diff --git a/CMakeModules/SimoxMacros.cmake b/CMakeModules/SimoxMacros.cmake
index 70507bb60012a9f2a6454c1db28ec8d46565dc4b..576c71e56dbcf48afe446ac4d665caf965d2e791 100644
--- a/CMakeModules/SimoxMacros.cmake
+++ b/CMakeModules/SimoxMacros.cmake
@@ -18,7 +18,7 @@ function(setupSimoxExternalLibraries)
     endif()
   ENDIF()
   INCLUDE_DIRECTORIES(${Simox_INCLUDE_DIRS})
-  INCLUDE_DIRECTORIES(${Simox_EXTERNAL_INCLUDE_DIRS})
+  INCLUDE_DIRECTORIES(SYSTEM ${Simox_EXTERNAL_INCLUDE_DIRS})
   ADD_DEFINITIONS( ${Simox_EXTERNAL_LIBRARY_FLAGS} )
   LINK_DIRECTORIES( ${Simox_LIBRARY_DIRS} )
 
diff --git a/GraspPlanning/CMakeLists.txt b/GraspPlanning/CMakeLists.txt
index 28e0d022abc0a80e9d4cfba6c1811277107706a2..7017369bc2fe1e659d6df660d6f677687336fb69 100644
--- a/GraspPlanning/CMakeLists.txt
+++ b/GraspPlanning/CMakeLists.txt
@@ -90,7 +90,7 @@ if (Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
 endif ()
 
 
-INCLUDE_DIRECTORIES(${Simox_EXTERNAL_INCLUDE_DIRS})
+include_directories(SYSTEM ${Simox_EXTERNAL_INCLUDE_DIRS})
 ADD_DEFINITIONS(${Simox_EXTERNAL_LIBRARY_FLAGS})
 
 
diff --git a/MotionPlanning/CMakeLists.txt b/MotionPlanning/CMakeLists.txt
index 5ee4cab930a5130f86f13d79bd39e042d2072cd0..35ecf635c5401e60927e723c3d2768b8aba5de45 100644
--- a/MotionPlanning/CMakeLists.txt
+++ b/MotionPlanning/CMakeLists.txt
@@ -15,7 +15,7 @@ SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CXX11_FLAG}")
 
 ########################### TESTING #####################################
 MACRO(ADD_SABA_TEST TEST_NAME)
-    INCLUDE_DIRECTORIES(${Simox_EXTERNAL_INCLUDE_DIRS})
+    include_directories(SYSTEM ${Simox_EXTERNAL_INCLUDE_DIRS})
     INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR})
     INCLUDE_DIRECTORIES("${PROJECT_SOURCE_DIR}/..")
     if (NOT Boost_USE_STATIC_LIBS)
@@ -90,7 +90,7 @@ if (Simox_USE_COIN_VISUALIZATION)
 	)
 endif (Simox_USE_COIN_VISUALIZATION)
 
-INCLUDE_DIRECTORIES(${Simox_EXTERNAL_INCLUDE_DIRS})
+include_directories(SYSTEM ${Simox_EXTERNAL_INCLUDE_DIRS})
 ADD_DEFINITIONS(${Simox_EXTERNAL_LIBRARY_FLAGS})
 
 ADD_LIBRARY (Saba SHARED ${SOURCES} ${INCLUDES})
diff --git a/SimDynamics/CMakeLists.txt b/SimDynamics/CMakeLists.txt
index 26807152cc3a59b8a7d533fe6968fc0a0d83641b..38231e549d7cda724d998029990d1286662edd88 100644
--- a/SimDynamics/CMakeLists.txt
+++ b/SimDynamics/CMakeLists.txt
@@ -217,7 +217,7 @@ if (SimDynamics_DYNAMICSENGINE)
   #INCLUDE_DIRECTORIES(${SimDynamics_DIR})
    
 
-  INCLUDE_DIRECTORIES(${Simox_EXTERNAL_INCLUDE_DIRS})
+  include_directories(SYSTEM ${Simox_EXTERNAL_INCLUDE_DIRS})
   ADD_DEFINITIONS(${Simox_EXTERNAL_LIBRARY_FLAGS})
 
   ADD_LIBRARY (SimDynamics SHARED ${SOURCES} ${INCLUDES})
diff --git a/VirtualRobot/CMakeLists.txt b/VirtualRobot/CMakeLists.txt
index 87092995b67207590e16b2b7dd0bec1bb1a9f80e..51f2d73a6e3b1906ad45373a57021748f6732320 100644
--- a/VirtualRobot/CMakeLists.txt
+++ b/VirtualRobot/CMakeLists.txt
@@ -28,7 +28,7 @@ endif()
 
