diff --git a/CMakeLists.txt b/CMakeLists.txt
index 62b8acb..db5cc44 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,14 +1,67 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.0.2)
+
+# ========================================================
+# 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_xmlrpcpp with Catkin")
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_xmlrpcpp with Standalone CMake")
+endif()
+
 project(robot_xmlrpcpp)
 
+## Compile as C++17
+add_compile_options(-std=c++17)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -fPIC)
+# ========================================================
+# Find Packages
+# ========================================================
+
+if(BUILDING_WITH_CATKIN)
+  ## Find catkin macros and libraries
+  find_package(catkin REQUIRED)
 endif()
 
+## System dependencies are found with CMake's conventions
+find_package(console_bridge 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_xmlrpcpp
+    CATKIN_DEPENDS
+    DEPENDS console_bridge
+  )
+endif()
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+include_directories(
+  include
+  ${console_bridge_INCLUDE_DIRS}
+)
+
+if(BUILDING_WITH_CATKIN)
+  include_directories(${catkin_INCLUDE_DIRS})
+endif()
+
+## Declare a C++ library
 add_library(robot_xmlrpcpp
   src/XmlRpcClient.cpp
   src/XmlRpcDispatch.cpp
@@ -21,33 +74,54 @@ add_library(robot_xmlrpcpp
   src/XmlRpcValue.cpp
 )
 
+## Target include directories
 target_include_directories(robot_xmlrpcpp
   PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+    $<INSTALL_INTERFACE:include>
 )
 
-# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
-install(TARGETS robot_xmlrpcpp
-  EXPORT robot_xmlrpcpp-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
+## Add cmake target dependencies of the library
+if(BUILDING_WITH_CATKIN)
+  add_dependencies(robot_xmlrpcpp ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+endif()
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(robot_xmlrpcpp
+  ${console_bridge_LIBRARIES}
 )
 
-install(
+if(BUILDING_WITH_CATKIN)
+  target_link_libraries(robot_xmlrpcpp ${catkin_LIBRARIES})
+endif()
+
+## Compiler flags
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  target_compile_options(robot_xmlrpcpp PRIVATE -Wall -Wextra -Wpedantic -fPIC -Wno-unused-parameter)
+endif()
+
+# ========================================================
+# Installation (Standalone CMake only)
+# ========================================================
+
+if(NOT BUILDING_WITH_CATKIN)
+  install(TARGETS robot_xmlrpcpp
+    EXPORT robot_xmlrpcpp-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(
     DIRECTORY include/
     DESTINATION include/
-)
+  )
 
-# --- Xuất export set robot_xmlrpcpp-targets thành file CMake module ---
-# --- Tạo file lib/cmake/robot_xmlrpcpp/robot_xmlrpcpp-targets.cmake ---
-# --- File này chứa cấu hình giúp project khác có thể dùng ---
-# --- Find_package(robot_xmlrpcpp REQUIRED) ---
-# --- Target_link_libraries(my_app PRIVATE robot_xmlrpcpp::robot_xmlrpcpp) ---
-install(EXPORT robot_xmlrpcpp-targets 
-  FILE robot_xmlrpcpp-targets.cmake
-  NAMESPACE robot_xmlrpcpp::
-  DESTINATION lib/cmake/robot_xmlrpcpp
-)
+  # --- Xuất export set robot_xmlrpcpp-targets thành file CMake module ---
+  install(EXPORT robot_xmlrpcpp-targets 
+    FILE robot_xmlrpcpp-targets.cmake
+    NAMESPACE robot_xmlrpcpp::
+    DESTINATION lib/cmake/robot_xmlrpcpp
+  )
+endif()
diff --git a/include/robot_xmlrpcpp/XmlRpc.h b/include/robot_xmlrpcpp/XmlRpc.h
index cb73d2c..a8b346e 100644
--- a/include/robot_xmlrpcpp/XmlRpc.h
+++ b/include/robot_xmlrpcpp/XmlRpc.h
@@ -32,8 +32,7 @@
 #include "XmlRpcValue.h"
 #include "XmlRpcUtil.h"
 
-namespace robot {
-namespace XmlRpc {
+namespace robot_xmlrpcpp {
 
 
   //! An interface allowing custom handling of error message reporting.
@@ -90,7 +89,6 @@ namespace XmlRpc {
   //! Version identifier
   extern const char XMLRPC_VERSION[];
 
