diff --git a/config/FindEcos.cmake b/config/FindEcos.cmake
new file mode 100644
index 000000000..f91e90194
--- /dev/null
+++ b/config/FindEcos.cmake
@@ -0,0 +1,25 @@
+
+# This macro is a dirty hack, Orocos specific. Don't base your macros on it, look into the other
+# Find*cmake files for better examples
+
+# This script creates the following variables:
+#  Ecos_FOUND: Boolean that indicates if the package was found
+#  Ecos_INCLUDE_DIRS: Paths to the necessary header files
+#  Ecos_LIBRARIES: Package libraries
+
+  set(ECOS_INSTALL_DIR ${ECOS_INSTALL_DIR} CACHE PATH "path to ecos installation dir" FORCE)
+
+  if (ECOS_INSTALL_DIR STREQUAL "")
+    set(ECOS_INSTALL_DIR "/opt/ecos/install")
+  endif (ECOS_INSTALL_DIR STREQUAL "")
+
+  if(EXISTS ${ECOS_INSTALL_DIR}/include/pkgconf/system.h)
+    message("-- Looking for ECOS - found in ${ECOS_INSTALL_DIR}")
+    set(ECOS_FOUND TRUE)
+    set(ECOS_INCLUDE_DIRS ${ECOS_INSTALL_DIR}/include )
+    set(ECOS_LIBRARIES -L${ECOS_INSTALL_DIR}/lib -ltarget )
+  else()
+    message(FATAL_ERROR "-- Looking for ECOS - not found (tried: ${ECOS_INSTALL_DIR}/include/pkgconf/system.h)")
+    set(ECOS_FOUND FALSE)
+  ENDIF()
+
diff --git a/config/FindRTAI.cmake b/config/FindRTAI.cmake
new file mode 100644
index 000000000..03168071b
--- /dev/null
+++ b/config/FindRTAI.cmake
@@ -0,0 +1,53 @@
+################################################################################
+#
+# CMake script for finding RTAI/LXRT.
+# If the optional RTAI_ROOT_DIR environment variable exists, header files and
+# libraries will be searched in the RTAI_ROOT_DIR/include and RTAI_ROOT_DIR/lib
+# directories, respectively. Otherwise the default CMake search process will be
+# used.
+#
+# This script creates the following variables:
+#  RTAI_FOUND: Boolean that indicates if the package was found
+#  RTAI_INCLUDE_DIRS: Paths to the necessary header files
+#  RTAI_LIBRARIES: Package libraries
+#
+################################################################################
+
+include(LibFindMacros)
+
+# Get hint from environment variable (if any)
+if(NOT $ENV{RTAI_ROOT_DIR} STREQUAL "")
+  set(RTAI_ROOT_DIR $ENV{RTAI_ROOT_DIR} CACHE PATH "RTAI base directory location (optional, used for nonstandard installation paths)" FORCE)
+  mark_as_advanced(RTAI_ROOT_DIR)
+endif()
+
+# Header files to find
+set(header_NAME rtai_lxrt.h)
+
+# Libraries to find
+set(rtai_NAME   lxrt)
+
+# Find headers and libraries
+if(RTAI_ROOT_DIR)
+  # Use location specified by environment variable
+  find_path(RTAI_INCLUDE_DIR        NAMES ${header_NAME}        PATHS ${RTAI_ROOT_DIR}/include PATH_SUFFIXES rtai NO_DEFAULT_PATH)
+  find_library(RTAI_LIBRARY         NAMES ${rtai_NAME}          PATHS ${RTAI_ROOT_DIR}/lib     NO_DEFAULT_PATH)
+else()
+  # Use default CMake search process
+  find_path(RTAI_INCLUDE_DIR       NAMES ${header_NAME} PATH_SUFFIXES rtai )
+  find_library(RTAI_LIBRARY        NAMES ${rtai_NAME})
+endif()
+
+# Set the include dir variables and the libraries and let libfind_process do the rest.
+# NOTE: Singular variables for this library, plural for libraries this this lib depends on.
+set(RTAI_PROCESS_INCLUDES RTAI_INCLUDE_DIR)
+set(RTAI_PROCESS_LIBS RTAI_LIBRARY)
+
+# If user provides Linux source dir, check and append it as well
+if( LINUX_SOURCE_DIR )
+  set(linux_header_NAME linux/kernel.h)
+  find_path(Linux_INCLUDE_DIR      NAMES ${linux_header_NAME} PATHS  ${LINUX_SOURCE_DIR} NO_DEFAULT_PATH)
