diff --git a/CMakeLists.txt b/CMakeLists.txt
index ec57bb7..03b3380 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,94 +1,142 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.0.2)
+project(data_convert VERSION 1.0.0 LANGUAGES CXX)
 
-# ========================================================
-# 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 data_convert with Catkin")
+
 else()
   set(BUILDING_WITH_CATKIN FALSE)
   message(STATUS "Building data_convert with Standalone CMake")
 endif()
 
-project(data_convert)
-
+# C++ Standard - must be set before find_package
 set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
-# ========================================================
-# Find dependencies
-# ========================================================
+if (NOT BUILDING_WITH_CATKIN)
 
-if(BUILDING_WITH_CATKIN)
-  find_package(catkin REQUIRED COMPONENTS
+  # Enable Position Independent Code
+  set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+  # Cấu hình RPATH để tránh cycle trong runtime search path
+  set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
+  set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+  set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
+
+  set(PACKAGES_DIR  
     robot_geometry_msgs
   )
-endif()
+
+else()
 
 # ========================================================
 # Catkin specific configuration
 # ========================================================
+  find_package(catkin REQUIRED COMPONENTS         
+    robot_geometry_msgs
+  )
 
-if(BUILDING_WITH_CATKIN)
   catkin_package(
     INCLUDE_DIRS include
-    # Header-only library; keep LIBRARIES for visibility when exporting
-    LIBRARIES data_convert
+    # LIBRARIES không cần vì đây là header-only library
     CATKIN_DEPENDS robot_geometry_msgs
   )
+
+  include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+  )
 endif()
 
-add_library(data_convert INTERFACE)
+# Tìm tất cả header files
+file(GLOB_RECURSE HEADERS "include/data_convert/*.h")
+
+# Tạo INTERFACE library (header-only)
+add_library(${PROJECT_NAME} INTERFACE)
 
-# Link libraries
 if(BUILDING_WITH_CATKIN)
-  target_link_libraries(data_convert INTERFACE 
+  add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+  # Set include directories
+  target_include_directories(${PROJECT_NAME}
+    INTERFACE 
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+      $<INSTALL_INTERFACE:include>
+  )
+
+  # Link dependencies (header-only, chỉ cần include paths)
+  target_link_libraries(${PROJECT_NAME}
+    INTERFACE
       ${catkin_LIBRARIES}
   )
+
 else()
-  target_link_libraries(data_convert INTERFACE 
-      robot_geometry_msgs
+
+  # Set include directories
+  target_include_directories(${PROJECT_NAME}
+    INTERFACE 
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+      $<INSTALL_INTERFACE:include>
   )
+
+  # Link dependencies (header-only, chỉ cần include paths)
+  target_link_libraries(${PROJECT_NAME}
+    INTERFACE
+      ${PACKAGES_DIR}
+  )
+
 endif()
 
 if(BUILDING_WITH_CATKIN)
-  add_dependencies(data_convert ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-endif()
-
-target_include_directories(data_convert
-    INTERFACE
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-        $<INSTALL_INTERFACE:include>
-)
-
-# ========================================================
-# Installation
-# ========================================================
-
-# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
-install(TARGETS data_convert
-  EXPORT data_convert-targets
-  INCLUDES DESTINATION include # Cài đặt include
-)
-
-if(NOT BUILDING_WITH_CATKIN)
-  # Cài đặt headers (standalone)
-  install(DIRECTORY include/
-      DESTINATION include
-      FILES_MATCHING PATTERN "*.h"
+  ## Mark libraries for installation
+  ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+  install(TARGETS ${PROJECT_NAME}
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
   )
+
+  ## Mark cpp header files for installation
+  install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+    FILES_MATCHING PATTERN "*.h"
+    PATTERN ".svn" EXCLUDE
+  )
+
+else()
+
+  install(TARGETS ${PROJECT_NAME}
+    EXPORT ${PROJECT_NAME}-targets
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+  )
+
+  # Export targets
+  install(EXPORT ${PROJECT_NAME}-targets
+    FILE ${PROJECT_NAME}-targets.cmake
+    NAMESPACE ${PROJECT_NAME}::
+    DESTINATION lib/cmake/${PROJECT_NAME}
+  )
+
+  ## Mark cpp header files for installation
+  install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION include
+    FILES_MATCHING PATTERN "*.h"
+    PATTERN ".svn" EXCLUDE
+  )
+
+  # Print configuration info
+  message(STATUS "=================================")
+  message(STATUS "Project: ${PROJECT_NAME} (Header-Only)")
+  message(STATUS "Version: ${PROJECT_VERSION}")
+  message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
+  message(STATUS "Headers found:")
+  foreach(hdr ${HEADERS})
+    message(STATUS "  - ${hdr}")
+  endforeach()
+  message(STATUS "Dependencies: robot_geometry_msgs")
+  message(STATUS "=================================")
 endif()
-
-# --- Xuất export set data_convert-targets thành file CMake module ---
-# --- Tạo file lib/cmake/data_convert/data_convert-targets.cmake ---
-# --- File này chứa cấu hình giúp project khác có thể dùng ---
-# --- Find_package(data_convert REQUIRED) ---
-# --- Target_link_libraries(my_app PRIVATE data_convert::data_convert) ---
-install(EXPORT data_convert-targets 
-  FILE data_convert-targets.cmake
-  NAMESPACE data_convert::
-  DESTINATION lib/cmake/data_convert
-)
-