diff --git a/ros_midterm/CMakeLists.txt b/ros_midterm/CMakeLists.txt
index 1e41834..d06837c 100644
--- a/ros_midterm/CMakeLists.txt
+++ b/ros_midterm/CMakeLists.txt
@@ -12,6 +12,20 @@ find_package(std_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 
+#imu_sub
+add_executable(imu_sub src/imu_sub.cpp)
+ament_target_dependencies(imu_sub rclcpp sensor_msgs)
+
+#cmd_pub
+add_executable(cmd_pub src/cmd_pub.cpp)
+ament_target_dependencies(cmd_pub rclcpp geometry_msgs)
+
+#install
+install(TARGETS
+  imu_sub
+  cmd_pub
+  DESTINATION lib/${PROJECT_NAME})
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights