diff --git a/CHANGELOG.md b/CHANGELOG.md
index ed0fd1b..c3eaba6 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,33 +1,33 @@
 # Changelog for wrp_sdk
 
-## 1.0 (2020-06-17)
+## 0.1.5 (2020-06-17)
 -------------------
 * Merged multiple small libraries into one "wrpsdk"
 * Changed to "plain" project structure
 
-## 0.5 (2020-04-01)
+## 0.1.4 (2020-04-01)
 -------------------
 * Added initial support of Hunter
 
-## 0.4 (2019-09-15)
+## 0.1.3 (2019-09-15)
 ------------------
 * Unified implementation of UART/CAN for firmware and SDK
 * Improvements of code organization
 * Contributors: Ruixiang Du
 
-## 0.3 (2019-08-02)
+## 0.1.2 (2019-08-02)
 ------------------
 * Added full UART support
 * Contributors: Ruixiang Du
 
-## 0.2 (2019-06-14)
+## 0.1.1 (2019-06-14)
 ------------------
 * Deprecated initial serial interface support (new one under development)
 * Added full CAN support
 * Improved multi-threading implementation
 * Contributors: Ruixiang Du
   
-## 0.1 (2019-05-07)
+## 0.1.0 (2019-05-07)
 ------------------
 
 * Added basic serial communication support 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 347c5e4..7648021 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,17 +1,33 @@
-cmake_minimum_required(VERSION 3.1.0)
-project(wrp_sdk)
+cmake_minimum_required(VERSION 3.10.2)
 
-# Find catkin
-find_package(catkin QUIET)
-if(catkin_FOUND)
-    message(STATUS "Build package with catkin")
-else()
-    message(STATUS "Build package with cmake")
+find_program(CCACHE_PROGRAM ccache)
+if(CCACHE_PROGRAM)
+    message(STATUS "Found ccache")
+    set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
 endif()
 
-# generate symbols for IDE indexer
+project(wrp_sdk VERSION 0.1.5)
+
+## Project Options
+set(BUILD_TESTS OFF)
+
+## Check if pkg is built with ROS catkin
+if(CATKIN_DEVEL_PREFIX)
+    message(STATUS "Build package with catkin")
+    set(BUILD_WITHOUT_ROS OFF)
+else()
+    message(STATUS "Build package with cmake")
+    set(BUILD_WITHOUT_ROS ON)    
+endif()
+
+## Generate symbols for IDE indexer
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-set(RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/devel)
+
+## Additional cmake module path
+set(USER_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+list(APPEND CMAKE_MODULE_PATH "${USER_CMAKE_PATH}/modules")
+list(APPEND CMAKE_PREFIX_PATH "/usr/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu/cmake")
+list(APPEND CMAKE_PREFIX_PATH "/opt/weston_robot/lib/cmake")
 
 ## Set compiler to use c++ 11 features
 set(CMAKE_CXX_STANDARD 11)
@@ -22,12 +38,6 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 # set(CMAKE_BUILD_TYPE Release)
 # set(CMAKE_BUILD_TYPE Debug)
 
-## Optionally built modules: ON/OFF
-set(BUILD_TESTS OFF)
-set(BUILD_MONITOR ON)
-
-#############################################################################
-
 set(default_build_type "Release")
 if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
   message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
@@ -38,26 +48,7 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
     "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
 endif()
 
-## Use GNUInstallDirs to install libraries into correct
-# locations on all platforms.
-include(GNUInstallDirs)
-message(STATUS "Project will be installed to ${CMAKE_INSTALL_PREFIX}")
-
-## 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})
-
-# Disable monitor if ncurses library is not found
-set(CURSES_NEED_NCURSES TRUE)
-find_package(Curses QUIET)
-
-if(BUILD_MONITOR AND NOT CURSES_FOUND)
-    set(BUILD_MONITOR OFF)
-    message(STATUS "Monitor app will not be built due to missing ncurses library, try: sudo apt install libncurses5-dev")
-endif()
-
-# Add libraries
+# Build libraries
 add_library(${PROJECT_NAME} 
     src/async_serial.cpp
     src/async_can.cpp
@@ -77,56 +68,129 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 	$<INSTALL_INTERFACE:include>
     PRIVATE src)
     
-if(NOT catkin_FOUND)
+# Build apps
+if(BUILD_WITHOUT_ROS)
+    # Check wether to build monitor tool
+    set(BUILD_MONITOR ON)
+    # Disable monitor if ncurses library is not found
+    set(CURSES_NEED_NCURSES TRUE)
+    find_package(Curses QUIET)
+    if(BUILD_MONITOR AND NOT CURSES_FOUND)
+        set(BUILD_MONITOR OFF)
+        message(STATUS "Monitor app will not be built due to missing ncurses library, try: sudo apt install libncurses5-dev")
+    endif()
+
+    # add app source directory
     add_subdirectory(apps)
 endif()
 
