF_PATCH_VERSION ${SDF_PATCH_VERSION}
+#define SDF_MAJOR_VERSION ${PROJECT_VERSION_MAJOR}
+#define SDF_MINOR_VERSION ${PROJECT_VERSION_MINOR}
+#define SDF_PATCH_VERSION ${PROJECT_VERSION_PATCH}
 
-#define SDF_MAJOR_VERSION_STR "${SDF_MAJOR_VERSION}"
-#define SDF_MINOR_VERSION_STR "${SDF_MINOR_VERSION}"
-#define SDF_PATCH_VERSION_STR "${SDF_PATCH_VERSION}"
+#define SDF_MAJOR_VERSION_STR "${PROJECT_VERSION_MAJOR}"
+#define SDF_MINOR_VERSION_STR "${PROJECT_VERSION_MINOR}"
+#define SDF_PATCH_VERSION_STR "${PROJECT_VERSION_PATCH}"
 
-#define SDF_PKG_VERSION "${SDF_VERSION}"
-#define SDF_VERSION_FULL "${SDF_VERSION_FULL}"
-#define SDF_VERSION_NAMESPACE v${SDF_MAJOR_VERSION}
+#define SDF_PKG_VERSION "${PROJECT_VERSION}"
+#define SDF_VERSION_FULL "${PROJECT_VERSION_FULL}"
+#define SDF_VERSION_NAME ${PROJECT_VERSION_NAME}
+#define SDF_VERSION_NAMESPACE v${PROJECT_VERSION_MAJOR}
 
 #define SDF_VERSION_HEADER "Simulation Description Format (SDF), version ${SDF_PROTOCOL_VERSION}\nCopyright (C) 2014 Open Source Robotics Foundation.\nReleased under the Apache 2 License.\nhttp://gazebosim.org/sdf\n\n"
 
@@ -33,4 +37,6 @@
 #cmakedefine SDFORMAT_DISABLE_CONSOLE_LOGFILE 1
 
 #define SDF_SHARE_PATH "${CMAKE_INSTALL_FULL_DATAROOTDIR}/"
-#define SDF_VERSION_PATH "${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/${SDF_PKG_VERSION}"
+#define SDF_VERSION_PATH "${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}"
+
+#endif // SDF_CONFIG_HH_
diff --git a/include/sdf/sdf.hh b/include/sdf/sdf.hh
new file mode 100644
index 000000000..1421078c5
--- /dev/null
+++ b/include/sdf/sdf.hh
@@ -0,0 +1,26 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#ifndef SDF_SDF_HH_
+#define SDF_SDF_HH_
+
+// TODO: deprecate this header?
+// #pragma message("sdf/sdf.hh is deprecated, use sdformat.hh instead")
+
+#include <sdformat.hh>
+
+#endif
diff --git a/include/sdf/sdf.hh.in b/include/sdf/sdf.hh.in
deleted file mode 100644
index 11fb7d63b..000000000
--- a/include/sdf/sdf.hh.in
+++ /dev/null
@@ -1,3 +0,0 @@
-// Automatically generated
-${sdf_headers}
-#include <sdf/sdf_config.h>
diff --git a/include/sdf/sdf_config.h b/include/sdf/sdf_config.h
new file mode 100644
index 000000000..03798db07
--- /dev/null
+++ b/include/sdf/sdf_config.h
@@ -0,0 +1,26 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#ifndef SDF_SDF_CONFIG_H_
+#define SDF_SDF_CONFIG_H_
+
+// TODO: deprecate this header?
+// #pragma message("sdf/sdf_config.h is deprecated, use sdf/config.hh instead")
+
+#include <sdf/config.hh>
+
+#endif
diff --git a/sdf/1.0/CMakeLists.txt b/sdf/1.0/CMakeLists.txt
index 1695588b1..dd62ae21c 100644
--- a/sdf/1.0/CMakeLists.txt
+++ b/sdf/1.0/CMakeLists.txt
@@ -27,4 +27,4 @@ set (sdfs
   world.sdf
 )
 
