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diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0fedcd42..8b28fdcc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -63,7 +63,18 @@ if (BUILD_SDF)
# 2. if USE_INTERNAL_URDF is set to True, use the internal copy
# 3. if USE_INTERNAL_URDF is set to False, force to search system installation, fail on error
if (NOT DEFINED USE_INTERNAL_URDF OR NOT USE_INTERNAL_URDF)
- gz_find_package(GzURDFDOM VERSION 1.0 QUIET)
+ find_package(urdfdom CONFIG REQUIRED)
+ add_library(GzURDFDOM::GzURDFDOM INTERFACE IMPORTED)
+ target_link_libraries(GzURDFDOM::GzURDFDOM
+ INTERFACE
+ urdfdom::urdfdom_model
+ urdfdom::urdfdom_world
+ urdfdom::urdfdom_sensor
+ urdfdom::urdfdom_model_state
+ )
+ include(FindPackageHandleStandardArgs)
+ find_package_handle_standard_args(GzURDFDOM DEFAULT_MSG)
+
if (NOT GzURDFDOM_FOUND)
if (NOT DEFINED USE_INTERNAL_URDF)
# fallback to internal urdf
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