diff --git a/CMakeLists.txt b/CMakeLists.txt
index 626af93..96a2aa1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -22,23 +22,7 @@ set(CARTOGRAPHER_VERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERS
 set(CARTOGRAPHER_SOVERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION})
 
 include("${CMAKE_SOURCE_DIR}/cmake/functions.cmake")
-SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
-
-if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
-  set(CMAKE_BUILD_TYPE Release)
-endif()
-
-if(CMAKE_BUILD_TYPE STREQUAL "Release")
-  google_add_flag(GOOG_CXX_FLAGS "-O3 -DNDEBUG")
-elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
-  google_add_flag(GOOG_CXX_FLAGS "-O3 -g -DNDEBUG")
-elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
-  message(FATAL_ERROR "Cartographer is too slow to be useful in debug mode.")
-else()
-  message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
-endif()
-
-message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
+google_initialize_cartographer_project()
 
 find_package(Boost REQUIRED COMPONENTS system iostreams)
 find_package(Ceres REQUIRED)
@@ -52,26 +36,6 @@ if(SPHINX_FOUND)
   add_subdirectory("docs")
 endif()
 
-set(GMOCK_SRC_DIR "/usr/src/gmock" CACHE STRING "Path to google-mock sources.")
-
-add_subdirectory(${GMOCK_SRC_DIR} "${CMAKE_CURRENT_BINARY_DIR}/gmock")
-
-google_add_flag(GOOG_CXX_FLAGS "-std=c++11")
-
-if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
-  google_add_flag(GOOG_CXX_FLAGS "-Weverything")
-  google_add_flag(GOOG_CXX_FLAGS "-Werror=deprecated")
-  google_add_flag(GOOG_CXX_FLAGS "-Werror=non-pod-varargs")
-else()
-  google_add_flag(GOOG_CXX_FLAGS "-Wall")
-  google_add_flag(GOOG_CXX_FLAGS "-Wpedantic")
-endif()
-
-# Turn some warnings into errors. These are defined for clang and gcc.
-google_add_flag(GOOG_CXX_FLAGS "-Werror=format-security")
-google_add_flag(GOOG_CXX_FLAGS "-Werror=return-type")
-google_add_flag(GOOG_CXX_FLAGS "-Werror=uninitialized")
-
 enable_testing()
 
 SET(ALL_LIBRARIES "" CACHE INTERNAL "ALL_LIBRARIES")
@@ -82,6 +46,8 @@ install(FILES package.xml DESTINATION share/cartographer)
 set(CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY "${CMAKE_INSTALL_PREFIX}/share/cartographer/configuration_files")
 install(DIRECTORY configuration_files DESTINATION share/cartographer/)
 
+install(DIRECTORY cmake DESTINATION share/cartographer/)
+
 add_subdirectory("cartographer")
 
 include(CMakePackageConfigHelpers)
@@ -96,11 +62,15 @@ list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${LUA_INCLUDE_DIR}")
 list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${CERES_INCLUDE_DIRS}")
 list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${PROTOBUF_INCLUDE_DIR}")
 
+set(CARTOGRAPHER_CMAKE_DIR "${CMAKE_INSTALL_PREFIX}/share/cartographer/cmake")
+
 google_combined_library(cartographer
   SRCS "${ALL_LIBRARIES}"
 )
 
 get_property(CARTOGRAPHER_LIBRARY_FILE TARGET cartographer PROPERTY LOCATION)
+get_filename_component(CARTOGRAPHER_LIBRARY_FILE_BASENAME 
+  ${CARTOGRAPHER_LIBRARY_FILE} NAME)
 install(
   FILES
     ${CARTOGRAPHER_LIBRARY_FILE}
@@ -109,7 +79,7 @@ install(
 )
 
 set(CARTOGRAPHER_LIBRARIES "")
-list(APPEND CARTOGRAPHER_LIBRARIES "cartographer")
+list(APPEND CARTOGRAPHER_LIBRARIES "${CMAKE_INSTALL_PREFIX}/lib/${CARTOGRAPHER_LIBRARY_FILE_BASENAME}")
 list(APPEND CARTOGRAPHER_LIBRARIES "${CERES_LIBRARIES}")
 list(APPEND CARTOGRAPHER_LIBRARIES "${Boost_LIBRARIES}")
 list(APPEND CARTOGRAPHER_LIBRARIES "${LUA_LIBRARIES}")
@@ -119,7 +89,7 @@ list(APPEND CARTOGRAPHER_LIBRARIES "webp")
 CONFIGURE_PACKAGE_CONFIG_FILE(
   cartographer-config.cmake.in
   "${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake"
-  PATH_VARS CARTOGRAPHER_INCLUDE_DIRS CARTOGRAPHER_LIBRARY_DIRS
+  PATH_VARS CARTOGRAPHER_INCLUDE_DIRS CARTOGRAPHER_LIBRARY_DIRS CARTOGRAPHER_CMAKE_DIR
   INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/cartographer
 )
 
diff --git a/cartographer-config.cmake.in b/cartographer-config.cmake.in
index 1aa5c39..59f7dea 100644
--- a/cartographer-config.cmake.in
+++ b/cartographer-config.cmake.in
@@ -29,6 +29,7 @@
 
 set(CARTOGRAPHER_INCLUDE_DIRS "@PACKAGE_CARTOGRAPHER_INCLUDE_DIRS@")
 set(CARTOGRAPHER_LIBRARY_DIRS "@PACKAGE_CARTOGRAPHER_LIBRARY_DIRS@")
+set(CARTOGRAPHER_CMAKE_DIR "@PACKAGE_CARTOGRAPHER_CMAKE_DIR@")
 
