diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 840f6b9..af5d3c9 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -10,11 +10,14 @@ on:
 jobs:
   industrial-ci:
     name: Run Industrial CI
-
+    runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        ros_distro: ["noetic", "kilted", "rolling"]
+        env:
+          - {UPSTREAM_WORKSPACE: liboculus.repos, ROS_DISTRO: noetic}
+          - {UPSTREAM_WORKSPACE: liboculus.repos, ROS_DISTRO: kilted}
+          - {UPSTREAM_WORKSPACE: liboculus.repos, ROS_DISTRO: rolling}
 
     steps:
       - name: Checkout repository
@@ -24,6 +27,4 @@ jobs:
 
       - name: Run ROS Industrial CI
         uses: ros-industrial/industrial_ci@master
-        environment:
-          CI_ROS_DISTRO: ${{ matrix.ros_distro }}
-          UPSTREAM_WORKSPACE: liboculus.repos
+        env: ${{matrix.env}}
diff --git a/.github/workflows/ci_cmake.yaml b/.github/workflows/ci_cmake.yaml
new file mode 100644
index 0000000..f41f9c8
--- /dev/null
+++ b/.github/workflows/ci_cmake.yaml
@@ -0,0 +1,28 @@
+name: ROS Industrial CI
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  cmake:
+    name: Build with CMake
+    runs-on: ubuntu-24.04
+
+    steps:
+      - name: Install dependencesi with awalsh128/cache-apt-pkgs-action
+        uses: awalsh128/cache-apt-pkgs-action@latest
+        with:
+          packages: libboost-all-dev
+          version: 1.0
+
+      - name: Checkout repository
+        uses: actions/checkout@v5
+        with:
+          submodules: recursive
+
+      - name: Build Project
+        uses: threeal/cmake-action@v2.1.0
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9f6f360..a5809b9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,13 +1,13 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(liboculus)
 
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+add_compile_options(-std=c++17)
+
 # == Code common to all builds =======================================
 list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
 
-# ROS build, determine which version...
-find_package(ros_environment REQUIRED)
-set(ROS_VERSION $ENV{ROS_VERSION})
-
 set(oculus_SRCS
     lib/DataRx.cpp
     lib/SonarConfiguration.cpp
@@ -19,106 +19,110 @@ set(oculus_SRCS
     lib/IoServiceThread.cpp
 )
 
