diff --git a/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt b/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt
index 041ef0d..dd57d47 100644
--- a/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt
+++ b/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt
@@ -23,16 +23,15 @@ find_package(pcl_conversions REQUIRED)
 find_package(PCL REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(sensor_msgs REQUIRED)
+find_package(unitree_lidar_sdk REQUIRED)
 
 include_directories(
   ${PCL_INCLUDE_DIRS} 
   include
-  ../../../unitree_lidar_sdk/include
 )
 
 link_directories(
   ${PCL_LIBRARY_DIRS}
-  ../../../unitree_lidar_sdk/lib/${CMAKE_SYSTEM_PROCESSOR}
 )
 
 add_definitions(${PCL_DEFINITIONS})
@@ -42,7 +41,6 @@ add_executable(unitree_lidar_ros2_node src/unitree_lidar_ros2_node.cpp)
 target_link_libraries( unitree_lidar_ros2_node
   ${Boost_SYSTEM_LIBRARY}
   ${PCL_LIBRARIES}
-  libunilidar_sdk2.a
 )
 
 ament_target_dependencies(
@@ -52,6 +50,7 @@ ament_target_dependencies(
   geometry_msgs 
   tf2_ros
   pcl_conversions
+  unitree_lidar_sdk
 )
 
 install(TARGETS
diff --git a/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml b/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml
index 74539aa..b5febb2 100644
--- a/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml
+++ b/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml
@@ -21,6 +21,7 @@
 
   <depend>geometry_msgs</depend>
   <depend>tf2_ros</depend>
+  <depend>unitree_lidar_sdk</depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/unitree_lidar_sdk/CMakeLists.txt b/unitree_lidar_sdk/CMakeLists.txt
index 80af9c9..0d9a334 100644
--- a/unitree_lidar_sdk/CMakeLists.txt
+++ b/unitree_lidar_sdk/CMakeLists.txt
@@ -1,39 +1,14 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 3.5)
 project(unitree_lidar_sdk)
 
-set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-std=c++17")
-set(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g2 -ggdb")
-set(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall -DNDEBUG") 
+find_package(ament_cmake REQUIRED)
 
-include_directories(include)
+# Install the SDK headers and the architecture-specific prebuilt static library.
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
+install(FILES lib/${CMAKE_SYSTEM_PROCESSOR}/libunilidar_sdk2.a DESTINATION lib)
 
-link_directories(lib/${CMAKE_SYSTEM_PROCESSOR})
+# Export them so ament packages can consume the SDK via find_package().
+ament_export_include_directories(include/${PROJECT_NAME})
+ament_export_libraries(unilidar_sdk2)
 
-SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR})
-
-add_executable(example_lidar_udp
-  examples/example_lidar_udp.cpp
-)
-target_link_libraries(example_lidar_udp  libunilidar_sdk2.a )
-
-add_executable(example_lidar_serial
-    examples/example_lidar_serial.cpp
-)
-target_link_libraries(example_lidar_serial  libunilidar_sdk2.a  )
-
-add_executable(set_ip_address
-    examples/set_ip_address.cpp
-)
-target_link_libraries(set_ip_address  libunilidar_sdk2.a )
-
-add_executable(set_to_serial_mode
-    examples/set_to_serial_mode.cpp
-)
-target_link_libraries(set_to_serial_mode  libunilidar_sdk2.a )
-
-add_executable(set_to_udp_mode
-    examples/set_to_udp_mode.cpp
-)
-target_link_libraries(set_to_udp_mode  libunilidar_sdk2.a )
\ No newline at end of file
+ament_package()
\ No newline at end of file