+  list(APPEND RTAI_PROCESS_INCLUDES Linux_INCLUDE_DIR)
+endif()
+
+libfind_process(RTAI)
diff --git a/config/FindXenomai.cmake b/config/FindXenomai.cmake
new file mode 100644
index 000000000..627666192
--- /dev/null
+++ b/config/FindXenomai.cmake
@@ -0,0 +1,46 @@
+################################################################################
+#
+# CMake script for finding XENOMAI.
+# If the optional XENOMAI_ROOT_DIR environment variable exists, header files and
+# libraries will be searched in the XENOMAI_ROOT_DIR/include and XENOMAI_ROOT_DIR/lib
+# directories, respectively. Otherwise the default CMake search process will be
+# used.
+#
+# This script creates the following variables:
+#  XENOMAI_FOUND: Boolean that indicates if the package was found
+#  XENOMAI_INCLUDE_DIRS: Paths to the necessary header files
+#  XENOMAI_LIBRARIES: Package libraries
+#
+################################################################################
+
+include(LibFindMacros)
+
+# Get hint from environment variable (if any)
+if(NOT $ENV{XENOMAI_ROOT_DIR} STREQUAL "")
+  set(XENOMAI_ROOT_DIR $ENV{XENOMAI_ROOT_DIR} CACHE PATH "Xenomai base directory location (optional, used for nonstandard installation paths)" FORCE)
+  mark_as_advanced(XENOMAI_ROOT_DIR)
+endif()
+
+# Header files to find
+set(header_NAME    native/task.h)
+
+# Libraries to find
+set(XENOMAI_NAME   native)
+
+# Find headers and libraries
+if(XENOMAI_ROOT_DIR)
+  # Use location specified by environment variable
+  find_path(XENOMAI_INCLUDE_DIR        NAMES ${header_NAME}        PATHS ${XENOMAI_ROOT_DIR}/include PATH_SUFFIXES xenomai NO_DEFAULT_PATH)
+  find_library(XENOMAI_LIBRARY         NAMES ${XENOMAI_NAME}       PATHS ${XENOMAI_ROOT_DIR}/lib     NO_DEFAULT_PATH)
+else()
+  # Use default CMake search process
+  find_path(XENOMAI_INCLUDE_DIR       NAMES ${header_NAME} PATH_SUFFIXES xenomai )
+  find_library(XENOMAI_LIBRARY        NAMES ${XENOMAI_NAME})
+endif()
+
+# Set the include dir variables and the libraries and let libfind_process do the rest.
+# NOTE: Singular variables for this library, plural for libraries this this lib depends on.
+set(XENOMAI_PROCESS_INCLUDES XENOMAI_INCLUDE_DIR)
+set(XENOMAI_PROCESS_LIBS XENOMAI_LIBRARY)
+
+libfind_process(XENOMAI)
diff --git a/config/FindXerces.cmake b/config/FindXerces.cmake
index a6db0e721..c9c48b9aa 100644
--- a/config/FindXerces.cmake
+++ b/config/FindXerces.cmake
@@ -1,24 +1,24 @@
 ################################################################################
 #
 # CMake script for finding Xerces.
-# If the optional Xerces_ROOT_DIR environment variable exists, header files and
-# libraries will be searched in the Xerces_ROOT_DIR/include and Xerces_ROOT_DIR/libs
+# If the optional XERCES_ROOT_DIR environment variable exists, header files and
+# libraries will be searched in the XERCES_ROOT_DIR/include and XERCES_ROOT_DIR/libs
 # directories, respectively. Otherwise the default CMake search process will be
 # used.
 #
 # This script creates the following variables:
-#  Xerces_FOUND: Boolean that indicates if the package was found
-#  Xerces_INCLUDE_DIRS: Paths to the necessary header files
-#  Xerces_LIBRARIES: Package libraries
+#  XERCES_FOUND: Boolean that indicates if the package was found
+#  XERCES_INCLUDE_DIRS: Paths to the necessary header files
+#  XERCES_LIBRARIES: Package libraries
 #
 ################################################################################
 
