diff --git a/pcl_ros/CMakeLists.txt b/pcl_ros/CMakeLists.txt
index f11bd183..73a41404 100644
--- a/pcl_ros/CMakeLists.txt
+++ b/pcl_ros/CMakeLists.txt
@@ -5,7 +5,11 @@ project(pcl_ros)
 find_package(cmake_modules REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system filesystem thread)
 find_package(Eigen3 REQUIRED)
-find_package(PCL REQUIRED)
+find_package(PCL 1.7 REQUIRED)
+
+if(NOT "${PCL_LIBRARIES}" STREQUAL "")
+  list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")
+endif()
 
 ## Find catkin packages
 find_package(catkin REQUIRED COMPONENTS