-if(${ROS_VERSION} EQUAL 2)
-    # == ament/ROS2 section =================================
-
-    find_package(ament_cmake REQUIRED)
-    find_package(Boost REQUIRED COMPONENTS system)
-    find_package(g3log_ros REQUIRED)
-
-    set(CMAKE_CXX_STANDARD 17)
-    set(CMAKE_CXX_STANDARD_REQUIRED ON)
-    add_compile_options(-std=c++17)
-
-    add_library(oculus SHARED ${oculus_SRCS})
-
-    target_include_directories(
-        oculus
-        PUBLIC
-            "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-            "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/thirdparty>"
-            "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
-            "$<INSTALL_INTERFACE:include/thirdparty>"
-    )
-
-    target_link_libraries(oculus PUBLIC Boost::system g3log_ros::g3log)
-
-    install(
-        TARGETS oculus
-        EXPORT export_${PROJECT_NAME}
-        ARCHIVE DESTINATION lib
-        LIBRARY DESTINATION lib
-        RUNTIME DESTINATION bin
-    )
-
-    install(
-        DIRECTORY include/${PROJECT_NAME} thirdparty
-        DESTINATION include
-        FILES_MATCHING
-        PATTERN "*.hpp"
-        PATTERN "*.h"
-        PATTERN ".git" EXCLUDE
-    )
-
-    ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-    ament_export_libraries(oculus)
-
-    ament_package()
-elseif(${ROS_VERSION} EQUAL 1)
-    # Catkin/ROS1 section =====
-    find_package(catkin REQUIRED COMPONENTS g3log_ros)
-    find_package(Boost REQUIRED COMPONENTS system)
-
-    catkin_package(
-        CATKIN_DEPENDS g3log_ros
-        INCLUDE_DIRS include thirdparty
-        LIBRARIES liboculus
-    )
-
-    add_compile_options(-std=c++14)
-
-    add_library(liboculus ${oculus_SRCS})
-
-    include_directories(liboculus include thirdparty ${catkin_INCLUDE_DIRS})
-
-    target_link_libraries(liboculus ${catkin_LIBRARIES})
-
-    install(
-        TARGETS liboculus
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-    )
-
-    ## Install headers
-    install(
-        DIRECTORY include/${PROJECT_NAME}/ thirdparty/
-        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-        FILES_MATCHING
-        PATTERN "*.hpp"
-        PATTERN "*.h"
-        PATTERN ".git" EXCLUDE
-    )
-
-    if(CATKIN_ENABLE_TESTING)
-        add_definitions(
-            -DTEST_DATA_PATH="${CMAKE_CURRENT_SOURCE_DIR}/test/data"
+# ROS build, determine which version...
+# QUIET will squelch the warning if the package isn't found
+find_package(ros_environment QUIET)
+
+if(${ros_environment_FOUND})
+    set(ROS_VERSION $ENV{ROS_VERSION})
+
+    if(${ROS_VERSION} EQUAL 2)
+        # == ament/ROS2 section =================================
+
+        find_package(ament_cmake REQUIRED)
+        find_package(Boost REQUIRED COMPONENTS system)
+        find_package(g3log_ros REQUIRED)
+
+        add_library(oculus SHARED ${oculus_SRCS})
+        target_link_libraries(oculus PUBLIC Boost::system g3log_ros::g3log)
+
+        target_include_directories(
+            oculus
+            PUBLIC
+                "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+                "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/thirdparty>"
+                "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+                "$<INSTALL_INTERFACE:include/thirdparty>"
+        )
+
+        install(
+            TARGETS oculus
+            EXPORT export_${PROJECT_NAME}
+            ARCHIVE DESTINATION lib
+            LIBRARY DESTINATION lib
+            RUNTIME DESTINATION bin
         )
-        include_directories(test/data/)
 
-        file(GLOB oculus_test_SRCS test/unit/*cpp)
+        install(
+            DIRECTORY include/${PROJECT_NAME} thirdparty
+            DESTINATION include
+            FILES_MATCHING
+            PATTERN "*.hpp"
+            PATTERN "*.h"
+            PATTERN ".git" EXCLUDE
+        )
+
+        ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+        ament_export_libraries(oculus)
+
+        ament_package()
+    elseif(${ROS_VERSION} EQUAL 1)
+        # Catkin/ROS1 section =====
+        find_package(catkin REQUIRED COMPONENTS g3log_ros)
+        find_package(Boost REQUIRED COMPONENTS system)
+
+        catkin_package(
+            CATKIN_DEPENDS g3log_ros
+            INCLUDE_DIRS include thirdparty
+            LIBRARIES liboculus
+        )
+
+        add_library(liboculus ${oculus_SRCS})
 
-        catkin_add_gtest(oculus_test ${oculus_test_SRCS})
+        include_directories(liboculus include thirdparty ${catkin_INCLUDE_DIRS})
+
+        target_link_libraries(liboculus ${catkin_LIBRARIES})
+
+        install(
+            TARGETS liboculus
+            ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+            LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+            RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+        )
+
+        ## Install headers
+        install(
+            DIRECTORY include/${PROJECT_NAME}/ thirdparty/
+            DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+            FILES_MATCHING
+            PATTERN "*.hpp"
+            PATTERN "*.h"
+            PATTERN ".git" EXCLUDE
+        )
 
