diff --git a/cmake/rviz-extras.cmake.in b/cmake/rviz-extras.cmake.in
index 790843ed81..48ea84dcb8 100644
--- a/cmake/rviz-extras.cmake.in
+++ b/cmake/rviz-extras.cmake.in
@@ -1,4 +1,7 @@
-# The file being included is generated by src/rviz/default_plugin/CMakeLists.txt
-include("${rviz_DIR}/default_plugin_location.cmake")
-set(rviz_DEFAULT_PLUGIN_LIBRARIES
-  "${rviz_DIR}/../../../@CATKIN_PACKAGE_LIB_DESTINATION@/${rviz_DEFAULT_PLUGIN_FILE_NAME}")
+# Allow this to be conditionally included because it is not available during CMake configure.
+if(EXISTS "${rviz_DIR}/default_plugin_location.cmake")
+  # The file being included is generated by src/rviz/default_plugin/CMakeLists.txt
+  include("${rviz_DIR}/default_plugin_location.cmake")
+  set(rviz_DEFAULT_PLUGIN_LIBRARIES
+    "${rviz_DIR}/../../../@CATKIN_PACKAGE_LIB_DESTINATION@/${rviz_DEFAULT_PLUGIN_FILE_NAME}")
+endif()