diff --git a/robot_geometry_msgs/CMakeLists.txt b/robot_geometry_msgs/CMakeLists.txt
index 2b24d03..1397dcd 100644
--- a/robot_geometry_msgs/CMakeLists.txt
+++ b/robot_geometry_msgs/CMakeLists.txt
@@ -4,6 +4,36 @@ project(robot_geometry_msgs)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+# ========================================================
+# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
+# ========================================================
+
+# Detect if building with Catkin
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building robot_geometry_msgs with Catkin")
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_geometry_msgs with Standalone CMake")
+endif()
+
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+
+if(BUILDING_WITH_CATKIN)
+  find_package(catkin REQUIRED COMPONENTS robot_std_msgs utils robot_time)
+  ## The catkin_package macro generates cmake config files for your package
+  ## Note: Dependencies (robot_std_msgs, utils, etc.) are not Catkin packages,
+  ## they are built as CMake targets in the same workspace and will be available
+  ## when this package is built. They are linked via target_link_libraries instead of CATKIN_DEPENDS
+  catkin_package(
+    INCLUDE_DIRS include
+    # LIBRARIES không cần vì đây là header-only library
+    # CATKIN_DEPENDS không cần vì dependencies không phải Catkin packages
+  )
+endif()
+
 # Thư viện header-only
 add_library(robot_geometry_msgs INTERFACE)
 
@@ -21,13 +51,22 @@ target_link_libraries(robot_geometry_msgs INTERFACE robot_std_msgs utils)
 add_library(geometry_msgs ALIAS robot_geometry_msgs)
 
 # --- Cài đặt thư viện vào hệ thống khi chạy make install ---
+# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
 install(TARGETS robot_geometry_msgs
   EXPORT robot_geometry_msgs-targets
   INCLUDES DESTINATION include # Cài đặt include
 )
 
-# --- Xuất export set robot_costmap_2dTargets thành file CMake module ---
-# --- Tạo file lib/cmake/robot_geometry_msgs/robot_costmap_2dTargets.cmake ---
+if(NOT BUILDING_WITH_CATKIN)
+  # Install headers for standalone mode
+  install(DIRECTORY include/
+    DESTINATION include
+    FILES_MATCHING PATTERN "*.h"
+  )
+endif()
+
+# --- Xuất export set robot_geometry_msgs-targets thành file CMake module ---
+# --- Tạo file lib/cmake/robot_geometry_msgs/robot_geometry_msgs-targets.cmake ---
 # --- File này chứa cấu hình giúp project khác có thể dùng ---
 # --- Find_package(robot_geometry_msgs REQUIRED) ---
 # --- Target_link_libraries(my_app PRIVATE robot_geometry_msgs::robot_geometry_msgs) ---
diff --git a/robot_geometry_msgs/package.xml b/robot_geometry_msgs/package.xml
index c8471ab..1341853 100644
--- a/robot_geometry_msgs/package.xml
+++ b/robot_geometry_msgs/package.xml
@@ -19,8 +19,12 @@
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>libconsole-bridge-dev</build_depend>
+  <build_depend>robot_std_msgs</build_depend>
+  <build_depend>utils</build_depend>
+  <build_depend>robot_time</build_depend>
 
-  <run_depend>libconsole-bridge-dev</run_depend>
+  <run_depend>robot_std_msgs</run_depend>
+  <run_depend>utils</run_depend>
+  <run_depend>robot_time</run_depend>
 
 </package>
\ No newline at end of file
diff --git a/robot_map_msgs/CMakeLists.txt b/robot_map_msgs/CMakeLists.txt
index c0745cb..82d7abd 100644
--- a/robot_map_msgs/CMakeLists.txt
+++ b/robot_map_msgs/CMakeLists.txt
@@ -4,6 +4,27 @@ project(robot_map_msgs)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building robot_map_msgs with Catkin")
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_map_msgs with Standalone CMake")
+endif()
+
+if(BUILDING_WITH_CATKIN)
+  find_package(catkin REQUIRED COMPONENTS robot_std_msgs)
+  ## The catkin_package macro generates cmake config files for your package
+  catkin_package(
+    INCLUDE_DIRS include
+    # LIBRARIES không cần vì đây là header-only library
+  )
+endif()
+
 # Thư viện header-only
 add_library(robot_map_msgs INTERFACE)
 
@@ -18,13 +39,22 @@ target_include_directories(robot_map_msgs
 target_link_libraries(robot_map_msgs INTERFACE robot_std_msgs)
 
 # --- Cài đặt thư viện vào hệ thống khi chạy make install ---
+# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
 install(TARGETS robot_map_msgs
   EXPORT robot_map_msgs-targets
   INCLUDES DESTINATION include # Cài đặt include
 )
 
-# --- Xuất export set robot_costmap_2dTargets thành file CMake module ---
-# --- Tạo file lib/cmake/robot_map_msgs/robot_costmap_2dTargets.cmake ---
+if(NOT BUILDING_WITH_CATKIN)
+  # Install headers for standalone mode
+  install(DIRECTORY include/
+    DESTINATION include
+    FILES_MATCHING PATTERN "*.h"
+  )
+endif()
+
+# --- Xuất export set robot_map_msgs-targets thành file CMake module ---
+# --- Tạo file lib/cmake/robot_map_msgs/robot_map_msgs-targets.cmake ---
 # --- File này chứa cấu hình giúp project khác có thể dùng ---
 # --- Find_package(robot_map_msgs REQUIRED) ---
 # --- Target_link_libraries(my_app PRIVATE robot_map_msgs::robot_map_msgs) ---
diff --git a/robot_map_msgs/include/robot_map_msgs/OccupancyGridUpdate.h b/robot_map_msgs/include/robot_map_msgs/OccupancyGridUpdate.h
index a5a5285..310c89c 100644
--- a/robot_map_msgs/include/robot_map_msgs/OccupancyGridUpdate.h
+++ b/robot_map_msgs/include/robot_map_msgs/OccupancyGridUpdate.h
@@ -2,7 +2,8 @@
 #define ROBOT_OCCUPANCY_GRID_UPDATE_H
 
 #include <vector>
-#include "robot_std_msgs/Header.h"
+#include <robot_std_msgs/Header.h>
+
 namespace robot_map_msgs
 {
 struct OccupancyGridUpdate
diff --git a/robot_map_msgs/package.xml b/robot_map_msgs/package.xml
index 5f51ea0..3bfed82 100644
--- a/robot_map_msgs/package.xml
+++ b/robot_map_msgs/package.xml
@@ -1,13 +1,8 @@
 <package>
-  <name>robot_nav_msgs</name>
+  <name>robot_map_msgs</name>
   <version>0.7.10</version>
   <description>
-    robot_nav_msgs is the second generation of the transform library, which lets
-    the user keep track of multiple coordinate frames over time. robot_nav_msgs
-    maintains the relationship between coordinate frames in a tree
-    structure buffered in time, and lets the user transform points,
-    vectors, etc between any two coordinate frames at any desired
-    point in time.
+    robot_map_msgs provides message types for map-related data structures.
   </description>
   <author>Tully Foote</author>
   <author>Eitan Marder-Eppstein</author>
@@ -15,12 +10,11 @@
   <maintainer email="tfoote@osrfoundation.org">Tully Foote</maintainer>
   <license>BSD</license>
 
-  <url type="website">http://www.ros.org/wiki/robot_nav_msgs</url>
+  <url type="website">http://www.ros.org/wiki/robot_map_msgs</url>
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>libconsole-bridge-dev</build_depend>
-
-  <run_depend>libconsole-bridge-dev</run_depend>
+  <build_depend>robot_std_msgs</build_depend>
+  <run_depend>robot_std_msgs</run_depend>
 
 </package>
\ No newline at end of file
diff --git a/robot_nav_msgs/CMakeLists.txt b/robot_nav_msgs/CMakeLists.txt
index 9f01f53..c2f9bdc 100644
--- a/robot_nav_msgs/CMakeLists.txt
+++ b/robot_nav_msgs/CMakeLists.txt
@@ -4,6 +4,31 @@ project(robot_nav_msgs)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building robot_nav_msgs with Catkin")
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_nav_msgs with Standalone CMake")
+endif()
+
+if(BUILDING_WITH_CATKIN)
+  find_package(catkin REQUIRED COMPONENTS robot_std_msgs robot_geometry_msgs)
+  ## The catkin_package macro generates cmake config files for your package
+  ## Note: Dependencies (robot_std_msgs, robot_geometry_msgs, etc.) are not Catkin packages,
+  ## they are built as CMake targets in the same workspace and will be available
+  ## when this package is built. They are linked via target_link_libraries instead of CATKIN_DEPENDS
+  catkin_package(
+    INCLUDE_DIRS include
+    # LIBRARIES không cần vì đây là header-only library
+    # CATKIN_DEPENDS không cần vì dependencies không phải Catkin packages
+  )
+endif()
+
 # Thư viện header-only
 add_library(robot_nav_msgs INTERFACE)
 
@@ -22,13 +47,22 @@ target_link_libraries(robot_nav_msgs INTERFACE
                       )
 
 # --- Cài đặt thư viện vào hệ thống khi chạy make install ---
+# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
 install(TARGETS robot_nav_msgs
   EXPORT robot_nav_msgs-targets
   INCLUDES DESTINATION include # Cài đặt include
 )
 
-# --- Xuất export set robot_costmap_2dTargets thành file CMake module ---
-# --- Tạo file lib/cmake/robot_nav_msgs/robot_costmap_2dTargets.cmake ---
+if(NOT BUILDING_WITH_CATKIN)
+  # Install headers for standalone mode
+  install(DIRECTORY include/
+    DESTINATION include
+    FILES_MATCHING PATTERN "*.h"
+  )
+endif()
+
+# --- Xuất export set robot_nav_msgs-targets thành file CMake module ---
+# --- Tạo file lib/cmake/robot_nav_msgs/robot_nav_msgs-targets.cmake ---
 # --- File này chứa cấu hình giúp project khác có thể dùng ---
 # --- Find_package(robot_nav_msgs REQUIRED) ---
 # --- Target_link_libraries(my_app PRIVATE robot_nav_msgs::robot_nav_msgs) ---
diff --git a/robot_nav_msgs/package.xml b/robot_nav_msgs/package.xml
index 9cb9704..898dd10 100644
--- a/robot_nav_msgs/package.xml
+++ b/robot_nav_msgs/package.xml
@@ -1,9 +1,9 @@
 <package>
-  <name>robot_robot_nav_msgs</name>
+  <name>robot_nav_msgs</name>
   <version>0.7.10</version>
   <description>
-    robot_robot_nav_msgs is the second generation of the transform library, which lets
-    the user keep track of multiple coordinate frames over time. robot_robot_nav_msgs
+    robot_nav_msgs is the second generation of the transform library, which lets
+    the user keep track of multiple coordinate frames over time. robot_nav_msgs
     maintains the relationship between coordinate frames in a tree
     structure buffered in time, and lets the user transform points,
     vectors, etc between any two coordinate frames at any desired
@@ -15,12 +15,13 @@
   <maintainer email="tfoote@osrfoundation.org">Tully Foote</maintainer>
   <license>BSD</license>
 
-  <url type="website">http://www.ros.org/wiki/robot_robot_nav_msgs</url>
+  <url type="website">http://www.ros.org/wiki/robot_nav_msgs</url>
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>libconsole-bridge-dev</build_depend>
-
-  <run_depend>libconsole-bridge-dev</run_depend>
+  <build_depend>robot_std_msgs</build_depend>
+  <build_depend>robot_geometry_msgs</build_depend>
 
+  <run_depend>robot_std_msgs</run_depend>
+  <run_depend>robot_geometry_msgs</run_depend>
 </package>
\ No newline at end of file
diff --git a/robot_protocol_msgs/CMakeLists.txt b/robot_protocol_msgs/CMakeLists.txt
index 9177d5c..d1188d0 100644
--- a/robot_protocol_msgs/CMakeLists.txt
+++ b/robot_protocol_msgs/CMakeLists.txt
@@ -4,6 +4,28 @@ project(robot_protocol_msgs)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building robot_protocol_msgs with Catkin")
+
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_protocol_msgs with Standalone CMake")
+endif()
+
+if(BUILDING_WITH_CATKIN)
+  find_package(catkin REQUIRED COMPONENTS robot_std_msgs robot_geometry_msgs)
+  ## The catkin_package macro generates cmake config files for your package
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES robot_protocol_msgs
+    CATKIN_DEPENDS robot_std_msgs robot_geometry_msgs
+  )
+endif()
+
 # Thư viện header-only
 add_library(robot_protocol_msgs INTERFACE)
 
@@ -18,16 +40,19 @@ target_include_directories(robot_protocol_msgs
 target_link_libraries(robot_protocol_msgs INTERFACE)
 
 # --- Cài đặt thư viện vào hệ thống khi chạy make install ---
+# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
 install(TARGETS robot_protocol_msgs
   EXPORT robot_protocol_msgs-targets
   INCLUDES DESTINATION include # Cài đặt include
 )
 
-# --- Cài đặt headers ---
-install(DIRECTORY include/
-  DESTINATION include
-  FILES_MATCHING PATTERN "*.h"
-)
+if(NOT BUILDING_WITH_CATKIN)
+  # Install headers for standalone mode
+  install(DIRECTORY include/
+    DESTINATION include
+    FILES_MATCHING PATTERN "*.h"
+  )
+endif()
 
 # --- Xuất export set robot_protocol_msgs-targets thành file CMake module ---
 # --- Tạo file lib/cmake/robot_protocol_msgs/robot_protocol_msgs-targets.cmake ---
diff --git a/robot_protocol_msgs/package.xml b/robot_protocol_msgs/package.xml
index addf9af..98a39e8 100644
--- a/robot_protocol_msgs/package.xml
+++ b/robot_protocol_msgs/package.xml
@@ -19,8 +19,8 @@
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>libconsole-bridge-dev</build_depend>
-
-  <run_depend>libconsole-bridge-dev</run_depend>
-
+  <build_depend>robot_std_msgs</build_depend>
+  <build_depend>robot_geometry_msgs</build_depend>
+  <run_depend>robot_std_msgs</run_depend>
+  <run_depend>robot_geometry_msgs</run_depend>
 </package>
\ No newline at end of file
diff --git a/robot_sensor_msgs/CMakeLists.txt b/robot_sensor_msgs/CMakeLists.txt
index 5b27f64..68f5cc3 100644
--- a/robot_sensor_msgs/CMakeLists.txt
+++ b/robot_sensor_msgs/CMakeLists.txt
@@ -4,6 +4,28 @@ project(robot_sensor_msgs)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building robot_sensor_msgs with Catkin")
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_sensor_msgs with Standalone CMake")
+endif()
+
+if(BUILDING_WITH_CATKIN)
+  find_package(catkin REQUIRED COMPONENTS robot_std_msgs robot_geometry_msgs)
+  ## The catkin_package macro generates cmake config files for your package
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES robot_sensor_msgs
+    CATKIN_DEPENDS robot_std_msgs robot_geometry_msgs
+  )
+endif()
+
 # Thư viện header-only
 add_library(robot_sensor_msgs INTERFACE)
 
@@ -18,13 +40,22 @@ target_include_directories(robot_sensor_msgs
 target_link_libraries(robot_sensor_msgs INTERFACE robot_std_msgs)
 
 # --- Cài đặt thư viện vào hệ thống khi chạy make install ---
+# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
 install(TARGETS robot_sensor_msgs
   EXPORT robot_sensor_msgs-targets
   INCLUDES DESTINATION include # Cài đặt include
 )
 
-# --- Xuất export set robot_costmap_2dTargets thành file CMake module ---
-# --- Tạo file lib/cmake/robot_sensor_msgs/robot_costmap_2dTargets.cmake ---
+if(NOT BUILDING_WITH_CATKIN)
+  # Install headers for standalone mode
+  install(DIRECTORY include/
+    DESTINATION include
+    FILES_MATCHING PATTERN "*.h"
+  )
+endif()
+
+# --- Xuất export set robot_sensor_msgs-targets thành file CMake module ---
+# --- Tạo file lib/cmake/robot_sensor_msgs/robot_sensor_msgs-targets.cmake ---
 # --- File này chứa cấu hình giúp project khác có thể dùng ---
 # --- Find_package(robot_sensor_msgs REQUIRED) ---
 # --- Target_link_libraries(my_app PRIVATE robot_sensor_msgs::robot_sensor_msgs) ---
diff --git a/robot_sensor_msgs/package.xml b/robot_sensor_msgs/package.xml
index 053b439..2dc205e 100644
--- a/robot_sensor_msgs/package.xml
+++ b/robot_sensor_msgs/package.xml
@@ -19,8 +19,9 @@
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>libconsole-bridge-dev</build_depend>
-
-  <run_depend>libconsole-bridge-dev</run_depend>
+  <build_depend>robot_std_msgs</build_depend>
+  <build_depend>robot_geometry_msgs</build_depend>
+  <run_depend>robot_std_msgs</run_depend>
+  <run_depend>robot_geometry_msgs</run_depend>
 