 ########################### TESTING #####################################
 MACRO(ADD_VR_TEST TEST_NAME)
-    INCLUDE_DIRECTORIES(${Simox_EXTERNAL_INCLUDE_DIRS})
+    INCLUDE_DIRECTORIES(SYSTEM ${Simox_EXTERNAL_INCLUDE_DIRS})
     INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR})
     INCLUDE_DIRECTORIES("${PROJECT_SOURCE_DIR}/..")
     ADD_DEFINITIONS(${Simox_EXTERNAL_LIBRARY_FLAGS})
@@ -391,12 +391,12 @@ if (Simox_USE_URDF)
     if (tinyxml_library AND URDF_FOUND)
         MESSAGE(STATUS " ** Including URDF importer")
 
-        include_directories(${tinyxml_include_dirs})
+        include_directories(SYSTEM ${tinyxml_include_dirs})
         link_directories(${tinyxml_library_dirs})
         add_definitions(${tinyxml_cflags})
         add_definitions(" -DTIXML_USE_STL ")
 
-        INCLUDE_DIRECTORIES (
+        INCLUDE_DIRECTORIES (SYSTEM
             ${URDFDOM_INCLUDE_DIRS}
             ${URDFDOM_PARSER_INCLUDE_DIRS}
             ${URDFDOM_HEADERS_INCLUDE_DIRS}
diff --git a/VirtualRobot/Import/URDF/CMakeLists.txt b/VirtualRobot/Import/URDF/CMakeLists.txt
index 4f318316abba53ae079b986dc86fe0f2e7ebfccc..f01dc5cb375b3aa10e093a4a7b5584bea58a5f36 100644
--- a/VirtualRobot/Import/URDF/CMakeLists.txt
+++ b/VirtualRobot/Import/URDF/CMakeLists.txt
@@ -10,7 +10,7 @@ FIND_PACKAGE(urdfdom)
 
 if (tinyxml_library AND URDF_FOUND)
 
-    include_directories(${tinyxml_include_dirs})
+    include_directories(SYSTEM ${tinyxml_include_dirs})
     link_directories(${tinyxml_library_dirs})
     add_definitions(${tinyxml_cflags})
     add_definitions("-DTIXML_USE_STL")
diff --git a/VirtualRobot/examples/CameraViewer/CMakeLists.txt b/VirtualRobot/examples/CameraViewer/CMakeLists.txt
index 302f37553054771980309cc7c0a5785763815e02..fc3599e5350886a85461bfdf3100e27350e42a2c 100644
--- a/VirtualRobot/examples/CameraViewer/CMakeLists.txt
+++ b/VirtualRobot/examples/CameraViewer/CMakeLists.txt
@@ -32,7 +32,7 @@ IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
 
     find_package(OpenGL REQUIRED)
     if(OPENGL_FOUND)
-        include_directories(${OPENGL_INCLUDE_DIR})
+        include_directories(SYSTEM ${OPENGL_INCLUDE_DIR})
         TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${OPENGL_LIBRARIES})
     endif(OPENGL_FOUND)
 
diff --git a/VirtualRobot/examples/loadURDFRobot/CMakeLists.txt b/VirtualRobot/examples/loadURDFRobot/CMakeLists.txt
index 1d67d0c4d0021fdd5fc7293958731ec07703e13c..c5f9fa93324bd76873ce367ed5a598c76063e5be 100644
--- a/VirtualRobot/examples/loadURDFRobot/CMakeLists.txt
+++ b/VirtualRobot/examples/loadURDFRobot/CMakeLists.txt
@@ -2,12 +2,12 @@ PROJECT ( loadURDFRobot )
 
 if (tinyxml_library AND URDF_FOUND)
 
-  include_directories(${tinyxml_include_dirs})
+  include_directories(SYSTEM ${tinyxml_include_dirs})
   link_directories(${tinyxml_library_dirs})
   add_definitions(${tinyxml_cflags})
   add_definitions(" -DTIXML_USE_STL ")
   
-  INCLUDE_DIRECTORIES (
+  INCLUDE_DIRECTORIES (SYSTEM
     ${URDFDOM_INCLUDE_DIRS}
     ${URDFDOM_PARSER_INCLUDE_DIRS}
     ${URDFDOM_HEADERS_INCLUDE_DIRS}