diff --git a/CMakeLists.txt b/CMakeLists.txt
index ea5e467..3ec72e1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,16 +1,28 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(libcreate)
+# After installation this project can be found  by 'find_package(... CONFIG)' command:
+#
+#    find_package(libcreate CONFIG REQUIRED)
+#    target_link_libraries(... libcreate::create)
+#
+# Reference for this file:
+#   https://github.com/forexample/package-example/blob/cf2ea1d6a209fb9eca2ab83fdd0ac15fe4d3e807/Foo/CMakeLists.txt
+
+cmake_minimum_required(VERSION 3.0)
+project(libcreate VERSION 1.2.0)
 
 find_package(Boost REQUIRED system thread)
 find_package(Threads REQUIRED)
 
-## Specify additional locations of header files
+#########
+# Build #
+#########
+
+# Specify locations of header files
 include_directories(
   include
 )
 
-## Declare cpp library
-add_library(create
+# Declare cpp library
+add_library(create SHARED
   src/create.cpp
   src/serial.cpp
   src/serial_stream.cpp
@@ -20,6 +32,15 @@ add_library(create
   src/types.cpp
 )
 
+# Global includes. Used by all targets
+#   * header can be included by C++ code `#include <create/create.h>`
+target_include_directories(
+  create PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/include>"
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>"
+)
+
+# Manually link to thread library for build on ARM
 if(THREADS_HAVE_PTHREAD_ARG)
   set_property(TARGET create PROPERTY COMPILE_OPTIONS "-pthread")
   set_property(TARGET create PROPERTY INTERFACE_COMPILE_OPTIONS "-pthread")
@@ -29,16 +50,17 @@ if(CMAKE_THREAD_LIBS_INIT)
   target_link_libraries(create "${CMAKE_THREAD_LIBS_INIT}")
 endif()
 
+# Link to Boost
 target_link_libraries(create
   ${Boost_LIBRARIES}
 )
 
-## Declare example executables
+# Declare example executables
 add_executable(create_demo examples/create_demo.cpp)
 add_executable(bumper_example examples/bumper_example.cpp)
 add_executable(odom_example examples/odom_example.cpp)
 
-## Specify libraries to link a library or executable target against
+# Specify libraries to link executable targets against
 target_link_libraries(create_demo
   ${Boost_LIBRARIES}
   create
@@ -52,13 +74,78 @@ target_link_libraries(odom_example
   create
 )
 
-## Install
-install(TARGETS create DESTINATION lib)
-install(FILES
-        include/create/create.h
-        include/create/serial.h
-        include/create/types.h
-        include/create/data.h
-        include/create/packet.h
-        include/create/util.h
-        DESTINATION include/create)
+###########
+# Install #
+###########
+
+# Layout. This works for all platforms:
+#   * <prefix>/lib/cmake/<PROJECT-NAME>
+#   * <prefix>/lib/
+#   * <prefix>/include/
+set(config_install_dir "lib/cmake/${PROJECT_NAME}")
+set(include_install_dir "include")
+
+set(generated_dir "${CMAKE_CURRENT_BINARY_DIR}/generated")
+
+# Configuration
+set(version_config "${generated_dir}/${PROJECT_NAME}-config-version.cmake")
+set(project_config "${generated_dir}/${PROJECT_NAME}-config.cmake")
+set(targets_export_name "${PROJECT_NAME}-targets")
+set(namespace "${PROJECT_NAME}::")
+
+# Include module with function 'write_basic_package_version_file'
+include(CMakePackageConfigHelpers)
+
+# Configure '<PROJECT-NAME>-config-version.cmake'
+write_basic_package_version_file(
+  "${version_config}"
+  COMPATIBILITY SameMajorVersion
+)
+
+# Configure '<PROJECT-NAME>-config.cmake'
+# Use variables:
+#   * targets_export_name
+#   * PROJECT_NAME
+configure_package_config_file(
+  "config.cmake.in"
+  "${project_config}"
+  INSTALL_DESTINATION "${config_install_dir}"
+)
+
+# Install targets
+install(
+  TARGETS create
+  EXPORT "${targets_export_name}"
+  ARCHIVE DESTINATION "lib"
+  LIBRARY DESTINATION "lib"
+  RUNTIME DESTINATION "bin"
+  INCLUDES DESTINATION "${include_install_dir}"
+)
+
+# Install headers
+install(DIRECTORY include/create
+  DESTINATION include
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+# Install config
+#   * <prefix>/lib/cmake/libcreate/libcreate-config.cmake
+#   * <prefix>/lib/cmake/libcreate/libcreate-config-version.cmake
+install(
+  FILES "${project_config}" "${version_config}"
+  DESTINATION "${config_install_dir}"
+)
+
+# Install config
+#   * <prefix>/lib/cmake/libcreate/libcreate-targets.cmake
+install(
+  EXPORT "${targets_export_name}"
+  NAMESPACE "${namespace}"
+  DESTINATION "${config_install_dir}"
+)
+
+# Install package.xml (for catkin)
+install(FILES package.xml
+  DESTINATION share/${PROJECT_NAME}
+)
diff --git a/README.md b/README.md
index 22cc852..eea48b5 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
-# libcreate
+# libcreate #
 
