diff --git a/CMakeLists.txt b/CMakeLists.txt
index a2a04a9d..94477349 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,9 +8,14 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftemplate-backtrace-limit=0")
 set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,-rpath='$ORIGIN'")
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
-
-find_package(Boost REQUIRED COMPONENTS python-py35 serialization system filesystem)
-find_package(PythonLibs 3.5 REQUIRED) # sets ${PYTHON_INCLUDE_DIRS}
+option(USE_PYTHON3 "Use python 3 to build libraries." ON)
+if (USE_PYTHON3)
+  find_package(Boost REQUIRED COMPONENTS python-py35 serialization system filesystem)
+  find_package(PythonLibs 3.5 REQUIRED) # sets ${PYTHON_INCLUDE_DIRS}
+else()
+  find_package(Boost REQUIRED COMPONENTS python serialization system filesystem)
+  find_package(PythonLibs 2.7 REQUIRED) # sets ${PYTHON_INCLUDE_DIRS}
+endif()
 find_package(Eigen3 QUIET)
 if(NOT EIGEN3_FOUND)
   find_package(PkgConfig REQUIRED)
@@ -65,7 +70,6 @@ foreach(SUBMODULE ${MODUELS})
      lanelet2_python/python_api/${SUBMODULE}.cpp  # binding codes
    )
    target_compile_definitions(${API_LIBRARY_NAME} PRIVATE -DPYTHON_API_MODULE_NAME=lib${API_LIBRARY_NAME})
-   #target_compile_options(${API_LIBRARY_NAME} PRIVATE -Wl,-rpath='$ORIGIN')
    target_link_libraries(${API_LIBRARY_NAME}
      ${Boost_LIBRARIES}
      ${PYTHON_LIBRARY}
diff --git a/README.md b/README.md
index 2884e2ee..e8ab5f3a 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,7 @@
 # lanelet2_standalone
 
 ## Overview
-This is a standalone lanelet2 **python3** package for the [Lanelet2](https://github.com/fzi-forschungszentrum-informatik/Lanelet2) library, which **does not** require the ROS and catkin.
+This is a standalone lanelet2 **python3/python2** package for the [Lanelet2](https://github.com/fzi-forschungszentrum-informatik/Lanelet2) library, which **does not** require the ROS and catkin.
 
 ## Installation
 pylanelet2 uses cmake and setuptools for building and packaging and is targeted towards Linux.
@@ -10,13 +10,13 @@ At least C++14 is required.
 
 ### Tested Configuration
 * `Ubuntu 16.04 LTS`
-* `python3.5`
+* `python2.7/python3.5`
 
 ### Dependencies
 * `Boost` (from 1.58, for lanelet2_io)
 * `eigen3`
 * `pugixml` (for lanelet2_io)
-* `boost-python/python3`
+* `boost-python2/python3`
 * `geographiclib` (for lanelet2_projection)
 
 For Ubuntu:
@@ -25,13 +25,22 @@ sudo apt-get install -y cmake libboost-all-dev libeigen3-dev libgeographic-dev l
 ```
 
 ### Installing
-In the repo root folder,
+* Building
+```bash
+git clone https://github.com/yuzhangbit/lanelet2_standalone.git
+cd lanelet2_standalone
+```
+* Install lanelet2 for system python3:
 ```shell
 sudo python3 setup.py install
 ```
-or
+* Or install lanelet2 for system python2:
 ```bash
-/path/to/your/python3 setup.py install
+sudo python setup.py install
+```
+* Or install lanelet2 for other python version:
+```
+/path/to/python setup.py install
 ```
 
 ## Usage
@@ -49,7 +58,7 @@ p.id = getId()
 ```
 
 **Note:   
-Importing submodules from the raw `liblanelet2_core_pyapi.so` library like below is not supported.**
+Importing submodules from the raw `liblanelet2_core_pyapi.so` library like below is not supported.**     
 If you do this,
 ```python
 from lanelet2.liblanelet2_core_pyapi import AttributeMap # not supported!!!
diff --git a/setup.py b/setup.py
index 9d8d1c94..91fc8369 100644
--- a/setup.py
+++ b/setup.py
@@ -1,4 +1,4 @@
-#! /usr/bin/env python3
+#! /usr/bin/env python
 from setuptools import setup, Extension
 from io import open
 import subprocess
@@ -25,12 +25,18 @@ def run(self):
     def build_extension(self, ext):
         extdir = os.path.abspath(
             os.path.dirname(self.get_ext_fullpath(ext.name)))
+        # python version
+        self.python_version = sys.version_info.major
         cmake_args = ['-DCMAKE_LIBRARY_OUTPUT_DIRECTORY=' + extdir,
                       '-DPYTHON_EXECUTABLE=' + sys.executable]
 
         cfg = 'Debug' if self.debug else 'Release'
         build_args = ['--config', cfg]
         cmake_args += ['-DCMAKE_BUILD_TYPE=' + cfg]
+        if self.python_version == 3:
+            cmake_args += ['-DUSE_PYTHON3=ON']
+        else:
+            cmake_args += ['-DUSE_PYTHON3=OFF']
         build_args += ['--', '-j4']
 
         env = os.environ.copy()
@@ -54,6 +60,7 @@ def build_extension(self, ext):
         'Intended Audience :: Developers',
         'Topic :: Software Development :: autonomous driving',
         'Programming Language :: Python :: 3.5',
+        'Programming Language :: Python :: 2.7',
       ],
       license='BSD 3-Clause',
       packages=['lanelet2'],