diff --git a/onnx/CMakeLists.txt b/onnx/CMakeLists.txt
index c178f99..72c614e 100644
--- a/onnx/CMakeLists.txt
+++ b/onnx/CMakeLists.txt
@@ -56,7 +56,8 @@ ament_target_dependencies(${PROJECT_NAME}
   onnxruntime_vendor
   ros_msft_onnx_msgs
   tf2
-  geometry_msgs)
+  geometry_msgs
+  OpenCV)
 
 install(FILES
   ${CMAKE_CURRENT_BINARY_DIR}/models/tinyyolov2-8.onnx
diff --git a/onnxruntime_vendor/CMakeLists.txt b/onnxruntime_vendor/CMakeLists.txt
index 6b31969..27cf834 100644
--- a/onnxruntime_vendor/CMakeLists.txt
+++ b/onnxruntime_vendor/CMakeLists.txt
@@ -5,16 +5,9 @@ cmake_minimum_required(VERSION 3.5)
 project(onnxruntime_vendor)
 
 find_package(ament_cmake REQUIRED)
+find_package(CUDA 10 QUIET)
 
-# disable Cuda build on github ci
-if(DEFINED ENV{GITHUB_WORKSPACE})
-    message("Detected Github CI, building without CUDA")
-    option(CUDA_SUPPORT "use CUDA support onnxruntime library" OFF)
-else()
-    option(CUDA_SUPPORT "use CUDA support onnxruntime library" ON)
-endif()
-
-if(CUDA_SUPPORT)
+if(CUDA_FOUND)
     message("Building with Cuda support")
     set(PACKAGE_URL "https://www.nuget.org/api/v2/package/Microsoft.ML.OnnxRuntime.Gpu/1.4.0")
     set(PACKAGE_SHA512 "c9c2ba5c594c92c1e426e9c53f9909e8851a41c99f48f8a369e082f8047d521b236f2fbb943e73975cbb45bd9957f20139c25959e50e1679dca9eeac08f73b31")