diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0b0b3f923389a1248342e87c9d26c60ca6903f50..9e91088b8a89ebca26720b8516c565dea58d2dd4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -58,9 +58,7 @@ endif (EIGEN3_FOUND)
 
 # Required dependencies
 add_required_dependency("ccd >= 1.4")
-set(BOOST_COMPONENTS
-  thread date_time filesystem system unit_test_framework REQUIRED
-  )
+set(BOOST_COMPONENTS thread date_time filesystem system unit_test_framework)
 search_for_boost()
 # Optional dependencies
 add_optional_dependency("octomap >= 1.6")
@@ -181,6 +179,7 @@ add_subdirectory(src)
 add_subdirectory(test)
 
 pkg_config_append_libs("hpp-fcl")
+PKG_CONFIG_APPEND_BOOST_LIBS(thread date_time filesystem system)
 
 config_files(include/hpp/fcl/config-fcl.hh)
 install(FILES ${PROJECT_BINARY_DIR}/include/hpp/fcl/config-fcl.hh