diff --git a/tf3_geometry_msgs/CMakeLists.txt b/tf3_geometry_msgs/CMakeLists.txt
index 8f14893..45505c9 100755
--- a/tf3_geometry_msgs/CMakeLists.txt
+++ b/tf3_geometry_msgs/CMakeLists.txt
@@ -11,15 +11,6 @@ find_package(GTest REQUIRED)
 # Finding Eigen3
 find_package(Eigen3 REQUIRED)
 
-if (NOT TARGET tf3)
-    add_subdirectory(/home/duongtd/robotics_core/tf3 ${CMAKE_BINARY_DIR}/tf3_build)
-endif()
-
-if (NOT TARGET geometry_msgs)
-    add_subdirectory(/home/duongtd/robotics_core/common_msgs/geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build)
-endif()
-
-
 # Include directories
 include_directories(
   include
@@ -36,8 +27,10 @@ install(DIRECTORY include/${PROJECT_NAME}/
 add_library(tf3_geometry_msgs INTERFACE
 )
 
-target_include_directories(tf3_geometry_msgs INTERFACE
-  ${CMAKE_CURRENT_SOURCE_DIR}/include
+target_include_directories(tf3_geometry_msgs
+    INTERFACE
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include>
 )
 
 # Liên kết với std_msgs nếu bạn có file Header.h trong include/std_msgs/
@@ -45,6 +38,26 @@ target_link_libraries(tf3_geometry_msgs INTERFACE
                       geometry_msgs
                       data_convert
                       )
+
+# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
+install(TARGETS tf3_geometry_msgs
+  EXPORT tf3_geometry_msgs-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
+)
+
+# --- Xuất export set tf3_geometry_msgs-targets thành file CMake module ---
+# --- Tạo file lib/cmake/tf3_geometry_msgs/tf3_geometry_msgs-targets.cmake ---
+# --- File này chứa cấu hình giúp project khác có thể dùng ---
+# --- Find_package(tf3_geometry_msgs REQUIRED) ---
+# --- Target_link_libraries(my_app PRIVATE tf3_geometry_msgs::tf3_geometry_msgs) ---
+install(EXPORT tf3_geometry_msgs-targets 
+  FILE tf3_geometry_msgs-targets.cmake
+  NAMESPACE tf3_geometry_msgs::
+  DESTINATION lib/cmake/tf3_geometry_msgs
+)
   
 #   # Test: tomsg_frommsg
   add_executable(test_tomsg_frommsg test/test_tomsg_frommsg.cpp)
diff --git a/tf3_sensor_msgs/CMakeLists.txt b/tf3_sensor_msgs/CMakeLists.txt
index 789afc8..fc8b39e 100755
--- a/tf3_sensor_msgs/CMakeLists.txt
+++ b/tf3_sensor_msgs/CMakeLists.txt
@@ -12,17 +12,6 @@ find_package(GTest REQUIRED)
 # Finding Eigen3
 find_package(Eigen3 REQUIRED)
 
-if (NOT TARGET tf3)
-    add_subdirectory(/home/duongtd/robotics_core/tf3 ${CMAKE_BINARY_DIR}/tf3_build)
-endif()
-
-if (NOT TARGET sensor_msgs)
-    add_subdirectory(/home/duongtd/robotics_core/common_msgs/sensor_msgs ${CMAKE_BINARY_DIR}/sensor_msgs_build)
-endif()
-
-if (NOT TARGET geometry_msgs)
-    add_subdirectory(/home/duongtd/robotics_core/common_msgs/geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build)
-endif()
 
 # Include directories
 include_directories(
@@ -35,8 +24,10 @@ include_directories(
 add_library(tf3_sensor_msgs INTERFACE
 )
 
-target_include_directories(tf3_sensor_msgs INTERFACE
-  ${CMAKE_CURRENT_SOURCE_DIR}/include
+target_include_directories(tf3_sensor_msgs
+    INTERFACE
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include>
 )
 
 target_link_libraries(tf3_sensor_msgs INTERFACE 
@@ -44,6 +35,25 @@ target_link_libraries(tf3_sensor_msgs INTERFACE
                       data_convert
                       )
 
+                      # --- Cài đặt thư viện vào hệ thống khi chạy make install ---
+install(TARGETS tf3_sensor_msgs
+  EXPORT tf3_sensor_msgs-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
+)
+
+# --- Xuất export set tf3_sensor_msgs-targets thành file CMake module ---
+# --- Tạo file lib/cmake/tf3_sensor_msgs/tf3_sensor_msgs-targets.cmake ---
+# --- File này chứa cấu hình giúp project khác có thể dùng ---
+# --- Find_package(tf3_sensor_msgs REQUIRED) ---
+# --- Target_link_libraries(my_app PRIVATE tf3_sensor_msgs::tf3_sensor_msgs) ---
+install(EXPORT tf3_sensor_msgs-targets 
+  FILE tf3_sensor_msgs-targets.cmake
+  NAMESPACE tf3_sensor_msgs::
+  DESTINATION lib/cmake/tf3_sensor_msgs
+)
   
 add_executable(test_tf2_sensor_msgs test/test_tf2_sensor_msgs.cpp)
 target_include_directories(test_tf2_sensor_msgs PUBLIC