 include(LibFindMacros)
 
 # Get hint from environment variable (if any)
-if(NOT $ENV{Xerces_ROOT_DIR} STREQUAL "")
-  set(Xerces_ROOT_DIR $ENV{Xerces_ROOT_DIR} CACHE PATH "Xerces base directory location (optional, used for nonstandard installation paths)" FORCE)
-  mark_as_advanced(Xerces_ROOT_DIR)
+if(NOT $ENV{XERCES_ROOT_DIR} STREQUAL "")
+  set(XERCES_ROOT_DIR $ENV{XERCES_ROOT_DIR} CACHE PATH "Xerces base directory location (optional, used for nonstandard installation paths)" FORCE)
+  mark_as_advanced(XERCES_ROOT_DIR)
 endif()
 
 # Header files to find
@@ -29,21 +29,21 @@ set(xerces_c_NAME      xerces-c)
 set(xerces_depdom_NAME xerces-depdom)
 
 # Find headers and libraries
-if(Xerces_ROOT_DIR)
+if(XERCES_ROOT_DIR)
   # Use location specified by environment variable
-  find_path(Xerces_INCLUDE_DIR        NAMES ${header_NAME}        PATHS ${Xerces_ROOT_DIR}/include NO_DEFAULT_PATH)
-  find_library(Xerces_c_LIBRARY       NAMES ${xerces_c_NAME}      PATHS ${Xerces_ROOT_DIR}/lib     NO_DEFAULT_PATH)
-  find_library(Xerces_depdom_LIBRARY  NAMES ${xerces_depdom_NAME} PATHS ${Xerces_ROOT_DIR}/lib     NO_DEFAULT_PATH)
+  find_path(XERCES_INCLUDE_DIR        NAMES ${header_NAME}        PATHS ${XERCES_ROOT_DIR}/include NO_DEFAULT_PATH)
+  find_library(XERCES_C_LIBRARY       NAMES ${xerces_c_NAME}      PATHS ${XERCES_ROOT_DIR}/lib     NO_DEFAULT_PATH)
+  find_library(XERCES_depdom_LIBRARY  NAMES ${xerces_depdom_NAME} PATHS ${XERCES_ROOT_DIR}/lib     NO_DEFAULT_PATH)
 else()
   # Use default CMake search process
-  find_path(Xerces_INCLUDE_DIR       NAMES ${header_NAME})
-  find_library(Xerces_c_LIBRARY      NAMES ${xerces_c_NAME})
-  find_library(Xerces_depdom_LIBRARY NAMES ${xerces_depdom_NAME})
+  find_path(XERCES_INCLUDE_DIR       NAMES ${header_NAME})
+  find_library(XERCES_C_LIBRARY      NAMES ${xerces_c_NAME})
+  find_library(XERCES_DEPDOM_LIBRARY NAMES ${xerces_depdom_NAME})
 endif()
 
 # Set the include dir variables and the libraries and let libfind_process do the rest.
 # NOTE: Singular variables for this library, plural for libraries this this lib depends on.
-set(Xerces_PROCESS_INCLUDES Xerces_INCLUDE_DIR)
-set(Xerces_PROCESS_LIBS Xerces_c_LIBRARY
-                        Xerces_depdom_LIBRARY)
-libfind_process(Xerces)
+set(XERCES_PROCESS_INCLUDES XERCES_INCLUDE_DIR)
+set(XERCES_PROCESS_LIBS XERCES_C_LIBRARY
+                        XERCES_DEPDOM_LIBRARY)
+libfind_process(XERCES)
diff --git a/config/check_depend.cmake b/config/check_depend.cmake
index 92848ef4d..b7a4f4af8 100644
--- a/config/check_depend.cmake
+++ b/config/check_depend.cmake
@@ -5,207 +5,116 @@
 ###########################################################
 
 # Modules path (for searching FindXXX.cmake files)
-LIST(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/config")
+list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/config")
 
 # Look for boost
-IF (NOT CMAKE_CROSS_COMPILE) # NOTE: What happens if CMAKE_CROSS_COMPILE is TRUE?
-  FIND_PACKAGE(Boost 1.32 REQUIRED)
-  IF(Boost_FOUND)
-    IF (NOT Boost_INCLUDE_DIRS STREQUAL "/usr/include")
-      SET( RTT_CFLAGS "${RTT_CFLAGS} -I${BOOST_DIR}" )
-    ENDIF (NOT Boost_INCLUDE_DIRS STREQUAL "/usr/include")
-    SET(ORO_SUPPORT_BOOST TRUE CACHE INTERNAL "" FORCE)
-  ELSE(Boost_FOUND)
-    SET(ORO_SUPPORT_BOOST FALSE CACHE INTERNAL "" FORCE)
-  ENDIF(Boost_FOUND)
-ENDIF (NOT CMAKE_CROSS_COMPILE)
+find_package(Boost 1.32 COMPONENTS program_options REQUIRED)
+
+if(Boost_FOUND)
+  list(APPEND Orocos-rtt_INCLUDE_DIRS ${Boost_INCLUDE_DIRS} )
+  list(APPEND Orocos-rtt_LIBRARIES ${Boost_LIBRARIES} ) 
+endif(Boost_FOUND)
 
 # Look for Xerces 
 
 # If a nonstandard path is used when crosscompiling, uncomment the following lines
 # IF(NOT CMAKE_CROSS_COMPILE) # NOTE: There now exists a standard CMake variable named CMAKE_CROSSCOMPILING
-#   set(Xerces_ROOT_DIR /path/to/xerces CACHE INTERNAL "" FORCE) # you can also use set(ENV{Xerces_ROOT_DIR} /path/to/xerces)
+#   set(XERCES_ROOT_DIR /path/to/xerces CACHE INTERNAL "" FORCE) # you can also use set(ENV{XERCES_ROOT_DIR} /path/to/xerces)
 # ENDIF(NOT CMAKE_CROSS_COMPILE)
 
