diff --git a/CMakeLists.txt b/CMakeLists.txt
index 509e136..8db2287 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -30,11 +30,7 @@ ELSE (WIN32)
   ENDIF (APPLE)
 ENDIF (WIN32)
 
-#IF ( CMAKE_BUILD_TYPE MATCHES "Debug" )
-#  SET ( LOG4CPP_LIBRARY_NAME "log4cppD" )
-#ELSE ( CMAKE_BUILD_TYPE MATCHES "Debug" )
-  SET ( LOG4CPP_LIBRARY_NAME "log4cpp" )
-#ENDIF ( CMAKE_BUILD_TYPE MATCHES "Debug" )
+SET ( LOG4CPP_LIBRARY_NAME "orocos-log4cpp" )
 
 ADD_LIBRARY ( ${LOG4CPP_LIBRARY_NAME} SHARED
   src/Appender.cpp
@@ -92,12 +88,28 @@ IF (WIN32)
 #  SET_TARGET_PROPERTIES(${LOG4CPP_LIBRARY_NAME} PROPERTIES LINK_FLAGS /NODEFAULTLIB:msvcrt)
 ENDIF (WIN32)
 
-# Note: this so-version is required by OCL, such that it can distinguish 'regular' log4cpp
-# from 'rtt' log4cpp.
-SET(VERSION "6.0.0")
-SET(SOVERSION "6.0")
+SET(VERSION "2.9.1")
+SET(SOVERSION "2.9")
 SET_TARGET_PROPERTIES(${LOG4CPP_LIBRARY_NAME} PROPERTIES VERSION ${VERSION} SOVERSION ${SOVERSION})
 
+# Ensure that the full path+lib name is used in dynamic library dependencies
+# in dependent libraries/executables. Without this, CMake drops the path and
+# the dependency becomes just the lib name (which requires working DYLD_xxx)
+SET_TARGET_PROPERTIES(${LOG4CPP_LIBRARY_NAME} PROPERTIES
+                      INSTALL_RPATH_USE_LINK_PATH ON)
+# Set INSTALL_NAME_DIR for MacOS X to tell users of this library how to find it:
+if(APPLE)
+    if (CMAKE_VERSION VERSION_LESS "3.0.0")
+        SET_TARGET_PROPERTIES( ${LOG4CPP_LIBRARY_NAME} PROPERTIES
+            INSTALL_NAME_DIR "@rpath"
+        )
+    else()
+        # cope with CMake 3.x
+        SET_TARGET_PROPERTIES( ${LOG4CPP_LIBRARY_NAME} PROPERTIES
+            MACOSX_RPATH ON)
+    endif()
+endif()
+
 ADD_DEFINITIONS(${LOG4CPP_CFLAGS})
 
 ###########################################################
@@ -120,18 +132,18 @@ SET(prefix "${CMAKE_INSTALL_PREFIX}")
 SET(exec_prefix "\${prefix}")
 SET(log4cpp_cflags "")
 SET(log4cpp_libs "${LOG4CPP_LIBS}")
-SET(includedir "\${prefix}/include")
+SET(includedir "\${prefix}/include/orocos")
 SET(libdir "\${prefix}/lib")
-CONFIGURE_FILE(log4cpp.pc.in ${CMAKE_CURRENT_BINARY_DIR}/log4cpp.pc @ONLY)
+CONFIGURE_FILE(log4cpp.pc.in ${CMAKE_CURRENT_BINARY_DIR}/orocos-log4cpp.pc @ONLY)
 
 INSTALL(
-  FILES ${CMAKE_CURRENT_BINARY_DIR}/log4cpp.pc
+  FILES ${CMAKE_CURRENT_BINARY_DIR}/orocos-log4cpp.pc
   DESTINATION lib/pkgconfig
   )
 
 INSTALL (
   DIRECTORY include/log4cpp
-  DESTINATION include
+  DESTINATION include/orocos
   PATTERN "config.h.in" EXCLUDE
   PATTERN ".svn" EXCLUDE
   PATTERN "*.am" EXCLUDE
@@ -141,7 +153,7 @@ INSTALL (
 
 INSTALL (
   FILES ${CMAKE_CURRENT_BINARY_DIR}/include/log4cpp/config.h
-  DESTINATION include/log4cpp
+  DESTINATION include/orocos/log4cpp
   )
 
 INSTALL(TARGETS ${LOG4CPP_LIBRARY_NAME}
diff --git a/log4cpp.pc.in b/log4cpp.pc.in
index 4d58136..44c5797 100755
--- a/log4cpp.pc.in
+++ b/log4cpp.pc.in
@@ -6,6 +6,6 @@ includedir=@includedir@
 Name: @PACKAGE@
 Description: C++ library for flexible logging, modeled after Log4j
 Version: @VERSION@
-Libs: -L${libdir} -llog4cpp
+Libs: -L${libdir} -l@LOG4CPP_LIBRARY_NAME@
 Cflags: -I${includedir} @log4cpp_cflags@
 Libs.private: @log4cpp_libs@
diff --git a/package.xml b/package.xml
index 162f72a..408e46b 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>log4cpp</name>
-  <version>2.8.3</version>
+  <version>2.9.1</version>
   <description >
     Log4cpp maintained by Orocos developers
     This version of log4cpp deviates from the official release