diff --git a/CMakeLists.txt b/CMakeLists.txt
index 072e68732ef19c465a69fa4d28e613bd2f4c2d6d..1bf4faed9ba5282234bb82234c54fe0dae6bc6cf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -142,8 +142,8 @@ ADD_SUBDIRECTORY(python)
 ADD_SUBDIRECTORY(unittest)
 
 PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
-PKG_CONFIG_APPEND_CFLAGS("-isystem${PYTHON_INCLUDE_DIRS}")
-PKG_CONFIG_APPEND_CFLAGS("-isystem${NUMPY_INCLUDE_DIRS}")
+PKG_CONFIG_APPEND_CFLAGS("-I${PYTHON_INCLUDE_DIRS}")
+PKG_CONFIG_APPEND_CFLAGS("-I${NUMPY_INCLUDE_DIRS}")
 PKG_CONFIG_APPEND_BOOST_LIBS(${BOOST_COMPONENTS})
 
 SETUP_PROJECT_FINALIZE()
diff --git a/cmake b/cmake
index 7bc2c801fc250a5a7a4570983c18c0b519ed35ba..b48288b990f3f022c5c55bb0689bad50b6751bed 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 7bc2c801fc250a5a7a4570983c18c0b519ed35ba
+Subproject commit b48288b990f3f022c5c55bb0689bad50b6751bed
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6953bb66b3fbcdfc3cd08a6e0acfa1664c2d6307
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>eigenpy</name>
+  <version>1.5.3</version>
+  <description>Bindings between Numpy and Eigen using Boost.Python</description>
+  <maintainer email="justin.carpentier@inria.fr">Justin Carpentier</maintainer>
+  <maintainer email="wolfgang.merkt@ed.ac.uk">Wolfgang Merkt</maintainer>
+  <author>Justin Carpentier</author>
+  <author>Nicolas Mansard</author>
+  <license>BSD</license>
+
+  <url type="website">https://github.com/stack-of-tasks/eigenpy</url>
+
+  <depend>python</depend>
+  <depend>python-numpy</depend>
+  <depend>eigen</depend>
+  <depend>boost</depend>
+
+  <buildtool_depend>cmake</buildtool_depend>
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>