-# Add executables
-if(BUILD_TESTS)
+# Build tests
+if(PROJECT_NAME STREQUAL CMAKE_PROJECT_NAME AND BUILD_TESTS)
+    enable_testing()
+    include(GoogleTest)
     add_subdirectory(tests)
     add_subdirectory(unit_tests)
 endif()
 
-# 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")
-set(INSTALL_INCLUDEDIR ${CMAKE_INSTALL_INCLUDEDIR} CACHE PATH "Installation directory for header files")
-if(WIN32 AND NOT CYGWIN)
-    set(DEF_INSTALL_CMAKEDIR CMake)
-else()
-    set(DEF_INSTALL_CMAKEDIR share/cmake/${PROJECT_NAME})
-endif()
-set(INSTALL_CMAKEDIR ${DEF_INSTALL_CMAKEDIR} CACHE PATH "Installation directory for CMake files")
+## Installation configuration
+if(BUILD_WITHOUT_ROS) # BUILD_WITHOUT_ROS
 
-# Report to user
-foreach(p LIB BIN INCLUDE CMAKE)
-    file(TO_NATIVE_PATH ${CMAKE_INSTALL_PREFIX}/${INSTALL_${p}DIR} _path)
-    message(STATUS " -> To install ${p} components to ${_path}")
-    unset(_path)
-endforeach()
+    ## Use GNUInstallDirs to install libraries into correct
+    # locations on all platforms.
+    include(GNUInstallDirs)
+    message(STATUS "Project will be installed to ${CMAKE_INSTALL_PREFIX} with 'make install'")
 
-if(catkin_FOUND)
-catkin_package(
-    LIBRARIES ${PROJECT_NAME}
-    INCLUDE_DIRS include
-    # DEPENDS rt pthread
-)
+    ## 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})
 
-## Add catkin install targets
-# install(TARGETS ${PROJECT_NAME}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+    # 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")
+    set(INSTALL_INCLUDEDIR ${CMAKE_INSTALL_INCLUDEDIR} CACHE PATH "Installation directory for header files")
+    if(WIN32 AND NOT CYGWIN)
+        set(DEF_INSTALL_CMAKEDIR CMake)
+    else()
+        set(DEF_INSTALL_CMAKEDIR share/cmake/${PROJECT_NAME})
+    endif()
+    set(INSTALL_CMAKEDIR ${DEF_INSTALL_CMAKEDIR} CACHE PATH "Installation directory for CMake files")
 
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+    # Report to user
+    foreach(p LIB BIN INCLUDE CMAKE)
+        file(TO_NATIVE_PATH ${CMAKE_INSTALL_PREFIX}/${INSTALL_${p}DIR} _path)
+        message(STATUS " - To install ${p} components to ${_path}")
+        unset(_path)
+    endforeach()
 
-# install(DIRECTORY asio/asio
-#   DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
+    # targets to install
+    install(TARGETS ${PROJECT_NAME}
+        EXPORT wrp_sdkTargets
+        LIBRARY DESTINATION lib
+        ARCHIVE DESTINATION lib
+        RUNTIME DESTINATION bin
+        INCLUDES DESTINATION include)
 
-# install(FILES asio/asio.hpp
-#   DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
+    install(DIRECTORY include/wrp_sdk
+        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
 
-# install(DIRECTORY scripts
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-endif()
+    # export target configuration 
+    include(CMakePackageConfigHelpers)
+    write_basic_package_version_file(
+        wrp_sdkConfigVersion.cmake
+        VERSION "${VERSION_MAJOR}.${VERSION_MINOR}.${VERSION_PATCH}"
+        COMPATIBILITY SameMajorVersion)
+
+    install(EXPORT wrp_sdkTargets
+        FILE wrp_sdkTargets.cmake
+        NAMESPACE westonrobot::
+        DESTINATION lib/cmake/wrp_sdk)
+
+    configure_file(cmake/wrp_sdkConfig.cmake.in wrp_sdkConfig.cmake @ONLY)
+    install(FILES "${CMAKE_CURRENT_BINARY_DIR}/wrp_sdkConfig.cmake"
+                "${CMAKE_CURRENT_BINARY_DIR}/wrp_sdkConfigVersion.cmake"
+            DESTINATION lib/cmake/wrp_sdk)
+
+    # Packaging support
+    set(CPACK_PACKAGE_VENDOR "Weston Robot")
+    set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Weston Robot Platform - SDK")
+    set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
+    set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
+    set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
+    set(CPACK_PACKAGING_INSTALL_PREFIX "/opt/weston_robot")
+    set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
+    set(CPACK_RESOURCE_FILE_README "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
+
+    set(CPACK_GENERATOR "DEB")
+    set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)
+    set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Ruixiang Du (ruixiang.du@westonrobot.com)") 
+    set(CPACK_DEBIAN_PACKAGE_DEPENDS "libasio-dev")
+    set(CPACK_SOURCE_IGNORE_FILES
+        /.git
+        /dist
+        /.*build.*
+        /\\\\.DS_Store
+    )
+    include(CPack)
+
+else() # BUILD_WITHOUT_ROS
+
+    catkin_package(
+        LIBRARIES ${PROJECT_NAME}
+        INCLUDE_DIRS include
+        # DEPENDS rt pthread
+    )
+
+    ## Add catkin install targets
+    install(TARGETS ${PROJECT_NAME}
+      RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+      LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+      ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+
+    install(DIRECTORY include/${PROJECT_NAME}/
+      DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
+    install(DIRECTORY scripts
+      DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+endif() # BUILD_WITHOUT_ROS
diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt
index 5c79ed0..8c8e915 100755
--- a/apps/CMakeLists.txt
+++ b/apps/CMakeLists.txt
@@ -3,16 +3,16 @@
 
