diff --git a/.gitignore b/.gitignore
index 90eb763..0fc4777 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,3 +2,4 @@
 /build
 /cmake-build*
 .idea
+build
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 518436d..0412f01 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -65,4 +65,4 @@ link_directories(lib)
 # ----------------------add executable----------------------
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
 add_executable(z1_ctrl main.cpp)
-target_link_libraries(z1_ctrl libZ1_${COMMUNICATION}_Linux64.so ${catkin_LIBRARIES} )
+target_link_libraries(z1_ctrl libZ1_${COMMUNICATION}_${CMAKE_HOST_SYSTEM_PROCESSOR}.so ${catkin_LIBRARIES} )
diff --git a/lib/libZ1_ROS_Linux64.so b/lib/libZ1_ROS_Linux64.so
deleted file mode 100755
index 064101c..0000000
Binary files a/lib/libZ1_ROS_Linux64.so and /dev/null differ
diff --git a/lib/libZ1_ROS_x86_64.so b/lib/libZ1_ROS_x86_64.so
new file mode 100755
index 0000000..5c49480
Binary files /dev/null and b/lib/libZ1_ROS_x86_64.so differ
diff --git a/lib/libZ1_UDP_aarch64.so b/lib/libZ1_UDP_aarch64.so
new file mode 100644
index 0000000..599ef17
Binary files /dev/null and b/lib/libZ1_UDP_aarch64.so differ
diff --git a/lib/libZ1_UDP_Linux64.so b/lib/libZ1_UDP_x86_64.so
similarity index 55%
rename from lib/libZ1_UDP_Linux64.so
rename to lib/libZ1_UDP_x86_64.so
index e8acd0c..e06d4a0 100755
Binary files a/lib/libZ1_UDP_Linux64.so and b/lib/libZ1_UDP_x86_64.so differ