diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8c3d7f5..347c5e4 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -75,7 +75,11 @@ target_link_libraries(${PROJECT_NAME} pthread)
 target_include_directories(${PROJECT_NAME} PUBLIC
 	$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
 	$<INSTALL_INTERFACE:include>
-	PRIVATE src)
+    PRIVATE src)
+    
+if(NOT catkin_FOUND)
+    add_subdirectory(apps)
+endif()
 
 # Add executables
 if(BUILD_TESTS)
diff --git a/README.md b/README.md
index 75e3ee4..452bb88 100755
--- a/README.md
+++ b/README.md
@@ -57,6 +57,17 @@ You need to re-login to get the change to take effect.
 
 ## Build SDK
 
+### I. Use the package with ROS
+
+```
+$ cd <your-catkin-ws>/src
+$ git clone https://github.com/westonrobot/wrp_sdk.git
+$ cd ..
+$ catkin_make
+```
+
+### II. Use the package without ROS
+
 Install compile tools
 
 ```
@@ -111,6 +122,8 @@ or
 $./app_scout_monitor /dev/ttyUSB0 115200
 ```
 
+Note: the monitor app is not built by default if you use this SDK with ROS.
+
 ## Known Limitations
 
 <!--