diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index c9f0714..d9a9f22 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,45 +1,48 @@
 find_package(OpenMP REQUIRED)
-if(OPENMP_FOUND)
-    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
-    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
-endif()
 
 set(DEPS_PKGCONFIG_LIST
-	base-types
-	sbpl
-	sbpl_spline_primitives
-	traversability_generator3d
-	trajectory_follower
+    base-types
+    sbpl
+    sbpl_spline_primitives
+    traversability_generator3d
+    trajectory_follower
 )
 
 if(ENABLE_DEBUG_DRAWINGS AND vizkit3d_debug_drawings-commands_FOUND)
-	list(APPEND DEPS_PKGCONFIG_LIST vizkit3d_debug_drawings-commands)
+    list(APPEND DEPS_PKGCONFIG_LIST vizkit3d_debug_drawings-commands)
+endif()
+
+set(ADDITIONAL_LIBS "")
+if(OpenMP_CXX_FOUND)
+	message(STATUS "OpenMP is found: ${OpenMP_CXX_FOUND}")
+    list(APPEND ADDITIONAL_LIBS OpenMP::OpenMP_CXX)
 endif()
 
 rock_library(ugv_nav4d
     SOURCES 
-	DiscreteTheta.cpp
-	EnvironmentXYZTheta.cpp
-	PathStatistic.cpp
-	Planner.cpp
-	PlannerDump.cpp
-	PreComputedMotions.cpp
-	Dijkstra.cpp
-	ObstacleMapGenerator3D.cpp
-	DebugDrawingDeclarations.cpp
+        DiscreteTheta.cpp
+        EnvironmentXYZTheta.cpp
+        PathStatistic.cpp
+        Planner.cpp
+        PlannerDump.cpp
+        PreComputedMotions.cpp
+        Dijkstra.cpp
+        ObstacleMapGenerator3D.cpp
+        DebugDrawingDeclarations.cpp
     HEADERS 
-	Mobility.hpp
-	DiscreteTheta.hpp
-	EnvironmentXYZTheta.hpp
-	PathStatistic.hpp
-	Planner.hpp
-	PlannerConfig.hpp
-	PreComputedMotions.hpp
-	Dijkstra.hpp
-	ObstacleMapGenerator3D.hpp
+        Mobility.hpp
+        DiscreteTheta.hpp
+        EnvironmentXYZTheta.hpp
+        PathStatistic.hpp
+        Planner.hpp
+        PlannerConfig.hpp
+        PreComputedMotions.hpp
+        Dijkstra.hpp
+        ObstacleMapGenerator3D.hpp
     DEPS_PKGCONFIG 
-	${DEPS_PKGCONFIG_LIST}
+        ${DEPS_PKGCONFIG_LIST}
+    LIBS 
+        ${ADDITIONAL_LIBS}
 )
 
 add_subdirectory(gui)
@@ -50,4 +53,3 @@ if(TESTS_ENABLED)
 else()
     message(STATUS "TESTS_ENABLED is set to OFF. Skipped!")
 endif()
-