diff --git a/rmw_cyclonedds_cpp/CMakeLists.txt b/rmw_cyclonedds_cpp/CMakeLists.txt
index aa9085b..9d540ca 100644
--- a/rmw_cyclonedds_cpp/CMakeLists.txt
+++ b/rmw_cyclonedds_cpp/CMakeLists.txt
@@ -32,7 +32,12 @@ find_package(ament_cmake_ros REQUIRED)
 find_package(rcutils REQUIRED)
 
 find_package(cyclonedds_cmake_module REQUIRED)
-find_package(CycloneDDS REQUIRED CONFIG)
+find_package(CycloneDDS QUIET CONFIG)
+if(NOT CycloneDDS_FOUND)
+  message(WARNING "Could not find Eclipse Cyclone DDS - skipping '${PROJECT_NAME}'")
+  ament_package()
+  return()
+endif()
 
 find_package(rmw REQUIRED)
 find_package(rosidl_generator_c REQUIRED)