From 1aaeb4c59df4b1888630e26cea5c5edcdd13a46b Mon Sep 17 00:00:00 2001
From: HiepLM <hiepleminh01@gmail.com>
Date: Mon, 5 Jan 2026 17:17:37 +0700
Subject: [PATCH] update

---
 robot_tf3_geometry_msgs/CMakeLists.txt | 36 +++++++++++++++++++++++---
 robot_tf3_sensor_msgs/CMakeLists.txt   | 28 ++++++++++++++++++++
 2 files changed, 61 insertions(+), 3 deletions(-)

diff --git a/robot_tf3_geometry_msgs/CMakeLists.txt b/robot_tf3_geometry_msgs/CMakeLists.txt
index 0a0cfea..8211276 100755
--- a/robot_tf3_geometry_msgs/CMakeLists.txt
+++ b/robot_tf3_geometry_msgs/CMakeLists.txt
@@ -1,10 +1,38 @@
 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_tf3_geometry_msgs with Catkin")
+  find_package(catkin REQUIRED)
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_tf3_geometry_msgs with Standalone CMake")
+endif()
+
 project(robot_tf3_geometry_msgs)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+
+if(BUILDING_WITH_CATKIN)
+  catkin_package(
+    INCLUDE_DIRS include
+    # LIBRARIES không cần vì đây là header-only library
+    # CATKIN_DEPENDS không cần vì dependencies không phải Catkin packages
+    DEPENDS Eigen3 Boost
+  )
+endif()
+
 # Find dependencies
 find_package(Boost COMPONENTS thread REQUIRED)
 find_package(GTest REQUIRED)
@@ -20,9 +48,11 @@ include_directories(
 )
 
 # Install headers
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION include/${PROJECT_NAME}
-)
+if(NOT BUILDING_WITH_CATKIN)
+  install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION include/${PROJECT_NAME}
+  )
+endif()
 
 add_library(robot_tf3_geometry_msgs INTERFACE
 )
diff --git a/robot_tf3_sensor_msgs/CMakeLists.txt b/robot_tf3_sensor_msgs/CMakeLists.txt
index 86bf087..6b84993 100755
--- a/robot_tf3_sensor_msgs/CMakeLists.txt
+++ b/robot_tf3_sensor_msgs/CMakeLists.txt
@@ -1,10 +1,38 @@
 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_tf3_sensor_msgs with Catkin")
+  find_package(catkin REQUIRED)
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_tf3_sensor_msgs with Standalone CMake")
+endif()
+
 project(robot_tf3_sensor_msgs)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+
+if(BUILDING_WITH_CATKIN)
+  catkin_package(
+    INCLUDE_DIRS include
+    # LIBRARIES không cần vì đây là header-only library
+    # CATKIN_DEPENDS không cần vì dependencies không phải Catkin packages
+    DEPENDS Eigen3 Boost
+  )
+endif()
+
 # Find dependencies
 find_package(Boost COMPONENTS thread REQUIRED)
 find_package(GTest REQUIRED)