diff --git a/CMakeLists.txt b/CMakeLists.txt
index c7b11ca..252074b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -26,13 +26,21 @@ include_directories(
     ${catkin_INCLUDE_DIRS}
 )
 
-find_package(rmagine REQUIRED)
+find_package(rmagine 2.2.1...
+COMPONENTS
+    core
+OPTIONAL_COMPONENTS
+    embree
+    cuda
+    optix
+)
+
 include_directories(${rmagine_INCLUDE_DIRS})
 
 set(RADARAYS_ROS_LIBRARIES radarays)
 set(RADARAYS_ROS_DEFINITIONS)
 
-if(${rmagine_cuda_FOUND} AND ${rmagine_optix_FOUND})
+if(TARGET rmagine::optix)
     list(APPEND RADARAYS_ROS_LIBRARIES radarays_gpu)
     set(RADARAYS_WITH_GPU True)
     list(APPEND RADARAYS_ROS_DEFINITIONS -DRADARAYS_WITH_GPU)
@@ -75,7 +83,7 @@ catkin_package(
         tf2_ros
         actionlib_msgs
     DEPENDS 
-        rmagine
+        rmagine::core
     LIBRARIES
         ${RADARAYS_ROS_LIBRARIES}
 )
@@ -103,9 +111,9 @@ add_dependencies(radarays
 )
 
 target_link_libraries(radarays
-    ${rmagine_LIBRARIES}
+    rmagine::core
+    rmagine::embree
     ${catkin_LIBRARIES}
-    ${rmagine_LIBRARIES}
     ${OpenCV_LIBS}
 )
 
@@ -129,6 +137,7 @@ if(RADARAYS_WITH_GPU)
     target_link_libraries(radarays_gpu
         ${CUDA_LIBRARIES}
         radarays
+        rmagine::optix
     )
     install(TARGETS radarays_gpu
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
@@ -150,11 +159,15 @@ add_dependencies(radar_simulator
 ## Specify libraries to link a library or executable target against
 target_link_libraries(radar_simulator
     ${catkin_LIBRARIES}
-    ${rmagine_LIBRARIES}
+    rmagine::core
+    rmagine::embree
     ${OpenCV_LIBS}
     radarays
 )
 
+target_compile_definitions(radar_simulator
+    PUBLIC ${RADARAYS_ROS_DEFINITIONS}
+)
 
 if(RADARAYS_WITH_GPU)
     target_compile_definitions(radar_simulator PUBLIC RADARAYS_WITH_GPU)
@@ -174,7 +187,8 @@ add_dependencies(ray_reflection_test
 ## Specify libraries to link a library or executable target against
 target_link_libraries(ray_reflection_test
     ${catkin_LIBRARIES}
-    ${rmagine_LIBRARIES}
+    rmagine::core
+    rmagine::embree
     ${OpenCV_LIBS}
     radarays
 )
diff --git a/src/radar_simulator.cpp b/src/radar_simulator.cpp
index c4435b1..006015f 100644
--- a/src/radar_simulator.cpp
+++ b/src/radar_simulator.cpp
@@ -1,8 +1,13 @@
 #include <ros/ros.h>
 #include <image_transport/image_transport.h>
 #include <cv_bridge/cv_bridge.h>
-#include <rmagine/simulation/OnDnSimulatorEmbree.hpp>
-#include <rmagine/simulation/OnDnSimulatorOptix.hpp>
+
+
+
+
+
+
+
 #include <rmagine/util/prints.h>
 #include <rmagine/util/StopWatch.hpp>
 #include <random>
@@ -15,33 +20,30 @@
 #include <sensor_msgs/PointCloud.h>
 
 #include <radarays_ros/radar_types.h>
-
 #include <radarays_ros/radar_math.h>
-#include <radarays_ros/image_algorithms.h>
-#include <radarays_ros/radar_algorithms.h>
-#include <radarays_ros/image_algorithms.cuh>
-#include <radarays_ros/radar_algorithms.cuh>
-
-
 #include <radarays_ros/RadarParams.h>
-
 #include <actionlib/server/simple_action_server.h>
 #include <radarays_ros/GenRadarImageAction.h>
 
-
 #include <radarays_ros/GetRadarParams.h>
 
-
-
 #include <opencv2/highgui.hpp>
 
 #include <omp.h>
 
 #include <radarays_ros/ros_helper.h>
 
+#include <rmagine/simulation/OnDnSimulatorEmbree.hpp>
+#include <radarays_ros/image_algorithms.h>
+#include <radarays_ros/radar_algorithms.h>
 #include <radarays_ros/RadarCPU.hpp>
-#include <radarays_ros/RadarGPU.hpp>
 
+#if defined RADARAYS_WITH_GPU
+#include <rmagine/simulation/OnDnSimulatorOptix.hpp>
+#include <radarays_ros/image_algorithms.cuh>
+#include <radarays_ros/radar_algorithms.cuh>
+#include <radarays_ros/RadarGPU.hpp>
+#endif // defined RADARAYS_WITH_GPU
 
 
 using namespace radarays_ros;