diff --git a/cmvr-es/devices/arm/aubo_arm/CMakeLists.txt b/cmvr-es/devices/arm/aubo_arm/CMakeLists.txt
index 0a98cfe5..d56d09cb 100644
--- a/cmvr-es/devices/arm/aubo_arm/CMakeLists.txt
+++ b/cmvr-es/devices/arm/aubo_arm/CMakeLists.txt
@@ -1,13 +1,61 @@
 add_library(aubo_arm SHARED
-        src/aubo_arm.cpp
+        aubo_arm.cpp
 )
 
 target_include_directories(aubo_arm PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
-set(AUBO_SDK_INCLUDE_DIR ${CMAKE_SOURCE_DIR}/third_party/AuboSdk/linux/include)
-set(AUBO_SDK_LIB_DIR ${CMAKE_SOURCE_DIR}/third_party/AuboSdk/linux/lib)
+set(AUBO_SDK_ROOT ${CMAKE_SOURCE_DIR}/dependency/${ARCH}/third_party/aubo_sdk/v0.27.1)
+set(AUBO_SDK_INCLUDE_DIR ${AUBO_SDK_ROOT}/include)
+set(AUBO_SDK_LIB_DIR ${AUBO_SDK_ROOT}/lib)
 
-if (EXISTS "${AUBO_SDK_INCLUDE_DIR}/aubo_sdk/rpc.h")
+if (EXISTS "${AUBO_SDK_LIB_DIR}/cmake/aubo_sdk/aubo_sdkConfig.cmake")
+    list(APPEND CMAKE_PREFIX_PATH "${AUBO_SDK_LIB_DIR}/cmake")
+    find_package(Qt5Core QUIET)
+    if (NOT Qt5Core_FOUND AND NOT TARGET Qt5::Core)
+        find_library(QT5_CORE_LIBRARY
+                NAMES Qt5Core libQt5Core.so.5
+                PATHS /lib /usr/lib /usr/local/lib /lib/x86_64-linux-gnu /usr/lib/x86_64-linux-gnu
+        )
+        if (QT5_CORE_LIBRARY)
+            add_library(Qt5::Core UNKNOWN IMPORTED)
+            set_target_properties(Qt5::Core PROPERTIES
+                    IMPORTED_LOCATION "${QT5_CORE_LIBRARY}"
+            )
+        endif()
+    endif()
+    find_package(aubo_sdk REQUIRED CONFIG PATHS "${AUBO_SDK_LIB_DIR}/cmake/aubo_sdk" NO_DEFAULT_PATH)
+
+    # The vendor directory contains an old private libstdc++. Keep it out of
+    # consumers' RUNPATH by staging only the AUBO runtime libraries.
+    set(AUBO_CLEAN_LIB_DIR "${CMAKE_CURRENT_BINARY_DIR}/aubo_sdk_runtime")
+    file(MAKE_DIRECTORY "${AUBO_CLEAN_LIB_DIR}")
+    foreach(AUBO_LIB
+            libaubo_sdk.so
+            libaubo_sdkd.so
+            librobot_proxy.so
+            librobot_proxyd.so)
+        file(COPY_FILE
+                "${AUBO_SDK_LIB_DIR}/${AUBO_LIB}"
+                "${AUBO_CLEAN_LIB_DIR}/${AUBO_LIB}"
+                ONLY_IF_DIFFERENT
+        )
+    endforeach()
+
+    set_target_properties(aubo_sdk::aubo_sdk aubo_sdk::robot_proxy PROPERTIES
+            MAP_IMPORTED_CONFIG_DEBUG Release
+    )
+    set_target_properties(aubo_sdk::aubo_sdk PROPERTIES
+            IMPORTED_LOCATION_RELEASE "${AUBO_CLEAN_LIB_DIR}/libaubo_sdk.so"
+            IMPORTED_LOCATION_DEBUG "${AUBO_CLEAN_LIB_DIR}/libaubo_sdkd.so"
+    )
+    set_target_properties(aubo_sdk::robot_proxy PROPERTIES
+            IMPORTED_LOCATION_RELEASE "${AUBO_CLEAN_LIB_DIR}/librobot_proxy.so"
+            IMPORTED_LOCATION_DEBUG "${AUBO_CLEAN_LIB_DIR}/librobot_proxyd.so"
+    )
+    target_compile_definitions(aubo_arm PRIVATE CMVR_HAS_AUBO_SDK)
+    target_include_directories(aubo_arm PRIVATE ${AUBO_SDK_INCLUDE_DIR})
+    target_link_libraries(aubo_arm PRIVATE aubo_sdk::aubo_sdk)
+elseif (EXISTS "${AUBO_SDK_INCLUDE_DIR}/aubo_sdk/rpc.h")
     target_compile_definitions(aubo_arm PRIVATE CMVR_HAS_AUBO_SDK)
     target_include_directories(aubo_arm PRIVATE ${AUBO_SDK_INCLUDE_DIR})
     if (EXISTS "${AUBO_SDK_LIB_DIR}")