diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index ce781423..04a81afe 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -8,9 +8,13 @@ set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
 find_package(ignition-common2 QUIET)
 set(IGN_COMMON_VER ${ignition-common2_VERSION_MAJOR})
 if(NOT ignition-common2_FOUND)
-  find_package(ignition-common3 QUIET REQUIRED)
+  find_package(ignition-common3 QUIET)
   set(IGN_COMMON_VER ${ignition-common3_VERSION_MAJOR})
 endif()
+if(NOT ignition-common2_FOUND AND NOT ignition-common3_FOUND)
+  find_package(ignition-common4 QUIET REQUIRED)
+  set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR})
+endif()
 
 find_package(ignition-math5 QUIET)
 set(IGN_MATH_VER ${ignition-math5_VERSION_MAJOR})
@@ -56,4 +60,3 @@ foreach(example_file ${example_files})
   endif()
 
 endforeach()
-
diff --git a/examples/README.md b/examples/README.md
new file mode 100644
index 00000000..e964ebe0
--- /dev/null
+++ b/examples/README.md
@@ -0,0 +1,41 @@
+# Examples
+
+These examples demonstrate various Ignition Plugin features.
+
+## Build
+
+After installing Ignition Plugin, from source or from binaries, build with:
+
+```
+git clone https://github.com/ignitionrobotics/ign-plugin/
+cd ign-plugin/examples
+mkdir build
+cd build
+cmake ..
+```
+
+### Ubuntu and MacOS
+
+```bash
+make
+```
+
+### Windows
+
+```bash
+cmake --build . --config Release
+```
+
+## Run
+
+Two executables are created inside the `build` folder for each example.
+
+You can run each executable from the build folder with `./executablename`. For example:
+
+### Ubuntu and MacOS
+
+`./robot`
+
+### Windows
+
+`.\Release\robot.exe`
diff --git a/examples/plugins/CrashBot.cc b/examples/plugins/CrashBot.cc
index 1d160714..172d3f36 100644
--- a/examples/plugins/CrashBot.cc
+++ b/examples/plugins/CrashBot.cc
@@ -41,7 +41,7 @@ class CrashBot
       return ignition::math::Vector3d(1.0, 0.0, 0.0);
 
     // If we have not detected a wall, drive in a spiral, searching for a wall
-    return ignition::math::Vector3d(0.5, 0.0, 20.0*M_PI/180.0);
+    return ignition::math::Vector3d(0.5, 0.0, 20.0*IGN_PI/180.0);
   }
 
   // Documentation inherited
diff --git a/examples/robot.cc b/examples/robot.cc
index 9d650a65..b258231c 100644
--- a/examples/robot.cc
+++ b/examples/robot.cc
@@ -15,6 +15,7 @@
  *
 */
 
+#include <array>
 #include <cassert>
 #include <iostream>
 #include <set>
@@ -206,14 +207,14 @@ void Simulate(const EnvironmentPluginPtr &_environment,
     if (_printState)
     {
       std::cout << "Location: (" << x[0] << "m, " << x[1] << "m) | Yaw: "
-                << 180.0*theta/M_PI << "-degrees | Time: " << time
+                << 180.0*theta/IGN_PI << "-degrees | Time: " << time
                 << "s  |==|  Velocity output: " << vel << std::endl;
     }
   }
 
   std::cout << "The simulation has finished (time: " << time << "s).\n"
             << " -- Final robot location: (" << x[0] << "m, " << x[1] << "m)\n"
-            << " -- Yaw: " << 180.0*theta/M_PI << "-degrees\n" << std::endl;
+            << " -- Yaw: " << 180.0*theta/IGN_PI << "-degrees\n" << std::endl;
 }
 
 /////////////////////////////////////////////////