diff --git a/CMakeLists.txt b/CMakeLists.txt
index 77b218400e489d86560d6ad237c669260e15093d..67263b55543410733f37cf50e1940297b7b58808 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -58,7 +58,14 @@ ADD_REQUIRED_DEPENDENCY("omniORB4 >= 4.1.4")
 
 IF(NOT CLIENT_ONLY)
   ADD_REQUIRED_DEPENDENCY("openscenegraph >= 3.2")
-  ADD_REQUIRED_DEPENDENCY("openscenegraph-osgQt")
+
+  IF(USE_QT4 OR OPENSCENEGRAPH_VERSION VERSION_LESS 3.5.7)
+    SET(OSGQT_LIB_NAME openscenegraph-osgQt)
+  ELSE(USE_QT4 OR OPENSCENEGRAPH_VERSION VERSION_LESS 3.5.7)
+    SET(OSGQT_LIB_NAME openscenegraph-osgQt5)
+  ENDIF(USE_QT4 OR OPENSCENEGRAPH_VERSION VERSION_LESS 3.5.7)
+
+  ADD_REQUIRED_DEPENDENCY(${OSGQT_LIB_NAME})
   ADD_REQUIRED_DEPENDENCY("openthreads >= 2.6")
   ADD_REQUIRED_DEPENDENCY("gepetto-viewer")
   ADD_REQUIRED_DEPENDENCY("urdfdom")
diff --git a/src/gui/CMakeLists.txt b/src/gui/CMakeLists.txt
index 0a6c0e8491ce600c1ffa0ac05b03204f3c9c9cb8..88e08c754aa41131878a404b726f70b0430547d8 100644
--- a/src/gui/CMakeLists.txt
+++ b/src/gui/CMakeLists.txt
@@ -88,7 +88,7 @@ TARGET_LINK_LIBRARIES(gepetto-gui ${PROJECT_NAME} ${QT_LIBRARIES})
 PKG_CONFIG_USE_DEPENDENCY(gepetto-gui gepetto-viewer)
 PKG_CONFIG_USE_DEPENDENCY(gepetto-gui openscenegraph)
 PKG_CONFIG_USE_DEPENDENCY(gepetto-gui openthreads)
-PKG_CONFIG_USE_DEPENDENCY(gepetto-gui openscenegraph-osgQt)
+PKG_CONFIG_USE_DEPENDENCY(gepetto-gui ${OSGQT_LIB_NAME})
 PKG_CONFIG_USE_DEPENDENCY(gepetto-gui omniORB4)
 IF (GEPETTO_GUI_HAS_PYTHONQT)
   TARGET_LINK_LIBRARIES(gepetto-gui ${PYTHONQT_LIBRARIES})
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 128f5f31655c67576275e3a051818f7f177f5484..6c9e86101cf74ea90f3d0133e78cf9534b7ffa9a 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -39,7 +39,7 @@ MACRO(ADD_TESTCASE NAME GENERATED)
   TARGET_LINK_LIBRARIES(${NAME} ${QT_LIBRARIES})
   PKG_CONFIG_USE_DEPENDENCY(${NAME} openscenegraph)
   PKG_CONFIG_USE_DEPENDENCY(${NAME} openthreads)
-  PKG_CONFIG_USE_DEPENDENCY(${NAME} openscenegraph-osgQt)
+  PKG_CONFIG_USE_DEPENDENCY(${NAME} ${OSGQT_LIB_NAME})
   PKG_CONFIG_USE_DEPENDENCY(${NAME} gepetto-viewer)
 
 ENDMACRO(ADD_TESTCASE)