diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7648021..10dd162 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -48,6 +48,11 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
     "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
 endif()
 
+## Put all binary files into /bin and libraries into /lib
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
+
 # Build libraries
 add_library(${PROJECT_NAME} 
     src/async_serial.cpp
@@ -100,11 +105,6 @@ if(BUILD_WITHOUT_ROS) # BUILD_WITHOUT_ROS
     include(GNUInstallDirs)
     message(STATUS "Project will be installed to ${CMAKE_INSTALL_PREFIX} with 'make install'")
 
-    ## Put all binary files into /bin and libraries into /lib
-    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
-    set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
-    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
-
     # Offer the user the choice of overriding the installation directories
     set(INSTALL_LIBDIR ${CMAKE_INSTALL_LIBDIR} CACHE PATH "Installation directory for libraries")
     set(INSTALL_BINDIR ${CMAKE_INSTALL_BINDIR} CACHE PATH "Installation directory for executables")