diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2021c99..151d901 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -118,12 +118,21 @@ configure_file(openarm-can.pc.in ${CMAKE_CURRENT_BINARY_DIR}/openarm-can.pc
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/openarm-can.pc
         DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig)
 
+set(OPENARM_CAN_LIBEXEC_DIR "${CMAKE_INSTALL_LIBEXECDIR}/openarm-can")
+
 add_executable(motor-check setup/motor_check.cpp)
 target_link_libraries(motor-check openarm_can)
+install(TARGETS motor-check DESTINATION ${OPENARM_CAN_LIBEXEC_DIR})
 
 # Add motor control example executable
 add_executable(openarm-demo examples/demo.cpp)
 target_link_libraries(openarm-demo openarm_can)
+install(TARGETS openarm-demo DESTINATION ${OPENARM_CAN_LIBEXEC_DIR})
+
+# Install scripts
+install(PROGRAMS setup/change_baudrate.py setup/configure_socketcan.sh
+                 setup/configure_socketcan_4_arms.sh setup/set_zero.sh
+        DESTINATION ${OPENARM_CAN_LIBEXEC_DIR})
 
 # Add tests
 if(BUILD_TESTING)
diff --git a/packages/debian/libopenarm-can-dev.install b/packages/debian/libopenarm-can-dev.install
index ddb040f..96ccec6 100644
--- a/packages/debian/libopenarm-can-dev.install
+++ b/packages/debian/libopenarm-can-dev.install
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-usr/include/*
+usr/include/
 usr/lib/*/lib*.so
-usr/lib/*/pkgconfig/*
-usr/lib/*/cmake/OpenArmCAN/*
+usr/lib/*/pkgconfig/
+usr/lib/*/cmake/OpenArmCAN/
diff --git a/packages/debian/openarm-can-utils.install b/packages/debian/openarm-can-utils.install
index 9793dd1..47c0bc3 100644
--- a/packages/debian/openarm-can-utils.install
+++ b/packages/debian/openarm-can-utils.install
@@ -12,6 +12,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-setup/configure_socketcan.sh usr/libexec/openarm-can
-setup/set_zero.sh usr/libexec/openarm-can
-setup/change_baudrate.py usr/libexec/openarm-can
+usr/libexec/
diff --git a/packages/fedora/openarm-can.spec b/packages/fedora/openarm-can.spec
index 6f856ff..1fc160a 100644
--- a/packages/fedora/openarm-can.spec
+++ b/packages/fedora/openarm-can.spec
@@ -36,6 +36,12 @@ Requires:  %{name}%{?_isa} = %{version}-%{release}
 %description devel
 Header files and development libraries for OpenARM CAN control library.
 
+%package utils
+Summary: Setup and configuration utility scripts
+
+%description utils
+Setup and configuration utility scripts.
+
 %prep
 %autosetup
 
@@ -60,5 +66,9 @@ Header files and development libraries for OpenARM CAN control library.
 %{_libdir}/libopenarm_can.so
 %{_libdir}/pkgconfig/openarm-can.pc
 
+%files utils
+%license LICENSE.txt
+%{_libexecdir}/openarm-can/
+
 %changelog
 %autochangelog