diff --git a/src/px4_connection/CMakeLists.txt b/src/px4_connection/CMakeLists.txt
index df58848f..c9cf9937 100644
--- a/src/px4_connection/CMakeLists.txt
+++ b/src/px4_connection/CMakeLists.txt
@@ -3,16 +3,16 @@ project(px4_connection)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
+    set(CMAKE_C_STANDARD 99)
 endif()
 
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+    set(CMAKE_CXX_STANDARD 14)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+    add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 # find dependencies
@@ -23,41 +23,46 @@ find_package(px4_msgs REQUIRED)
 
 add_executable(heartbeat src/heartbeat.cpp)
 ament_target_dependencies(
-  heartbeat
-  rclcpp
-  px4_ros_com
-  px4_msgs
+    heartbeat
+    rclcpp
+    px4_ros_com
+    px4_msgs
 )
 
 add_executable(px4_controller src/px4_controller.cpp)
 ament_target_dependencies(
-  px4_controller
-  rclcpp
-  px4_ros_com
-  px4_msgs
+    px4_controller
+    rclcpp
+    px4_ros_com
+    px4_msgs
 )
 
 target_include_directories(heartbeat PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>)
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>)
 
 target_include_directories(px4_controller PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>)
-
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>)
 
 install(TARGETS heartbeat px4_controller
-  DESTINATION lib/${PROJECT_NAME})
+    DESTINATION lib/${PROJECT_NAME})
+
+install(
+    DIRECTORY launch
+    DESTINATION share/${PROJECT_NAME}
+)
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # uncomment the line when a copyright and license is not present in all source files
-  #set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # uncomment the line when this package is not in a git repo
-  #set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
+    find_package(ament_lint_auto REQUIRED)
+
+    # the following line skips the linter which checks for copyrights
+    # uncomment the line when a copyright and license is not present in all source files
+    # set(ament_cmake_copyright_FOUND TRUE)
+    # the following line skips cpplint (only works in a git repo)
+    # uncomment the line when this package is not in a git repo
+    # set(ament_cmake_cpplint_FOUND TRUE)
+    ament_lint_auto_find_test_dependencies()
 endif()
 
 ament_package()