diff --git a/CMakeLists.txt b/CMakeLists.txt
index ff020404..2e47216c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,12 +1,12 @@
 CMAKE_MINIMUM_REQUIRED(VERSION 3.0.2)
 PROJECT( octomap-distribution )
 
-ENABLE_TESTING()  # enable CTest environment of subprojects
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)  # enables -fPIC in applicable compilers (required to avoid link errors in some cases)
 
 option(BUILD_OCTOVIS_SUBPROJECT "Build targets from subproject octovis" ON)
 option(BUILD_DYNAMICETD3D_SUBPROJECT  "Build targets from subproject dynamicEDT3D" ON)
 option(OCTOVIS_QT5 "Link Octovis against Qt5?" ON)
+option(BUILD_EXAMPLE "Build example" OFF)
 
 if(OCTOVIS_QT5)
 	# Compiling against QT5 requires C++11.
diff --git a/dynamicEDT3D/src/CMakeLists.txt b/dynamicEDT3D/src/CMakeLists.txt
index 0b9357c7..ef1b1251 100644
--- a/dynamicEDT3D/src/CMakeLists.txt
+++ b/dynamicEDT3D/src/CMakeLists.txt
@@ -2,35 +2,31 @@ SET( dynamicEDT3D_SRCS
    dynamicEDT3D.cpp
    )
 
-add_library(dynamicedt3d SHARED ${dynamicEDT3D_SRCS})
+add_library(dynamicedt3d ${dynamicEDT3D_SRCS})
 set_target_properties(dynamicedt3d PROPERTIES
   VERSION ${DYNAMICEDT3D_VERSION}
   SOVERSION ${DYNAMICEDT3D_SOVERSION}
 )
 target_link_libraries(dynamicedt3d ${OCTOMAP_LIBRARIES})
 
-add_library(dynamicedt3d-static STATIC ${dynamicEDT3D_SRCS})
-target_link_libraries(dynamicedt3d-static ${OCTOMAP_LIBRARIES})
-
-SET_TARGET_PROPERTIES(dynamicedt3d-static PROPERTIES OUTPUT_NAME "dynamicedt3d") 
-
 if(NOT EXISTS "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D")
   file(MAKE_DIRECTORY "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D")
 endif()
 
-export(TARGETS dynamicedt3d dynamicedt3d-static
+export(TARGETS dynamicedt3d
   FILE "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3DTargets.cmake")
 
 # directly depend on the octomap library target when building the
 # complete distribution, so it it recompiled as needed
 if (CMAKE_PROJECT_NAME STREQUAL "octomap-distribution")
-  ADD_DEPENDENCIES(dynamicedt3d-static octomap-static)
   ADD_DEPENDENCIES(dynamicedt3d octomap)
 endif()
 
-ADD_SUBDIRECTORY(examples)
+if (BUILD_EXAMPLE)
+  ADD_SUBDIRECTORY(examples)
+endif()
 
-install(TARGETS dynamicedt3d dynamicedt3d-static
+install(TARGETS dynamicedt3d
   EXPORT dynamicEDT3DTargets
   INCLUDES DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}"
   ${INSTALL_TARGETS_DEFAULT_ARGS}
diff --git a/octomap/src/CMakeLists.txt b/octomap/src/CMakeLists.txt
index 45b384f7..88a6f126 100644
--- a/octomap/src/CMakeLists.txt
+++ b/octomap/src/CMakeLists.txt
@@ -11,14 +11,11 @@ SET (octomap_SRCS
   )
 
 # dynamic and static libs, see CMake FAQ:
-ADD_LIBRARY( octomap SHARED ${octomap_SRCS})
+ADD_LIBRARY( octomap ${octomap_SRCS})
 set_target_properties( octomap PROPERTIES
   VERSION ${OCTOMAP_VERSION}
   SOVERSION ${OCTOMAP_SOVERSION}
 )
-ADD_LIBRARY( octomap-static STATIC ${octomap_SRCS})
-SET_TARGET_PROPERTIES(octomap-static PROPERTIES OUTPUT_NAME "octomap") 
-add_dependencies(octomap-static octomath-static)
 
 TARGET_LINK_LIBRARIES(octomap octomath)
 
@@ -26,10 +23,12 @@ 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 )
+if (ENABLE_TESTING)
+  ADD_SUBDIRECTORY( testing )
+endif()
 
 ADD_EXECUTABLE(graph2tree graph2tree.cpp)
 TARGET_LINK_LIBRARIES(graph2tree octomap)
@@ -67,7 +66,7 @@ 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 "${CMAKE_INSTALL_INCLUDEDIR}"
   ${INSTALL_TARGETS_DEFAULT_ARGS}
diff --git a/octomap/src/math/CMakeLists.txt b/octomap/src/math/CMakeLists.txt
index 3b47ec44..9a26c460 100644
--- a/octomap/src/math/CMakeLists.txt
+++ b/octomap/src/math/CMakeLists.txt
@@ -5,24 +5,21 @@ 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}
 )
 
-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 "${CMAKE_INSTALL_INCLUDEDIR}"
   ${INSTALL_TARGETS_DEFAULT_ARGS}