diff --git a/unitree_legged_real/CMakeLists.txt b/unitree_legged_real/CMakeLists.txt
index 43dee3c..c666b75 100755
--- a/unitree_legged_real/CMakeLists.txt
+++ b/unitree_legged_real/CMakeLists.txt
@@ -19,12 +19,14 @@ include_directories(
 
 set(CMAKE_CXX_FLAGS "-O3")
 
-include_directories(/home/$ENV{USER}/Robot_SDK/unitree_legged_sdk/include)
-link_directories(/home/$ENV{USER}/Robot_SDK/unitree_legged_sdk/lib)
+set(ROBOT_SDK ${CATKIN_DEVEL_PREFIX}/../../../src CACHE PATH "Location of unitree_legged_sdk directory")
+message("-- ROBOT_SDK ${ROBOT_SDK}")
+include_directories(${ROBOT_SDK}/unitree_legged_sdk/include)
+link_directories(${ROBOT_SDK}/unitree_legged_sdk/lib)
 string(CONCAT LEGGED_SDK_NAME libunitree_legged_sdk_amd64.so)
 set(EXTRA_LIBS ${LEGGED_SDK_NAME} lcm)
 
-add_executable(lcm_server /home/$ENV{USER}/Robot_SDK/unitree_legged_sdk/examples/lcm_server.cpp)
+add_executable(lcm_server ${ROBOT_SDK}/unitree_legged_sdk/examples/lcm_server.cpp)
 target_link_libraries(lcm_server ${EXTRA_LIBS} ${catkin_LIBRARIES})
 add_dependencies(lcm_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
@@ -42,4 +44,4 @@ add_dependencies(torque_lcm ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTE
 
 add_executable(walk_lcm src/exe/walk_mode.cpp)
 target_link_libraries(walk_lcm ${EXTRA_LIBS} ${catkin_LIBRARIES})
-add_dependencies(walk_lcm ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
\ No newline at end of file
+add_dependencies(walk_lcm ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})