diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 24c7008ec2162f3eb613417bbad617b69125ab37..e92f9596c1697ef24ed5f30d9b53f8eb55d9b342 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -106,5 +106,6 @@ INSTALL(
 # Stand alone corba server
 ADD_EXECUTABLE (hpp-rbprm-server hpp-rbprm-corba.cc)
 TARGET_LINK_LIBRARIES (hpp-rbprm-server ${LIBRARY_NAME} hpp-rbprm)
+PKG_CONFIG_USE_DEPENDENCY(hpp-rbprm-server hpp-pinocchio)
 
 INSTALL (TARGETS hpp-rbprm-server DESTINATION ${CMAKE_INSTALL_BINDIR})