diff --git a/CMakeLists.txt b/CMakeLists.txt
index 08ceb03..de96fce 100755
--- 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_voxel_grid with Catkin")
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_voxel_grid with Standalone CMake")
+endif()
+
 project(robot_voxel_grid)
 
 set(CMAKE_CXX_STANDARD 17)
@@ -6,18 +20,41 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 include(CTest)
 
+# ========================================================
+# Find dependencies
+# ========================================================
+
+if(BUILDING_WITH_CATKIN)
+  find_package(catkin REQUIRED)
+endif()
+
 # # Check for sys/time.h
 # check_include_file(sys/time.h HAVE_SYS_TIME_H)
 # if (HAVE_SYS_TIME_H)
 #   add_definitions(-DHAVE_SYS_TIME_H)
 # endif (HAVE_SYS_TIME_H)
 
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+
+if(BUILDING_WITH_CATKIN)
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES robot_voxel_grid
+  )
+endif()
+
 # Include directories
 include_directories(  
   include
   ${GTEST_INCLUDE_DIRS}
   )
 
+if(BUILDING_WITH_CATKIN)
+  include_directories(${catkin_INCLUDE_DIRS})
+endif()
+
 # Library
 add_library(robot_voxel_grid SHARED src/voxel_grid.cpp)
 
@@ -27,6 +64,14 @@ target_include_directories(robot_voxel_grid
         $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
 )
 
+if(BUILDING_WITH_CATKIN)
+  add_dependencies(robot_voxel_grid ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+endif()
+
+# ========================================================
+# Installation
+# ========================================================
+
 # Install targets
 install(TARGETS robot_voxel_grid
   EXPORT robot_voxel_gridTargets
@@ -36,10 +81,12 @@ install(TARGETS robot_voxel_grid
   INCLUDES DESTINATION include
 )
 
-# Install headers
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION include/${PROJECT_NAME}
-)
+if(NOT BUILDING_WITH_CATKIN)
+  # Install headers (standalone)
+  install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION include/${PROJECT_NAME}
+  )
+endif()
 
 install(EXPORT robot_voxel_gridTargets
   DESTINATION lib/cmake/robot_voxel_grid)
diff --git a/package.xml b/package.xml
index 448d844..21883a6 100644
--- a/package.xml
+++ b/package.xml
@@ -19,8 +19,5 @@
     
   <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