-        target_link_libraries(
-            oculus_test
-            ${catkin_LIBRARIES}
-            liboculus
-            Boost::system
+        if(CATKIN_ENABLE_TESTING)
+            add_definitions(
+                -DTEST_DATA_PATH="${CMAKE_CURRENT_SOURCE_DIR}/test/data"
+            )
+            include_directories(test/data/)
+
+            file(GLOB oculus_test_SRCS test/unit/*cpp)
+
+            catkin_add_gtest(oculus_test ${oculus_test_SRCS})
+
+            target_link_libraries(
+                oculus_test
+                ${catkin_LIBRARIES}
+                liboculus
+                Boost::system
+            )
+        endif()
+    else()
+        message(
+            "Unsure what sort of build to do.  Not in a ROS1 or ROS2 environment"
         )
     endif()
 else()
-    message(
-        "Unsure what sort of build to do.  Not in a ROS1 or ROS2 environment"
-    )
+    message(NOTICE "!! Performing non-ROS build !!")
+    include(cmake/BuildNonROS.cmake)
 endif()
diff --git a/README.md b/README.md
index 1807faf..48a287f 100644
--- a/README.md
+++ b/README.md
@@ -17,7 +17,9 @@ This library contains code for:
     - Raw streams of binary packets.
     - **Note:** This repo includes scaffold code for reading `.oculus` files saved from the Blueprint GUI, but that format is proprietary and undocumented. **We cannot parse `.oculus` files!!**
 
-This package is designed to build in both ROS1 (catkin) and ROS2 (colcon) environments, however it contains no ROS-specific code and could be integrated into other non-ROS environments with some work.
+This package is designed to build in both ROS1 (catkin) and ROS2 (colcon) environments, however it contains no ROS-specific code and could be integrated into other non-ROS environments with some work.  
+
+It also contains the options to build a "bare" library with `cmake`.
 
 The library contains no special provisions for *saving* sonar data,
 but it's straightforward to write packets as a raw binary stream
@@ -48,6 +50,18 @@ binary `oc_client` requires [CLI11](https://github.com/CLIUtils/CLI11).
 Internally, the ethernet interface uses
 [Boost::asio](https://www.boost.org/doc/libs/1_66_0/doc/html/boost_asio.html).
 
+## Build with cmake
+
+This package can be built with the standard cmake process:
+
+```
+mkdir build && cd build
+cmake ..
+make
+```
+
+Note the `CMakelists.txt` attempts to auto-detect ROS.  Cmake build should be done in a session where ROS has not been loaded.
+
 ---
 ## oc_client binary
 