-FIND_PACKAGE(Xerces)
-
-IF(Xerces_FOUND)
-  SET(OROPKG_SUPPORT_XERCES_C TRUE CACHE INTERNAL "" FORCE)
-  INCLUDE_DIRECTORIES(${Xerces_INCLUDE_DIRS})
-  LINK_LIBRARIES(${Xerces_LIBRARIES}) # NOTE: Deprecated command
-  SET(ORODAT_CORELIB_PROPERTIES_MARSHALLING_INCLUDE "\"marsh/CPFMarshaller.hpp\"")
-  SET(OROCLS_CORELIB_PROPERTIES_MARSHALLING_DRIVER "CPFMarshaller")
-  SET(ORODAT_CORELIB_PROPERTIES_DEMARSHALLING_INCLUDE "\"marsh/CPFDemarshaller.hpp\"")
-  SET(OROCLS_CORELIB_PROPERTIES_DEMARSHALLING_DRIVER "CPFDemarshaller")
-ELSE(Xerces_FOUND)
-  SET(OROPKG_SUPPORT_XERCES_C FALSE CACHE INTERNAL "" FORCE)
-  SET(ORODAT_CORELIB_PROPERTIES_MARSHALLING_INCLUDE "\"marsh/CPFMarshaller.hpp\"")
-  SET(OROCLS_CORELIB_PROPERTIES_MARSHALLING_DRIVER "CPFMarshaller")
-  SET(ORODAT_CORELIB_PROPERTIES_DEMARSHALLING_INCLUDE "\"marsh/TinyDemarshaller.hpp\"")
-  SET(OROCLS_CORELIB_PROPERTIES_DEMARSHALLING_DRIVER "TinyDemarshaller")
-ENDIF(Xerces_FOUND)
-
-SET( OROCOS_TARGET gnulinux CACHE STRING "The Operating System target. One of [lxrt gnulinux xenomai macosx]")
-STRING(TOUPPER ${OROCOS_TARGET} OROCOS_TARGET_CAP)
-
-SET(LINUX_SOURCE_DIR ${LINUX_SOURCE_DIR} CACHE PATH "path to linux source dir" FORCE)
-
-IF(OROCOS_TARGET STREQUAL "lxrt")
-  SET(OROPKG_OS_LXRT TRUE CACHE INTERNAL "" FORCE)
-  SET(RTAI_INSTALL_DIR ${RTAI_INSTALL_DIR} CACHE PATH "path to rtai installation dir" FORCE)
-  # Look for LXRT
-  # the recommended CMake method
-  IF (NOT RTAI_INCLUDE_DIR)
-	# use different variable than RTAI_INCLUDE_DIR, as the first SET in the
-	# block below resets things and breaks the CMake cache when you rerun
-	# cmake/ccmake.
-	FIND_PATH(RTAI_INCLUDE_PATH rtai/rtai_lxrt.h)
-	FIND_LIBRARY(RTAI_INSTALL_LIB lxrt)
-#	MESSAGE(STATUS "RTAI: include ${RTAI_INCLUDE_PATH}")
-#	MESSAGE(STATUS "RTAI: library ${RTAI_INSTALL_LIB}")
-	IF ( RTAI_INCLUDE_PATH AND RTAI_INSTALL_LIB )
-	  SET(RTAI_INCLUDE_DIR ${RTAI_INCLUDE_PATH}/rtai)
-	  # presume RTAI_INSTALL_LIB is of form /path/to/lib/libnative.so, and
-	  # so need to strip back to /path/to
-	  GET_FILENAME_COMPONENT(RTAI_INSTALL_LIB2 ${RTAI_INSTALL_LIB} PATH)
-	  GET_FILENAME_COMPONENT(RTAI_INSTALL_DIR ${RTAI_INSTALL_LIB2} PATH)
-	  MESSAGE("-- Looking for RTAI/LXRT - found in ${RTAI_INSTALL_DIR}")
-	ENDIF ( RTAI_INCLUDE_PATH AND RTAI_INSTALL_LIB )
-  ENDIF (NOT RTAI_INCLUDE_DIR)
-
-  IF (RTAI_INSTALL_DIR STREQUAL "")
-    SET(RTAI_INSTALL_DIR "/usr/realtime")
-  ENDIF (RTAI_INSTALL_DIR STREQUAL "")
-
-  IF( EXISTS ${RTAI_INSTALL_DIR}/include/rtai_lxrt.h)
-    MESSAGE("-- Looking for RTAI/LXRT - found in ${RTAI_INSTALL_DIR}")
-    SET( RTAI_INCLUDE_DIR ${RTAI_INSTALL_DIR}/include)
-  ENDIF( EXISTS ${RTAI_INSTALL_DIR}/include/rtai_lxrt.h)
-
-  #If RTAI_INCLUDE_DIR has been defined, you must have defined also