-C++ library for interfacing with iRobot's [Create 1 and 2](http://www.irobot.com/About-iRobot/STEM/Create-2.aspx) as well as most models of Roombas. This library forms the basis of the ROS driver in [create_autonomy](https://github.com/autonomylab/create_autonomy).
+C++ library for interfacing with iRobot's [Create 1 and 2](http://www.irobot.com/About-iRobot/STEM/Create-2.aspx) as well as most models of Roomba. [create_autonomy](http://wiki.ros.org/create_autonomy) is a [ROS](http://www.ros.org/) wrapper for this library.
 
 * Documentation: TODO
 * Code API: TODO
@@ -11,28 +11,28 @@ C++ library for interfacing with iRobot's [Create 1 and 2](http://www.irobot.com
 * Author: [Jacob Perron](http://jacobperron.ca) ([Autonomy Lab](http://autonomylab.org), [Simon Fraser University](http://www.sfu.ca))
 * Contributors: [Mani Monajjemi](http:mani.im), [Ben Wolsieffer](https://github.com/lopsided98)
 
-## Dependencies
+## Dependencies ##
 
 * [Boost System Library](http://www.boost.org/doc/libs/1_59_0/libs/system/doc/index.html)
 * [Boost Thread Library](http://www.boost.org/doc/libs/1_59_0/doc/html/thread.html)
 
-## Install
+## Install ##
 
 * `cmake CMakeLists.txt`
 * `make`
 * `sudo make install`
 
-## Example
+## Example ##
 
 See source for examples.
- 
+
 Example compile line: `g++ create_demo.cpp -lcreate -lboost_system -lboost_thread`
 
-## Bugs
+## Known issues ##
 
-* _Clock_ and _Schedule_ button presses are not detected. This is a known problem to the developers at iRobot.
+* _Clock_ and _Schedule_ buttons are not functional. This is a known bug related to the firmware.
 * Inaccurate odometry angle for Create 1 ([#22](https://github.com/AutonomyLab/libcreate/issues/22))
 
-## Build Status
+## Build Status ##
 
 ![Build Status](https://api.travis-ci.org/AutonomyLab/libcreate.svg?branch=master)
diff --git a/config.cmake.in b/config.cmake.in
new file mode 100644
index 0000000..9b4c9ee
--- /dev/null
+++ b/config.cmake.in
@@ -0,0 +1,4 @@
+@PACKAGE_INIT@
+
+include("${CMAKE_CURRENT_LIST_DIR}/@targets_export_name@.cmake")
+check_required_components("@PROJECT_NAME@")
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..9a31e9c
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package>
+  <name>libcreate</name>
+  <version>1.2.0</version>
+  <description>C++ library for interfacing with iRobot's Create 1 and Create 2</description>
+
+  <maintainer email="jperron@sfu.ca">Jacob Perron</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/libcreate</url>
+
+  <author email="jperron@sfu.ca">Jacob Perron</author>
+
+  <buildtool_depend>cmake</buildtool_depend>
+
+  <build_depend>boost</build_depend>
+
+  <run_depend>boost</run_depend>
+  <run_depend>catkin</run_depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>