diff --git a/talos-simulation/Makefile b/talos-simulation/Makefile
index 35ecc020332b6d1956dc4fa1fed8b5a36f521019..d47cc0b4bad715fc0b73d8bd7bec1b0af2234f97 100644
--- a/talos-simulation/Makefile
+++ b/talos-simulation/Makefile
@@ -38,6 +38,14 @@ include ../../math/ros-geometry/depend.mk
 include ../../middleware/ros-actionlib/depend.mk
 include ../../middleware/ros-comm/depend.mk
 include ../../motion/ros-control-toolbox/depend.mk
+
+# Check if we on a pal distro
+include ../../wip/sysdep/pal-distro.mk
+ifeq (palerbium,${PALDISTRO})
+   # If yes then it does not make sense to continue
+   $(error "talos-simulation is useless on PAL erbium.")
+endif
+
 include ../../wip/pal-hardware-gazebo/depend.mk
 include ../../wip/talos-robot/depend.mk
 include ../../wip/talos-moveit-config/depend.mk