-  # RTAI_INSTALL_DIR.
-  IF( RTAI_INCLUDE_DIR AND RTAI_INSTALL_DIR)
-    SET(OROPKG_SUPPORT_RTAI TRUE CACHE INTERNAL "" FORCE)
-    INCLUDE_DIRECTORIES(${RTAI_INCLUDE_DIR} ${LINUX_SOURCE_DIR}/include)
-    SET(RTT_CFLAGS "${RTT_CFLAGS} -I${RTAI_INCLUDE_DIR} -I${LINUX_SOURCE_DIR}/include" CACHE INTERNAL "")
-    SET(RTT_LINKFLAGS "${RTT_LINKFLAGS} -L${RTAI_INSTALL_DIR}/lib -llxrt -lpthread" CACHE INTERNAL "")
-    LINK_LIBRARIES(lxrt pthread dl)
-    LINK_DIRECTORIES(${RTAI_INSTALL_DIR}/lib)
-  ELSE( RTAI_INCLUDE_DIR AND RTAI_INSTALL_DIR )
-    MESSAGE(FATAL_ERROR "-- Looking for LXRT - not found (tried: ${RTAI_INSTALL_DIR}/include/rtai_lxrt.h, ${CMAKE_INCLUDE_PATH})")
-    SET(OROPKG_SUPPORT_RTAI FALSE CACHE INTERNAL "" FORCE)
-  ENDIF( RTAI_INCLUDE_DIR AND RTAI_INSTALL_DIR )
-ELSE(OROCOS_TARGET STREQUAL "lxrt")
-  SET(OROPKG_OS_LXRT FALSE CACHE INTERNAL "" FORCE)
-ENDIF(OROCOS_TARGET STREQUAL "lxrt")
-
-
-IF(OROCOS_TARGET STREQUAL "xenomai")
-  # Look for Xenomai
-  SET(XENOMAI_INSTALL_DIR ${XENOMAI_INSTALL_DIR} CACHE PATH "path to xenomai installation dir" FORCE)
-  IF (XENOMAI_INSTALL_DIR STREQUAL "")
-    SET(XENOMAI_INSTALL_DIR "/usr/realtime")
-  ENDIF (XENOMAI_INSTALL_DIR STREQUAL "")
-  SET(OROPKG_OS_XENOMAI TRUE CACHE INTERNAL "" FORCE)
-  # Standard path of Xenomai: ( XENOMAI_INSTALL_DIR == /usr/realtime )
-  IF(EXISTS ${XENOMAI_INSTALL_DIR}/include/native/task.h)
-    MESSAGE("-- Looking for XENOMAI - found in ${XENOMAI_INSTALL_DIR}/include")
-    SET( XENOMAI_INCLUDE_DIR "${XENOMAI_INSTALL_DIR}/include" )
-  ENDIF(EXISTS ${XENOMAI_INSTALL_DIR}/include/native/task.h)
-  # Debian package of Xenomai: ( XENOMAI_INSTALL_DIR == /usr )
-  IF(EXISTS ${XENOMAI_INSTALL_DIR}/include/xenomai/native/task.h)
-    MESSAGE("-- Looking for XENOMAI - found in ${XENOMAI_INSTALL_DIR}/include/xenomai")
-    SET( XENOMAI_INCLUDE_DIR "${XENOMAI_INSTALL_DIR}/include/xenomai" )
-  ENDIF(EXISTS ${XENOMAI_INSTALL_DIR}/include/xenomai/native/task.h)
-  # Debian package of Xenomai: ( XENOMAI_INSTALL_DIR == /usr/xenomai )
-  IF(EXISTS ${XENOMAI_INSTALL_DIR}/xenomai/include/native/task.h)
-    MESSAGE("-- Looking for XENOMAI - found in ${XENOMAI_INSTALL_DIR}/xenomai/include")
-    SET( XENOMAI_INCLUDE_DIR "${XENOMAI_INSTALL_DIR}/xenomai/include" )
-    SET( XENOMAI_INSTALL_DIR "${XENOMAI_INSTALL_DIR}/xenomai")
-  ENDIF(EXISTS ${XENOMAI_INSTALL_DIR}/xenomai/include/native/task.h)
-  # the recommended CMake method
-  IF (NOT XENOMAI_INCLUDE_DIR)
-	# use different variable than XENOMAI_INCLUDE_DIR, as the first SET in the
-	# block above resets things and breaks the CMake cache when you rerun
-	# cmake/ccmake.
-	FIND_PATH(XENOMAI_INCLUDE_PATH native/task.h)
-    FIND_LIBRARY(XENOMAI_INSTALL_LIB native)
-#	MESSAGE(STATUS "Xenomai: include ${XENOMAI_INCLUDE_DIR}")
