diff --git a/orbbec_camera/CMakeLists.txt b/orbbec_camera/CMakeLists.txt
index bea1c898..080d028a 100644
--- a/orbbec_camera/CMakeLists.txt
+++ b/orbbec_camera/CMakeLists.txt
@@ -14,50 +14,83 @@ if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif ()
 
 # find dependencies
-find_package(ament_cmake REQUIRED)
-find_package(ament_index_cpp REQUIRED)
-find_package(Eigen3 REQUIRED)
-find_package(builtin_interfaces REQUIRED)
-find_package(cv_bridge REQUIRED)
-find_package(camera_info_manager REQUIRED)
-find_package(image_transport REQUIRED)
-find_package(image_publisher REQUIRED)
-find_package(OpenCV REQUIRED)
-find_package(orbbec_camera_msgs REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_components REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(std_srvs REQUIRED)
-find_package(tf2 REQUIRED)
-find_package(tf2_eigen REQUIRED)
-find_package(tf2_msgs REQUIRED)
-find_package(tf2_ros REQUIRED)
-find_package(tf2_sensor_msgs REQUIRED)
-find_package(Threads REQUIRED)
+set(dependencies
+  ament_cmake
+  ament_index_cpp
+  Eigen3
+  builtin_interfaces
+  cv_bridge
+  camera_info_manager
+  image_transport
+  image_publisher
+  OpenCV
+  orbbec_camera_msgs
+  rclcpp
+  rclcpp_components
+  sensor_msgs
+  std_msgs
+  std_srvs
+  tf2
+  tf2_eigen
+  tf2_msgs
+  tf2_ros
+  tf2_sensor_msgs
+  Threads
+)
+
+foreach (dep IN LISTS dependencies)
+  find_package(${dep} REQUIRED)
+endforeach ()
+
 find_package(PkgConfig REQUIRED)
 pkg_search_module(GLOG REQUIRED libglog)
 
 if (NOT GLOG_FOUND)
   message(FATAL_ERROR "glog is not found")
 endif ()
+
 execute_process(COMMAND uname -m OUTPUT_VARIABLE MACHINES)
 execute_process(COMMAND getconf LONG_BIT OUTPUT_VARIABLE MACHINES_BIT)
 message(STATUS "ORRBEC Machine : ${MACHINES}")
 message(STATUS "ORRBEC Machine Bits : ${MACHINES_BIT}")
+
 if ((${MACHINES} MATCHES "x86_64") AND (${MACHINES_BIT} MATCHES "64"))
   set(HOST_PLATFORM "x64")
-elseif (${MACHINES} MATCHES "arm")
+elseif (${MACHINES} MATCHES "arm" OR (${MACHINES} MATCHES "aarch64" AND ${MACHINES_BIT} MATCHES "32"))
   set(HOST_PLATFORM "arm32")
 elseif ((${MACHINES} MATCHES "aarch64") AND (${MACHINES_BIT} MATCHES "64"))
   set(HOST_PLATFORM "arm64")
-elseif ((${MACHINES} MATCHES "aarch64") AND (${MACHINES_BIT} MATCHES "32"))
-  set(HOST_PLATFORM "arm32")
 endif ()
 
 set(ORBBEC_LIBS ${CMAKE_CURRENT_SOURCE_DIR}/SDK/lib/${HOST_PLATFORM})
 set(ORBBEC_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/SDK/include/)
 
+set(common_include_dirs
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+  ${ORBBEC_INCLUDE_DIR}
+  ${OpenCV_INCLUDED_DIRS}
+  ${GLOG_INCLUDED_DIRS}
+)
+
+set(common_libraries
+  ${ORBBEC_SDK_LIBRARIES}
+  ${OpenCV_LIBS}
+  Eigen3::Eigen
+  ${GLOG_LIBRARIES}
+  -lOrbbecSDK
+  -L${ORBBEC_LIBS}
+)
+
+macro(add_orbbec_executable target source)
+  add_executable(${target} ${source})
+  target_include_directories(${target} PUBLIC ${common_include_dirs})
+  target_link_libraries(${target} ${common_libraries} ${PROJECT_NAME})
+  ament_target_dependencies(${target} ${dependencies})
+endmacro()
+
+# Define library and nodes
 add_library(${PROJECT_NAME} SHARED
   src/d2c_viewer.cpp
   src/dynamic_params.cpp
@@ -69,203 +102,39 @@ add_library(${PROJECT_NAME} SHARED
   src/utils.cpp
 )
 
-set(dependencies
-  ament_index_cpp
-  builtin_interfaces
-  cv_bridge
-  camera_info_manager
-  rclcpp_components
-  Eigen3
-  image_transport
-  image_publisher
-  orbbec_camera_msgs
-  rclcpp
-  rclcpp_components
-  sensor_msgs
-  std_msgs
-  std_srvs
-  tf2
-  tf2_msgs
-  tf2_ros
-  tf2_sensor_msgs
-)
-
-ament_target_dependencies(${PROJECT_NAME}
-  ${dependencies}
-)
-
-target_include_directories(${PROJECT_NAME} PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>
-  ${ORBBEC_INCLUDE_DIR}
-  ${OpenCV_INCLUDED_DIRS}
-  ${GLOG_INCLUDED_DIRS}
-)
-
-
-target_link_libraries(${PROJECT_NAME}
-  ${ORBBEC_SDK_LIBRARIES}
-  ${OpenCV_LIBS}
-  Eigen3::Eigen
-  ${GLOG_LIBRARIES}
-  -lOrbbecSDK
-  -L${ORBBEC_LIBS}
-)
+ament_target_dependencies(${PROJECT_NAME} ${dependencies})
+target_include_directories(${PROJECT_NAME} PUBLIC ${common_include_dirs})
+target_link_libraries(${PROJECT_NAME} ${common_libraries})
 
 rclcpp_components_register_node(${PROJECT_NAME}
   PLUGIN "orbbec_camera::OBCameraNodeDriver"
   EXECUTABLE orbbec_camera_node
 )
 
