diff --git a/3rdparty/aques_talk/CMakeLists.txt b/3rdparty/aques_talk/CMakeLists.txt
index e277e6b4b..f7540e8f1 100644
--- a/3rdparty/aques_talk/CMakeLists.txt
+++ b/3rdparty/aques_talk/CMakeLists.txt
@@ -5,10 +5,6 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
-if(DEFINED ENV{GITHUB_ACTIONS})
-  message(WARNING "skip downloading aques_talk within GithubAction")
-  return()
-endif()
 # Considering the use of docker in addition to the usual use,
 # we use dpkg-architecture command instead of ${CMAKE_SYSTEM_PROCESSOR} to get the architecture.
 # https://stackoverflow.com/a/58222507
@@ -30,14 +26,32 @@ message(STATUS "AQTK2_LNX_LIB_DIR : ${AQTK2_LNX_LIB_DIR}")
 
 #
 include(ExternalProject)
+file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/download/src/)
+set(LIBRARY_URL https://www.a-quest.com/archive/package/aqtk2-lnx-eva_230.zip)
+file(DOWNLOAD
+  ${LIBRARY_URL}
+  ${CMAKE_CURRENT_BINARY_DIR}/download/src/aqtk2-lnx-eva_230.zip
+  STATUS DOWNLOAD_STATUS
+  LOG DOWNLOAD_LOG
+  SHOW_PROGRESS
+)
+list(GET DOWNLOAD_STATUS 0 DOWNLOAD_CODE)
+list(GET DOWNLOAD_STATUS 1 DOWNLOAD_MESSAGE)
+if(NOT DOWNLOAD_CODE EQUAL 0)
+  message(WARNING "Download failed with status: ${DOWNLOAD_CODE}")
+  message(WARNING "Error message: ${DOWNLOAD_MESSAGE}")
+  message(WARNING "Log: ${DOWNLOAD_LOG}")
+else()
 externalproject_add(aqtk2-lnx-eva
   PREFIX download
-  URL https://www.a-quest.com/archive/package/aqtk2-lnx-eva_230.zip
+  URL ${LIBRARY_URL}
+  URL_HASH MD5=4b0641066a826d0be7a016a162ab4043
   TIMEOUT 120
   CONFIGURE_COMMAND bash -c "echo configure"
   BUILD_COMMAND bash -c "(cd ${AQTK2_LNX_LIB_DIR} && ln -sf libAquesTalk2Eva.so.2.3 libAquesTalk2.so && ln -sf libAquesTalk2Eva.so.2.3 libAquesTalk2.so.2)"
   INSTALL_COMMAND bash -c "cp -P ${AQTK2_LNX_LIB_DIR}/libAquesTalk2* ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION} && mkdir -p ${CMAKE_CURRENT_SOURCE_DIR}/phont/ && cp phont/* ${CMAKE_CURRENT_SOURCE_DIR}/phont/"
   BUILD_IN_SOURCE 1
+  DOWNLOAD_EXTRACT_TIMESTAMP TRUE
 )
 
 include_directories(${CMAKE_CURRENT_BINARY_DIR}/download/src/aqtk2-lnx-eva/${AQTK2_LNX_LIB_DIR})
@@ -48,6 +62,7 @@ target_link_libraries(SampleTalk AquesTalk2)
 
 # Make compilation depend on our target:
 add_dependencies(SampleTalk aqtk2-lnx-eva)
+endif()
 
 # install
 catkin_install_python(PROGRAMS text2wave