-#	MESSAGE(STATUS "Xenomai: library ${XENOMAI_INSTALL_LIB}")
-	IF ( XENOMAI_INCLUDE_PATH AND XENOMAI_INSTALL_LIB )
-	  SET(XENOMAI_INCLUDE_DIR ${XENOMAI_INCLUDE_PATH})
-	  # presume XENOMAI_INSTALL_LIB is of form /path/to/lib/libnative.so, and
-	  # so need to strip back to /path/to
-	  GET_FILENAME_COMPONENT(XENOMAI_INSTALL_LIB2 ${XENOMAI_INSTALL_LIB} PATH)
-	  GET_FILENAME_COMPONENT(XENOMAI_INSTALL_DIR ${XENOMAI_INSTALL_LIB2} PATH)
-      MESSAGE("-- Looking for XENOMAI - found in ${XENOMAI_INSTALL_DIR}")
-	ENDIF ( XENOMAI_INCLUDE_PATH AND XENOMAI_INSTALL_LIB )
-  ENDIF (NOT XENOMAI_INCLUDE_DIR)
-
-  IF ( XENOMAI_INCLUDE_DIR )
-    SET(XENOMAI_SUPPORT TRUE CACHE INTERNAL "" FORCE)
-    INCLUDE_DIRECTORIES( ${XENOMAI_INCLUDE_DIR} )
-    SET(RTT_CFLAGS "${RTT_CFLAGS} -I${XENOMAI_INCLUDE_DIR}" CACHE INTERNAL "")
-    SET(RTT_USER_LINKFLAGS "${RTT_LINKFLAGS} -L${XENOMAI_INSTALL_DIR}/lib -lnative -lpthread" CACHE INTERNAL "")
-    LINK_LIBRARIES(native pthread dl)
-    LINK_DIRECTORIES(${XENOMAI_INSTALL_DIR}/lib)
-  ELSE( XENOMAI_INCLUDE_DIR )
-    MESSAGE(FATAL_ERROR "-- Looking for XENOMAI - not found (tried: ${XENOMAI_INSTALL_DIR}/include/native/task.h, ${XENOMAI_INSTALL_DIR}/include/xenomai/native/task.h and CMAKE_INCLUDE_PATH environment variable)")
-    SET(XENOMAI_SUPPORT FALSE CACHE INTERNAL "" FORCE)
-  ENDIF( XENOMAI_INCLUDE_DIR )
-ELSE(OROCOS_TARGET STREQUAL "xenomai")
-  SET(XENOMAI_INSTALL_DIR "/usr/realtime" CACHE INTERNAL "path to xenomai installation dir")
-  SET(OROPKG_OS_XENOMAI FALSE CACHE INTERNAL "" FORCE)
-ENDIF(OROCOS_TARGET STREQUAL "xenomai")
-
-
-IF(OROCOS_TARGET STREQUAL "gnulinux")
-  SET(OROPKG_OS_GNULINUX TRUE CACHE INTERNAL "" FORCE)
-  SET(RTT_LINKFLAGS "${RTT_LINKFLAGS} -lrt" CACHE INTERNAL "")
-  SET(RTT_USER_LINKFLAGS "${RTT_USER_LINKFLAGS} -lpthread" CACHE INTERNAL "")
-  LINK_LIBRARIES(pthread dl rt)
-ELSE(OROCOS_TARGET STREQUAL "gnulinux")
-  SET(OROPKG_OS_GNULINUX FALSE CACHE INTERNAL "" FORCE)
-ENDIF(OROCOS_TARGET STREQUAL "gnulinux")
-
-IF(OROCOS_TARGET STREQUAL "macosx")
-  SET(OROPKG_OS_MACOSX TRUE CACHE INTERNAL "" FORCE)
-  SET(RTT_USER_LINKFLAGS "${RTT_USER_LINKFLAGS} -lpthread" CACHE INTERNAL "")
-  LINK_LIBRARIES(pthread dl)
-ELSE(OROCOS_TARGET STREQUAL "macosx")
-  SET(OROPKG_OS_MACOSX FALSE CACHE INTERNAL "" FORCE)
-ENDIF(OROCOS_TARGET STREQUAL "macosx")
+find_package(Xerces)
+
+if(XERCES_FOUND)
+  set(OROPKG_SUPPORT_XERCES_C TRUE CACHE INTERNAL "" FORCE)
+  list(APPEND OROCOS-RTT_INCLUDE_DIRS ${XERCES_INCLUDE_DIRS} )
+  list(APPEND OROCOS-RTT_LIBRARIES ${XERCES_LIBRARIES} ) 
+  set(ORODAT_CORELIB_PROPERTIES_MARSHALLING_INCLUDE "\"marsh/CPFMarshaller.hpp\"")
+  set(OROCLS_CORELIB_PROPERTIES_MARSHALLING_DRIVER "CPFMarshaller")
