diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5c138749cdf22466875a596efff37c27c43017b8..fde0df47becea367356b6631efe20bd64c3112fe 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -90,6 +90,7 @@ if (OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS)
 else()
 	message(STATUS "FCL does not use Octomap")
 endif()
+add_definitions (-DFCL_HAVE_OCTOMAP=${FCL_HAVE_OCTOMAP})
 ADD_REQUIRED_DEPENDENCY("assimp >= 2.0")
 if(ASSIMP_FOUND)
   if (NOT ${ASSIMP_VERSION} VERSION_LESS "2.0.1150")
@@ -172,10 +173,12 @@ PKG_CONFIG_APPEND_BOOST_LIBS(thread date_time filesystem system)
 IF(WITH_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES)
   PKG_CONFIG_APPEND_CFLAGS("-DFCL_USE_ASSIMP_UNIFIED_HEADER_NAMES")
 ENDIF(WITH_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES)
+PKG_CONFIG_APPEND_CFLAGS("-DFCL_HAVE_OCTOMAP=${FCL_HAVE_OCTOMAP}")
+IF(FCL_HAVE_OCTOMAP)
+  PKG_CONFIG_APPEND_CFLAGS(
+    "-DOCTOMAP_MAJOR_VERSION=${OCTOMAP_MAJOR_VERSION} \
+    -DOCTOMAP_MINOR_VERSION=${OCTOMAP_MINOR_VERSION} \
+    -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION}")
+ENDIF(FCL_HAVE_OCTOMAP)
 
-config_files(include/hpp/fcl/config-fcl.hh)
-install(FILES ${PROJECT_BINARY_DIR}/include/hpp/fcl/config-fcl.hh
-  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/hpp/fcl
-  PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
-  )
 setup_project_finalize()
diff --git a/include/hpp/fcl/config-fcl.hh.in b/include/hpp/fcl/config-fcl.hh.in
deleted file mode 100644
index 8ef4c803700cc48021755880d96a1af10ed61a20..0000000000000000000000000000000000000000
--- a/include/hpp/fcl/config-fcl.hh.in
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2012, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage, Inc. nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-#ifndef FCL_CONFIG_FCL_HH
-# define FCL_CONFIG_FCL_HH
-
-# include "config.h"
-
-#cmakedefine01 FCL_HAVE_OCTOMAP
-
-#endif // FCL_CONFIG_FCL_HH
-
diff --git a/include/hpp/fcl/math/tools.h b/include/hpp/fcl/math/tools.h
index 23a4f18d9750dbe0b285f73529b1ea32b43ccdcb..3628e38412d5083f79a62c8bafdffae7aa123923 100644
--- a/include/hpp/fcl/math/tools.h
+++ b/include/hpp/fcl/math/tools.h
@@ -40,7 +40,6 @@
 
 #include <hpp/fcl/deprecated.hh>
 #include <hpp/fcl/config.hh>
-#include <hpp/fcl/config-fcl.hh>
 
 #include <Eigen/Dense>
 #include <Eigen/Geometry>
diff --git a/include/hpp/fcl/math/vec_3f.h b/include/hpp/fcl/math/vec_3f.h
index 862219e1231d02a41d90e7c60600faffd72b4e5c..a3568f871e0a4eef0037b7520d5ea1edaa4553e9 100644
--- a/include/hpp/fcl/math/vec_3f.h
+++ b/include/hpp/fcl/math/vec_3f.h
@@ -38,7 +38,6 @@
 #ifndef FCL_VEC_3F_H
 #define FCL_VEC_3F_H
 
-#include <hpp/fcl/config-fcl.hh>
 #include <hpp/fcl/data_types.h>
 
 #include <Eigen/Core>
diff --git a/include/hpp/fcl/mesh_loader/assimp.h b/include/hpp/fcl/mesh_loader/assimp.h
index 134d0b5a623996bf8f3db86e2036d03bda3029d1..37bf7df698471a9912cc093e6788cf32cf44f6e2 100644
--- a/include/hpp/fcl/mesh_loader/assimp.h
+++ b/include/hpp/fcl/mesh_loader/assimp.h
@@ -37,8 +37,6 @@
 #ifndef FCL_MESH_LOADER_ASSIMP_H
 #define FCL_MESH_LOADER_ASSIMP_H
 
-#include <hpp/fcl/config-fcl.hh>
-
 #ifdef FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
   #include <assimp/DefaultLogger.hpp>
   #include <assimp/IOStream.hpp>
diff --git a/include/hpp/fcl/traversal/traversal_node_setup.h b/include/hpp/fcl/traversal/traversal_node_setup.h
index b169fa8e7a549e5710ea999d2fe2dac8fc05ade7..bcde2941b043b366f45ffe84135eefb958abc834 100644
--- a/include/hpp/fcl/traversal/traversal_node_setup.h
+++ b/include/hpp/fcl/traversal/traversal_node_setup.h
@@ -39,7 +39,6 @@
 #ifndef FCL_TRAVERSAL_NODE_SETUP_H
 #define FCL_TRAVERSAL_NODE_SETUP_H
 
-#include <hpp/fcl/config-fcl.hh>
 #include <hpp/fcl/traversal/traversal_node_bvhs.h>
 #include <hpp/fcl/traversal/traversal_node_shapes.h>
 #include <hpp/fcl/traversal/traversal_node_bvh_shape.h>
diff --git a/test/test_fcl_eigen.cpp b/test/test_fcl_eigen.cpp
index a2eb13cba9295adde5b226421c339f8f81b56466..66c5f7911c212d17df0a746b3201d4d254167e39 100644
--- a/test/test_fcl_eigen.cpp
+++ b/test/test_fcl_eigen.cpp
@@ -38,7 +38,6 @@
 #include <boost/test/unit_test.hpp>
 #include <boost/utility/binary.hpp>
 
-#include <hpp/fcl/config-fcl.hh>
 #include <hpp/fcl/eigen/vec_3fx.h>
 
 using namespace fcl;