diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
index 427e5e7..af31df4 100644
--- a/cmake/SearchForStuff.cmake
+++ b/cmake/SearchForStuff.cmake
@@ -43,7 +43,7 @@ endif()
 #  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 (0)
   if (NOT DEFINED USE_INTERNAL_URDF)
     BUILD_WARNING("Couldn't find pkg-config for urdfdom, using internal copy")
     set(USE_INTERNAL_URDF true)
@@ -53,10 +53,9 @@ if (NOT PKG_CONFIG_FOUND)
 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)
+  find_package(urdfdom CONFIG REQUIRED)
 
-  if (NOT URDF_FOUND)
+  if (NOT urdfdom_FOUND)
     find_package(urdfdom)
     if (urdfdom_FOUND)
       set(URDF_INCLUDE_DIRS ${urdfdom_INCLUDE_DIRS})
@@ -73,6 +72,7 @@ if (NOT DEFINED USE_INTERNAL_URDF OR NOT USE_INTERNAL_URDF)
     # what am I doing here? pkg-config and cmake
-    set(URDF_INCLUDE_DIRS ${URDF_INCLUDEDIR})
     set(URDF_LIBRARY_DIRS ${URDF_LIBDIR})
+    set(URDF_INCLUDE_DIRS ${urdfdom_INCLUDE_DIRS})
+    set(URDF_LIBRARIES ${urdfdom_LIBRARIES})
   endif()
 endif()