diff --git a/octomap/src/CMakeLists.txt b/octomap/src/CMakeLists.txt
index 9ac6dcb..526ad76 100644
--- a/octomap/src/CMakeLists.txt
+++ b/octomap/src/CMakeLists.txt
@@ -8,16 +8,14 @@ SET (octomap_SRCS
   OcTreeNode.cpp
   OcTreeStamped.cpp
   ColorOcTree.cpp
-  )
+)
 
-# dynamic and static libs, see CMake FAQ:
-ADD_LIBRARY( octomap SHARED ${octomap_SRCS})
-set_target_properties( octomap PROPERTIES
+ADD_LIBRARY(octomap ${octomap_SRCS})
+set_target_properties(octomap PROPERTIES
   VERSION ${OCTOMAP_VERSION}
   SOVERSION ${OCTOMAP_SOVERSION}
+  OUTPUT_NAME "octomap"
 )
-ADD_LIBRARY( octomap-static STATIC ${octomap_SRCS})
-SET_TARGET_PROPERTIES(octomap-static PROPERTIES OUTPUT_NAME "octomap") 
 
 TARGET_LINK_LIBRARIES(octomap octomath)
 
@@ -25,7 +23,7 @@ if(NOT EXISTS "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap")
   file(MAKE_DIRECTORY "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap")
 endif()
 
-export(TARGETS octomap octomap-static
+export(TARGETS octomap
   APPEND FILE "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap/octomap-targets.cmake")
 
 ADD_SUBDIRECTORY( testing )
@@ -66,7 +64,7 @@ TARGET_LINK_LIBRARIES(intersection_example octomap)
 ADD_EXECUTABLE(octree2pointcloud octree2pointcloud.cpp)
 TARGET_LINK_LIBRARIES(octree2pointcloud octomap)
 
-install(TARGETS octomap octomap-static
+install(TARGETS octomap
   EXPORT octomap-targets
   INCLUDES DESTINATION include
   ${INSTALL_TARGETS_DEFAULT_ARGS}
@@ -84,4 +82,3 @@ install(TARGETS
 	compare_octrees
 	${INSTALL_TARGETS_DEFAULT_ARGS}
 )
-
diff --git a/octomap/src/math/CMakeLists.txt b/octomap/src/math/CMakeLists.txt
index 22127ad..cd256c7 100644
--- a/octomap/src/math/CMakeLists.txt
+++ b/octomap/src/math/CMakeLists.txt
@@ -5,26 +5,22 @@ SET (octomath_SRCS
  )
 
 
-ADD_LIBRARY( octomath SHARED ${octomath_SRCS})
+ADD_LIBRARY(octomath ${octomath_SRCS})
 
 SET_TARGET_PROPERTIES( octomath PROPERTIES
   VERSION ${OCTOMAP_VERSION}
   SOVERSION ${OCTOMAP_SOVERSION}
   INSTALL_NAME_DIR ${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}   # this seems to be necessary for MacOS X
 )
-# INSTALL_NAME_DIR seems to be necessary for MacOS X
-
-ADD_LIBRARY( octomath-static STATIC ${octomath_SRCS})
-SET_TARGET_PROPERTIES(octomath-static PROPERTIES OUTPUT_NAME "octomath")
 
 if(NOT EXISTS "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap")
   file(MAKE_DIRECTORY "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap")
 endif()
 
-export(TARGETS octomath octomath-static
+export(TARGETS octomath
   APPEND FILE "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap/octomap-targets.cmake")
 
-install(TARGETS octomath octomath-static
+install(TARGETS octomath
   EXPORT octomap-targets
   INCLUDES DESTINATION include
   ${INSTALL_TARGETS_DEFAULT_ARGS}