diff --git a/CMakeLists.txt b/CMakeLists.txt
index 83042bc..dd5db07 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,7 +16,7 @@ set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 # --- Dependencies ---
 # Tìm các thư viện cần thiết
-# find_package(tf3 REQUIRED)            # Nếu dùng tf3
+# find_package(tf3 REQUIRED)           # Nếu dùng tf3
 find_package(Eigen3 REQUIRED)          # Thư viện Eigen cho toán học
 find_package(Boost REQUIRED COMPONENTS system thread filesystem)  # Boost: system, thread, filesystem
 find_package(GTest REQUIRED)           # Google Test cho unit test
@@ -122,6 +122,7 @@ add_library(plugins
         )
 
 target_link_libraries(plugins 
+    PRIVATE
         costmap_2d 
         ${Boost_LIBRARIES} 
         yaml-cpp
@@ -133,6 +134,21 @@ set_target_properties(plugins PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
 )
 
+install(TARGETS plugins
+  EXPORT plugins-targets
+  ARCHIVE DESTINATION lib      # Thư viện tĩnh .a
+  LIBRARY DESTINATION lib      # Thư viện động .so
+  RUNTIME DESTINATION bin      # File thực thi (nếu có)
+  INCLUDES DESTINATION include # Cài đặt include
+)
+
+install(EXPORT plugins-targets 
+  FILE plugins-targets.cmake
+  NAMESPACE costmap_2d::
+  DESTINATION lib/cmake/plugins
+)
+
+
 # --- Option để bật/tắt test ---
 option(BUILD_COSTMAP_TESTS "Build costmap_2d test executables" ON)