diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5652f85..c1b7b39 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,25 +1,11 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(odva_ethernetip)
-
-find_package(catkin REQUIRED)
+cmake_minimum_required(VERSION 3.5.0)
+project(odva_ethernetip VERSION 0.1.0 LANGUAGES CXX)
 
 find_package(console_bridge REQUIRED)
 find_package(Boost 1.47 REQUIRED COMPONENTS system)
 
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME}
-  DEPENDS Boost console_bridge
-)
-
-include_directories(
-  include
-  ${Boost_INCLUDE_DIRS}
-  ${console_bridge_INCLUDE_DIRS}
-)
-
 ## Declare a cpp library for just Ethernet/IP generic stuff
-add_library(${PROJECT_NAME}
+add_library(${PROJECT_NAME} SHARED
   src/connection.cpp
   src/copy_serializable.cpp
   src/cpf_item.cpp
@@ -33,49 +19,100 @@ add_library(${PROJECT_NAME}
   src/rr_data.cpp
   src/session.cpp
 )
-target_link_libraries(${PROJECT_NAME}
+target_link_libraries(${PROJECT_NAME} PUBLIC
   ${Boost_LIBRARIES}
   ${console_bridge_LIBRARIES}
 )
 
-## Mark executables and libraries for installation
-install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+if(CXX_FEATURE_FOUND EQUAL "-1")
+    target_compile_options(${PROJECT_NAME} PUBLIC -std=c++11)
+else()
+    target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_11)
+endif()
+
+target_include_directories(${PROJECT_NAME} PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include>")
 
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+  ${Boost_INCLUDE_DIRS}
+  ${console_bridge_INCLUDE_DIRS})
+  
+  
+list (APPEND PACKAGE_LIBRARIES ${PROJECT_NAME})
+
+# Mark executables and/or libraries for installation
+install(TARGETS ${PACKAGE_LIBRARIES}
+    EXPORT ${PROJECT_NAME}-targets DESTINATION lib)
+install(EXPORT ${PROJECT_NAME}-targets
+    NAMESPACE odva_ethernetip:: DESTINATION lib/cmake/${PROJECT_NAME})
+ 
+# Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}
+  DESTINATION include
+  FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
+  PATTERN ".svn" EXCLUDE
+ )
+ 
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+ 
+# Create cmake config files
+include(CMakePackageConfigHelpers)
+configure_package_config_file(
+    ${CMAKE_CURRENT_LIST_DIR}/cmake/${PROJECT_NAME}-config.cmake.in
+    ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config.cmake
+    INSTALL_DESTINATION lib/cmake/${PROJECT_NAME}
+    NO_CHECK_REQUIRED_COMPONENTS_MACRO)
+ 
+write_basic_package_version_file(
+    ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake
+    VERSION ${PROJECT_VERSION} COMPATIBILITY ExactVersion)
+ 
+install(FILES
+    "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config.cmake"
+    "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake"
+    DESTINATION lib/cmake/${PROJECT_NAME})
+ 
+export(EXPORT ${PROJECT_NAME}-targets FILE
+    ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-targets.cmake)
+  
+if (ENABLE_TESTS)
+  enable_testing()
+  add_custom_target(run_tests ALL
+      WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+      COMMAND ${CMAKE_CTEST_COMMAND} -C $<CONFIGURATION> -V)
 
-if (CATKIN_ENABLE_TESTING)
-  catkin_add_gtest(${PROJECT_NAME}-test
-    test/serialization/buffer_writer_test.cpp
-    test/serialization/buffer_reader_test.cpp
-    test/serialization/stream_writer_test.cpp
-    test/serialization/stream_reader_test.cpp
-    test/serialization/serializable_buffer_test.cpp
-    test/serialization/serializable_primitive_test.cpp
-    test/test_socket_test.cpp
-    test/encap_header_test.cpp
-    test/encap_packet_test.cpp
-    test/cpf_item_test.cpp
-    test/cpf_packet_test.cpp
-    test/sequenced_address_item_test.cpp
-    test/identity_item_data_test.cpp
-    test/path_test.cpp
-    test/rr_data_test.cpp
-    test/message_router_request_test.cpp
-    test/message_router_response_test.cpp
-    test/rr_data_request_test.cpp
-    test/rr_data_response_test.cpp
-    test/forward_open_request_test.cpp
-    test/forward_open_success_test.cpp
-    test/forward_close_request_test.cpp
-    test/forward_close_success_test.cpp
-    test/session_test.cpp
-    test/test_main.cpp
-  )
-  target_link_libraries(${PROJECT_NAME}-test ${Boost_LIBRARIES} ${PROJECT_NAME})
+  add_subdirectory(test)
 endif()
 
