diff --git a/niryo_one_bringup/CMakeLists.txt b/niryo_one_bringup/CMakeLists.txt
index 7039ddab..bb090303 100644
--- a/niryo_one_bringup/CMakeLists.txt
+++ b/niryo_one_bringup/CMakeLists.txt
@@ -5,3 +5,5 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/niryo_one_description/CMakeLists.txt b/niryo_one_description/CMakeLists.txt
index 6649c175..8cde2e6e 100644
--- a/niryo_one_description/CMakeLists.txt
+++ b/niryo_one_description/CMakeLists.txt
@@ -4,3 +4,8 @@ project(niryo_one_description)
 find_package(catkin REQUIRED)
 
 catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/niryo_one_tools/CMakeLists.txt b/niryo_one_tools/CMakeLists.txt
index 30670c34..ea9cba68 100644
--- a/niryo_one_tools/CMakeLists.txt
+++ b/niryo_one_tools/CMakeLists.txt
@@ -9,3 +9,9 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
+catkin_install_python(
+	PROGRAMS
+	  scripts/tool_controller.py
+	  scripts/tool_ros_command_interface.py
+	  scripts/tools.py
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})