diff --git a/CMakeLists.txt b/CMakeLists.txt
index fb40757a659..67ed40667cf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,7 +13,7 @@ include(FindPkgConfig)
 include(CheckIncludeFiles)
 
 option(ENABLE_INSTALL_RPATH "Enable RPATH setting for installed binary files" OFF)
-option(USE_HRPSYSUTIL "Build hrpsysUtil" ON)
+option(FORCE_COMPILE_HRPSYSUTIL "Try to build hrpsysUtil even if dependencies are missing" ON)
 option(USE_IRRLICHT "Build Irrlicht components" OFF)
 option(NO_DIGITAL_INPUT "Disable readDigitalInput and lengthDigitalInput" OFF)
 option(USE_QPOASES "Build qpOASES" OFF)
@@ -142,30 +142,52 @@ include(CPack)
 find_package(LibXml2 REQUIRED)
 find_package(QuickHull REQUIRED)
 
-if(USE_HRPSYSUTIL)
-  find_package(SDL REQUIRED)
-  find_package(OpenGL REQUIRED)
-  find_package(GLUT REQUIRED)
-  pkg_check_modules(OpenCV opencv)
+set(USE_HRPSYSUTIL ON)
+find_package(SDL REQUIRED)
+if (NOT SDL_FOUND)
+  message(WARNING "SDL is required to build hrpsysUtil")
+  set(USE_HRPSYSUTIL OFF)
+endif()
+find_package(OpenGL REQUIRED)
+if (NOT OPENGL_FOUND)
+  message(WARNING "OpenGL is required to build hrpsysUtil")
+  set(USE_HRPSYSUTIL OFF)
+endif()
+find_package(GLUT REQUIRED)
+if (NOT GLUT_FOUND)
+  message(WARNING "GLUT is required to build hrpsysUtil")
+  set(USE_HRPSYSUTIL OFF)
+endif()
+pkg_check_modules(OpenCV opencv)
+if (NOT OpenCV_FOUND)
+  pkg_check_modules(OpenCV opencv-2.3.1)
   if (NOT OpenCV_FOUND)
-    pkg_check_modules(OpenCV opencv-2.3.1)
+    pkg_check_modules(OpenCV opencv4)
     if (NOT OpenCV_FOUND)
       pkg_check_modules(OpenCV opencv4)
       if (NOT OpenCV_FOUND)
-        message(FATAL_ERROR "OpenCV is required to build hrpsysUtil")
+        message(WARNING "OpenCV is required to build hrpsysUtil")
+        set(USE_HRPSYSUTIL OFF)
       endif()
     endif()
   endif()
-  include_directories(${OpenCV_INCLUDE_DIRS})
-  link_directories(${OpenCV_LIBRARY_DIRS})
-  pkg_check_modules(GLEW glew)
-  if (NOT GLEW_FOUND)
-    message(FATAL_ERROR "GLEW is required to build hrpsysUtil")
-  endif()
 endif()
+include_directories(${OpenCV_INCLUDE_DIRS})
+link_directories(${OpenCV_LIBRARY_DIRS})
+pkg_check_modules(GLEW glew)
+if (NOT GLEW_FOUND)
+  message(WARNING "GLEW is required to build hrpsysUtil")
+  set(USE_HRPSYSUTIL OFF)
+endif()
+
 find_package(PCL)
-if(USE_HRPSYSUTIL AND APPLE AND NOT PCL_FOUND)
-  message(FATAL_ERROR "PCL is required to build hrpsysUtil on Apple platform")
+if(PCL_FOUND)
+  message(WARNING "PCL is required to build hrpsysUtil")
+  set(USE_HRPSYSUTIL OFF)
+endif()
+
+if(FORCE_COMPILE_HRPSYSUTIL AND (NOT USE_HRPSYSUTIL))
+  message(FATAL_ERROR "dependencies required to build hrpsysUtil is not found : SDL_FOUND: ${SDL_FOUND} / OPENGL_FOUND: ${OPENGL_FOUND} / GLUT_FOUND: ${GLUT_FOUND} / OpenCV_FOUND: ${OpenCV_FOUND} / GLEW_FOUND: ${GLEW_FOUND}")
 endif()
 
 execute_process(