diff --git a/conf/CMakeLists.txt b/conf/CMakeLists.txt
index 7ac7c9e15..9e2b135ee 100644
--- a/conf/CMakeLists.txt
+++ b/conf/CMakeLists.txt
@@ -24,4 +24,4 @@ configure_file(
 
 # Install the yaml configuration files in an unversioned location.
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.yaml
-  DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gz/)
+  DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/gz/)
diff --git a/sdf/1.0/CMakeLists.txt b/sdf/1.0/CMakeLists.txt
index dd62ae21c..26d50f4ac 100644
--- a/sdf/1.0/CMakeLists.txt
+++ b/sdf/1.0/CMakeLists.txt
@@ -27,4 +27,4 @@ set (sdfs
   world.sdf
 )
 
-install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.0/)
+install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.0/)
diff --git a/sdf/1.10/CMakeLists.txt b/sdf/1.10/CMakeLists.txt
index 55a906f71..da5f3084b 100644
--- a/sdf/1.10/CMakeLists.txt
+++ b/sdf/1.10/CMakeLists.txt
@@ -84,5 +84,5 @@ add_custom_target(schema1_10 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_9.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.10)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.10)
+install(FILES 1_9.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.10)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.10)
diff --git a/sdf/1.11/CMakeLists.txt b/sdf/1.11/CMakeLists.txt
index 61dc7ac8d..2e56bf0a7 100644
--- a/sdf/1.11/CMakeLists.txt
+++ b/sdf/1.11/CMakeLists.txt
@@ -85,5 +85,5 @@ add_custom_target(schema1_11 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_10.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.11)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.11)
+install(FILES 1_10.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.11)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.11)
diff --git a/sdf/1.2/CMakeLists.txt b/sdf/1.2/CMakeLists.txt
index 051e49e55..5ade204b3 100644
--- a/sdf/1.2/CMakeLists.txt
+++ b/sdf/1.2/CMakeLists.txt
@@ -28,4 +28,4 @@ set (sdfs
   world.sdf
 )
 
-install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.2)
+install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.2)
diff --git a/sdf/1.3/CMakeLists.txt b/sdf/1.3/CMakeLists.txt
index 9325a7e19..28f10f9d9 100644
--- a/sdf/1.3/CMakeLists.txt
+++ b/sdf/1.3/CMakeLists.txt
@@ -29,4 +29,4 @@ set (sdfs
   world.sdf
 )
 
-install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.3)
+install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.3)
diff --git a/sdf/1.4/CMakeLists.txt b/sdf/1.4/CMakeLists.txt
index 657bd085e..cbf8b488e 100644
--- a/sdf/1.4/CMakeLists.txt
+++ b/sdf/1.4/CMakeLists.txt
@@ -44,4 +44,4 @@ set (sdfs
   world.sdf
 )
 
-install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.4)
+install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.4)
diff --git a/sdf/1.5/CMakeLists.txt b/sdf/1.5/CMakeLists.txt
index 4beac5c0a..86cf89091 100644
--- a/sdf/1.5/CMakeLists.txt
+++ b/sdf/1.5/CMakeLists.txt
@@ -78,5 +78,5 @@ add_custom_target(schema1_5 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_4.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.5)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.5)
+install(FILES 1_4.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.5)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.5)
diff --git a/sdf/1.6/CMakeLists.txt b/sdf/1.6/CMakeLists.txt
index ed41bf3b1..1797c485b 100644
--- a/sdf/1.6/CMakeLists.txt
+++ b/sdf/1.6/CMakeLists.txt
@@ -82,5 +82,5 @@ add_custom_target(schema1_6 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_5.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.6)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.6)
+install(FILES 1_5.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.6)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.6)
diff --git a/sdf/1.7/CMakeLists.txt b/sdf/1.7/CMakeLists.txt
index 51e6fe9af..04d19cc18 100644
--- a/sdf/1.7/CMakeLists.txt
+++ b/sdf/1.7/CMakeLists.txt
@@ -83,5 +83,5 @@ add_custom_target(schema1_7 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_6.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.7)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.7)
+install(FILES 1_6.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.7)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.7)
diff --git a/sdf/1.8/CMakeLists.txt b/sdf/1.8/CMakeLists.txt
index ed7f874df..380c98b59 100644
--- a/sdf/1.8/CMakeLists.txt
+++ b/sdf/1.8/CMakeLists.txt
@@ -85,5 +85,5 @@ add_custom_target(schema1_8 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_7.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.8)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.8)
+install(FILES 1_7.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.8)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.8)
diff --git a/sdf/1.9/CMakeLists.txt b/sdf/1.9/CMakeLists.txt
index 193f82c23..738d583f3 100644
--- a/sdf/1.9/CMakeLists.txt
+++ b/sdf/1.9/CMakeLists.txt
@@ -85,5 +85,5 @@ add_custom_target(schema1_9 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_8.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.9)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.9)
+install(FILES 1_8.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.9)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.9)
diff --git a/src/cmd/CMakeLists.txt b/src/cmd/CMakeLists.txt
index a869d5fca..a1cf707c1 100644
--- a/src/cmd/CMakeLists.txt
+++ b/src/cmd/CMakeLists.txt
@@ -56,4 +56,4 @@ install(
   FILES
     ${CMAKE_CURRENT_BINARY_DIR}/sdf${PROJECT_VERSION_MAJOR}.bash_completion.sh
   DESTINATION
-    ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gz/gz${GZ_TOOLS_VER}.completion.d)
+    ${CMAKE_INSTALL_DATAROOTDIR}/gz/gz${GZ_TOOLS_VER}.completion.d)