-install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.0/)
+install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.0/)
diff --git a/sdf/1.2/CMakeLists.txt b/sdf/1.2/CMakeLists.txt
index a37e84191..051e49e55 100644
--- a/sdf/1.2/CMakeLists.txt
+++ b/sdf/1.2/CMakeLists.txt
@@ -28,4 +28,4 @@ set (sdfs
   world.sdf
 )
 
-install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.2)
+install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.2)
diff --git a/sdf/1.3/CMakeLists.txt b/sdf/1.3/CMakeLists.txt
index b737f0e50..9325a7e19 100644
--- a/sdf/1.3/CMakeLists.txt
+++ b/sdf/1.3/CMakeLists.txt
@@ -29,4 +29,4 @@ set (sdfs
   world.sdf
 )
 
-install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.3)
+install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.3)
diff --git a/sdf/1.4/CMakeLists.txt b/sdf/1.4/CMakeLists.txt
index a59f4ea68..657bd085e 100644
--- a/sdf/1.4/CMakeLists.txt
+++ b/sdf/1.4/CMakeLists.txt
@@ -44,4 +44,4 @@ set (sdfs
   world.sdf
 )
 
-install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.4)
+install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.4)
diff --git a/sdf/1.5/CMakeLists.txt b/sdf/1.5/CMakeLists.txt
index 60fd6a15a..89e721573 100644
--- a/sdf/1.5/CMakeLists.txt
+++ b/sdf/1.5/CMakeLists.txt
@@ -76,5 +76,5 @@ add_custom_target(schema1_5 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_4.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.5)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.5)
+install(FILES 1_4.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.5)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.5)
diff --git a/sdf/1.6/CMakeLists.txt b/sdf/1.6/CMakeLists.txt
index fe972e4c5..f386b30bf 100644
--- a/sdf/1.6/CMakeLists.txt
+++ b/sdf/1.6/CMakeLists.txt
@@ -80,5 +80,5 @@ add_custom_target(schema1_6 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_5.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.6)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.6)
+install(FILES 1_5.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.6)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.6)
diff --git a/sdf/1.7/CMakeLists.txt b/sdf/1.7/CMakeLists.txt
index 516a7874b..4167a3b97 100644
--- a/sdf/1.7/CMakeLists.txt
+++ b/sdf/1.7/CMakeLists.txt
@@ -80,5 +80,5 @@ add_custom_target(schema1_7 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_6.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.7)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.7)
+install(FILES 1_6.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.7)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.7)
diff --git a/sdf/1.8/CMakeLists.txt b/sdf/1.8/CMakeLists.txt
index d074806f5..30555b39a 100644
--- a/sdf/1.8/CMakeLists.txt
+++ b/sdf/1.8/CMakeLists.txt
@@ -82,5 +82,5 @@ add_custom_target(schema1_8 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_7.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.8)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.8)
+install(FILES 1_7.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.8)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.8)
diff --git a/sdf/1.9/CMakeLists.txt b/sdf/1.9/CMakeLists.txt
index 209d63043..7778acafd 100644
--- a/sdf/1.9/CMakeLists.txt
+++ b/sdf/1.9/CMakeLists.txt
@@ -82,5 +82,5 @@ add_custom_target(schema1_9 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_8.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.9)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.9)
+install(FILES 1_8.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.9)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.9)
diff --git a/sdf/CMakeLists.txt b/sdf/CMakeLists.txt
index 9ce942840..bae97a640 100644
--- a/sdf/CMakeLists.txt
+++ b/sdf/CMakeLists.txt
@@ -40,5 +40,5 @@ if (IGNITION-TOOLS_BINARY_DIRS)
       COMMENT "Generating full description for spec ${desc_ver}"
       VERBATIM)
   endforeach()
-  add_custom_target(sdf_descriptions DEPENDS ${description_targets} ${sdf_target})
+  add_custom_target(sdf_descriptions DEPENDS ${description_targets} ${PROJECT_NAME})
 endif()
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 1e3c67eb2..365eb1e90 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,13 +1,5 @@
 include (${sdf_cmake_dir}/SDFUtils.cmake)
 
