diff --git a/README.en.md b/README.en.md
index 51e3edf316e468562431f124d9382c03b772b505..35952d5dd1b7bc89d9a12de8758da6ba9f327111 100644
--- a/README.en.md
+++ b/README.en.md
@@ -12,7 +12,7 @@ representations for kinematic structures and their inverse and forward kinematic
 #### Installation
 
 1.  Dowload RPM
-wget http://121.36.3.168:82/home:/davidhan:/branches:/openEuler:/20.09/standard_aarch64/aarch64//orocos_kdl-1.4.0-0.oe1.aarch64.rpm 
+wget http://121.36.3.168:82/home:/davidhan:/branches:/openEuler:/20.03:/LTS/standard_aarch64/aarch64//orocos_kdl-1.4.0-0.oe1.aarch64.rpm 
 
 2.  Install RPM
 
diff --git a/README.md b/README.md
index 8be118de749bdab50c25105bfb6c89ede2cfbfd0..2e8b81f4f01bcd65bf6615fae393c361fba80f4d 100644
--- a/README.md
+++ b/README.md
@@ -14,7 +14,7 @@ Orocos项目提供实时可用的运动学和动力学代码，它包含刚体
 
 1. 下载rpm包
 
-wget http://121.36.3.168:82/home:/davidhan:/branches:/openEuler:/20.09/standard_aarch64/aarch64/orocos_kdl-1.4.0-0.oe1.aarch64.rpm
+wget http://121.36.3.168:82/home:/davidhan:/branches:/openEuler:/20.03:/LTS/standard_aarch64/aarch64/orocos_kdl-1.4.0-0.oe1.aarch64.rpm
 
 2. 安装rpm包
 
diff --git a/orocos_kdl.spec b/orocos_kdl.spec
index 4804c7c6b1caf034d0e4d394a09d24dd11cf0c23..0a01e2e6ca50a3877ce202d76fa97b38cd7de81c 100644
--- a/orocos_kdl.spec
+++ b/orocos_kdl.spec
@@ -1,8 +1,8 @@
 Name:		orocos_kdl
 Version:	1.4.0
-Release:	0
+Release:	1
 Summary:	This is orocos_kdl Package
-License:	GPL
+License:	Public Domain and Apache-2.0 and BSD and MIT and BSL-1.0 and LGPL-2.1-only and MPL-2.0 and GPL-3.0-only and GPL-2.0-or-later and MPL-1.1 and IJG and Zlib and OFL-1.1
 URL:		https://github.com/ros-gbp/orocos_kdl-release/archive/release/melodic/orocos_kdl
 Source0:	https://github.com/ros-gbp/orocos_kdl-release/archive/release/melodic/orocos_kdl/1.4.0.tar.gz
 BuildRequires:	gcc-c++
@@ -11,22 +11,7 @@ BuildRequires:	lz4-devel
 BuildRequires:	bzip2-devel
 BuildRequires:	python-devel
 BuildRequires:	python-setuptools
-#Requires:  python-empy
-#BuildRequires:	openssl-devel
-#BuildRequires:	curl-devel
-#BuildRequires:	curl
-#BuildRequires:	gcc-gfortran
-#BuildRequires:	openblas-devel
-#BuildRequires:	sqlite-devel
-#BuildRequires:	fftw-devel
 BuildRequires:	boost-devel
-#BuildRequires:	uuid-devel
-#BuildRequires:	uuid
-#BuildRequires:	libuuid-devel
-#BuildRequires:	uuid-devel
-#BuildRequires:	python3-devel
-#BuildRequires:	boost-python3-devel
-
 BuildRequires:  gmock-devel
 BuildRequires:  suitesparse-devel
 BuildRequires:  lua-devel
@@ -43,7 +28,6 @@ BuildRequires:  assimp-devel
 BuildRequires:  qt5-qtdeclarative-devel
 BuildRequires:  yaml-cpp-devel
 BuildRequires:  libatomic
-#BuildRequires:  python2-qt5-devel
 BuildRequires:  lz4-devel
 BuildRequires:  sphinx
 
@@ -53,8 +37,8 @@ This is orocos_kdl Package.
 %prep
 %setup
 
-
 %install
+
 cd 3rdparty/ 
 
 cd empy-3.3.4/
@@ -85,6 +69,7 @@ cd catkin_pkg-0.4.22/
 python setup.py install --user
 cd ..
 
+#for std_msgs
 cd PyYAML-5.3.1/
 python setup.py install --user
 cd ..
@@ -105,22 +90,41 @@ make install
 cd ..
 cd ..
 
-cd ..
 
-./src/catkin/bin/catkin_make_isolated --install
 
+# 3rdparty
+cd ..
+
+#compile
+./src/catkin/bin/catkin_make_isolated --install 
+
+####
+# 对install_isoloate内部的变量名称进行替换
+#
+####
+SRC_PATH=$PWD/install_isolated
+DST_PATH=/opt/ros/melodic
+sed -i "s:${SRC_PATH}:${DST_PATH}:g"  `grep -rIln "${SRC_PATH}" install_isolated/*`
+
+####
+# 添加.catkin和.rosinstall文件
+#
+####
 mkdir -p %{buildroot}/opt/ros/melodic/
 mkdir -p %{buildroot}/usr/local/
 cp -r install_isolated/* %{buildroot}/opt/ros/melodic/
+cp  install_isolated/.rosinstall %{buildroot}/opt/ros/melodic/
+cp  install_isolated/.catkin %{buildroot}/opt/ros/melodic/
 cp -r 3rdparty/install/* %{buildroot}/usr/local/
 
 %files
 %defattr(-,root,root)
 /opt/ros/melodic/*
+/opt/ros/melodic/.rosinstall
+/opt/ros/melodic/.catkin
 /usr/local/*
 
 
 %changelog
 * Thu 12-15-2020 openEuler Buildteam <hanhaomin008@126.com>
 - Package init
-
diff --git a/orocos_kdl.yaml b/orocos_kdl.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f0582a1d960378e35efc0a82e3509711780f5956
--- /dev/null
+++ b/orocos_kdl.yaml
@@ -0,0 +1,5 @@
+---
+version_control: git
+src_repo: https://github.com/ros/orocos_kdl.git 
+tag_prefix: 1.4.0
+separator: "."