diff --git a/plotjuggler_plugins/ParserROS/CMakeLists.txt b/plotjuggler_plugins/ParserROS/CMakeLists.txt
index d2641716a..2e907b1c2 100644
--- a/plotjuggler_plugins/ParserROS/CMakeLists.txt
+++ b/plotjuggler_plugins/ParserROS/CMakeLists.txt
@@ -3,6 +3,21 @@ add_definitions(${QT_DEFINITIONS})
 add_definitions(-DQT_PLUGIN)
 
 SET(INTROSPECTION_TESTS OFF CACHE BOOL "Compile the tests")
+
+# Check if default fastCdr library generation is needed
+find_package(fastcdr QUIET)
+
+if(NOT fastcdr_FOUND )
+    message(STATUS "[FastCdr] not found, create shared libraries")
+    # Override Fast-CDR option: compile as static lib
+    SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Create shared libraries by default")
+    add_subdirectory(rosx_introspection/3rdparty/Fast-CDR)
+    include_directories(rosx_introspection/3rdparty/Fast-CDR/include)
+else()
+    # Mention that FastCdr has been found on system
+    message(STATUS "[FastCdr] found, version: ${fastcdr_VERSION}")
+endif()
+
 add_subdirectory(rosx_introspection)
 
 include_directories( rosx_introspection/include )
diff --git a/plotjuggler_plugins/ParserROS/rosx_introspection/CMakeLists.txt b/plotjuggler_plugins/ParserROS/rosx_introspection/CMakeLists.txt
index b39ae9412..b645348d6 100644
--- a/plotjuggler_plugins/ParserROS/rosx_introspection/CMakeLists.txt
+++ b/plotjuggler_plugins/ParserROS/rosx_introspection/CMakeLists.txt
@@ -9,15 +9,6 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
-find_package(fastcdr QUIET)
-
-if(NOT fastcdr_FOUND )
-    # Override Fast-CDR option: compile as static lib
-    SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Create shared libraries by default")
-    add_subdirectory(3rdparty/Fast-CDR)
-    include_directories(3rdparty/Fast-CDR/include)
-endif()
-
 ###############################################
 ## Declare a C++ library
 ###############################################