diff --git a/CMakeLists.txt b/CMakeLists.txt
index f6942b0..95eb379 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,19 +10,6 @@ include(CTest)
 find_package(Eigen3 REQUIRED)
 find_package(GTest REQUIRED)
 
-# Add subdirectories for message dependencies
-# if (NOT TARGET sensor_msgs)
-#     add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/sensor_msgs ${CMAKE_BINARY_DIR}/sensor_msgs_build)
-# endif()
-
-# if (NOT TARGET geometry_msgs)
-#     add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build)
-# endif()
-
-# if (NOT TARGET robot_time)
-#     add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../robot_time ${CMAKE_BINARY_DIR}/robot_time_build)
-# endif()
-
 # Include directories
 include_directories(
     include
@@ -57,14 +44,13 @@ endif()
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(laser_geometry PRIVATE "LASER_GEOMETRY_BUILDING_LIBRARY")
 
-# Install targets
-install(
-    TARGETS laser_geometry
-    # EXPORT laser_geometry
-    ARCHIVE DESTINATION lib
-    LIBRARY DESTINATION lib
-    RUNTIME DESTINATION bin
-    INCLUDES DESTINATION include
+# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
+install(TARGETS laser_geometry
+  EXPORT laser_geometry-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(
@@ -72,6 +58,18 @@ install(
     DESTINATION include/${PROJECT_NAME}
 )
 
+# --- Xuất export set laser_geometry-targets thành file CMake module ---
+# --- Tạo file lib/cmake/laser_geometry/laser_geometry-targets.cmake ---
+# --- File này chứa cấu hình giúp project khác có thể dùng ---
+# --- Find_package(laser_geometry REQUIRED) ---
+# --- Target_link_libraries(my_app PRIVATE laser_geometry::laser_geometry) ---
+install(EXPORT laser_geometry-targets 
+  FILE laser_geometry-targets.cmake
+  NAMESPACE laser_geometry::
+  DESTINATION lib/cmake/laser_geometry
+)
+
+
 # Tests
 if(BUILD_TESTING)
     enable_testing()