diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3a0864f..beaafa4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -161,3 +161,23 @@ add_dependencies(TransformFusion
 target_link_libraries(TransformFusion
   ${catkin_LIBRARIES}
   )
+
+
+## --------------------------------------------------------------
+## |                           Install                          |
+## --------------------------------------------------------------
+
+install(TARGETS ${LIBRARIES}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+  )
+
+install(DIRECTORY launch config include msg
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )
+
+
+install(FILES estimator_plugins.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )