diff --git a/CMakeLists.txt b/CMakeLists.txt
index f16d735..1eb6073 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,18 @@
 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_laser_geometry with Catkin")
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_laser_geometry with Standalone CMake")
+endif()
+
 project(robot_laser_geometry)
 
 set(CMAKE_CXX_STANDARD 17)
@@ -6,10 +20,37 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 include(CTest)
 
+# ========================================================
 # Find dependencies
+# ========================================================
+
+# Find system dependencies
 find_package(Eigen3 REQUIRED)
 find_package(GTest REQUIRED)
 
+if(BUILDING_WITH_CATKIN)
+  find_package(catkin REQUIRED COMPONENTS
+    robot_sensor_msgs
+    geometry_msgs
+    robot_time
+    tf3
+    data_convert
+  )
+endif()
+
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+
+if(BUILDING_WITH_CATKIN)
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES robot_laser_geometry
+    CATKIN_DEPENDS robot_sensor_msgs geometry_msgs robot_time tf3 data_convert
+    DEPENDS Eigen3
+  )
+endif()
+
 # Include directories
 include_directories(
     include
@@ -17,6 +58,10 @@ include_directories(
     ${GTEST_INCLUDE_DIRS}
 )
 
+if(BUILDING_WITH_CATKIN)
+  include_directories(${catkin_INCLUDE_DIRS})
+endif()
+
 # Create library
 add_library(robot_laser_geometry SHARED src/laser_geometry.cpp)
 
@@ -26,13 +71,24 @@ target_include_directories(robot_laser_geometry
         $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
 )
 
-target_link_libraries(robot_laser_geometry PUBLIC
-    robot_sensor_msgs
-    geometry_msgs
-    robot_time
-    tf3
-    data_convert
-)
+# Link libraries
+if(BUILDING_WITH_CATKIN)
+  target_link_libraries(robot_laser_geometry PUBLIC
+      ${catkin_LIBRARIES}
+  )
+else()
+  target_link_libraries(robot_laser_geometry PUBLIC
+      robot_sensor_msgs
+      geometry_msgs
+      robot_time
+      tf3
+      data_convert
+  )
+endif()
+
+if(BUILDING_WITH_CATKIN)
+  add_dependencies(robot_laser_geometry ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+endif()
 
 if(TARGET Eigen3::Eigen)
     target_link_libraries(robot_laser_geometry PUBLIC Eigen3::Eigen)
@@ -44,6 +100,10 @@ endif()
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(robot_laser_geometry PRIVATE "ROBOT_LASER_GEOMETRY_BUILDING_LIBRARY")
 
+# ========================================================
+# Installation
+# ========================================================
+
 # --- Cài đặt thư viện vào hệ thống khi chạy make install ---
 install(TARGETS robot_laser_geometry
   EXPORT robot_laser_geometry-targets
@@ -53,10 +113,13 @@ install(TARGETS robot_laser_geometry
   INCLUDES DESTINATION include # Cài đặt include
 )
 
-install(
-    DIRECTORY include/
-    DESTINATION include/${PROJECT_NAME}
-)
+if(NOT BUILDING_WITH_CATKIN)
+  # Cài đặt headers (standalone)
+  install(
+      DIRECTORY include/
+      DESTINATION include/${PROJECT_NAME}
+  )
+endif()
 
 # --- Xuất export set robot_laser_geometry-targets thành file CMake module ---
 # --- Tạo file lib/cmake/robot_laser_geometry/laser_geometry-targets.cmake ---
diff --git a/package.xml b/package.xml
index c7fe63b..b19e05f 100644
--- a/package.xml
+++ b/package.xml
@@ -19,8 +19,19 @@
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>libconsole-bridge-dev</build_depend>
+  <build_depend>robot_sensor_msgs</build_depend>
+  <run_depend>robot_sensor_msgs</run_depend>
 
-  <run_depend>libconsole-bridge-dev</run_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <run_depend>geometry_msgs</run_depend>
+
+  <build_depend>robot_time</build_depend>
+  <run_depend>robot_time</run_depend>
+
+  <build_depend>tf3</build_depend>
+  <run_depend>tf3</run_depend>
+
+  <build_depend>data_convert</build_depend>
+  <run_depend>data_convert</run_depend>
 
 </package>
\ No newline at end of file