-link_directories(
-  ${PROJECT_BINARY_DIR}/test
-)
-
-if (NOT USE_INTERNAL_URDF)
-  link_directories(${URDF_LIBRARY_DIRS})
-endif()
-
 set (sources
   Actor.cc
   AirPressure.cc
@@ -76,10 +68,8 @@ set (sources
   World.cc
   XmlUtils.cc
 )
-include_directories(${CMAKE_CURRENT_SOURCE_DIR})
 
 if (USE_INTERNAL_URDF)
-  include_directories(${CMAKE_CURRENT_SOURCE_DIR}/urdf)
   set(sources ${sources}
   urdf/urdf_parser/model.cpp
   urdf/urdf_parser/link.cpp
@@ -89,8 +79,6 @@ if (USE_INTERNAL_URDF)
   urdf/urdf_parser/urdf_model_state.cpp
   urdf/urdf_parser/urdf_sensor.cpp
   urdf/urdf_parser/world.cpp)
-else()
-  include_directories(${URDF_INCLUDE_DIRS})
 endif()
 
 if (BUILD_SDF_TEST)
@@ -155,103 +143,116 @@ if (BUILD_SDF_TEST)
     )
   endif()
 
-  include_directories(${PROJECT_SOURCE_DIR}/test)
-  sdf_build_tests(${gtest_sources})
-
-  if (TARGET UNIT_ign_TEST)
-    # Link the libraries that we always need.
-    target_link_libraries("UNIT_ign_TEST"
-      PUBLIC
-        ignition-cmake${IGN_CMAKE_VER}::utilities
-    )
+  if (NOT WIN32)
+    # set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS Utils.cc)
+    set(gtest_sources ${gtest_sources} Utils_TEST.cc)
   endif()
 
   if (NOT WIN32)
-    set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS Utils.cc)
-    sdf_build_tests(Utils_TEST.cc)
+    # set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS XmlUtils.cc)
+    set(gtest_sources ${gtest_sources} XmlUtils_TEST.cc)
   endif()
 
   if (NOT WIN32)
-    set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS XmlUtils.cc)
-    sdf_build_tests(XmlUtils_TEST.cc)
-    target_link_libraries(UNIT_XmlUtils_TEST PRIVATE
-      ${TinyXML2_LIBRARIES})
+    # set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS FrameSemantics.cc)
+    set(gtest_sources ${gtest_sources} FrameSemantics_TEST.cc)
   endif()
 
   if (NOT WIN32)
-    set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS FrameSemantics.cc)
-    sdf_build_tests(FrameSemantics_TEST.cc)
+    # set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS Converter.cc EmbeddedSdf.cc XmlUtils.cc)
+    set(gtest_sources ${gtest_sources} Converter_TEST.cc)
   endif()
 
   if (NOT WIN32)
-    set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS Converter.cc EmbeddedSdf.cc XmlUtils.cc)
-    sdf_build_tests(Converter_TEST.cc)
-    target_link_libraries(UNIT_Converter_TEST PRIVATE
-      ${TinyXML2_LIBRARIES})
+    # set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS SDFExtension.cc parser_urdf.cc XmlUtils.cc)
+    set(gtest_sources ${gtest_sources} parser_urdf_TEST.cc)
   endif()
 
