diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0fedcd42..8b28fdcc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -63,7 +63,18 @@ if (BUILD_SDF)
   #  2. if USE_INTERNAL_URDF is set to True, use the internal copy
   #  3. if USE_INTERNAL_URDF is set to False, force to search system installation, fail on error
   if (NOT DEFINED USE_INTERNAL_URDF OR NOT USE_INTERNAL_URDF)
-    gz_find_package(GzURDFDOM VERSION 1.0 QUIET)
+    find_package(urdfdom CONFIG REQUIRED)
+    add_library(GzURDFDOM::GzURDFDOM INTERFACE IMPORTED)
+    target_link_libraries(GzURDFDOM::GzURDFDOM
+      INTERFACE
+        urdfdom::urdfdom_model
+        urdfdom::urdfdom_world
+        urdfdom::urdfdom_sensor
+        urdfdom::urdfdom_model_state
+    )
+    include(FindPackageHandleStandardArgs)
+    find_package_handle_standard_args(GzURDFDOM DEFAULT_MSG)
+    
     if (NOT GzURDFDOM_FOUND)
       if (NOT DEFINED USE_INTERNAL_URDF)
         # fallback to internal urdf