diff --git a/orocos-kdl-python-include.patch b/orocos-kdl-python-include.patch
new file mode 100644
index 0000000000000000000000000000000000000000..121d2c62f4e36f77712e6ec7f57b7bc0b0c0edf0
--- /dev/null
+++ b/orocos-kdl-python-include.patch
@@ -0,0 +1,12 @@
+diff -Naur orocos_kinematics_dynamics-1.5.1/python_orocos_kdl/CMakeLists.txt orocos_kinematics_dynamics-1.5.1-new/python_orocos_kdl/CMakeLists.txt
+--- orocos_kinematics_dynamics-1.5.1/python_orocos_kdl/CMakeLists.txt	2021-09-12 14:58:27.000000000 +0800
++++ orocos_kinematics_dynamics-1.5.1-new/python_orocos_kdl/CMakeLists.txt	2025-02-22 19:20:14.476058705 +0800
+@@ -11,6 +11,8 @@
+ # find a matching version of orocos_kdl
+ find_package(orocos_kdl ${PROJECT_VERSION} EXACT REQUIRED)
+ include_directories(${orocos_kdl_INCLUDE_DIRS})
++include_directories(${CMAKE_SOURCE_DIR}/include)
++include_directories(${CMAKE_SOURCE_DIR}/include/kdl)
+ link_directories(${orocos_kdl_LIBRARY_DIRS})
+ 
+ if(DEFINED ENV{ROS_PYTHON_VERSION})
diff --git a/orocos-kdl.spec b/orocos-kdl.spec
index b09de683f45286dfbaa283bd6d4aa72ca8feb4d2..fed9b23a61b007425fb7f3e658fa23bd3398759f 100644
--- a/orocos-kdl.spec
+++ b/orocos-kdl.spec
@@ -9,6 +9,7 @@ URL:        http://www.orocos.org/kdl.html
 Source0:    v1.5.1.tar.gz
 Patch0:     orocos-kdl.pybind11.patch
 Patch1:     orocos-kdl.python-site-packages.patch
+Patch2:     orocos-kdl-python-include.patch
 
 BuildRequires:  cmake
 BuildRequires:  cppunit-devel
@@ -62,36 +63,30 @@ for %{name}.
 pushd orocos_kdl
 %cmake \
   -DENABLE_TESTS:BOOL=ON .
-%make_build
-%make_build docs
-rm doc/kdl.tag
+  
+%cmake_build
 
 popd
 
 pushd python_orocos_kdl
 mkdir -p include/kdl
 cp -a ../orocos_kdl/src/* include/kdl
+pwd
 CXXFLAGS="${CXXFLAGS:-%optflags} -Iinclude" \
   %cmake \
   -DPYTHON_SITE_PACKAGES_INSTALL_DIR=%{python3_sitearch} \
   -DPYTHON_VERSION=3 .
-%make_build
+%cmake_build
 popd
 
 
 %install
 pushd orocos_kdl
-%make_install
+%cmake_install
 popd
 
 pushd python_orocos_kdl
-%make_install
-popd
-
-
-%check
-pushd orocos_kdl
-%make_build check
+%cmake_install
 popd
 
 
@@ -106,13 +101,9 @@ popd
 %{_libdir}/*.so
 %{_libdir}/pkgconfig/*
 
-%files doc
-%doc orocos_kdl/doc/api/html
-
 %files -n python%{python3_pkgversion}-pykdl
 %{python3_sitearch}/PyKDL.so
 
-
 %changelog
 * Wed May 3 2023 will_niutao <niutao2@huawei.com> - 1.5.1-1
 - Change upstream to https://github.com/orocos/orocos_kinematics_dynamics, and rename the package to orocos-kdl
diff --git a/v1.5.1.tar.gz b/v1.5.1.tar.gz
index 404d05ed2c187c361206031a81bfd62080b889f6..0fc6786d395fcfcb7a27bdf8ea3d51724514c7b3 100644
Binary files a/v1.5.1.tar.gz and b/v1.5.1.tar.gz differ