   if (NOT WIN32)
-    set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS SDFExtension.cc parser_urdf.cc XmlUtils.cc)
-    sdf_build_tests(parser_urdf_TEST.cc)
+    # set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS ParamPassing.cc XmlUtils.cc parser.cc
+    # parser_urdf.cc FrameSemantics.cc Converter.cc EmbeddedSdf.cc SDFExtension.cc Utils.cc)
+    set(gtest_sources ${gtest_sources} ParamPassing_TEST.cc)
+  endif()
+
+  ign_build_tests(
+    TYPE UNIT
+    SOURCES ${gtest_sources}
+    # FIXME: This adds dependencies to ALL tests.
+    INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/test
+  )
+
+  if (TARGET UNIT_ign_TEST)
+    target_link_libraries(UNIT_ign_TEST ignition-cmake${IGN_CMAKE_VER}::utilities)
+  endif()
+
+  if (TARGET UNIT_XmlUtils_TEST)
+    target_link_libraries(UNIT_XmlUtils_TEST ${TINYXML2_LIBRARIES})
+  endif()
+
+  if (TARGET UNIT_Converter_TEST)
+    target_link_libraries(UNIT_Converter_TEST ${TINYXML2_LIBRARIES})
+  endif()
+
+  if (TARGET UNIT_parser_urdf_TEST)
     if (NOT USE_INTERNAL_URDF)
       target_compile_options(UNIT_parser_urdf_TEST PRIVATE ${URDF_CFLAGS})
       if (${CMAKE_VERSION} VERSION_GREATER 3.13)
         target_link_options(UNIT_parser_urdf_TEST PRIVATE ${URDF_LDFLAGS})
       endif()
-      target_link_libraries(UNIT_parser_urdf_TEST PRIVATE ${URDF_LIBRARIES})
+      target_link_libraries(UNIT_parser_urdf_TEST IgnURDFDOM::IgnURDFDOM)
     endif()
-    target_link_libraries(UNIT_parser_urdf_TEST PRIVATE
-      ${TinyXML2_LIBRARIES})
+    target_link_libraries(UNIT_parser_urdf_TEST ${TINYXML2_LIBRARIES})
   endif()
 
-  if (NOT WIN32)
-    set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS ParamPassing.cc XmlUtils.cc parser.cc
-    parser_urdf.cc FrameSemantics.cc Converter.cc EmbeddedSdf.cc SDFExtension.cc Utils.cc)
-    sdf_build_tests(ParamPassing_TEST.cc)
+  if (TARGET UNIT_ParamPassing_TEST)
     if (NOT USE_INTERNAL_URDF)
       target_compile_options(UNIT_ParamPassing_TEST PRIVATE ${URDF_CFLAGS})
       if (${CMAKE_VERSION} VERSION_GREATER 3.13)
         target_link_options(UNIT_ParamPassing_TEST PRIVATE ${URDF_LDFLAGS})
       endif()
-      target_link_libraries(UNIT_ParamPassing_TEST PRIVATE ${URDF_LIBRARIES})
+      target_link_libraries(UNIT_ParamPassing_TEST IgnURDFDOM::IgnURDFDOM)
     endif()
-    target_link_libraries(UNIT_ParamPassing_TEST PRIVATE
-      ${TinyXML2_LIBRARIES})
+    target_link_libraries(UNIT_ParamPassing_TEST ${TINYXML2_LIBRARIES})
   endif()
 endif()
 
-sdf_add_library(${sdf_target} ${sources})
-target_compile_features(${sdf_target} PUBLIC cxx_std_17)
-target_link_libraries(${sdf_target}
+ign_create_core_library(SOURCES ${sources} CXX_STANDARD 17)
+
+target_include_directories(${PROJECT_LIBRARY_TARGET_NAME}
+  PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
   PUBLIC
     ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER}
     ignition-utils${IGN_UTILS_VER}::ignition-utils${IGN_UTILS_VER}
   PRIVATE
-    ${TinyXML2_LIBRARIES})
+    ${TINYXML2_LIBRARIES}
+)
+
+if (USE_INTERNAL_URDF)
+  target_include_directories(${PROJECT_LIBRARY_TARGET_NAME}
+    PRIVATE
+      ${CMAKE_CURRENT_SOURCE_DIR}/urdf
+  )
+else()
+  target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
+    PRIVATE
+      IgnURDFDOM::IgnURDFDOM
+  )
+endif()
 
 if (WIN32)
-  target_compile_definitions(${sdf_target} PRIVATE URDFDOM_STATIC)
+  target_compile_definitions(${PROJECT_LIBRARY_TARGET_NAME} PRIVATE URDFDOM_STATIC)
 endif()
 
