diff --git a/CMakeLists.txt b/CMakeLists.txt
index be3040b..3176847 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,17 +5,39 @@ if(NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()
 
-ADD_COMPILE_OPTIONS(-std=c++14)
-ADD_COMPILE_OPTIONS(-std=c++14)
-set(CMAKE_CXX_FLAGS "-std=c++14 -O3")
+# Ensure the bundled ikd-Tree submodule (include/ikd-Tree/ikd_Tree.cpp) is present.
+# Auto-initialize it when building from a git checkout; otherwise fail with guidance.
+if(NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/include/ikd-Tree/ikd_Tree.cpp")
+  find_package(Git QUIET)
+  if(GIT_FOUND AND EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/.git")
+    message(STATUS "fast_lio: initializing git submodule include/ikd-Tree")
+    execute_process(
+      COMMAND ${GIT_EXECUTABLE} submodule update --init --recursive
+      WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+      RESULT_VARIABLE GIT_SUBMOD_RESULT)
+    if(NOT GIT_SUBMOD_RESULT EQUAL "0")
+      message(FATAL_ERROR
+        "git submodule update --init failed with ${GIT_SUBMOD_RESULT}. "
+        "Run it manually in ${CMAKE_CURRENT_SOURCE_DIR}.")
+    endif()
+  endif()
+  if(NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/include/ikd-Tree/ikd_Tree.cpp")
+    message(FATAL_ERROR
+      "include/ikd-Tree/ikd_Tree.cpp is missing and could not be fetched automatically "
+      "(no git checkout available). Run: git submodule update --init --recursive")
+  endif()
+endif()
+
+ADD_COMPILE_OPTIONS(-std=c++17)
+set(CMAKE_CXX_FLAGS "-std=c++17 -O3")
 
 add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")
 
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions")
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -std=c++0x -std=c++14 -fexceptions")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -pthread -fexceptions")
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 message("Current CPU archtecture: ${CMAKE_SYSTEM_PROCESSOR}")