diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1176c9874edc395c49631ccee5a36fc26ed1b451..04667dc9f8ed0707cfabe7f8420a6a47a00f76d4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -41,6 +41,10 @@ set(PROJECT_DESCRIPTION
   )
 SET(PROJECT_USE_CMAKE_EXPORT TRUE)
 
+# Do not support CMake older than 2.8.12
+CMAKE_POLICY(SET CMP0022 NEW)
+SET(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
+
 include(cmake/eigen.cmake)
 include(cmake/boost.cmake)
 include(cmake/python.cmake)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index b5e534ce1ed4a017e9c266f9e9bc12df0788138f..cbf9dd398ad5f98cce8adaaade82b72075501ae3 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -93,7 +93,6 @@ TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
 target_include_directories(${LIBRARY_NAME} SYSTEM PUBLIC
   ${EIGEN3_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIRS}
-  $<$<BOOL:${HPP_FCL_HAVE_OCTOMAP}>:${OCTOMAP_INCLUDE_DIRS}>
   )
 
 PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} assimp)
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index a3d487da434689e4269b2fa924761f6f60376b3a..b9308e3bbba1f72dfc4c3066cb5f6d953d414bb9 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -21,7 +21,11 @@ endmacro(add_fcl_test)
 
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
-add_library(utility STATIC utility.cpp)
+IF(RUN_TESTS)
+  add_library(utility STATIC utility.cpp)
+ELSE()
+  add_library(utility STATIC EXCLUDE_FROM_ALL utility.cpp)
+ENDIF()
 target_link_libraries(utility hpp-fcl)
 
 add_fcl_test(math math.cpp)