-} // namespace XmlRpc
-} // namespace robot
+} // namespace robot_xmlrpcpp 
 
 #endif // _XMLRPC_H_
diff --git a/include/robot_xmlrpcpp/XmlRpcClient.h b/include/robot_xmlrpcpp/XmlRpcClient.h
index 2e22197..c34bf66 100644
--- a/include/robot_xmlrpcpp/XmlRpcClient.h
+++ b/include/robot_xmlrpcpp/XmlRpcClient.h
@@ -16,8 +16,7 @@
 #include "robot_xmlrpcpp/XmlRpcDispatch.h"
 #include "robot_xmlrpcpp/XmlRpcSource.h"
 
-namespace robot {
-namespace XmlRpc {
+namespace robot_xmlrpcpp {
 
   // Arguments and results are represented by XmlRpcValues
   class XmlRpcValue;
@@ -124,7 +123,6 @@ namespace XmlRpc {
 
   };	// class XmlRpcClient
 
-}	// namespace XmlRpc
-}	// namespace robot
+}	// namespace robot_xmlrpcpp
 
 #endif	// _XMLRPCCLIENT_H_
diff --git a/include/robot_xmlrpcpp/XmlRpcDispatch.h b/include/robot_xmlrpcpp/XmlRpcDispatch.h
index 8bb7974..ea61812 100644
--- a/include/robot_xmlrpcpp/XmlRpcDispatch.h
+++ b/include/robot_xmlrpcpp/XmlRpcDispatch.h
@@ -12,8 +12,7 @@
 # include <list>
 #endif
 
-namespace robot {
-namespace XmlRpc {
+namespace robot_xmlrpcpp {
 
   // An RPC source represents a file descriptor to monitor
   class XmlRpcSource;
@@ -84,7 +83,6 @@ namespace XmlRpc {
     bool _inWork;
 
   };
-} // namespace XmlRpc
-} // namespace robot
+} // namespace robot_xmlrpcpp 
 
 #endif  // _XMLRPCDISPATCH_H_
diff --git a/include/robot_xmlrpcpp/XmlRpcException.h b/include/robot_xmlrpcpp/XmlRpcException.h
index 8a871cb..1298091 100644
--- a/include/robot_xmlrpcpp/XmlRpcException.h
+++ b/include/robot_xmlrpcpp/XmlRpcException.h
@@ -13,8 +13,7 @@
 #endif
 
 
-namespace robot {
-namespace XmlRpc {
+namespace robot_xmlrpcpp {
 
   //! A class representing an error.
   //! If server methods throw this exception, a fault response is returned
@@ -38,7 +37,6 @@ namespace XmlRpc {
     int _code;
   };
 
-} // namespace XmlRpc
-} // namespace robot
+} // namespace robot_xmlrpcpp 
 
 #endif	// _XMLRPCEXCEPTION_H_
diff --git a/include/robot_xmlrpcpp/XmlRpcServer.h b/include/robot_xmlrpcpp/XmlRpcServer.h
index 9f93dd6..50d11c6 100644
--- a/include/robot_xmlrpcpp/XmlRpcServer.h
+++ b/include/robot_xmlrpcpp/XmlRpcServer.h
@@ -16,8 +16,7 @@
 #include "robot_xmlrpcpp/XmlRpcDispatch.h"
 #include "robot_xmlrpcpp/XmlRpcSource.h"
 
-namespace robot {
-namespace XmlRpc {
+namespace robot_xmlrpcpp {
 
 
   // An abstract class supporting XML RPC methods
@@ -100,7 +99,6 @@ namespace XmlRpc {
     XmlRpcServerMethod* _methodHelp;
 
   };
-} // namespace XmlRpc
-} // namespace robot
+} // namespace robot_xmlrpcpp 
 
 #endif //_XMLRPCSERVER_H_
diff --git a/include/robot_xmlrpcpp/XmlRpcServerConnection.h b/include/robot_xmlrpcpp/XmlRpcServerConnection.h
index a0c187a..952e839 100644
--- a/include/robot_xmlrpcpp/XmlRpcServerConnection.h
+++ b/include/robot_xmlrpcpp/XmlRpcServerConnection.h
@@ -14,8 +14,7 @@
 #include "robot_xmlrpcpp/XmlRpcValue.h"
 #include "robot_xmlrpcpp/XmlRpcSource.h"
 
