diff --git a/wibotic_connector_can/CMakeLists.txt b/wibotic_connector_can/CMakeLists.txt
index 24fbd27..a971054 100644
--- a/wibotic_connector_can/CMakeLists.txt
+++ b/wibotic_connector_can/CMakeLists.txt
@@ -1,14 +1,9 @@
 cmake_minimum_required(VERSION 3.8)
 project(wibotic_connector_can)
-# Handle superbuild first
-option(USE_SUPERBUILD "Whether or not a superbuild should be invoked" ON)
 
+option(USE_SUPERBUILD "Whether or not a superbuild should be invoked" ON)
 if(USE_SUPERBUILD)
-  project(SUPERBUILD NONE)
   include(cmake/SuperBuild.cmake)
-  return()
-else()
-  project(wibotic_connector_can)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -24,12 +19,12 @@ endforeach()
 include_directories(${CMAKE_INSTALL_PREFIX}/include)
 
 add_library(wibotic_can_driver src/wibotic_can_driver.cpp)
+add_dependencies(wibotic_can_driver uavcan linux_uavcan)
 target_compile_options(wibotic_can_driver PRIVATE -std=c++11)
 target_include_directories(
   wibotic_can_driver BEFORE
-  PUBLIC
-    ${CMAKE_CURRENT_BINARY_DIR}/wibotic_connector_can/ep_platform_specific_components/upstream/linux/libuavcan/uavcan_linux
-)
+  PUBLIC ${CMAKE_CURRENT_BINARY_DIR}/uavcan/include
+         ${CMAKE_CURRENT_BINARY_DIR}/linux_uavcan/include)
 target_include_directories(
   wibotic_can_driver
   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
@@ -37,17 +32,20 @@ target_include_directories(
 
 ament_target_dependencies(wibotic_can_driver ${PACKAGE_DEPENDENCIES})
 
-set(UAVCAN_LIB ${CMAKE_INSTALL_PREFIX}/lib/libuavcan.a)
+set(UAVCAN_LIB ${CMAKE_CURRENT_BINARY_DIR}/uavcan/lib/libuavcan.a)
 
 target_link_libraries(wibotic_can_driver ${UAVCAN_LIB} rt)
 
 add_executable(wibotic_connector_can src/wibotic_can_driver_node.cpp
                                      src/main.cpp)
+add_dependencies(wibotic_can_driver uavcan linux_uavcan)
 target_compile_options(wibotic_connector_can PRIVATE -std=c++17)
 target_include_directories(
   wibotic_connector_can
   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-         $<INSTALL_INTERFACE:include>)
+         $<INSTALL_INTERFACE:include>
+         ${CMAKE_CURRENT_BINARY_DIR}/uavcan/include
+         ${CMAKE_CURRENT_BINARY_DIR}/linux_uavcan/include)
 
 ament_target_dependencies(wibotic_connector_can ${PACKAGE_DEPENDENCIES})
 
diff --git a/wibotic_connector_can/cmake/SuperBuild.cmake b/wibotic_connector_can/cmake/SuperBuild.cmake
index be054f9..0d013df 100644
--- a/wibotic_connector_can/cmake/SuperBuild.cmake
+++ b/wibotic_connector_can/cmake/SuperBuild.cmake
@@ -15,38 +15,26 @@
 include(ExternalProject)
 
 ExternalProject_Add(
-  ep_libuavcan
-  SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/ep_libuavcan/upstream
-  INSTALL_DIR ${CMAKE_INSTALL_PREFIX}
+  uavcan
+  # Probable newer repo also will work: https://github.com/dronecan/libuavcan
   GIT_REPOSITORY https://github.com/OpenCyphal-Garage/libcyphal/
   GIT_TAG dcc3a4de237b7482e04543d2393c3a9385685312
-  PREFIX ${CMAKE_CURRENT_BINARY_DIR}/ep_libuavcan
-  CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
-  INSTALL_COMMAND make install INSTALL_PREFIX=<INSTALL_DIR>
-  UPDATE_DISCONNECTED 1
-  BUILD_IN_SOURCE 1
-  STEP_TARGETS build)
+  PREFIX uavcan
+  CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_BINARY_DIR}/uavcan)
 
 ExternalProject_Add(
-  ep_platform_specific_components
-  DEPENDS ep_libuavcan
+  linux_uavcan
+  DEPENDS uavcan
   GIT_REPOSITORY
     https://github.com/OpenCyphal-Garage/platform_specific_components/
   GIT_TAG 4745ef59f57b7e1c34705b127ea8c7a35e3874c1
-  PREFIX ${CMAKE_CURRENT_BINARY_DIR}/ep_platform_specific_components
+  PREFIX linux_uavcan
   CONFIGURE_COMMAND ""
   BUILD_COMMAND ""
   INSTALL_COMMAND
     ${CMAKE_COMMAND} -E copy_directory
-    ${CMAKE_CURRENT_BINARY_DIR}/ep_platform_specific_components/src/ep_platform_specific_components/linux/libuavcan/include
-    ${CMAKE_INSTALL_PREFIX}/include)
+    ${CMAKE_BINARY_DIR}/linux_uavcan/src/linux_uavcan/linux/libuavcan/include
+    ${CMAKE_BINARY_DIR}/linux_uavcan/include)
 
-install(DIRECTORY ${INSTALL_DIR} DESTINATION ${CMAKE_INSTALL_PREFIX})
-
-ExternalProject_Add(
-  ep_wibotic_connector_can
-  DEPENDS ep_platform_specific_components
-  SOURCE_DIR ${PROJECT_SOURCE_DIR}
-  CMAKE_ARGS -DUSE_SUPERBUILD=OFF
-  INSTALL_COMMAND ""
-  BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR})
+install(DIRECTORY ${CMAKE_BINARY_DIR}/uavcan ${CMAKE_BINARY_DIR}/linux_uavcan
+        DESTINATION include)