diff --git a/apriltag_ros/CMakeLists.txt b/apriltag_ros/CMakeLists.txt
index 76b86deb..13680f88 100644
--- a/apriltag_ros/CMakeLists.txt
+++ b/apriltag_ros/CMakeLists.txt
@@ -18,11 +18,7 @@ find_package(catkin REQUIRED COMPONENTS
 
 find_package(Eigen3 REQUIRED)
 find_package(OpenCV REQUIRED)
-
-find_package(PkgConfig)
-pkg_search_module(apriltag REQUIRED apriltag)
-set(apriltag_INCLUDE_DIRS "${apriltag_INCLUDE_DIRS}/apriltag")
-link_directories(${apriltag_LIBDIR})
+find_package(apriltag REQUIRED)
 
 # Set the build type.  Options are:
 #  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
@@ -100,12 +96,11 @@ include_directories(include
   ${catkin_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
-  ${apriltag_INCLUDE_DIRS}
 )
 
 add_library(${PROJECT_NAME}_common src/common_functions.cpp)
 add_dependencies(${PROJECT_NAME}_common ${PROJECT_NAME}_generate_messages_cpp)
-target_link_libraries(${PROJECT_NAME}_common ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${apriltag_LIBRARIES})
+target_link_libraries(${PROJECT_NAME}_common ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} apriltag::apriltag)
 
 add_library(${PROJECT_NAME}_continuous_detector src/continuous_detector.cpp)
 target_link_libraries(${PROJECT_NAME}_continuous_detector ${PROJECT_NAME}_common ${catkin_LIBRARIES})