diff --git a/CMakeLists.txt b/CMakeLists.txt
index e6e7a2b4ce..28905ec540 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -146,6 +146,8 @@ if(NOT OGRE_OV_LIBRARIES_ABS)
 endif()
 
 catkin_package(
+  CFG_EXTRAS
+    rviz-extras.cmake
   INCLUDE_DIRS
     src
     ${EIGEN3_INCLUDE_DIRS}
diff --git a/cmake/rviz-extras.cmake.in b/cmake/rviz-extras.cmake.in
new file mode 100644
index 0000000000..790843ed81
--- /dev/null
+++ b/cmake/rviz-extras.cmake.in
@@ -0,0 +1,4 @@
+# The file being included is generated by src/rviz/default_plugin/CMakeLists.txt
+include("${rviz_DIR}/default_plugin_location.cmake")
+set(rviz_DEFAULT_PLUGIN_LIBRARIES
+  "${rviz_DIR}/../../../@CATKIN_PACKAGE_LIB_DESTINATION@/${rviz_DEFAULT_PLUGIN_FILE_NAME}")
diff --git a/setup.py b/setup.py
index 95f4721670..6fadf42efa 100644
--- a/setup.py
+++ b/setup.py
@@ -4,9 +4,9 @@
 from catkin_pkg.python_setup import generate_distutils_setup
 
 d = generate_distutils_setup(
-    packages = ['rviz'],
-    package_dir = {'': 'src/python_bindings'},
-    requires = ['roslib', 'rospkg', 'python_qt_bindings']
+    packages=['rviz'],
+    package_dir={'': 'src/python_bindings'},
+    requires=['roslib', 'rospkg', 'python_qt_bindings']
 )
 
 setup(**d)
diff --git a/src/rviz/default_plugin/CMakeLists.txt b/src/rviz/default_plugin/CMakeLists.txt
index 797d96f5db..ba37d26cb9 100644
--- a/src/rviz/default_plugin/CMakeLists.txt
+++ b/src/rviz/default_plugin/CMakeLists.txt
@@ -117,7 +117,12 @@ install(TARGETS default_plugin
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
-#message("TODO: stop installing libdefault_plugin.so into share/rviz after pluginlib starts looking for it in lib.")
-#install(TARGETS default_plugin
-#  ARCHIVE DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-#  LIBRARY DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+# Generate to the devel space so the extras file can include it from the devel space.
+file(GENERATE
+  OUTPUT "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake/default_plugin_location.cmake"
+  CONTENT "set(rviz_DEFAULT_PLUGIN_FILE_NAME $<TARGET_FILE_NAME:default_plugin>)"
+)
+# Install from the devel space to the install space.
+install(FILES "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake/default_plugin_location.cmake"
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake
+)