-target_include_directories(${sdf_target}
+target_include_directories(${PROJECT_LIBRARY_TARGET_NAME}
   PUBLIC
     $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:${INCLUDE_INSTALL_DIR}/..>
 )
 
-message (STATUS "URDF_LIBRARY_DIRS=${URDF_LIBRARY_DIRS}")
-message (STATUS "URDF_LIBRARIES=${URDF_LIBRARIES}")
-
-if (NOT USE_INTERNAL_URDF)
-  target_compile_options(${sdf_target} PRIVATE ${URDF_CFLAGS})
-  if (${CMAKE_VERSION} VERSION_GREATER 3.13)
-    target_link_options(${sdf_target} PRIVATE ${URDF_LDFLAGS})
-  endif()
-  target_link_libraries(${sdf_target} PRIVATE ${URDF_LIBRARIES})
-endif()
-
-sdf_install_library(${sdf_target})
-
 if(NOT WIN32)
   add_subdirectory(cmd)
 endif()
diff --git a/src/cmd/CMakeLists.txt b/src/cmd/CMakeLists.txt
index 89534f7aa..6342379ca 100644
--- a/src/cmd/CMakeLists.txt
+++ b/src/cmd/CMakeLists.txt
@@ -2,15 +2,15 @@
 # Generate the ruby script for internal testing.
 # Note that the major version of the library is included in the name.
 # Ex: cmdsdformat0.rb
-set(cmd_script_generated_test "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${sdf_target}.rb")
+set(cmd_script_generated_test "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${PROJECT_NAME}.rb")
 set(cmd_script_configured_test "${cmd_script_generated_test}.configured")
 
 # Set the library_location variable to the full path of the library file within
 # the build directory.
-set(library_location "$<TARGET_FILE:${sdf_target}>")
+set(library_location "$<TARGET_FILE:${PROJECT_NAME}>")
 
 configure_file(
-  "cmd${PROJECT_NAME_NO_VERSION_LOWER}.rb.in"
+  "${CMAKE_SOURCE_DIR}/src/cmd/cmd${PROJECT_NAME_NO_VERSION_LOWER}.rb.in"
   "${cmd_script_configured_test}"
   @ONLY)
 
@@ -24,12 +24,12 @@ file(GENERATE
 # Generate the ruby script that gets installed.
 # Note that the major version of the library is included in the name.
 # Ex: cmdsdformat0.rb
-set(cmd_script_generated "${CMAKE_CURRENT_BINARY_DIR}/cmd${sdf_target}.rb")
+set(cmd_script_generated "${CMAKE_CURRENT_BINARY_DIR}/cmd${PROJECT_NAME}.rb")
 set(cmd_script_configured "${cmd_script_generated}.configured")
 
 # Set the library_location variable to the relative path to the library file
 # within the install directory structure.
-set(library_location "../../../${CMAKE_INSTALL_LIBDIR}/$<TARGET_FILE_NAME:${sdf_target}>")
+set(library_location "../../../${CMAKE_INSTALL_LIBDIR}/$<TARGET_FILE_NAME:${PROJECT_NAME}>")
 
 configure_file(
   "cmd${PROJECT_NAME_NO_VERSION_LOWER}.rb.in"
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 22926fd5a..58ddad3d7 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,33 +1,17 @@
-include_directories (
-  ${PROJECT_SOURCE_DIR}/include
-  ${PROJECT_BINARY_DIR}/include
-  ${PROJECT_SOURCE_DIR}/test/gtest/include
-  ${PROJECT_SOURCE_DIR}/test/gtest
-  ${PROJECT_SOURCE_DIR}/test
-  ${IGNITION-MATH_INCLUDE_DIRS}
-)
-
-link_directories(
-  ${IGNITION-MATH_LIBRARY_DIRS}
-)
-
-if (USE_EXTERNAL_TINYXML)
-  include_directories(${tinyxml_INCLUDE_DIRS})
-  link_directories(${tinyxml_LIBRARY_DIRS})
-endif()
-
 configure_file(test_config.h.in ${PROJECT_BINARY_DIR}/test_config.h)
 
