diff --git a/CMakeLists.txt b/CMakeLists.txt
index a2f7e9a..ec6b38c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,99 +1,152 @@
-cmake_minimum_required(VERSION 3.10.2)
-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
-# ========================================================
+cmake_minimum_required(VERSION 3.0.2)
+project(robot_time VERSION 1.0.0 LANGUAGES CXX)
 
 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()
+# C++ Standard - must be set before find_package
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
+# Find dependencies
 find_package(GTest REQUIRED)
 
+if (NOT BUILDING_WITH_CATKIN)
+
+  # Enable Position Independent Code
+  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}")
+
+else()
+
 # ========================================================
 # Catkin specific configuration
 # ========================================================
+  find_package(catkin REQUIRED)
 
-if(BUILDING_WITH_CATKIN)
-  ## The catkin_package macro generates cmake config files for your package
   catkin_package(
     INCLUDE_DIRS include
-    LIBRARIES robot_time
+    LIBRARIES ${PROJECT_NAME}
+  )
+
+  include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
   )
 endif()
 
-include_directories(${GTEST_INCLUDE_DIRS})
-
-if(BUILDING_WITH_CATKIN)
-  include_directories(${catkin_INCLUDE_DIRS})
-endif()
-
-add_library(robot_time
+# Libraries
+add_library(${PROJECT_NAME} SHARED
   src/duration.cpp
   src/rate.cpp
-  src/time.cpp)
-
-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"
+  src/time.cpp
 )
 
-## Add cmake target dependencies
 if(BUILDING_WITH_CATKIN)
-  add_dependencies(robot_time ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+  add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+  target_include_directories(${PROJECT_NAME}
+    PUBLIC
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+      $<INSTALL_INTERFACE:include>
+  )
+
+  target_link_libraries(${PROJECT_NAME}
+    PUBLIC ${catkin_LIBRARIES}
+  )
+
+else()
+
+  target_include_directories(${PROJECT_NAME}
+    PUBLIC
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+      $<INSTALL_INTERFACE:include>
+  )
+
+  set_target_properties(${PROJECT_NAME} PROPERTIES
+    LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+    BUILD_RPATH "${CMAKE_BINARY_DIR}"
+    INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
+  )
+
 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)
+if(BUILDING_WITH_CATKIN)
+  ## Mark libraries for installation
+  ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+  install(TARGETS ${PROJECT_NAME}
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+  )
 
-if(NOT BUILDING_WITH_CATKIN)
+  ## Mark cpp header files for installation
+  install(DIRECTORY include/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+    FILES_MATCHING PATTERN "*.h"
+    PATTERN ".svn" EXCLUDE
+  )
+
+else()
+
+  install(TARGETS ${PROJECT_NAME}
+    EXPORT ${PROJECT_NAME}-targets
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+  )
+
+  # Export targets
+  install(EXPORT ${PROJECT_NAME}-targets
+    FILE ${PROJECT_NAME}-targets.cmake
+    NAMESPACE ${PROJECT_NAME}::
+    DESTINATION lib/cmake/${PROJECT_NAME}
+  )
+
+  ## Mark cpp header files for installation
   install(DIRECTORY include/
     DESTINATION include
-    FILES_MATCHING PATTERN "*.h")
+    FILES_MATCHING PATTERN "*.h"
+    PATTERN ".svn" EXCLUDE
+  )
+
+  # Print configuration info
+  message(STATUS "=================================")
+  message(STATUS "Project: ${PROJECT_NAME}")
+  message(STATUS "Version: ${PROJECT_VERSION}")
+  message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
+  message(STATUS "Dependencies: GTest")
+  message(STATUS "=================================")
 endif()
 
-# Export targets - cần trong mọi trường hợp
-install(EXPORT robot_timeTargets
-  NAMESPACE robot::
-  DESTINATION lib/cmake/robot_time)
+# ========================================================
+# Test executables
+# ========================================================
+if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/time.cpp)
+  add_executable(${PROJECT_NAME}_test test/time.cpp)
+  target_link_libraries(${PROJECT_NAME}_test PRIVATE 
+    ${PROJECT_NAME}
+    GTest::GTest
+    GTest::Main
+  )
+endif()
 
-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)
+if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/duration.cpp)
+  add_executable(${PROJECT_NAME}_duration_test test/duration.cpp)
+  target_link_libraries(${PROJECT_NAME}_duration_test PRIVATE 
+    ${PROJECT_NAME}
+    GTest::GTest
+    GTest::Main
+  )
+endif()