diff --git a/cmake/BuildNonROS.cmake b/cmake/BuildNonROS.cmake
new file mode 100644
index 0000000..93ca322
--- /dev/null
+++ b/cmake/BuildNonROS.cmake
@@ -0,0 +1,121 @@
+# Specify the minimum version for CMake
+cmake_minimum_required(VERSION 3.8)
+
+# Project's name
+project(liboculus)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -march=native -Wl,--no-as-needed")
+
+# Set the output folder where your program will be created
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/bin)
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/lib)
+
+# ###########################################
+# The following folders will be included  #
+# ###########################################
+include_directories(
+    "${PROJECT_SOURCE_DIR}/include/"
+    "${PROJECT_SOURCE_DIR}/thirdparty/"
+)
+
+# Threading
+find_package(Threads)
+
+# Boost
+find_package(Boost 1.57 REQUIRED COMPONENTS system)
+include_directories(${Boost_INCLUDE_DIR})
+message("Boost_INCLUDE_DIR: " ${Boost_INCLUDE_DIR})
+
+# Install g3log as an external package
+include(cmake/IncludeProject.cmake)
+
+if(NOT GIT_TAG)
+    set(GIT_TAG "2.6")
+endif()
+
+include(ExternalProject)
+ExternalProject_Add(
+    g3log
+    GIT_REPOSITORY https://github.com/KjellKod/g3log
+    GIT_TAG ${GIT_TAG}
+    INSTALL_DIR "${CMAKE_CURRENT_BINARY_DIR}/install/g3log"
+    CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>
+)
+
+ExternalProject_Get_Property(g3log install_dir)
+include_directories(${install_dir}/include/)
+
+# #####################
+# Add Execuatables  #
+# #####################
+link_directories(${Boost_LIBRARY_DIRS})
+
+# Create Library
+add_library(oculus SHARED ${oculus_SRCS})
+set_target_properties(oculus PROPERTIES LIBRARY_OUTPUT_NAME oculus)
+
+# =============================================
+# to allow find_package()
+# =============================================
+#
+# The following is borrowed heavily from:
+#   https://github.com/RossHartley/invariant-ekf
+# I am responsible for all mistakes
+#
+# the following case be used in an external project requiring oculus:
+# ...
+# find_package(oculus)
+# include_directories(${oculus_INCLUDE_DIRS})
+# ...
+
+# NOTE: the following will support find_package for 1) local build (make) and 2) for installed files (make install)
+
+# 1- local build
+
+# Register the local build in case one doesn't use "make install"
+export(PACKAGE oculus)
+
+# Create variable for the local build tree
+# set_target_properties(oculus PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
+get_property(
+    oculus_include_dirs
+    DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    PROPERTY INCLUDE_DIRECTORIES
+)
+get_property(
+    oculus_library_dirs
+    TARGET oculus
+    PROPERTY LIBRARY_OUTPUT_DIRECTORY
+)
+get_property(oculus_libraries TARGET oculus PROPERTY LIBRARY_OUTPUT_NAME)
+
+message("oculus_include_dirs: " ${oculus_include_dirs})
+message("oculus_library_dirs: " ${oculus_library_dirs})
+message("oculus_libraries: " ${oculus_libraries})
+
+# Configure config file for local build tree
+configure_file(
+    cmake/oculusConfig.cmake.in
+    "${PROJECT_BINARY_DIR}/oculusConfig.cmake"
+    @ONLY
+)
+
+message("PROJECT_BINARY_DIR: " ${PROJECT_BINARY_DIR})
+
+# # 2- installation build #
+
+# Change the include location for the case of an install location
+set(oculus_include_dirs ${CMAKE_INSTALL_PREFIX}/include ${EIGEN_INCLUDE_DIR})
+
+# We put the generated file for installation in a different repository (i.e., ./CMakeFiles/)
+configure_file(
+    cmake/oculusConfig.cmake.in
+    "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/oculusConfig.cmake"
+    @ONLY
+)
+
+install(
+    FILES "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/oculusConfig.cmake"
+    DESTINATION share/oculus/cmake
+    COMPONENT dev
+)
diff --git a/cmake/FindOculusSDK.cmake b/cmake/FindOculusSDK.cmake
deleted file mode 100644
