diff --git a/.github/workflows/ubuntu20_04.yml b/.github/workflows/ubuntu20_04.yml
index df2bb4e..41147f8 100644
--- a/.github/workflows/ubuntu20_04.yml
+++ b/.github/workflows/ubuntu20_04.yml
@@ -15,8 +15,9 @@ jobs:
       matrix:
         rosdistro: ['noetic']
         gcc: ['8', '9', '10']
+        submodule: ['exclude', 'BMI08x-Sensor-API', 'BMP3-Sensor-API', 'all']
     container: ros:${{ matrix.rosdistro }}-ros-base-focal
-    name: ROS ${{ matrix.rosdistro }} - GCC ${{ matrix.gcc }}
+    name: GCC ${{ matrix.gcc }} - Submodule ${{ matrix.submodule }} - ROS ${{ matrix.rosdistro }}
     steps:
     - uses: actions/checkout@v4
       name: Checkout lpp
@@ -45,8 +46,20 @@ jobs:
         token: ${{ secrets.PAT }}
         path: catkin_ws/src/mav_sensors
 
+    - name: Exclude submodules
+      if: matrix.submodule == 'exclude'
+      run: rm -rf mav_sensors_drivers/lib/*
+      shell: bash
+      working-directory: catkin_ws/src/mav_sensors
+
+    - name: Exclude submodules except ${{ matrix.submodule }}
+      if: matrix.submodule != 'exclude' && matrix.submodule != 'all'
+      run: find . -mindepth 1 -type d ! -name ${{ matrix.submodule }} -exec rm -rf {} +
+      working-directory: catkin_ws/src/mav_sensors/mav_sensors_drivers/lib
+      shell: bash
+
     - name: Build mav_sensors
-      run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && catkin build mav_sensors_demo && source ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash
+      run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && catkin build -v mav_sensors_demo --no-status && source ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash
       shell: bash
       working-directory: catkin_ws
 
diff --git a/mav_sensors_demo/CMakeLists.txt b/mav_sensors_demo/CMakeLists.txt
index 0667cab..809c42f 100644
--- a/mav_sensors_demo/CMakeLists.txt
+++ b/mav_sensors_demo/CMakeLists.txt
@@ -29,8 +29,12 @@ include_directories(
 add_executable(${PROJECT_NAME}_xwr18xx_mmw_demo src/xwr18xx_mmw_demo_node.cpp)
 target_link_libraries(${PROJECT_NAME}_xwr18xx_mmw_demo ${catkin_LIBRARIES})
 
+if (MAV_SENSORS_BMI08X_SUPPORT)
 add_executable(${PROJECT_NAME}_bmi088_demo src/bmi088_demo.cpp)
 target_link_libraries(${PROJECT_NAME}_bmi088_demo ${catkin_LIBRARIES})
+endif ()
 
+if (MAV_SENSORS_BMP3_SUPPORT)
 add_executable(${PROJECT_NAME}_bmp390_demo src/bmp390_demo.cpp)
-target_link_libraries(${PROJECT_NAME}_bmp390_demo ${catkin_LIBRARIES})
\ No newline at end of file
+target_link_libraries(${PROJECT_NAME}_bmp390_demo ${catkin_LIBRARIES})
+endif ()
\ No newline at end of file
diff --git a/mav_sensors_drivers/CMakeLists.txt b/mav_sensors_drivers/CMakeLists.txt
index d7f7f23..dc0c170 100644
--- a/mav_sensors_drivers/CMakeLists.txt
+++ b/mav_sensors_drivers/CMakeLists.txt
@@ -3,12 +3,10 @@ project(mav_sensors_drivers)
 
 add_compile_options(-std=c++17)
 
-find_package(catkin REQUIRED roscpp lpp mav_sensors_core)
-
-catkin_package(
-  INCLUDE_DIRS include lib/BMP3-Sensor-API lib/BMI08x-Sensor-API
-  LIBRARIES ${PROJECT_NAME} ${PROJECT_NAME}_BMP3 ${PROJECT_NAME}_BMI08x
-  CATKIN_DEPENDS roscpp lpp mav_sensors_core
+find_package(catkin REQUIRED COMPONENTS
+        roscpp
+        lpp
+        mav_sensors_core
 )
 
 add_compile_definitions(MODE_LPP)
@@ -17,28 +15,57 @@ add_compile_definitions(MODE_LPP)
 ## Build ##
 ###########
 
