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..51e3edf 100644
--- a/README.en.md
+++ b/README.en.md
@@ -6,17 +6,22 @@ This package contains a recent version of the Kinematics and Dynamics Library (K
 #### Software Architecture
 Software architecture description
 
+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.
+
 #### Installation
 
-1.  xxxx
-2.  xxxx
-3.  xxxx
+1.  Dowload RPM
+wget http://121.36.3.168:82/home:/davidhan:/branches:/openEuler:/20.09/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
+Exit the orocos_kdl file under the /opt/ros/melodic/devel_isolated/ directory , Prove that the software installation is successful
+
 
 #### Contribution
 
diff --git a/README.md b/README.md
index 665c478..8be118d 100644
--- a/README.md
+++ b/README.md
@@ -1,23 +1,29 @@
 # orocos_kdl
 
 #### 介绍
-This package contains a recent version of the Kinematics and Dynamics Library (KDL), distributed by the Orocos Project.
+
+该软件包包含Orocos项目分发的运动学和动力学库（KDL）
 
 #### 软件架构
 软件架构说明
 
+Orocos项目提供实时可用的运动学和动力学代码，它包含刚体运动学计算和表示运动学结构及其逆运动学和正运动学解算器的代码。
 
 #### 安装教程
 
-1.  xxxx
-2.  xxxx
-3.  xxxx
+
+1. 下载rpm包
+
+wget http://121.36.3.168:82/home:/davidhan:/branches:/openEuler:/20.09/standard_aarch64/aarch64/orocos_kdl-1.4.0-0.oe1.aarch64.rpm
+
+2. 安装rpm包
+
+sudo rpm -ivh orocos_kdl-1.4.0-0.oe1.aarch64.rpm
+
 
 #### 使用说明
 
-1.  xxxx
-2.  xxxx
-3.  xxxx
+安装完成以后，在/opt/ros/melodic/devel_isolated/目录下有orocos_kdl/文件夹证明安装成功
 
 #### 参与贡献
 
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
+