-add_executable(list_devices_node
-  src/list_devices_node.cpp
-)
+# Add nodes using the macro
+add_orbbec_executable(list_devices_node src/list_devices_node.cpp)
+add_orbbec_executable(ob_cleanup_shm_node src/ob_cleanup_shm.cpp)
+add_orbbec_executable(list_depth_work_mode_node src/list_depth_work_mode.cpp)
+add_orbbec_executable(list_camera_profile_mode_node src/list_camera_profile.cpp)
 
-target_include_directories(list_devices_node PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>
-  ${ORBBEC_INCLUDE_DIR}
-  ${OpenCV_INCLUDED_DIRS}
-  ${GLOG_INCLUDED_DIRS}
-)
-
-
-target_link_libraries(list_devices_node
-  ${ORBBEC_SDK_LIBRARIES}
-  ${OpenCV_LIBS}
-  Eigen3::Eigen
-  ${GLOG_LIBRARIES}
-  -lOrbbecSDK
-  -L${ORBBEC_LIBS}
-  ${PROJECT_NAME}
-)
-
-ament_target_dependencies(list_devices_node
-  ${dependencies}
-)
-
-add_executable(ob_cleanup_shm_node
-  src/ob_cleanup_shm.cpp
-)
-
-target_include_directories(ob_cleanup_shm_node PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>
-  ${ORBBEC_INCLUDE_DIR}
-  ${OpenCV_INCLUDED_DIRS}
-  ${GLOG_INCLUDED_DIRS}
-)
-
-
-target_link_libraries(ob_cleanup_shm_node
-  ${ORBBEC_SDK_LIBRARIES}
-  ${OpenCV_LIBS}
-  Eigen3::Eigen
-  ${GLOG_LIBRARIES}
-  -lOrbbecSDK
-  -L${ORBBEC_LIBS}
-  ${PROJECT_NAME}
-)
-
-ament_target_dependencies(ob_cleanup_shm_node
-  ${dependencies}
-)
-
-add_executable(list_depth_work_mode_node
-  src/list_depth_work_mode.cpp
-)
-
-target_include_directories(list_depth_work_mode_node PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>
-  ${ORBBEC_INCLUDE_DIR}
-  ${OpenCV_INCLUDED_DIRS}
-  ${GLOG_INCLUDED_DIRS}
-)
-
-target_link_libraries(list_depth_work_mode_node
-  ${ORBBEC_SDK_LIBRARIES}
-  ${OpenCV_LIBS}
-  Eigen3::Eigen
-  ${GLOG_LIBRARIES}
-  -lOrbbecSDK
-  -L${ORBBEC_LIBS}
-  ${PROJECT_NAME}
-)
-
-ament_target_dependencies(list_depth_work_mode_node
-  ${dependencies}
-)
-
-add_executable(list_camera_profile_mode_node
-  src/list_camera_profile.cpp
-)
-
-target_include_directories(list_camera_profile_mode_node PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>
-  ${ORBBEC_INCLUDE_DIR}
-  ${OpenCV_INCLUDED_DIRS}
-  ${GLOG_INCLUDED_DIRS}
-)
-
-target_link_libraries(list_camera_profile_mode_node
-  ${ORBBEC_SDK_LIBRARIES}
-  ${OpenCV_LIBS}
-  Eigen3::Eigen
-  ${GLOG_LIBRARIES}
-  -lOrbbecSDK
-  -L${ORBBEC_LIBS}
-  ${PROJECT_NAME}
-)
-
-ament_target_dependencies(list_depth_work_mode_node
-  ${dependencies}
-)
+# Install rules
 install(TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
 )
 
-install(
-  DIRECTORY include/
-  DESTINATION include
-)
-
-install(DIRECTORY
-  launch
-  DESTINATION share/${PROJECT_NAME}/
-)
-
-install(DIRECTORY
-  config
-  DESTINATION share/${PROJECT_NAME}/
-)
-
-install(DIRECTORY
-  ${ORBBEC_INCLUDE_DIR}
-  DESTINATION include
-)
-
-install(DIRECTORY
-  ${ORBBEC_LIBS}/
-  DESTINATION lib/
-  FILES_MATCHING PATTERN "*.so"
-  PATTERN "*.so.*"
-)
-
+install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
+install(DIRECTORY config DESTINATION share/${PROJECT_NAME}/)
+install(DIRECTORY ${ORBBEC_INCLUDE_DIR} DESTINATION include)
+install(DIRECTORY ${ORBBEC_LIBS}/ DESTINATION lib/ FILES_MATCHING PATTERN "*.so*")
 install(TARGETS list_devices_node
   ob_cleanup_shm_node
   list_depth_work_mode_node
   list_camera_profile_mode_node
-  DESTINATION lib/${PROJECT_NAME}/
-)
+  DESTINATION lib/${PROJECT_NAME}/)
+
 if (BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()