index c05372e..0000000
--- a/cmake/FindOculusSDK.cmake
+++ /dev/null
@@ -1,22 +0,0 @@
-#  Copyright Olivier Parcollet 2010, Andrey Antipov 2013.
-#
-# This module looks for Blueprint Oculus SDK
-#
-# OCULUS_DIR can be provided as a hint.
-#
-# It sets up : OCULUS_SDK_ROOT
-#
-#
-
-find_package(PkgConfig)
-
-set(TRIAL_PATHS $ENV{OCULUS_DIR} ${OCULUS_DIR})
-
-find_path(
-    OCULUS_SDK_ROOT
-    Oculus/Oculus.h
-    HINTS ${TRIAL_PATHS}
-    DOC "Location OCULUS SDK"
-)
-
-find_package_handle_standard_args(OCULUS_SDK DEFAULT_MSG OCULUS_SDK_ROOT)
diff --git a/cmake/IncludeProject.cmake b/cmake/IncludeProject.cmake
new file mode 100644
index 0000000..66d13d2
--- /dev/null
+++ b/cmake/IncludeProject.cmake
@@ -0,0 +1,78 @@
+# This function is used to force a build on a dependant project at cmake
+# configuration phase.
+
+# FOLLOWING ARGUMENTS are the CMAKE_ARGS of ExternalProject_Add
+function(build_external_project target repository tag)
+    set(trigger_build_dir
+        ${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME}/force_${target}
+    )
+
+    # mktemp dir in build tree
+    file(MAKE_DIRECTORY ${trigger_build_dir} ${trigger_build_dir}/build)
+
+    # generate false dependency project
+    set(CMAKE_LIST_CONTENT
+        "
+  cmake_minimum_required(VERSION 2.8)
+
+  include(ExternalProject)
+  ExternalProject_add(${target}
+          PREFIX ${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME}
+          GIT_REPOSITORY ${repository}
+          GIT_TAG ${tag}
+          CMAKE_ARGS ${ARGN}
+          INSTALL_COMMAND \"\"
+          TIMEOUT 20)
+          add_custom_target(trigger_${target})
+          add_dependencies(trigger_${target} ${target})"
+    )
+
+    file(WRITE ${trigger_build_dir}/CMakeLists.txt "${CMAKE_LIST_CONTENT}")
+
+    execute_process(
+        COMMAND ${CMAKE_COMMAND} -DCMAKE_VERBOSE_MAKEFILE=ON ..
+        WORKING_DIRECTORY ${trigger_build_dir}/build
+    )
+    execute_process(
+        COMMAND ${CMAKE_COMMAND} --build .
+        WORKING_DIRECTORY ${trigger_build_dir}/build
+    )
+endfunction()
+
+function(build_external_project_nobuild target repository tag)
+    set(trigger_build_dir
+        ${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME}/force_${target}
+    )
+
+    # mktemp dir in build tree
+    file(MAKE_DIRECTORY ${trigger_build_dir} ${trigger_build_dir}/build)
+
+    # generate false dependency project
+    set(CMAKE_LIST_CONTENT
+        "
+  cmake_minimum_required(VERSION 2.8)
+
+  include(ExternalProject)
+  ExternalProject_add(${target}
+          PREFIX ${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME}
+          GIT_REPOSITORY ${repository}
+          GIT_TAG ${tag}
+          CMAKE_ARGS ${ARGN}
+          BUILD_COMMAND \"\"
+          INSTALL_COMMAND \"\"
+          TIMEOUT 20)
+          add_custom_target(trigger_${target})
+          add_dependencies(trigger_${target} ${target})"
+    )
+
+    file(WRITE ${trigger_build_dir}/CMakeLists.txt "${CMAKE_LIST_CONTENT}")
+
+    execute_process(
+        COMMAND ${CMAKE_COMMAND} -DCMAKE_VERBOSE_MAKEFILE=ON ..
+        WORKING_DIRECTORY ${trigger_build_dir}/build
+    )
+    execute_process(
+        COMMAND ${CMAKE_COMMAND} --build .
+        WORKING_DIRECTORY ${trigger_build_dir}/build
+    )
+endfunction()
diff --git a/cmake/oculusConfig.cmake.in b/cmake/oculusConfig.cmake.in
new file mode 100644
index 0000000..487afe9
--- /dev/null
+++ b/cmake/oculusConfig.cmake.in
@@ -0,0 +1,10 @@
+# - Config file for the oculus package
+# It defines the following variables
+#  oculus_INCLUDE_DIRS - include directories for oculus
+#  oculus_LIBRARY_DIRS - directories for oculus library
+
+# Compute paths
+get_filename_component(oculus_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+set(oculus_INCLUDE_DIRS "@oculus_include_dirs@")
+set(oculus_LIBRARY_DIRS "@oculus_library_dirs@")
+set(oculus_LIBRARIES "@oculus_libraries@")