 </package>
\ No newline at end of file
diff --git a/robot_std_msgs/CMakeLists.txt b/robot_std_msgs/CMakeLists.txt
index 47110f8..244eb4f 100644
--- a/robot_std_msgs/CMakeLists.txt
+++ b/robot_std_msgs/CMakeLists.txt
@@ -4,6 +4,31 @@ project(robot_std_msgs)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building robot_std_msgs with Catkin")
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_std_msgs with Standalone CMake")
+endif()
+
+if(BUILDING_WITH_CATKIN)
+  find_package(catkin REQUIRED COMPONENTS robot_time)
+
+  ## The catkin_package macro generates cmake config files for your package
+  ## Note: Dependencies (robot_time, etc.) are not Catkin packages,
+  ## they are built as CMake targets in the same workspace and will be available
+  ## when this package is built. They are linked via target_link_libraries instead of CATKIN_DEPENDS
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES robot_std_msgs
+    CATKIN_DEPENDS robot_time
+  )
+endif()
+
 add_library(robot_std_msgs INTERFACE)
 
 target_include_directories(robot_std_msgs
@@ -15,11 +40,20 @@ target_include_directories(robot_std_msgs
 target_link_libraries(robot_std_msgs INTERFACE robot_time)
 
 # --- Cài đặt thư viện vào hệ thống khi chạy make install ---
+# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
 install(TARGETS robot_std_msgs
   EXPORT robot_std_msgs-targets
   INCLUDES DESTINATION include # Cài đặt include
 )
 
+if(NOT BUILDING_WITH_CATKIN)
+  # Install headers for standalone mode
+  install(DIRECTORY include/
+    DESTINATION include
+    FILES_MATCHING PATTERN "*.h"
+  )
+endif()
+
 # --- Xuất export set robot_std_msgs-targets thành file CMake module ---
 # --- Tạo file lib/cmake/robot_std_msgs/robot_std_msgs-targets.cmake ---
 # --- File này chứa cấu hình giúp project khác có thể dùng ---
diff --git a/robot_std_msgs/package.xml b/robot_std_msgs/package.xml
index a94c2be..d58b6a8 100644
--- a/robot_std_msgs/package.xml
+++ b/robot_std_msgs/package.xml
@@ -19,8 +19,8 @@
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>libconsole-bridge-dev</build_depend>
-
-  <run_depend>libconsole-bridge-dev</run_depend>
+  <build_depend>robot_time</build_depend>
+  
+  <run_depend>robot_time</run_depend>
 
 </package>
\ No newline at end of file
diff --git a/robot_visualization_msgs/CMakeLists.txt b/robot_visualization_msgs/CMakeLists.txt
index 1e4dca2..d22c36c 100644
--- a/robot_visualization_msgs/CMakeLists.txt
+++ b/robot_visualization_msgs/CMakeLists.txt
@@ -1,9 +1,40 @@
 cmake_minimum_required(VERSION 3.10)
+
+# ========================================================
+# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
+# ========================================================
+
+# Detect if building with Catkin
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building robot_visualization_msgs with Catkin")
+  find_package(catkin REQUIRED)
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_visualization_msgs with Standalone CMake")
+endif()
+
 project(robot_visualization_msgs)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+
+if(BUILDING_WITH_CATKIN)
+  ## The catkin_package macro generates cmake config files for your package
+  ## Note: Dependencies (robot_std_msgs) is not a Catkin package,
+  ## it is built as a CMake target in the same workspace and will be available
+  ## when this package is built. It is linked via target_link_libraries instead of CATKIN_DEPENDS
+  catkin_package(
+    INCLUDE_DIRS include
+    # LIBRARIES không cần vì đây là header-only library
+    # CATKIN_DEPENDS không cần vì dependencies không phải Catkin packages
+  )
+endif()
+
 # Thư viện header-only
 add_library(robot_visualization_msgs INTERFACE)
 
@@ -14,17 +45,37 @@ target_include_directories(robot_visualization_msgs
         $<INSTALL_INTERFACE:include>
 )
 
+# Add include directories from dependencies explicitly for Catkin build
+if(BUILDING_WITH_CATKIN)
+  # Use relative paths from current source directory
+  # From robot_visualization_msgs (pnkx_nav_core/src/Libraries/common_msgs/robot_visualization_msgs) 
+  # to robot_std_msgs (pnkx_nav_core/src/Libraries/common_msgs/robot_std_msgs) is ../robot_std_msgs
+  get_filename_component(ROBOT_STD_MSGS_INCLUDE "${CMAKE_CURRENT_SOURCE_DIR}/../robot_std_msgs/include" ABSOLUTE)
+  target_include_directories(robot_visualization_msgs INTERFACE
+    $<BUILD_INTERFACE:${ROBOT_STD_MSGS_INCLUDE}>
+  )
+endif()
+
 # Liên kết với robot_std_msgs nếu bạn có file Header.h trong include/robot_std_msgs/
 target_link_libraries(robot_visualization_msgs INTERFACE robot_std_msgs)
 
