diff --git a/CMakeLists.txt b/CMakeLists.txt
index 397ef55..019a020 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -22,6 +22,41 @@ if (WIN32)
 	endif()
 endif()
 
+set(INSTALL_CMAKE_DIR share/EIPScanner/cmake CACHE PATH
+    "Installation directory for CMake files")
+# ... for the build tree
+set(INSTALL_INCLUDE_DIR include/EIPScanner CACHE PATH
+      "Installation directory for header files")
+# ... for the build tree
+set(INSTALL_LIB_DIR lib CACHE PATH
+      "Installation directory for header files")
+# Make relative paths absolute (needed later on)
+# foreach(p LIB BIN INCLUDE CMAKE)
+foreach(p LIB INCLUDE CMAKE)
+  set(var INSTALL_${p}_DIR)
+  if(NOT IS_ABSOLUTE "${${var}}")
+    set(${var} "${CMAKE_INSTALL_PREFIX}/${${var}}")
+  endif()
+endforeach()
+
+file(RELATIVE_PATH REL_INCLUDE_DIR "${INSTALL_CMAKE_DIR}"
+       "${INSTALL_INCLUDE_DIR}")
+set(CONF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}" "${PROJECT_BINARY_DIR}")
+configure_file(EIPScannerConfig.cmake.in
+  "${PROJECT_BINARY_DIR}/EIPScannerConfig.cmake" @ONLY)
+# ... for the install tree
+set(CONF_INCLUDE_DIRS "\${EIPScanner_CMAKE_DIR}/${REL_INCLUDE_DIR}")
+configure_file(EIPScannerConfig.cmake.in
+  "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/EIPScannerConfig.cmake" @ONLY)
+# ... for both
+configure_file(EIPScannerConfigVersion.cmake.in
+  "${PROJECT_BINARY_DIR}/EIPScannerConfigVersion.cmake" @ONLY)
+# Install the EIPScannerConfig.cmake and EIPScannerConfigVersion.cmake
+install(FILES
+  "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/EIPScannerConfig.cmake"
+  "${PROJECT_BINARY_DIR}/EIPScannerConfigVersion.cmake"
+  DESTINATION "${INSTALL_CMAKE_DIR}" COMPONENT dev)
+
 add_subdirectory(src)
 if (EXAMPLE_ENABLED)
     add_subdirectory(examples)
@@ -31,3 +66,6 @@ if (TEST_ENABLED)
     add_subdirectory(test)
 endif()
 
+include(GNUInstallDirs)
+install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/package.xml
+	DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME})
diff --git a/EIPScannerConfig.cmake.in b/EIPScannerConfig.cmake.in
new file mode 100644
index 0000000..306c847
--- /dev/null
+++ b/EIPScannerConfig.cmake.in
@@ -0,0 +1,36 @@
+# - Config file for the EIPScanner package
+# It defines the following variables
+#  EIPScanner_INCLUDE_DIRS - include directories for EIPScanner
+#  EIPscanner_LIBRARIES    - libraries to link against
+#  EIPScanner_EXECUTABLE   - the executable
+
+# Compute paths
+get_filename_component(EIPScanner_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+
+set(_include_directories "@CONF_INCLUDE_DIRS@")
+if(NOT _include_directories STREQUAL "")
+  foreach(_include_dir ${_include_directories})
+    if(NOT IS_DIRECTORY "${_include_dir}")
+      message(WARNING "Package '@PROJECT_NAME@' exports the
+              include directory '${_include_dir}' which doesn't exist")
+    endif()
+    list(APPEND @PROJECT_NAME@_INCLUDE_DIRS "${_include_dir}")
+  endforeach()
+endif()
+
+# Our library dependencies (contains definitions for IMPORTED targets)
+# include("${EIPSCANNER_CMAKE_DIR}/EIPScannerTargets.cmake")
+
+# These are IMPORTED targets created by FooBarTargets.cmake
+set(EIPScanner_LIBRARIES EIPScanner)
+
+set(_lib_dirs "@INSTALL_LIB_DIR@")
+if(NOT _lib_dirs STREQUAL "")
+  foreach(_lib_dir ${_lib_dirs})
+    if(NOT IS_DIRECTORY "${_lib_dir}")
+      message(WARNING "Package '@PROJECT_NAME@' exports the
+              include directory '${_lib_dir}' which doesn't exist")
+    endif()
+    list(APPEND @PROJECT_NAME@_LIBRARY_DIRS "${_lib_dir}")
+  endforeach()
+endif()
diff --git a/EIPScannerConfigVersion.cmake.in b/EIPScannerConfigVersion.cmake.in
new file mode 100644
index 0000000..7d0e6ba
--- /dev/null
+++ b/EIPScannerConfigVersion.cmake.in
@@ -0,0 +1,13 @@
+set(PACKAGE_VERSION "@EIPSCANNER_FULL_VERSION@")
+
+# Check whether the requested PACKAGE_FIND_VERSION is compatible
+if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE FALSE)
+else()
+  set(PACKAGE_VERSION_COMPATIBLE TRUE)
+  if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}")
+    set(PACKAGE_VERSION_EXACT TRUE)
+  endif()
+endif()
+
+
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..a938f33
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+
+<!-- A package.xml in the root of a cmake projects allows it to be built using catkin or colcon (the ROS build system) -->
+
+<package format="2">
+  <name>EIPScanner</name>
+  <version>1.3.0</version>
+  <description>
+    Free implementation of EtherNet/IP in C++
+  </description>
+
+  <maintainer email="atimin@gmail.com">Aleksey Timin</maintainer>
+
+  <license>MIT</license>
+
+  <buildtool_depend>cmake</buildtool_depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>
\ No newline at end of file
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 6a58194..2e0dfe4 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -66,10 +66,10 @@ set_target_properties(
 
 install(TARGETS EIPScanner EIPScannerS
         LIBRARY
-            DESTINATION lib
+            DESTINATION "${INSTALL_LIB_DIR}"
         ARCHIVE
-            DESTINATION lib)
+            DESTINATION "${INSTALL_LIB_DIR}")
 
-install(DIRECTORY ${PROJECT_SOURCE_DIR}/src/
-        DESTINATION include/EIPScanner
+install(DIRECTORY "${PROJECT_SOURCE_DIR}/src/"
+        DESTINATION "${INSTALL_INCLUDE_DIR}"
         FILES_MATCHING PATTERN "*.h*")