--- a/CMakeLists.txt	2019-07-29 15:41:55.630366281 +0200
+++ a/CMakeLists.txt	2019-07-29 15:42:22.113406637 +0200
@@ -52,7 +52,8 @@ 
   set(PACKAGE_DESC "Unified Robot Description Format")
   set(pkg_conf_file "urdfdom_headers.pc")
   configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/pkgconfig/${pkg_conf_file}.in" "${CMAKE_BINARY_DIR}/${pkg_conf_file}" @ONLY)
-  install(FILES "${CMAKE_BINARY_DIR}/${pkg_conf_file}" DESTINATION lib/pkgconfig/ COMPONENT pkgconfig)
+  install(FILES "${CMAKE_BINARY_DIR}/${pkg_conf_file}"
+      DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig/ COMPONENT pkgconfig)
 endif()
 
 # Add uninstall target