diff --git a/0-librealsense2-add-riscv-arch.patch b/0-librealsense2-add-riscv-arch.patch
new file mode 100644
index 0000000000000000000000000000000000000000..7afc70fa111cd746b8d4bc05f8d87322ad2892fe
--- /dev/null
+++ b/0-librealsense2-add-riscv-arch.patch
@@ -0,0 +1,21 @@
+---
+ CMake/unix_config.cmake | 3 +++
+ 1 file changed, 3 insertions(+)
+
+diff --git a/CMake/unix_config.cmake b/CMake/unix_config.cmake
+index 4ec81bb..ecb2c8c 100644
+--- a/CMake/unix_config.cmake
++++ b/CMake/unix_config.cmake
+@@ -16,6 +16,9 @@ macro(os_set_flags)
+     elseif(${MACHINE} MATCHES "powerpc64(le)?-linux-gnu")
+         set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -ftree-vectorize")
+         set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftree-vectorize")
++    elseif(${MACHINE} MATCHES "riscv-*")
++        set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -march=rv64ifd")
++        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=rv64ifd")
+     else()
+         set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -mssse3")
+         set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mssse3")
+-- 
+2.43.0
+
diff --git a/0-librealsense2-fix-threads-not-found.patch b/0-librealsense2-fix-threads-not-found.patch
new file mode 100644
index 0000000000000000000000000000000000000000..e985607d210acef4655249903827ef44331af843
--- /dev/null
+++ b/0-librealsense2-fix-threads-not-found.patch
@@ -0,0 +1,23 @@
+---
+ CMakeLists.txt | 5 +++++
+ 1 file changed, 5 insertions(+)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 8f80c78..0b11b78 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -4,6 +4,11 @@ project(librealsense2 LANGUAGES CXX C)
+ 
+ # Allow librealsense2 and all of the nested project to include the main repo folder
+ set(REPO_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
++set(CMAKE_THREAD_LIBS_INIT "-lpthread")
++set(CMAKE_HAVE_THREADS_LIBRARY 1)
++set(CMAKE_USE_WIN32_THREADS_INIT 0)
++set(CMAKE_USE_PTHREADS_INIT 1)
++set(THREADS_PREFER_PTHREAD_FLAG ON)
+ include_directories(${REPO_ROOT})
+ 
+ include(CMake/lrs_options.cmake)
+-- 
+2.43.0
+
diff --git a/librealsense2.spec b/librealsense2.spec
index 2fad837950206088c17cec42b140a6e7dc8da560..07f1c19bba68bd9bb6a271ebf860cee6c2d27424 100644
--- a/librealsense2.spec
+++ b/librealsense2.spec
@@ -9,13 +9,16 @@
 
 Name:           ros-%{ros_distro}-%{RosPkgName}
 Version:        2.51.1
-Release:        1%{?dist}%{?release_suffix}
+Release:        2%{?dist}%{?release_suffix}
 Summary:        ROS librealsense2 package
 
 Url:            https://github.com/IntelRealSense/librealsense/
 License:        Apache License, Version 2.0
 Source0:        %{name}_%{version}.orig.tar.gz
 
+Patch1:        0-librealsense2-fix-threads-not-found.patch
+Patch2:        0-librealsense2-add-riscv-arch.patch
+
 Requires: ros-%{ros_distro}-ros-workspace
 
 BuildRequires: pkgconfig
@@ -61,6 +64,7 @@ mkdir -p .obj-%{_target_platform} && cd .obj-%{_target_platform}
     -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \
     -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \
     -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCMAKE_EXE_LINKER_FLAGS=-latomic \
 %if !0%{?with_tests}
     -DBUILD_TESTING=OFF \
 %endif
@@ -99,5 +103,8 @@ else echo "RPM TESTS SKIPPED"; fi
 /opt/ros/%{ros_distro}
 
 %changelog
+* Wed Jan 31 2024 zhtianyu zhangtianyu@iscas.ac.cn - 2.51.1-2
+- Add riscv arch
+
 * Thu May 04 2023 LibRS ROS Team librs.ros@intel.com - 2.51.1-1
 - Autogenerated by ros-porting-tools