 # tests
 add_executable(app_scout_demo scout_demo/scout_demo.cpp)
-target_link_libraries(app_scout_demo scoutbase)
+target_link_libraries(app_scout_demo wrp_sdk)
 
 # add_executable(app_scout_discharge scout_demo/scout_discharge.cpp)
-# target_link_libraries(app_scout_discharge scoutbase)
+# target_link_libraries(app_scout_discharge wrp_sdk)
 
 add_executable(app_hunter_demo hunter_demo/hunter_demo.cpp)
-target_link_libraries(app_hunter_demo hunterbase)
+target_link_libraries(app_hunter_demo wrp_sdk)
 
-add_executable(app_tracer_demo tracer_demo/tracer_demo.cpp)
-target_link_libraries(app_tracer_demo tracerbase)
+# add_executable(app_tracer_demo tracer_demo/tracer_demo.cpp)
+# target_link_libraries(app_tracer_demo wrp_sdk)
 
 if(BUILD_MONITOR)
     add_subdirectory(scout_monitor)
diff --git a/apps/hunter_demo/hunter_demo.cpp b/apps/hunter_demo/hunter_demo.cpp
index 694ab45..26d5822 100644
--- a/apps/hunter_demo/hunter_demo.cpp
+++ b/apps/hunter_demo/hunter_demo.cpp
@@ -7,7 +7,7 @@
  * Copyright (c) 2019 Ruixiang Du (rdu)
  */
 
-#include "hunter_base/hunter_base.hpp"
+#include "wrp_sdk/platforms/hunter/hunter_base.hpp"
 
 using namespace westonrobot;
 
diff --git a/apps/scout_demo/scout_demo.cpp b/apps/scout_demo/scout_demo.cpp
index 01a3a9a..aa90d4f 100644
--- a/apps/scout_demo/scout_demo.cpp
+++ b/apps/scout_demo/scout_demo.cpp
@@ -7,7 +7,7 @@
  * Copyright (c) 2019 Ruixiang Du (rdu)
  */
 
-#include "scout_base/scout_base.hpp"
+#include "wrp_sdk/platforms/scout/scout_base.hpp"
 
 using namespace westonrobot;
 
diff --git a/apps/scout_monitor/CMakeLists.txt b/apps/scout_monitor/CMakeLists.txt
index af348df..2760c92 100644
--- a/apps/scout_monitor/CMakeLists.txt
+++ b/apps/scout_monitor/CMakeLists.txt
@@ -9,7 +9,7 @@ set(SCOUT_MONITOR_SRC
     src/scout_monitor.cpp
 )
 add_library(monitor STATIC ${SCOUT_MONITOR_SRC})
-target_link_libraries(monitor scoutbase ${CURSES_LIBRARIES})
+target_link_libraries(monitor wrp_sdk ${CURSES_LIBRARIES})
 target_include_directories(monitor PUBLIC
 	$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<BUILD_INTERFACE:${CURSES_INCLUDE_DIR}>
diff --git a/apps/scout_monitor/include/monitor/scout_monitor.hpp b/apps/scout_monitor/include/monitor/scout_monitor.hpp
index e7e58e0..84d1074 100644
--- a/apps/scout_monitor/include/monitor/scout_monitor.hpp
+++ b/apps/scout_monitor/include/monitor/scout_monitor.hpp
@@ -10,7 +10,7 @@
 #ifndef SCOUT_MONITOR_HPP
 #define SCOUT_MONITOR_HPP
 
-#include "scout_base/scout_base.hpp"
+#include "wrp_sdk/platforms/scout/scout_base.hpp"
 
 #include <ncurses.h>
 
diff --git a/cmake/wrp_sdkConfig.cmake.in b/cmake/wrp_sdkConfig.cmake.in
new file mode 100644
index 0000000..69880f3
--- /dev/null
+++ b/cmake/wrp_sdkConfig.cmake.in
@@ -0,0 +1,12 @@
+include(CMakeFindDependencyMacro)
+
+# Capturing values from configure (optional)
+# set(my-config-var @my-config-var@)
+
+# Same syntax as find_package
+find_dependency(Threads REQUIRED)
+
+# Any extra setup
+
+# Add the targets file
+include("${CMAKE_CURRENT_LIST_DIR}/wra_utilsTargets.cmake")
\ No newline at end of file