 # Build gtest
 add_library(gtest STATIC gtest/src/gtest-all.cc)
+target_include_directories(gtest
+  PRIVATE
+    ${PROJECT_SOURCE_DIR}/test/gtest/include
+    ${PROJECT_SOURCE_DIR}/test/gtest
+)
 add_library(gtest_main STATIC gtest/src/gtest_main.cc)
 target_link_libraries(gtest_main gtest)
-set(GTEST_LIBRARY "${PROJECT_BINARY_DIR}/test/libgtest.a")
-set(GTEST_MAIN_LIBRARY "${PROJECT_BINARY_DIR}/test/libgtest_main.a")
 
 execute_process(COMMAND cmake -E remove_directory ${CMAKE_BINARY_DIR}/test_results)
 execute_process(COMMAND cmake -E make_directory ${CMAKE_BINARY_DIR}/test_results)
-include_directories(${GTEST_INCLUDE_DIRS})
 
 add_subdirectory(integration)
 add_subdirectory(performance)
diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt
index ddfb34936..ea0bdc043 100644
--- a/test/integration/CMakeLists.txt
+++ b/test/integration/CMakeLists.txt
@@ -8,6 +8,7 @@ set(tests
   collision_dom.cc
   converter.cc
   default_elements.cc
+  deprecated_headers.cc
   deprecated_specs.cc
   disable_fixed_joint_reduction.cc
   element_tracing.cc
@@ -62,12 +63,10 @@ find_program(XMLLINT_EXE xmllint)
 if (EXISTS ${XMLLINT_EXE})
   set (tests ${tests} schema_test.cc)
 else()
-  BUILD_WARNING("xmllint not found. schema_test won't be run")
+  ign_build_warning("xmllint not found. schema_test won't be run")
 endif()
 
-link_directories(${PROJECT_BINARY_DIR}/test)
-
-sdf_build_tests(${tests})
+ign_build_tests(TYPE ${TEST_TYPE} SOURCES ${tests} INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/test)
 
 if (EXISTS ${XMLLINT_EXE})
   # Need to run schema target (build .xsd files) before running schema_test
@@ -78,5 +77,5 @@ endif()
 if (UNIX AND NOT APPLE)
   configure_file(all_symbols_have_version.bash.in ${CMAKE_CURRENT_BINARY_DIR}/all_symbols_have_version.bash @ONLY)
   add_test(NAME INTEGRATION_versioned_symbols
-    COMMAND bash ${CMAKE_CURRENT_BINARY_DIR}/all_symbols_have_version.bash ${CMAKE_BINARY_DIR}/src/libsdformat${SDF_MAJOR_VERSION}.so)
+    COMMAND bash ${CMAKE_CURRENT_BINARY_DIR}/all_symbols_have_version.bash ${CMAKE_BINARY_DIR}/src/libsdformat${PROJECT_VERSION_MAJOR}.so)
 endif()
diff --git a/test/integration/deprecated_headers.cc b/test/integration/deprecated_headers.cc
new file mode 100644
index 000000000..17898a12e
--- /dev/null
+++ b/test/integration/deprecated_headers.cc
@@ -0,0 +1,28 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+/**
+ * This simply tests if it builds with the deprecated headers. The downside of this
+ * is that it taints the build output with false positive warnings.
+ */
+#include <sdf/sdf_config.h>
+#include <sdf/sdf.hh>
+
+int main()
+{
+  return 0;
+}
diff --git a/test/performance/CMakeLists.txt b/test/performance/CMakeLists.txt
index 8df89ac74..807cb38e6 100644
--- a/test/performance/CMakeLists.txt
+++ b/test/performance/CMakeLists.txt
@@ -4,6 +4,4 @@ set(tests
   parser_urdf.cc
 )
 
-link_directories(${PROJECT_BINARY_DIR}/test)
-
-sdf_build_tests(${tests})
+ign_build_tests(TYPE ${TEST_TYPE} SOURCES ${tests} INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/test)