diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5b9c2c6..3600565 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,3 +29,19 @@ add_dependencies(${PROJECT_NAME}
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
   ${catkin_EXPORTED_TARGETS}
 )
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
+catkin_install_python(PROGRAMS script/add_rule
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+install(FILES script/99-imu-3dm-gx4.rules script/README.md
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
diff --git a/script/99-imu-3dm-gx4.rules b/script/99-imu-3dm-gx4.rules
new file mode 100755
index 0000000..ce27589
--- /dev/null
+++ b/script/99-imu-3dm-gx4.rules
@@ -0,0 +1 @@
+SUBSYSTEMS=="usb", ATTRS{manufacturer}=="Lord Microstrain",ATTRS{product}=="Lord Inertial Sensor", MODE="0777", GROUP="imu", SYMLINK+="lord_imu"
diff --git a/script/add_rule b/script/add_rule
index b15da6a..a0386cd 100755
--- a/script/add_rule
+++ b/script/add_rule
@@ -1,23 +1,17 @@
 #!/bin/bash
 
-
-if [[ $UID != 0 ]]; then
-	echo "Please start the script as root or sudo!"
-	exit 1
-fi
-
-read -p "This will add $SUDO_USER to group imu are you sure? y/n: " -n 1 -r
+read -p "This will add $USER to group imu are you sure? y/n: " -n 1 -r
 echo #newline
 if [[ $REPLY =~ ^[Yy]$ ]]
 then
 	# add group and user
-	groupadd imu
-	adduser $SUDO_USER imu
+	sudo groupadd imu
+	sudo adduser $USER imu
 
 	# addudev rule
 	DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" # get directory where this script is stored
-	cp $DIR/imu_3dm_gx4.rules /etc/udev/rules.d/
+	sudo cp $DIR/99-imu-3dm-gx4.rules /etc/udev/rules.d/
 
 	#reload udev
-	udevadm control --reload-rules
+	sudo udevadm control --reload-rules
 fi
diff --git a/script/imu_3dm_gx4.rules b/script/imu_3dm_gx4.rules
deleted file mode 100644
index 4daf61c..0000000
--- a/script/imu_3dm_gx4.rules
+++ /dev/null
@@ -1 +0,0 @@
-SUBSYSTEMS=="usb", ATTRS{manufacturer}=="Lord Microstrain",ATTRS{product}=="Lord Inertial Sensor", MODE="0777", GROUP="imu"
diff --git a/src/imu_3dm_gx4.cpp b/src/imu_3dm_gx4.cpp
index bc99f04..19a0fcc 100644
--- a/src/imu_3dm_gx4.cpp
+++ b/src/imu_3dm_gx4.cpp
@@ -164,7 +164,7 @@ int main(int argc, char **argv) {
   bool verbose;
   
   //  load parameters from launch file
-  nh.param<std::string>("device", device, "/dev/ttyACM0");
+  nh.param<std::string>("device", device, "/dev/lord_imu");
   nh.param<int>("baudrate", baudrate, 115200);
   nh.param<std::string>("frame_id", frameId, std::string("imu"));
   nh.param<int>("imu_rate", requestedImuRate, 100);