diff --git a/1.4.0.tar.gz b/1.4.0.tar.gz
new file mode 100644
index 0000000..cb0efcd
Binary files /dev/null and b/1.4.0.tar.gz differ
diff --git a/README.en.md b/README.en.md
index 79e219e..ca21db2 100644
--- a/README.en.md
+++ b/README.en.md
@@ -8,15 +8,19 @@ Software architecture description
 
 #### Installation
 
-1.  xxxx
-2.  xxxx
-3.  xxxx
+1.  Dowload RPM
+http://117.78.1.88/package/binary/download/home:darwin7788:branches:openEuler:20.09/orocos_kdl/standard_aarch64/aarch64/orocos_kdl-1.4.0-0.oe1.aarch64.rpm
+2.  Install RPM
+sudo rpm -ivh orocos_kdl-1.4.0-0.oe1.aarch64.rpm
 
 #### Instructions
 
-1.  xxxx
-2.  xxxx
-3.  xxxx
+1. Kinematics and Dynamics Library:
+
+Orocos project to supply RealTime usable kinematics and dynamics code,
+it contains code for rigid body kinematics calculations and
+representations for kinematic structures and their inverse and forward
+kinematic solvers.
 
 #### Contribution
 
diff --git a/orocos_kdl.spec b/orocos_kdl.spec
new file mode 100644
index 0000000..4804c7c
--- /dev/null
+++ b/orocos_kdl.spec
@@ -0,0 +1,126 @@
+Name:		orocos_kdl
+Version:	1.4.0
+Release:	0
+Summary:	This is orocos_kdl Package
+License:	GPL
+URL:		https://github.com/ros-gbp/orocos_kdl-release/archive/release/melodic/orocos_kdl
+Source0:	https://github.com/ros-gbp/orocos_kdl-release/archive/release/melodic/orocos_kdl/1.4.0.tar.gz
+BuildRequires:	gcc-c++
+BuildRequires:	cmake
+BuildRequires:	lz4-devel
+BuildRequires:	bzip2-devel
+BuildRequires:	python-devel
+BuildRequires:	python-setuptools
+#Requires:  python-empy
+#BuildRequires:	openssl-devel
+#BuildRequires:	curl-devel
+#BuildRequires:	curl
+#BuildRequires:	gcc-gfortran
+#BuildRequires:	openblas-devel
+#BuildRequires:	sqlite-devel
+#BuildRequires:	fftw-devel
+BuildRequires:	boost-devel
+#BuildRequires:	uuid-devel
+#BuildRequires:	uuid
+#BuildRequires:	libuuid-devel
+#BuildRequires:	uuid-devel
+#BuildRequires:	python3-devel
+#BuildRequires:	boost-python3-devel
+
+BuildRequires:  gmock-devel
+BuildRequires:  suitesparse-devel
+BuildRequires:  lua-devel
+BuildRequires:  protobuf-devel
+BuildRequires:  cairo-devel
+BuildRequires:  gflags-devel
+BuildRequires:  freeglut-devel
+BuildRequires:  libXt-devel
+BuildRequires:  tinyxml-devel
+BuildRequires:  libX11-devel
+BuildRequires:  libXrandr-devel
+BuildRequires:  libXaw-devel
+BuildRequires:  assimp-devel
+BuildRequires:  qt5-qtdeclarative-devel
+BuildRequires:  yaml-cpp-devel
+BuildRequires:  libatomic
+#BuildRequires:  python2-qt5-devel
+BuildRequires:  lz4-devel
+BuildRequires:  sphinx
+
+%description
+This is orocos_kdl Package.
+
+%prep
+%setup
+
+
+%install
+cd 3rdparty/ 
+
+cd empy-3.3.4/
+python setup.py install --user
+cd ..
+
+cd six-1.15.0/
+python setup.py install --user
+cd ..
+
+cd setuptools_scm-4.1.2/
+python setup.py install --user
+cd ..
+
+cd python-dateutil-2.8.1/
+python setup.py install --user
+cd ..
+
+cd pyparsing-2.4.7/
+python setup.py install --user
+cd ..
+
+cd docutils-0.16/
+python setup.py install --user
+cd ..
+
+cd catkin_pkg-0.4.22/
+python setup.py install --user
+cd ..
+
+cd PyYAML-5.3.1/
+python setup.py install --user
+cd ..
+
+cd distro-1.5.0/
+python setup.py install --user
+cd ..
+
+cd rospkg-1.2.8/
+python setup.py install --user
+cd ..
+
+cd eigen-3.3.7/
+mkdir build
+cd build
+cmake ..
+make install
+cd ..
+cd ..
+
+cd ..
+
+./src/catkin/bin/catkin_make_isolated --install
+
+mkdir -p %{buildroot}/opt/ros/melodic/
+mkdir -p %{buildroot}/usr/local/
+cp -r install_isolated/* %{buildroot}/opt/ros/melodic/
+cp -r 3rdparty/install/* %{buildroot}/usr/local/
+
+%files
+%defattr(-,root,root)
+/opt/ros/melodic/*
+/usr/local/*
+
+
+%changelog
+* Thu 12-15-2020 openEuler Buildteam <hanhaomin008@126.com>
+- Package init
+