-namespace robot {
-namespace XmlRpc {
+namespace robot_xmlrpcpp {
 
 
   // The server waits for client connections and provides methods
@@ -98,7 +97,6 @@ namespace XmlRpc {
     // Whether to keep the current client connection open for further requests
     bool _keepAlive;
   };
-} // namespace XmlRpc
-} // namespace robot
+} // namespace robot_xmlrpcpp 
 
 #endif // _XMLRPCSERVERCONNECTION_H_
diff --git a/include/robot_xmlrpcpp/XmlRpcServerMethod.h b/include/robot_xmlrpcpp/XmlRpcServerMethod.h
index c7f1a17..e93ec5d 100644
--- a/include/robot_xmlrpcpp/XmlRpcServerMethod.h
+++ b/include/robot_xmlrpcpp/XmlRpcServerMethod.h
@@ -12,8 +12,7 @@
 # include <string>
 #endif
 
-namespace robot {
-namespace XmlRpc {
+namespace robot_xmlrpcpp {
 
   // Representation of a parameter or result value
   class XmlRpcValue;
@@ -43,7 +42,6 @@ namespace XmlRpc {
     std::string _name;
     XmlRpcServer* _server;
   };
-} // namespace XmlRpc
-} // namespace robot
+} // namespace robot_xmlrpcpp 
 
 #endif // _XMLRPCSERVERMETHOD_H_
diff --git a/include/robot_xmlrpcpp/XmlRpcSocket.h b/include/robot_xmlrpcpp/XmlRpcSocket.h
index 017389a..d9edbf0 100644
--- a/include/robot_xmlrpcpp/XmlRpcSocket.h
+++ b/include/robot_xmlrpcpp/XmlRpcSocket.h
@@ -11,8 +11,7 @@
 # include <string>
 #endif
 
-namespace robot {
-namespace XmlRpc {
+namespace robot_xmlrpcpp {
 
   //! A platform-independent socket API.
   class XmlRpcSocket {
@@ -65,7 +64,6 @@ namespace XmlRpc {
     static std::string getErrorMsg(int error);
   };
 
-} // namespace XmlRpc
-} // namespace robot
+} // namespace robot_xmlrpcpp 
 
 #endif
diff --git a/include/robot_xmlrpcpp/XmlRpcSource.h b/include/robot_xmlrpcpp/XmlRpcSource.h
index f4321e0..b54f9f5 100644
--- a/include/robot_xmlrpcpp/XmlRpcSource.h
+++ b/include/robot_xmlrpcpp/XmlRpcSource.h
@@ -8,8 +8,7 @@
 # pragma warning(disable:4786)    // identifier was truncated in debug info
 #endif
 
-namespace robot {
-namespace XmlRpc {
+namespace robot_xmlrpcpp {
 
   //! An RPC source represents a file descriptor to monitor
   class XmlRpcSource {
@@ -51,7 +50,6 @@ namespace XmlRpc {
     // In the client, keep connections open if you intend to make multiple calls.
     bool _keepOpen;
   };
-} // namespace XmlRpc
-} // namespace robot
+} // namespace robot_xmlrpcpp 
 
 #endif //_XMLRPCSOURCE_H_
diff --git a/include/robot_xmlrpcpp/XmlRpcUtil.h b/include/robot_xmlrpcpp/XmlRpcUtil.h
index f857f0a..b0d2281 100644
--- a/include/robot_xmlrpcpp/XmlRpcUtil.h
+++ b/include/robot_xmlrpcpp/XmlRpcUtil.h
@@ -21,8 +21,7 @@
 # define strncasecmp strnicmp
 #endif
 
-namespace robot {
-namespace XmlRpc {
+namespace robot_xmlrpcpp {
 
   //! Utilities for XML parsing, encoding, and decoding and message handlers.
   class XmlRpcUtil {
@@ -57,7 +56,6 @@ namespace XmlRpc {
     static void error(const char* fmt, ...);
 
