diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 755ef81..4fca9bd 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -30,7 +30,7 @@ cpp-test:
   #   - cpp-build
 
 ## Build and test as catkin package
-catkin-build:
+melodic-catkin-build:
   stage: build
   image: rduweston/ubuntu-ci:melodic-bionic
   before_script:
@@ -38,4 +38,15 @@ catkin-build:
   script:
     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_sdk
-    - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
\ No newline at end of file
+    - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
+
+## Build and test as catkin package
+melodic-catkin-isolated-build:
+  stage: build
+  image: rduweston/ubuntu-ci:melodic-bionic
+  before_script:
+    - apt update && apt -y install libasio-dev
+  script:
+    - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
+    - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_sdk
+    - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ad8219c..00c557a 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,6 +17,7 @@ option(STATIC_CHECK OFF)
 if(CATKIN_DEVEL_PREFIX)
     message(STATUS "Build package with catkin")
     set(BUILD_WITHOUT_ROS OFF)
+    find_package(catkin REQUIRED)
 else()
     message(STATUS "Build package with cmake")
     set(BUILD_WITHOUT_ROS ON)    
@@ -190,7 +191,8 @@ else() # BUILD_WITHOUT_ROS
     catkin_package(
         LIBRARIES ${PROJECT_NAME}
         INCLUDE_DIRS include
-        # DEPENDS rt pthread
+        #  CATKIN_DEPENDS rospy scout_msgs std_msgs
+        #  DEPENDS system_lib
     )
 
     ## Add catkin install targets