diff --git a/robot_protocol_msgs/CMakeLists.txt b/robot_protocol_msgs/CMakeLists.txt
index da19673..9177d5c 100644
--- a/robot_protocol_msgs/CMakeLists.txt
+++ b/robot_protocol_msgs/CMakeLists.txt
@@ -23,14 +23,36 @@ install(TARGETS robot_protocol_msgs
   INCLUDES DESTINATION include # Cài đặt include
 )
 
-# --- Xuất export set robot_costmap_2dTargets thành file CMake module ---
-# --- Tạo file lib/cmake/robot_protocol_msgs/robot_costmap_2dTargets.cmake ---
+# --- Cài đặt headers ---
+install(DIRECTORY include/
+  DESTINATION include
+  FILES_MATCHING PATTERN "*.h"
+)
+
+# --- Xuất export set robot_protocol_msgs-targets thành file CMake module ---
+# --- Tạo file lib/cmake/robot_protocol_msgs/robot_protocol_msgs-targets.cmake ---
 # --- File này chứa cấu hình giúp project khác có thể dùng ---
 # --- Find_package(robot_protocol_msgs REQUIRED) ---
 # --- Target_link_libraries(my_app PRIVATE robot_protocol_msgs::robot_protocol_msgs) ---
 install(EXPORT robot_protocol_msgs-targets 
   FILE robot_protocol_msgs-targets.cmake
-  NAMESPACE robot_protocol_msgs::
+  # NAMESPACE robot_protocol_msgs::
+  DESTINATION lib/cmake/robot_protocol_msgs
+)
+
+# ========================================================
+# Install CMake Config File for find_package()
+# ========================================================
+# Generate config file from template
+configure_file(
+  ${CMAKE_CURRENT_SOURCE_DIR}/robot_protocol_msgsConfig.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/robot_protocol_msgsConfig.cmake
+  @ONLY
+)
+
+# Install config file
+install(FILES
+  ${CMAKE_CURRENT_BINARY_DIR}/robot_protocol_msgsConfig.cmake
   DESTINATION lib/cmake/robot_protocol_msgs
 )
 
diff --git a/robot_protocol_msgs/robot_protocol_msgsConfig.cmake.in b/robot_protocol_msgs/robot_protocol_msgsConfig.cmake.in
new file mode 100644
index 0000000..85085b2
--- /dev/null
+++ b/robot_protocol_msgs/robot_protocol_msgsConfig.cmake.in
@@ -0,0 +1,20 @@
+# robot_protocol_msgsConfig.cmake
+# CMake configuration file for robot_protocol_msgs package
+
+# Get the directory containing this file
+get_filename_component(robot_protocol_msgs_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+
+# Include the targets file
+include("${robot_protocol_msgs_CMAKE_DIR}/robot_protocol_msgs-targets.cmake")
+
+# Set variables for compatibility
+set(robot_protocol_msgs_FOUND TRUE)
+set(robot_protocol_msgs_INCLUDE_DIRS "@CMAKE_INSTALL_PREFIX@/include")
+set(robot_protocol_msgs_LIBRARIES robot_protocol_msgs)
+
+# Check if all required components are available
+if(NOT TARGET robot_protocol_msgs)
+  set(robot_protocol_msgs_FOUND FALSE)
+  message(FATAL_ERROR "robot_protocol_msgs target not found")
+endif()
+