+#if (CATKIN_ENABLE_TESTING)
+#  catkin_add_gtest(${PROJECT_NAME}-test
+#    test/serialization/buffer_writer_test.cpp
+#    test/serialization/buffer_reader_test.cpp
+#    test/serialization/stream_writer_test.cpp
+#    test/serialization/stream_reader_test.cpp
+#    test/serialization/serializable_buffer_test.cpp
+#    test/serialization/serializable_primitive_test.cpp
+#    test/test_socket_test.cpp
+#    test/encap_header_test.cpp
+#    test/encap_packet_test.cpp
+#    test/cpf_item_test.cpp
+#    test/cpf_packet_test.cpp
+#    test/sequenced_address_item_test.cpp
+#    test/identity_item_data_test.cpp
+#    test/path_test.cpp
+#    test/rr_data_test.cpp
+#    test/message_router_request_test.cpp
+#    test/message_router_response_test.cpp
+#    test/rr_data_request_test.cpp
+#    test/rr_data_response_test.cpp
+#    test/forward_open_request_test.cpp
+#    test/forward_open_success_test.cpp
+#    test/forward_close_request_test.cpp
+#    test/forward_close_success_test.cpp
+#    test/session_test.cpp
+#    test/test_main.cpp
+#  )
+#  target_link_libraries(${PROJECT_NAME}-test ${Boost_LIBRARIES} ${PROJECT_NAME})
+#endif()
+
diff --git a/cmake/odva_ethernetip-config.cmake.in b/cmake/odva_ethernetip-config.cmake.in
new file mode 100644
index 0000000..40b256b
--- /dev/null
+++ b/cmake/odva_ethernetip-config.cmake.in
@@ -0,0 +1,15 @@
+@PACKAGE_INIT@
+ 
+set(@PROJECT_NAME@_FOUND ON)
+set_and_check(@PROJECT_NAME@_INCLUDE_DIRS "${PACKAGE_PREFIX_DIR}/include")
+set_and_check(@PROJECT_NAME@_LIBRARY_DIRS "${PACKAGE_PREFIX_DIR}/lib")
+ 
+include(CMakeFindDependencyMacro)
+find_dependency(Eigen3)
+if(${CMAKE_VERSION} VERSION_LESS "3.10.0")
+    find_package(Boost COMPONENTS system python thread program_options)
+else()
+    find_dependency(Boost COMPONENTS system python thread program_options)
+endif()
+ 
+include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@-targets.cmake")
\ No newline at end of file
diff --git a/package.xml b/package.xml
index dc1d8ee..a747c14 100644
--- a/package.xml
+++ b/package.xml
@@ -8,10 +8,10 @@
   <maintainer email="mpurvis@clearpathrobotics.com">Mike Purvis</maintainer>
   <author email="kareem@shehata.ca">Kareem Shehata</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
-
   <depend>boost</depend>
   <depend>libconsole-bridge-dev</depend>
 
-  <test_depend>rosunit</test_depend>
+  <export>
+      <build_type>cmake</build_type>
+  </export>
 </package>
diff --git a/src/session.cpp b/src/session.cpp
index d1ffd30..2af8691 100644
--- a/src/session.cpp
+++ b/src/session.cpp
@@ -222,7 +222,7 @@ void Session::check_packet(EncapPacket& pkt, EIP_UINT exp_cmd)
 
 void Session::getSingleAttributeSerializable(EIP_USINT class_id, EIP_USINT instance_id,
   EIP_USINT attribute_id, Serializable& result)
-{
+{  
   shared_ptr<Serializable> no_data;
   RRDataResponse resp_data = sendRRDataCommand(0x0E,
     Path(class_id, instance_id, attribute_id), no_data);
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
new file mode 100644
index 0000000..c04311f
--- /dev/null
+++ b/test/CMakeLists.txt
@@ -0,0 +1,46 @@
+find_package(GTest REQUIRED)
+
+# odva_ethernetip Test
+add_executable(${PROJECT_NAME}_odva_ethernetip_unit 
+  serialization/buffer_writer_test.cpp)
+target_link_libraries(${PROJECT_NAME}_odva_ethernetip_unit ${GTEST_BOTH_LIBRARIES} ${PROJECT_NAME})
+target_compile_options(${PROJECT_NAME}_odva_ethernetip_unit PRIVATE -Wsuggest-override -Wconversion -Wsign-conversion)
+if(CXX_FEATURE_FOUND EQUAL "-1")
+    target_compile_options(${PROJECT_NAME}_odva_ethernetip_unit PUBLIC -std=c++11)
+else()
+    target_compile_features(${PROJECT_NAME}_odva_ethernetip_unit PRIVATE cxx_std_11)
+endif()
+target_include_directories(${PROJECT_NAME}_odva_ethernetip_unit PRIVATE ${GTEST_INCLUDE_DIRS})
+if(${CMAKE_VERSION} VERSION_LESS "3.10.0")
+    gtest_add_tests(${PROJECT_NAME}_odva_ethernetip_unit "" AUTO)
+else()
+    gtest_discover_tests(${PROJECT_NAME}_odva_ethernetip_unit)
+endif()
+
+add_dependencies(run_tests ${PROJECT_NAME}_odva_ethernetip_unit)
+
+#    test/
+#    test/serialization/buffer_reader_test.cpp
+#    test/serialization/stream_writer_test.cpp
+#    test/serialization/stream_reader_test.cpp
+#    test/serialization/serializable_buffer_test.cpp
+#    test/serialization/serializable_primitive_test.cpp
+#    test/test_socket_test.cpp
+#    test/encap_header_test.cpp
+#    test/encap_packet_test.cpp
+#    test/cpf_item_test.cpp
+#    test/cpf_packet_test.cpp
+#    test/sequenced_address_item_test.cpp
+#    test/identity_item_data_test.cpp
+#    test/path_test.cpp
+#    test/rr_data_test.cpp
+#    test/message_router_request_test.cpp
+#    test/message_router_response_test.cpp
+#    test/rr_data_request_test.cpp
+#    test/rr_data_response_test.cpp
+#    test/forward_open_request_test.cpp
+#    test/forward_open_success_test.cpp
+#    test/forward_close_request_test.cpp
+#    test/forward_close_success_test.cpp
+#    test/session_test.cpp
+#    test/test_main.cpp