diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 9bfd966..0fe0e73 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -1,3 +1,9 @@
+macro(add_example example_name folder)
+    add_executable(${example_name} ${folder}/${example_name}.cpp)
+    target_link_libraries(${example_name} PRIVATE sdu_controllers ${ARGN})
+endmacro()
+
+
 if(BUILD_EXAMPLES)
     add_subdirectory(simulation)
 endif()
diff --git a/examples/hardware/franka/CMakeLists.txt b/examples/hardware/franka/CMakeLists.txt
index 7f40d86..06c35ec 100644
--- a/examples/hardware/franka/CMakeLists.txt
+++ b/examples/hardware/franka/CMakeLists.txt
@@ -3,8 +3,6 @@ find_package(Franka 0.9.1 REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(pinocchio REQUIRED)
 
-add_executable(move_to_joint_position cpp/move_to_joint_position.cpp)
-target_link_libraries(move_to_joint_position PRIVATE sdu_controllers Franka::Franka Eigen3::Eigen pinocchio::pinocchio)
+add_example(move_to_joint_position cpp Franka::Franka Eigen3::Eigen pinocchio::pinocchio)
+add_example(cartesian_control cpp Franka::Franka Eigen3::Eigen pinocchio::pinocchio)
 
-add_executable(cartesian_control cpp/cartesian_control.cpp)
-target_link_libraries(cartesian_control PRIVATE sdu_controllers Franka::Franka Eigen3::Eigen pinocchio::pinocchio)
diff --git a/examples/hardware/ur/CMakeLists.txt b/examples/hardware/ur/CMakeLists.txt
index 7b91065..5c309eb 100644
--- a/examples/hardware/ur/CMakeLists.txt
+++ b/examples/hardware/ur/CMakeLists.txt
@@ -1,11 +1,6 @@
 # example dependencies
 find_package(ur_rtde REQUIRED)
 
-add_executable(admittance_controller_trajectory cpp/admittance_controller_trajectory.cpp)
-target_link_libraries(admittance_controller_trajectory PRIVATE sdu_controllers ur_rtde::rtde)
-
-add_executable(admittance_controller_kinesthetic_teaching cpp/admittance_controller_kinesthetic_teaching.cpp)
-target_link_libraries(admittance_controller_kinesthetic_teaching PRIVATE sdu_controllers ur_rtde::rtde)
-
-add_executable(ur_joint_motion_controller cpp/joint_motion_controller.cpp)
-target_link_libraries(ur_joint_motion_controller PRIVATE sdu_controllers ur_rtde::rtde)
+add_example(admittance_controller_trajectory cpp ur_rtde::rtde)
+add_example(admittance_controller_kinesthetic_teaching cpp ur_rtde::rtde)
+add_example(ur_joint_motion_controller cpp ur_rtde::rtde)
diff --git a/examples/simulation/CMakeLists.txt b/examples/simulation/CMakeLists.txt
index 54b07e1..66e8be9 100644
--- a/examples/simulation/CMakeLists.txt
+++ b/examples/simulation/CMakeLists.txt
@@ -1,20 +1,9 @@
-add_executable(admittance_controller general/cpp/admittance_controller.cpp)
-target_link_libraries(admittance_controller PRIVATE sdu_controllers)
+add_example(admittance_controller general/cpp)
 
-add_executable(joint_motion_controller ur/cpp/joint_motion_controller.cpp)
-target_link_libraries(joint_motion_controller PRIVATE sdu_controllers)
+add_example(joint_motion_controller ur/cpp)
+add_example(cartesian_motion_controller ur/cpp)
+add_example(force_control_velocity ur/cpp)
 
-add_executable(cartesian_motion_controller ur/cpp/cartesian_motion_controller.cpp)
-target_link_libraries(cartesian_motion_controller PRIVATE sdu_controllers)
-
-add_executable(force_control_velocity ur/cpp/force_control_velocity.cpp)
-target_link_libraries(force_control_velocity PRIVATE sdu_controllers)
-
-add_executable(eurofusion_joint_motion_controller eurofusion/cpp/eurofusion_joint_motion_controller.cpp)
-target_link_libraries(eurofusion_joint_motion_controller PRIVATE sdu_controllers)
-
-add_executable(eurofusion_robot_rnea eurofusion/cpp/eurofusion_robot_rnea.cpp)
-target_link_libraries(eurofusion_robot_rnea PRIVATE sdu_controllers)
-
-add_executable(eurofusion_force_control eurofusion/cpp/force_control_velocity.cpp)
-target_link_libraries(eurofusion_force_control PRIVATE sdu_controllers)
+add_example(eurofusion_joint_motion_controller eurofusion/cpp)
+add_example(eurofusion_robot_rnea eurofusion/cpp)
+add_example(eurofusion_force_control_velocity eurofusion/cpp)
diff --git a/examples/simulation/eurofusion/cpp/force_control_velocity.cpp b/examples/simulation/eurofusion/cpp/eurofusion_force_control_velocity.cpp
similarity index 100%
rename from examples/simulation/eurofusion/cpp/force_control_velocity.cpp
rename to examples/simulation/eurofusion/cpp/eurofusion_force_control_velocity.cpp
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 783fbca..9df84a1 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -17,7 +17,7 @@ set(sdu_controllers_SOURCES
 )
 
 # Try to find ur_rtde in order to build UR Robot HAL
-find_package(ur_rtde)
+find_package(ur_rtde QUIET)
 
 if(ur_rtde_FOUND)
     list(APPEND sdu_controllers_SOURCES hal/ur_robot.cpp)