diff --git a/src/maps-lcm/CMakeLists.txt b/src/maps-lcm/CMakeLists.txt
index 77778d0..7ebc580 100644
--- a/src/maps-lcm/CMakeLists.txt
+++ b/src/maps-lcm/CMakeLists.txt
@@ -8,6 +8,25 @@ add_library(maps-lcm SHARED
   ViewClient.cpp
 )
 
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(PCL_IO pcl_io-1.7)
+if(PCL_IO_FOUND)
+  message("---- PCL IO was found\n")
+  set(REQ_PKGS  pcl_common-1.7 pcl_filters-1.7  pcl_features-1.7  pcl_io-1.7  pcl_surface-1.7)
+endif()
+
+pkg_check_modules(PCL_IO_1_8 pcl_io-1.8)
+if(PCL_IO_1_8_FOUND)
+  message("---- PCL IO_1_8 was found\n")
+  set(REQ_PKGS  pcl_common-1.8 pcl_filters-1.8  pcl_features-1.8  pcl_io-1.8  pcl_surface-1.8)
+endif()
+
+if(NOT PCL_IO_FOUND AND NOT PCL_IO_1_8_FOUND)
+  message("---- PCL NOT FOUND. Not building maps_server")
+  return()
+endif()
+
+
 # make the header public
 # install it to include/maps
 pods_install_headers(
@@ -25,11 +44,7 @@ pods_install_libraries(maps-lcm)
 
 set(REQUIRED_PACKAGES
   eigen3
-  pcl_common-1.7
-  pcl_filters-1.7
-  pcl_features-1.7
-  pcl_io-1.7
-  pcl_surface-1.7
+  ${REQ_PKGS}
   octomap
   glib-2.0
   bot2-frames
diff --git a/src/maps/CMakeLists.txt b/src/maps/CMakeLists.txt
index 22496ac..1166b88 100644
--- a/src/maps/CMakeLists.txt
+++ b/src/maps/CMakeLists.txt
@@ -53,13 +53,29 @@ pods_install_headers(
 # make the library public
 pods_install_libraries(maps)
 
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(PCL_IO pcl_io-1.7)
+if(PCL_IO_FOUND)
+  message("---- PCL IO was found\n")
+  set(REQ_PKGS  pcl_common-1.7  pcl_filters-1.7  pcl_features-1.7  pcl_io-1.7  pcl_surface-1.7)
+endif()
+
+pkg_check_modules(PCL_IO_1_8 pcl_io-1.8)
+if(PCL_IO_1_8_FOUND)
+  message("---- PCL IO_1_8 was found\n")
+  set(REQ_PKGS  pcl_common-1.8  pcl_filters-1.8  pcl_features-1.8  pcl_io-1.8  pcl_surface-1.8)
+endif()
+
+if(NOT PCL_IO_FOUND AND NOT PCL_IO_1_8_FOUND)
+  message("---- PCL NOT FOUND. Not building maps_server")
+  return()
+endif()
+
+
+
 set(REQUIRED_PACKAGES
   eigen3
-  pcl_common-1.7
-  pcl_filters-1.7
-  pcl_features-1.7
-  pcl_io-1.7
-  pcl_surface-1.7
+  ${REQ_PKGS}
   octomap
   glib-2.0
   zlib
diff --git a/src/plane-seg/CMakeLists.txt b/src/plane-seg/CMakeLists.txt
index 3865979..97008e6 100644
--- a/src/plane-seg/CMakeLists.txt
+++ b/src/plane-seg/CMakeLists.txt
@@ -1,13 +1,29 @@
 add_definitions(-std=c++1y -Wall)
 set(MODULE_NAME plane-seg)
 
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(PCL_IO pcl_io-1.7)
+if(PCL_IO_FOUND)
+  message("---- PCL IO was found\n")
+  set(REQ_PKGS  pcl_io-1.7  pcl_surface-1.7 pcl_segmentation-1.7)
+endif()
+
+pkg_check_modules(PCL_IO_1_8 pcl_io-1.8)
+if(PCL_IO_1_8_FOUND)
+  message("---- PCL IO_1_8 was found\n")
+  set(REQ_PKGS  pcl_io-1.8  pcl_surface-1.8 pcl_segmentation-1.8)
+endif()
+
+if(NOT PCL_IO_FOUND AND NOT PCL_IO_1_8_FOUND)
+  message("---- PCL NOT FOUND. Not building maps_server")
+  return()
+endif()
+
 # create library
 set(LIB_NAME ${MODULE_NAME})
 set(REQUIRED_PACKAGES
   eigen3
-  pcl_io-1.7
-  pcl_surface-1.7
-  pcl_segmentation-1.7
+  ${REQ_PKGS}
 )
 add_library(${LIB_NAME} SHARED
   PlaneFitter.cpp