   };
-} // namespace XmlRpc
-} // namespace robot
+} // namespace robot_xmlrpcpp 
 
 #endif // _XMLRPCUTIL_H_
diff --git a/include/robot_xmlrpcpp/XmlRpcValue.h b/include/robot_xmlrpcpp/XmlRpcValue.h
index 0a1bb56..8839dbf 100644
--- a/include/robot_xmlrpcpp/XmlRpcValue.h
+++ b/include/robot_xmlrpcpp/XmlRpcValue.h
@@ -15,8 +15,7 @@
 # include <time.h>
 #endif
 
-namespace robot {
-namespace XmlRpc {
+namespace robot_xmlrpcpp {
 
   //! RPC method arguments and results are represented by Values
   //   should probably refcount them...
@@ -181,11 +180,10 @@ namespace XmlRpc {
     } _value;
     
   };
-} // namespace XmlRpc
-} // namespace robot
+} // namespace robot_xmlrpcpp 
 
 
-std::ostream& operator<<(std::ostream& os, robot::XmlRpc::XmlRpcValue& v);
+std::ostream& operator<<(std::ostream& os, robot_xmlrpcpp::XmlRpcValue& v);
 
 
 #endif // _XMLRPCVALUE_H_
diff --git a/src/XmlRpcClient.cpp b/src/XmlRpcClient.cpp
index ea53646..659fb60 100644
--- a/src/XmlRpcClient.cpp
+++ b/src/XmlRpcClient.cpp
@@ -11,7 +11,7 @@
 
 
 
-using namespace robot::XmlRpc;
+using namespace robot_xmlrpcpp;
 
 // Static data
 const char XmlRpcClient::REQUEST_BEGIN[] = 
@@ -397,7 +397,7 @@ XmlRpcClient::parseResponse(XmlRpcValue& result)
   // Expect either <params><param>... or <fault>...
   if ((XmlRpcUtil::nextTagIs(PARAMS_TAG,_response,&offset) &&
        XmlRpcUtil::nextTagIs(PARAM_TAG,_response,&offset)) ||
-      XmlRpcUtil::nextTagIs(FAULT_TAG,_response,&offset) && (_isFault = true))
+      (XmlRpcUtil::nextTagIs(FAULT_TAG,_response,&offset) && (_isFault = true)))
   {
     if ( ! result.fromXml(_response, &offset)) {
       XmlRpcUtil::error("Error in XmlRpcClient::parseResponse: Invalid response value. Response:\n%s", _response.c_str());
diff --git a/src/XmlRpcDispatch.cpp b/src/XmlRpcDispatch.cpp
index 5f72bbf..7e857e6 100644
--- a/src/XmlRpcDispatch.cpp
+++ b/src/XmlRpcDispatch.cpp
@@ -19,7 +19,7 @@
 #endif  // _WINDOWS
 
 
-using namespace robot::XmlRpc;
+using namespace robot_xmlrpcpp;
 
 
 XmlRpcDispatch::XmlRpcDispatch()
diff --git a/src/XmlRpcServer.cpp b/src/XmlRpcServer.cpp
index 6f9a238..bf17b4e 100644
--- a/src/XmlRpcServer.cpp
+++ b/src/XmlRpcServer.cpp
@@ -7,7 +7,7 @@
 #include "robot_xmlrpcpp/XmlRpcException.h"
 
 
-using namespace robot::XmlRpc;
+using namespace robot_xmlrpcpp;
 
 
 XmlRpcServer::XmlRpcServer()
diff --git a/src/XmlRpcServerConnection.cpp b/src/XmlRpcServerConnection.cpp
index 515a199..e77b165 100644
--- a/src/XmlRpcServerConnection.cpp
+++ b/src/XmlRpcServerConnection.cpp
@@ -11,7 +11,7 @@
 
 #endif
 
-using namespace robot::XmlRpc;
+using namespace robot_xmlrpcpp;
 
 // Static data
 const char XmlRpcServerConnection::METHODNAME_TAG[] = "<methodName>";
diff --git a/src/XmlRpcServerMethod.cpp b/src/XmlRpcServerMethod.cpp
index 23aba8b..dd44d42 100644
--- a/src/XmlRpcServerMethod.cpp
+++ b/src/XmlRpcServerMethod.cpp
@@ -2,8 +2,7 @@
 #include "robot_xmlrpcpp/XmlRpcServerMethod.h"
 #include "robot_xmlrpcpp/XmlRpcServer.h"
 
