diff --git a/rslidar_driver/CMakeLists.txt b/rslidar_driver/CMakeLists.txt
index c8d8fb0..3dd363c 100644
--- a/rslidar_driver/CMakeLists.txt
+++ b/rslidar_driver/CMakeLists.txt
@@ -48,3 +48,7 @@ catkin_package(
 
 add_subdirectory(src)
 
+install(
+  FILES nodelet_rslidar.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/rslidar_driver/src/CMakeLists.txt b/rslidar_driver/src/CMakeLists.txt
index c1adf2a..f53b5b4 100644
--- a/rslidar_driver/src/CMakeLists.txt
+++ b/rslidar_driver/src/CMakeLists.txt
@@ -28,3 +28,12 @@ target_link_libraries(rslidar_node
 	${libpcap_LIBRARIES}
 )
 
+install(TARGETS
+  rslidar_input
+  rslidar_driver
+  driver_nodelet
+  rslidar_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
diff --git a/rslidar_pointcloud/CMakeLists.txt b/rslidar_pointcloud/CMakeLists.txt
index 21bde31..ab44e6b 100644
--- a/rslidar_pointcloud/CMakeLists.txt
+++ b/rslidar_pointcloud/CMakeLists.txt
@@ -31,3 +31,13 @@ catkin_package(
 )
 
 add_subdirectory(src)
+
+install(
+  FILES nodelets.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(
+  DIRECTORY launch data rviz_cfg
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/rslidar_pointcloud/src/CMakeLists.txt b/rslidar_pointcloud/src/CMakeLists.txt
index 28a2167..819b5ac 100644
--- a/rslidar_pointcloud/src/CMakeLists.txt
+++ b/rslidar_pointcloud/src/CMakeLists.txt
@@ -23,3 +23,13 @@ target_link_libraries(cloud_node
     rslidar_point
     ${catkin_LIBRARIES}
     ${libpcap_LIBRARIES})
+
+install(TARGETS
+  rslidar_data
+  rslidar_point
+  cloud_nodelet
+  cloud_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
diff --git a/rslidar_sync/CMakeLists.txt b/rslidar_sync/CMakeLists.txt
index 8187af4..0b394d4 100644
--- a/rslidar_sync/CMakeLists.txt
+++ b/rslidar_sync/CMakeLists.txt
@@ -15,3 +15,12 @@ add_executable(rslidar_sync_3lidar_node src/timesync_3lidar.cpp)
 target_link_libraries(rslidar_sync_3lidar_node
 	${catkin_LIBRARIES}
 )
+
+install(TARGETS
+  rslidar_sync_2lidar_node
+  rslidar_sync_3lidar_node
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY launch rviz_cfg
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})