diff --git a/CMakeLists.txt b/CMakeLists.txt
index 335eff33935d4ef6a93352946e08e6797d6d6881..d62257f363997331f27938b4f9b7f25269d0cdc5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -41,6 +41,7 @@ IF(BUILD_PYTHON_INTERFACE)
 ENDIF(BUILD_PYTHON_INTERFACE)
 
 IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  ADD_SUBDIRECTORY(include/${CUSTOM_HEADER_DIR})
   INSTALL(DIRECTORY robots/anymal_b_simple_description DESTINATION share/${PROJECT_NAME}/robots)
   INSTALL(DIRECTORY robots/hyq_description DESTINATION share/${PROJECT_NAME}/robots)
   INSTALL(DIRECTORY robots/solo_description DESTINATION share/${PROJECT_NAME}/robots)
diff --git a/include/example-robot-data/CMakeLists.txt b/include/example-robot-data/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..34f2f2316501f51577c896bc0b265e51870f08db
--- /dev/null
+++ b/include/example-robot-data/CMakeLists.txt
@@ -0,0 +1,2 @@
+CONFIGURE_FILE(path.hpp.in path.hpp)
+INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/path.hpp DESTINATION include/${CUSTOM_HEADER_DIR})
diff --git a/include/example-robot-data/path.hpp.in b/include/example-robot-data/path.hpp.in
new file mode 100644
index 0000000000000000000000000000000000000000..47883040decfa1027159ecb406cde7d9274baae4
--- /dev/null
+++ b/include/example-robot-data/path.hpp.in
@@ -0,0 +1,6 @@
+#ifndef EXAMPLE_ROBOT_DATA_PATH_HPP
+#define EXAMPLE_ROBOT_DATA_PATH_HPP
+
+#define EXAMPLE_ROBOT_DATA_MODEL_DIR "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/robots"
+
+#endif