diff --git a/CMakeLists.txt b/CMakeLists.txt
index 455d31d39..83a6d30c1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,8 +3,6 @@ project(mrover VERSION 2024.0.0 LANGUAGES CXX)
 
 set(CMAKE_CXX_STANDARD 23)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CUDA_STANDARD 17)
-set(CMAKE_CUDA_STANDARD_REQUIRED ON)
 if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
     add_link_options(-fuse-ld=lld-16)
 endif ()
@@ -222,9 +220,9 @@ else ()
         find_package(Eigen3 REQUIRED)
         find_package(ZED 2 QUIET)
         if (ZED_FOUND)
-            set(CMAKE_CUDA_SEPARABLE_COMPILATION ON)
             set(CMAKE_CUDA_STANDARD 17)
             set(CMAKE_CUDA_STANDARD_REQUIRED ON)
+            set(CMAKE_CUDA_SEPARABLE_COMPILATION ON)
             # Jetson Xavier NX is Volta 7.2 architecture
             # Perception Laptop (A4000, Quadro version of RTX 3080) is Ampere 8.6 architecture
             set(CMAKE_CUDA_ARCHITECTURES 72 86)