diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index b4b1eb577e859b53b40c588e2e491b119f481b7d..2cbf558ef7c3baf7c2ed423da4de82fa241e66d8 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -102,7 +102,9 @@ add_library(${LIBRARY_NAME}
   )
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
 PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} ccd)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} octomap)
+IF(OCTOMAP_FOUND)
+  PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} octomap)
+ENDIF(OCTOMAP_FOUND)
 #PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} flann)