 # --- Cài đặt thư viện vào hệ thống khi chạy make install ---
+# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
 install(TARGETS robot_visualization_msgs
   EXPORT robot_visualization_msgs-targets
   INCLUDES DESTINATION include # Cài đặt include
 )
 
-# --- Xuất export set robot_costmap_2dTargets thành file CMake module ---
-# --- Tạo file lib/cmake/robot_visualization_msgs/robot_costmap_2dTargets.cmake ---
+if(NOT BUILDING_WITH_CATKIN)
+  # Install headers for standalone mode
+  install(DIRECTORY include/
+    DESTINATION include
+    FILES_MATCHING PATTERN "*.h"
+  )
+endif()
+
+# --- Xuất export set robot_visualization_msgs-targets thành file CMake module ---
+# --- Tạo file lib/cmake/robot_visualization_msgs/robot_visualization_msgs-targets.cmake ---
 # --- File này chứa cấu hình giúp project khác có thể dùng ---
 # --- Find_package(robot_visualization_msgs REQUIRED) ---
 # --- Target_link_libraries(my_app PRIVATE robot_visualization_msgs::robot_visualization_msgs) ---
diff --git a/robot_visualization_msgs/package.xml b/robot_visualization_msgs/package.xml
index 02f8a9b..538ceda 100644
--- a/robot_visualization_msgs/package.xml
+++ b/robot_visualization_msgs/package.xml
@@ -19,8 +19,5 @@
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>libconsole-bridge-dev</build_depend>
-
-  <run_depend>libconsole-bridge-dev</run_depend>
 
 </package>
\ No newline at end of file
diff --git a/utils/CMakeLists.txt b/utils/CMakeLists.txt
index 31d3766..cab1ac6 100644
--- a/utils/CMakeLists.txt
+++ b/utils/CMakeLists.txt
@@ -1,27 +1,57 @@
 cmake_minimum_required(VERSION 3.10)
 
+# ========================================================
+# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
+# ========================================================
+
+# Detect if building with Catkin
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building utils with Catkin")
+  find_package(catkin REQUIRED)
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building utils with Standalone CMake")
+endif()
+
 # --- Project riêng cho utils ---
 project(utils LANGUAGES CXX)
 
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+
+if(BUILDING_WITH_CATKIN)
+  ## The catkin_package macro generates cmake config files for your package
+  catkin_package(
+    INCLUDE_DIRS include
+    # LIBRARIES không cần vì đây là header-only library
+  )
+endif()
+
 # --- Tạo INTERFACE library (header-only) ---
 add_library(utils INTERFACE)
 
 # --- Include directories ---
 target_include_directories(utils
     INTERFACE
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>   # build nội bộ
-        $<INSTALL_INTERFACE:include/utils>             # dùng khi install/export
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>   # build nội bộ
+        $<INSTALL_INTERFACE:include>                             # dùng khi install/export
 )
 
 # --- Cài đặt header files ---
-install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/
-        DESTINATION include/utils
-        FILES_MATCHING PATTERN "*.h"
-)
+if(NOT BUILDING_WITH_CATKIN)
+  install(DIRECTORY include/
+          DESTINATION include
+          FILES_MATCHING PATTERN "*.h"
+  )
+endif()
 
 # --- Cài đặt target INTERFACE để export ---
+# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
 install(TARGETS utils
         EXPORT utils-targets
+        INCLUDES DESTINATION include
 )
 
 # --- Export target file ---
diff --git a/utils/utils.h b/utils/include/utils.h
similarity index 100%
rename from utils/utils.h
rename to utils/include/utils.h
diff --git a/utils/package.xml b/utils/package.xml
index c04ef35..52e44a2 100644
--- a/utils/package.xml
+++ b/utils/package.xml
@@ -19,8 +19,4 @@
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>libconsole-bridge-dev</build_depend>
-
-  <run_depend>libconsole-bridge-dev</run_depend>
-
 </package>
\ No newline at end of file