+if (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/lib/BMP3-Sensor-API/)
+    set(MAV_SENSORS_BMP3_SUPPORT ON)
+    set(MAV_SENSORS_OPTIONAL_SRC_FILES ${MAV_SENSORS_OPTIONAL_SRC_FILES} src/barometer/bmp390.cpp)
+    set(MAV_SENSORS_OPTIONAL_INCLUDE_DIRS ${MAV_SENSORS_OPTIONAL_INCLUDE_DIRS} lib/BMP3-Sensor-API)
+    set(MAV_SENSORS_OPTIONAL_LIBRARIES ${MAV_SENSORS_OPTIONAL_LIBRARIES} ${PROJECT_NAME}_BMP3)
+    message(STATUS "Found BMP3-Sensor-API")
+else()
+    message(WARNING "BMP3-Sensor-API not found. BMP3 sensor will not be supported.")
+endif()
+
+if (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/lib/BMI08x-Sensor-API/)
+    set(MAV_SENSORS_BMI08X_SUPPORT ON)
+    set(MAV_SENSORS_OPTIONAL_SRC_FILES ${MAV_SENSORS_OPTIONAL_SRC_FILES} src/imu/bmi088.cpp)
+    set(MAV_SENSORS_OPTIONAL_INCLUDE_DIRS ${MAV_SENSORS_OPTIONAL_INCLUDE_DIRS} lib/BMI08x-Sensor-API)
+    set(MAV_SENSORS_OPTIONAL_LIBRARIES ${MAV_SENSORS_OPTIONAL_LIBRARIES} ${PROJECT_NAME}_BMI08x)
+    message(STATUS "Found BMI08x-Sensor-API")
+else()
+    message(WARNING "BMI08x-Sensor-API not found. BMI08x sensor will not be supported.")
+endif()
+
+catkin_package(
+        INCLUDE_DIRS include ${MAV_SENSORS_OPTIONAL_INCLUDE_DIRS}
+        LIBRARIES ${PROJECT_NAME} ${MAV_SENSORS_OPTIONAL_LIBRARIES}
+        CATKIN_DEPENDS roscpp lpp mav_sensors_core
+)
+
 include_directories(
- include 
- lib/BMP3-Sensor-API
- lib/BMI08x-Sensor-API
+ include
+ ${MAV_SENSORS_OPTIONAL_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
 )
 
 add_library(${PROJECT_NAME}
         src/imu/adis16448.cpp
-        src/barometer/bmp390.cpp
-        src/imu/bmi088.cpp
-        src/radar/xwr18xx_mmw_demo.cpp)
+        src/radar/xwr18xx_mmw_demo.cpp
+        ${MAV_SENSORS_OPTIONAL_SRC_FILES})
 
+if (MAV_SENSORS_BMP3_SUPPORT)
 add_library(${PROJECT_NAME}_BMP3
         lib/BMP3-Sensor-API/bmp3.c)
+set(MAV_SENSOR_LIBRARIES ${MAV_SENSOR_LIBRARIES} ${PROJECT_NAME}_BMP3)
+endif()
 
+if (MAV_SENSORS_BMI08X_SUPPORT)
 add_library(${PROJECT_NAME}_BMI08x
         lib/BMI08x-Sensor-API/bmi08a.c
         lib/BMI08x-Sensor-API/bmi08g.c
         lib/BMI08x-Sensor-API/bmi08xa.c)
+endif()
 
-target_link_libraries(${PROJECT_NAME} PUBLIC ${PROJECT_NAME}_BMP3 ${catkin_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} PUBLIC ${MAV_SENSOR_LIBRARIES} ${catkin_LIBRARIES})
 
 install(TARGETS ${PROJECT_NAME}
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}