diff --git a/ur_bringup/CMakeLists.txt b/ur_bringup/CMakeLists.txt
index 45fd1aa0fccb27caf38f4d4289587462b79ad58f..23fed14992a9c0a94deb3bcf60de044f05b67de6 100644
--- a/ur_bringup/CMakeLists.txt
+++ b/ur_bringup/CMakeLists.txt
@@ -83,6 +83,8 @@ catkin_package(
 ## Install ##
 #############
 
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
 # all install targets should use catkin DESTINATION variables
 # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
 
diff --git a/ur_description/CMakeLists.txt b/ur_description/CMakeLists.txt
index 28d06f3ddb4698edebcb1f4df87e31e07205d815..ba737084f5f17fe6836491a365205e9fbd8611c4 100644
--- a/ur_description/CMakeLists.txt
+++ b/ur_description/CMakeLists.txt
@@ -83,6 +83,10 @@ catkin_package(
 ## Install ##
 #############
 
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
 # all install targets should use catkin DESTINATION variables
 # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
 
diff --git a/ur_driver/CMakeLists.txt b/ur_driver/CMakeLists.txt
index 4667a7af6db597cb8fbd5b4dbc8dddf8ab635907..f7ad8ce973ca1be3d85da6ab4763745e2e34960d 100644
--- a/ur_driver/CMakeLists.txt
+++ b/ur_driver/CMakeLists.txt
@@ -54,6 +54,8 @@ catkin_package(
 #  DEPENDS system_lib
 )
 
+catkin_python_setup()
+
 ###########
 ## Build ##
 ###########
diff --git a/ur_gazebo/CMakeLists.txt b/ur_gazebo/CMakeLists.txt
index 3f1e0b7523500e8aad6200a259db61b855a7caef..0fb3c5fdeab84a693f36f0463f70d2aff968ea9c 100644
--- a/ur_gazebo/CMakeLists.txt
+++ b/ur_gazebo/CMakeLists.txt
@@ -83,6 +83,10 @@ catkin_package(
 ## Install ##
 #############
 
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY controller DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+
 # all install targets should use catkin DESTINATION variables
 # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
 
diff --git a/ur_kinematics/CMakeLists.txt b/ur_kinematics/CMakeLists.txt
index 39d177cd49dd03d7cf9a87b1b7f9c9737d5edea9..d7d5f2adf97086f73b7042a9da49e4f3edadbfe3 100644
--- a/ur_kinematics/CMakeLists.txt
+++ b/ur_kinematics/CMakeLists.txt
@@ -88,6 +88,17 @@ set_target_properties(ur5_kin PROPERTIES COMPILE_DEFINITIONS "UR5_PARAMS")
 ## Install ##
 #############
 
+install(TARGETS ur5_kin ur10_kin
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# install header files
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
 # all install targets should use catkin DESTINATION variables
 # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html