diff --git a/include/fcl/octree.h b/include/fcl/octree.h
index 5c57d4d57..d886a729d 100644
--- a/include/fcl/octree.h
+++ b/include/fcl/octree.h
@@ -39,6 +39,10 @@
 #ifndef FCL_OCTREE_H
 #define FCL_OCTREE_H
 
+#include "fcl/config.h"
+#if not(FCL_HAVE_OCTOMAP)
+#error "This header requires fcl to be compiled with octomap support"
+#endif
 
 #include <memory>
 #include <array>
diff --git a/include/fcl/traversal/traversal_node_octree.h b/include/fcl/traversal/traversal_node_octree.h
index f15cc158c..92bd6a0e9 100644
--- a/include/fcl/traversal/traversal_node_octree.h
+++ b/include/fcl/traversal/traversal_node_octree.h
@@ -38,6 +38,11 @@
 #ifndef FCL_TRAVERSAL_NODE_OCTREE_H
 #define FCL_TRAVERSAL_NODE_OCTREE_H
 
+#include "fcl/config.h"
+#if not(FCL_HAVE_OCTOMAP)
+#error "This header requires fcl to be compiled with octomap support"
+#endif
+
 #include "fcl/collision_data.h"
 #include "fcl/traversal/traversal_node_base.h"
 #include "fcl/narrowphase/narrowphase.h"