+  set(ORODAT_CORELIB_PROPERTIES_DEMARSHALLING_INCLUDE "\"marsh/CPFDemarshaller.hpp\"")
+  set(OROCLS_CORELIB_PROPERTIES_DEMARSHALLING_DRIVER "CPFDemarshaller")
+else(XERCES_FOUND)
+  set(OROPKG_SUPPORT_XERCES_C FALSE CACHE INTERNAL "" FORCE)
+  set(ORODAT_CORELIB_PROPERTIES_MARSHALLING_INCLUDE "\"marsh/CPFMarshaller.hpp\"")
+  set(OROCLS_CORELIB_PROPERTIES_MARSHALLING_DRIVER "CPFMarshaller")
+  set(ORODAT_CORELIB_PROPERTIES_DEMARSHALLING_INCLUDE "\"marsh/TinyDemarshaller.hpp\"")
+  set(OROCLS_CORELIB_PROPERTIES_DEMARSHALLING_DRIVER "TinyDemarshaller")
+endif(XERCES_FOUND)
+
+# Check for OS/Target specific dependencies:
+set( OROCOS_TARGET gnulinux CACHE STRING "The Operating System target. One of [lxrt gnulinux xenomai macosx]")
+string(TOUPPER ${OROCOS_TARGET} OROCOS_TARGET_CAP)
+message("Orocos target is ${OROCOS_TARGET}")
+
+# Setup flags for RTAI/LXRT
+if(OROCOS_TARGET STREQUAL "lxrt")
+  set(OROPKG_OS_LXRT TRUE CACHE INTERNAL "This variable is exported to the rtt-config.h file to expose our target choice to the code." FORCE)
+  set(LINUX_SOURCE_DIR ${LINUX_SOURCE_DIR} CACHE PATH "Path to Linux source dir (required for lxrt target)" FORCE)
+
+  find_package(RTAI REQUIRED)
+
+  if(RTAI_FOUND)
+    list(APPEND OROCOS-RTT_INCLUDE_DIRS ${RTAI_INCLUDE_DIRS} )
+    list(APPEND OROCOS-RTT_LIBRARIES ${RTAI_LIBRARIES} pthread dl) 
+  endif()
+else()
+  set(OROPKG_OS_LXRT FALSE CACHE INTERNAL "" FORCE)
+endif()
+
+# Setup flags for Xenomai
+if(OROCOS_TARGET STREQUAL "xenomai")
+  set(OROPKG_OS_XENOMAI TRUE CACHE INTERNAL "This variable is exported to the rtt-config.h file to expose our target choice to the code." FORCE)
+
+  find_package(Xenomai REQUIRED)
+
+  if(XENOMAI_FOUND)
+    list(APPEND OROCOS-RTT_INCLUDE_DIRS ${XENOMAI_INCLUDE_DIRS} )
+    list(APPEND OROCOS-RTT_LIBRARIES ${XENOMAI_LIBRARIES} pthread dl) 
+  endif()
+else()
+  set(OROPKG_OS_XENOMAI FALSE CACHE INTERNAL "" FORCE)
+endif()
+
+# Setup flags for GNU/Linux
+if(OROCOS_TARGET STREQUAL "gnulinux")
+  set(OROPKG_OS_GNULINUX TRUE CACHE INTERNAL "This variable is exported to the rtt-config.h file to expose our target choice to the code." FORCE)
+
+  list(APPEND OROCOS-RTT_LIBRARIES pthread dl rt) 
+else()
+  set(OROPKG_OS_GNULINUX FALSE CACHE INTERNAL "" FORCE)
+endif()
+
+# Setup flags for Mac-OSX
+if(OROCOS_TARGET STREQUAL "macosx")
+  set(OROPKG_OS_MACOSX TRUE CACHE INTERNAL "This variable is exported to the rtt-config.h file to expose our target choice to the code." FORCE)
+
+  list(APPEND OROCOS-RTT_LIBRARIES pthread dl) 
+else()
+  set(OROPKG_OS_MACOSX FALSE CACHE INTERNAL "" FORCE)
+endif()
+
+
+# Setup flags for ecos
+IF(OROCOS_TARGET STREQUAL "ecos")
+  set(OROPKG_OS_ECOS TRUE CACHE INTERNAL "This variable is exported to the rtt-config.h file to expose our target choice to the code." FORCE)
 