-namespace robot {
-namespace XmlRpc {
+namespace robot_xmlrpcpp {
 
 
   XmlRpcServerMethod::XmlRpcServerMethod(std::string const& name, XmlRpcServer* server)
@@ -19,5 +18,4 @@ namespace XmlRpc {
   }
 
 
-} // namespace XmlRpc
-} // namespace robot
+} // namespace robot_xmlrpcpp 
diff --git a/src/XmlRpcSocket.cpp b/src/XmlRpcSocket.cpp
index a47d8bd..a81be1b 100644
--- a/src/XmlRpcSocket.cpp
+++ b/src/XmlRpcSocket.cpp
@@ -30,7 +30,7 @@ extern "C" {
 #endif // MAKEDEPEND
 
 
-using namespace robot::XmlRpc;
+using namespace robot_xmlrpcpp;
 
 
 
diff --git a/src/XmlRpcSource.cpp b/src/XmlRpcSource.cpp
index 0977e41..9de5592 100644
--- a/src/XmlRpcSource.cpp
+++ b/src/XmlRpcSource.cpp
@@ -3,8 +3,7 @@
 #include "robot_xmlrpcpp/XmlRpcSocket.h"
 #include "robot_xmlrpcpp/XmlRpcUtil.h"
 
-namespace robot {
-namespace XmlRpc {
+namespace robot_xmlrpcpp {
 
 
   XmlRpcSource::XmlRpcSource(int fd /*= -1*/, bool deleteOnClose /*= false*/) 
@@ -33,5 +32,4 @@ namespace XmlRpc {
     }
   }
 
-} // namespace XmlRpc
-} // namespace robot
+} // namespace robot_xmlrpcpp 
diff --git a/src/XmlRpcUtil.cpp b/src/XmlRpcUtil.cpp
index c9566e5..dad38e2 100644
--- a/src/XmlRpcUtil.cpp
+++ b/src/XmlRpcUtil.cpp
@@ -11,7 +11,7 @@
 
 #include "robot_xmlrpcpp/XmlRpc.h"
 
-using namespace robot::XmlRpc;
+using namespace robot_xmlrpcpp;
 
 
 //#define USE_WINDOWS_DEBUG // To make the error and log messages go to VC++ debug output
@@ -21,7 +21,7 @@ using namespace robot::XmlRpc;
 #endif
 
 // Version id
-const char robot::XmlRpc::XMLRPC_VERSION[] = "XMLRPC++ 0.7";
+const char robot_xmlrpcpp::XMLRPC_VERSION[] = "XMLRPC++ 0.7";
 
 // Default log verbosity: 0 for no messages through 5 (writes everything)
 int XmlRpcLogHandler::_verbosity = 0;
@@ -63,8 +63,8 @@ XmlRpcErrorHandler* XmlRpcErrorHandler::_errorHandler = &defaultErrorHandler;
 
 
 // Easy API for log verbosity
-int robot::XmlRpc::getVerbosity() { return XmlRpcLogHandler::getVerbosity(); }
-void robot::XmlRpc::setVerbosity(int level) { XmlRpcLogHandler::setVerbosity(level); }
+int robot_xmlrpcpp::getVerbosity() { return XmlRpcLogHandler::getVerbosity(); }
+void robot_xmlrpcpp::setVerbosity(int level) { XmlRpcLogHandler::setVerbosity(level); }
 
  
 
diff --git a/src/XmlRpcValue.cpp b/src/XmlRpcValue.cpp
index e3ca4e6..ca92a6d 100644
--- a/src/XmlRpcValue.cpp
+++ b/src/XmlRpcValue.cpp
@@ -11,8 +11,7 @@
 # include <stdio.h>
 #endif
 
-namespace robot {
-namespace XmlRpc {
+namespace robot_xmlrpcpp {
 
 
   static const char VALUE_TAG[]     = "<value>";
@@ -598,12 +597,11 @@ namespace XmlRpc {
     return os;
   }
 
-} // namespace XmlRpc
-} // namespace robot
+} // namespace robot_xmlrpcpp 
 
 
 // ostream
-std::ostream& operator<<(std::ostream& os, robot::XmlRpc::XmlRpcValue& v) 
+std::ostream& operator<<(std::ostream& os, robot_xmlrpcpp::XmlRpcValue& v) 
 { 
   // If you want to output in xml format:
   //return os << v.toXml();