 set(CARTOGRAPHER_LIBRARIES
   "@CARTOGRAPHER_LIBRARIES@"
diff --git a/cmake/functions.cmake b/cmake/functions.cmake
index 4e116b5..f8cce57 100644
--- a/cmake/functions.cmake
+++ b/cmake/functions.cmake
@@ -25,6 +25,14 @@ macro(_parse_arguments ARGS)
     USES_GLOG
     USES_GFLAGS
   )
+
+  # Options only used by projects using Cartographers cmake files.
+  list(APPEND OPTIONS
+    USES_CARTOGRAPHER
+    USES_ROS
+    USES_ZLIB
+    USES_PCL
+  )
   set(ONE_VALUE_ARG )
   set(MULTI_VALUE_ARGS SRCS HDRS DEPENDS)
   cmake_parse_arguments(ARG
@@ -33,31 +41,29 @@ endmacro(_parse_arguments)
 
 macro(_common_compile_stuff VISIBILITY)
   set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
-  set_target_properties(${NAME} PROPERTIES
-    COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
 
   if(ARG_USES_EIGEN)
     target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
       "${EIGEN3_INCLUDE_DIR}")
-    target_link_libraries("${NAME}" "${EIGEN3_LIBRARIES}")
+    target_link_libraries("${NAME}" ${EIGEN3_LIBRARIES})
   endif()
 
   if(ARG_USES_CERES)
     target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
       "${CERES_INCLUDE_DIRS}")
-    target_link_libraries("${NAME}" "${CERES_LIBRARIES}")
+    target_link_libraries("${NAME}" ${CERES_LIBRARIES})
   endif()
 
   if(ARG_USES_LUA)
     target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
       "${LUA_INCLUDE_DIR}")
-    target_link_libraries("${NAME}" "${LUA_LIBRARIES}")
+    target_link_libraries("${NAME}" ${LUA_LIBRARIES})
   endif()
 
   if(ARG_USES_BOOST)
     target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
       "{Boost_INCLUDE_DIRS}")
-    target_link_libraries("${NAME}" "${Boost_LIBRARIES}")
+    target_link_libraries("${NAME}" ${Boost_LIBRARIES})
   endif()
 
   if(ARG_USES_WEBP)
@@ -73,6 +79,38 @@ macro(_common_compile_stuff VISIBILITY)
     target_link_libraries("${NAME}" gflags)
   endif()
 
+  if(ARG_USES_ROS)
+    target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
+      "${catkin_INCLUDE_DIRS}")
+    target_link_libraries("${NAME}" ${catkin_LIBRARIES})
+    add_dependencies("${NAME}" ${catkin_EXPORTED_TARGETS}
+  )
+  endif()
+
+  if(ARG_USES_ZLIB)
+    target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
+      "${ZLIB_INCLUDE_DIRS}")
+    target_link_libraries("${NAME}" ${ZLIB_LIBRARIES})
+  endif()
+
+  if(ARG_USES_CARTOGRAPHER)
+    target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
+      "${CARTOGRAPHER_INCLUDE_DIRS}")
+    target_link_libraries("${NAME}" ${CARTOGRAPHER_LIBRARIES})
+  endif()
+
+  if(ARG_USES_PCL)
+    target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
+      "${PCL_INCLUDE_DIRS}")
+    target_link_libraries("${NAME}" ${PCL_LIBRARIES})
+    foreach(DEFINITION ${PCL_DEFINITIONS})
+      set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${DEFINITION}")
+    endforeach()
+  endif()
+
+  set_target_properties(${NAME} PROPERTIES
+    COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
+
   # Add the binary directory first, so that port.h is included after it has
   # been generated.
   target_include_directories("${NAME}" ${VISIBILITY} "${CMAKE_BINARY_DIR}")
@@ -265,5 +303,38 @@ function(google_proto_library NAME)
     "${PROTOBUF_INCLUDE_DIR}")
   # TODO(hrapp): This should not explicityly list pthread and use
   # PROTOBUF_LIBRARIES, but that failed on first try.
-  target_link_libraries("${NAME}" "${PROTOBUF_LIBRARY}" pthread)
+  target_link_libraries("${NAME}" ${PROTOBUF_LIBRARY} pthread)
 endfunction()
+
+macro(google_initialize_cartographer_project)
+  SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
+  set(GOOG_CXX_FLAGS "-pthread -std=c++11 ${GOOG_CXX_FLAGS}")
+
+  google_add_flag(GOOG_CXX_FLAGS "-Wall")
+  google_add_flag(GOOG_CXX_FLAGS "-Wpedantic")
+
+  # Turn some warnings into errors.
+  google_add_flag(GOOG_CXX_FLAGS "-Werror=format-security")
+  google_add_flag(GOOG_CXX_FLAGS "-Werror=reorder")
+  google_add_flag(GOOG_CXX_FLAGS "-Werror=return-type")
+  google_add_flag(GOOG_CXX_FLAGS "-Werror=uninitialized")
+
+  if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
+    set(CMAKE_BUILD_TYPE Release)
+  endif()
+
+  if(CMAKE_BUILD_TYPE STREQUAL "Release")
+    google_add_flag(GOOG_CXX_FLAGS "-O3 -DNDEBUG")
+  elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
+    google_add_flag(GOOG_CXX_FLAGS "-O3 -g -DNDEBUG")
+  elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
+    message(FATAL_ERROR "Compiling in debug mode is not supported.")
+  else()
+    message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
+  endif()
+
+  message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
+
+  set(GMOCK_SRC_DIR "/usr/src/gmock" CACHE STRING "Path to google-mock sources.")
+  add_subdirectory(${GMOCK_SRC_DIR} "${CMAKE_CURRENT_BINARY_DIR}/gmock")
+endmacro()