+  # We can't really use 'UseEcos.cmake' because we're building a library
+  # and not a final application
+  find_package(Ecos REQUIRED)
 
-IF(OROCOS_TARGET STREQUAL "ecos")
+  if(Ecos_FOUND)
+
+    set(ECOS_SUPPORT TRUE CACHE INTERNAL "" FORCE)
+
+    list(APPEND OROCOS-RTT_INCLUDE_DIRS ${ECOS_INCLUDE_DIRS} )
+    list(APPEND OROCOS-RTT_LIBRARIES ${ECOS_LIBRARIES} pthread dl) 
 
-  # Look for Ecos
-  SET(ECOS_INSTALL_DIR ${ECOS_INSTALL_DIR} CACHE PATH "path to ecos installation dir" FORCE)
-  IF (ECOS_INSTALL_DIR STREQUAL "")
-    SET(ECOS_INSTALL_DIR "/opt/ecos/install")
-  ENDIF (ECOS_INSTALL_DIR STREQUAL "")
-  SET(OROPKG_OS_ECOS TRUE CACHE INTERNAL "" FORCE)
-  IF(EXISTS ${ECOS_INSTALL_DIR}/include/pkgconf/system.h)
-    MESSAGE("-- Looking for ECOS - found in ${ECOS_INSTALL_DIR}")
-    SET(ECOS_SUPPORT TRUE CACHE INTERNAL "" FORCE)
-    INCLUDE_DIRECTORIES(${ECOS_INSTALL_DIR}/include)
-    SET(RTT_CFLAGS "${RTT_CFLAGS} -I${ECOS_INSTALL_DIR}/include" CACHE INTERNAL "")
-    SET(RTT_LINKFLAGS "${RTT_LINKFLAGS} -L${ECOS_INSTALL_DIR}/lib -ltarget" CACHE INTERNAL "")
-    LINK_LIBRARIES( target )
-    LINK_DIRECTORIES(${ECOS_INSTALL_DIR}/lib)
-  ELSE(EXISTS ${ECOS_INSTALL_DIR}/include/pkgconf/system.h)
-    MESSAGE(FATAL_ERROR "-- Looking for ECOS - not found (tried: ${ECOS_INSTALL_DIR}/include/pkgconf/system.h)")
-    SET(ECOS_SUPPORT FALSE CACHE INTERNAL "" FORCE)
-  ENDIF(EXISTS ${ECOS_INSTALL_DIR}/include/pkgconf/system.h)
-
-  MESSAGE( "Turning BUILD_STATIC ON for ecos.")
-  SET( FORCE_BUILD_STATIC ON CACHE INTERNAL "" FORCE)
-  SET( BUILD_STATIC ON CACHE BOOL "Build Orocos RTT as a static library" FORCE)
-
-ELSE(OROCOS_TARGET STREQUAL "ecos")
-  SET(OROPKG_OS_ECOS FALSE CACHE INTERNAL "" FORCE)
-  SET(ECOS_INSTALL_DIR "/opt/ecos/install" CACHE INTERNAL "path to ecos installation dir")
-ENDIF(OROCOS_TARGET STREQUAL "ecos")
+    message( "Turning BUILD_STATIC ON for ecos.")
+    set( FORCE_BUILD_STATIC ON CACHE INTERNAL "Forces to build Orocos RTT as a static library (forced to ON by Ecos)" FORCE)
+    set( BUILD_STATIC ON CACHE BOOL "Build Orocos RTT as a static library (forced to ON by Ecos)" FORCE)
+  endif()
+else()
+  set(OROPKG_OS_ECOS FALSE CACHE INTERNAL "" FORCE)
+endif()
 
 
 # The machine type is tested using compiler macros in rtt-config.h.in
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index f632b818d..5aa605abf 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,3 +1,6 @@
+
+#TODO: use the one from cmake 2.6 (identical code)
+#include (CMakeDependentOption.cmake)
 INCLUDE (${PROJ_SOURCE_DIR}/config/DependentOption.cmake)
 
 ###
diff --git a/src/targets/target.in b/src/targets/target.in
index e409678d5..39b7f7821 100644
--- a/src/targets/target.in
+++ b/src/targets/target.in
@@ -57,8 +57,6 @@
 #cmakedefine OROPKG_EXECUTION_ENGINE_STATEMACHINES
 #define ORONUM_EXECUTION_PROC_QUEUE_SIZE @ORONUM_EXECUTION_PROC_QUEUE_SIZE@
 
-#cmakedefine ORO_SUPPORT_BOOST
-
 /** If marshalling is enabled, use these defines. */
 #cmakedefine ENABLE_MARSHALLING
 #ifdef ENABLE_MARSHALLING