diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8be9313..a2f7e9a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,15 +1,52 @@
 cmake_minimum_required(VERSION 3.10.2)
-project(robot_time LANGUAGES CXX)
+project(robot_time)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 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}")
+
+# ========================================================
+# Find Packages
+# ========================================================
+
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building robot_time with Catkin")
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_time with Standalone CMake")
+endif()
+
+if(BUILDING_WITH_CATKIN)
+  find_package(catkin REQUIRED)
+endif()
+
 find_package(GTest REQUIRED)
 
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+
+if(BUILDING_WITH_CATKIN)
+  ## The catkin_package macro generates cmake config files for your package
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES robot_time
+  )
+endif()
+
 include_directories(${GTEST_INCLUDE_DIRS})
 
+if(BUILDING_WITH_CATKIN)
+  include_directories(${catkin_INCLUDE_DIRS})
+endif()
+
 add_library(robot_time
   src/duration.cpp
   src/rate.cpp
@@ -19,18 +56,31 @@ target_include_directories(robot_time PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
 
+set_target_properties(robot_time PROPERTIES
+  LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+  BUILD_RPATH "${CMAKE_BINARY_DIR}"
+  INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
+)
 
+## Add cmake target dependencies
+if(BUILDING_WITH_CATKIN)
+  add_dependencies(robot_time ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+endif()
 
+# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
 install(TARGETS robot_time
   EXPORT robot_timeTargets
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin)
 
-install(DIRECTORY include/
-  DESTINATION include
-  FILES_MATCHING PATTERN "*.h")
+if(NOT BUILDING_WITH_CATKIN)
+  install(DIRECTORY include/
+    DESTINATION include
+    FILES_MATCHING PATTERN "*.h")
+endif()
 
+# Export targets - cần trong mọi trường hợp
 install(EXPORT robot_timeTargets
   NAMESPACE robot::
   DESTINATION lib/cmake/robot_time)
@@ -38,12 +88,12 @@ install(EXPORT robot_timeTargets
 add_executable(robot_time_test test/time.cpp)
 add_executable(robot_duration_test test/duration.cpp)
 target_link_libraries(robot_time_test PRIVATE 
-robot_time
-${GTEST_LIBRARIES}
-GTest::GTest
-GTest::Main)
-target_link_libraries(robot_duration_test PRIVATE 
-robot_time
-${GTEST_LIBRARIES}
-GTest::GTest
-GTest::Main)
+  robot_time
+  ${GTEST_LIBRARIES}
+  GTest::GTest
+  GTest::Main)
+  target_link_libraries(robot_duration_test PRIVATE 
+  robot_time
+  ${GTEST_LIBRARIES}
+  GTest::GTest
+  GTest::Main)
diff --git a/package.xml b/package.xml
index 584d0a3..4a733d5 100644
--- a/package.xml
+++ b/package.xml
@@ -18,9 +18,4 @@
   <url type="website">http://www.ros.org/wiki/robot_time</url>
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
-
-  <build_depend>libconsole-bridge-dev</build_depend>
-
-  <run_depend>libconsole-bridge-dev</run_depend>
-
 </package>
\ No newline at end of file