diff --git a/CMakeLists.txt b/CMakeLists.txt
index cdc91785..69bdd9d1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,8 +11,6 @@ SET(PROJECT_PREFIX rtabmap)
 ####### local cmake modules #######
 SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 
-CONFIGURE_FILE(FindRTABMap.cmake.in FindRTABMap.cmake @ONLY)
-
 #######################
 # VERSION
 #######################
@@ -233,7 +231,7 @@ INSTALL(FILES
  DESTINATION share/${PROJECT_PREFIX} 
  COMPONENT runtime)
  
-INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/FindRTABMap.cmake DESTINATION share/${PROJECT_PREFIX} COMPONENT devel)
+INSTALL(FILES ${PROJECT_SOURCE_DIR}/cmake_modules/FindRTABMap.cmake DESTINATION share/${PROJECT_PREFIX} COMPONENT devel)
 
 
 IF(WIN32)
diff --git a/FindRTABMap.cmake.in b/FindRTABMap.cmake.in
deleted file mode 100644
index cf8a5b2b..00000000
--- a/FindRTABMap.cmake.in
+++ /dev/null
@@ -1,65 +0,0 @@
-# - Find RTABMap
-# This module finds an installed RTABMap package.
-#
-# It sets the following variables:
-#  RTABMap_FOUND              - Set to false, or undefined, if RTABMap isn't found.
-#  RTABMap_INCLUDE_DIRS        - The RTABMap include directory.
-#  RTABMap_LIBRARIES            - The RTABMap library to link against.
-#
-# Look up for rtabmap ros package first, if not found search system wide.
-# 
-
-SET(RTABMap_ROOT)
-
-# Add ROS RTABMap directory if ROS is installed
-FIND_PROGRAM(ROSPACK_EXEC NAME rospack PATHS)  
-IF(ROSPACK_EXEC)  
-	EXECUTE_PROCESS(COMMAND ${ROSPACK_EXEC} find rtabmap_lib 
-			   	    OUTPUT_VARIABLE RTABMap_ROS_PATH
-					OUTPUT_STRIP_TRAILING_WHITESPACE
-					WORKING_DIRECTORY "./"
-	)
-	IF(RTABMap_ROS_PATH)
-	    MESSAGE(STATUS "Found RTABMap ROS pkg : ${RTABMap_ROS_PATH}")
-	    SET(RTABMap_ROOT
-	        ${RTABMap_ROS_PATH}/rtabmap
-	        ${RTABMap_ROOT}
-	    )
-	ENDIF(RTABMap_ROS_PATH)
-ENDIF(ROSPACK_EXEC)
-
-IF(WIN32)
-	FIND_PATH(RTABMap_INCLUDE_DIRS 
-			rtabmap/core/Rtabmap.h
-			PATH_SUFFIXES "../include")
-
-	FIND_LIBRARY(RTABMap_LIBRARIES 
-			NAMES rtabmap_core
-		 	PATH_SUFFIXES "../lib")
-
-ELSE()
-	FIND_PATH(RTABMap_INCLUDE_DIRS 
-			rtabmap/core/Rtabmap.h
-			PATHS ${RTABMap_ROOT}/include)
-
-	FIND_LIBRARY(RTABMap_LIBRARIES 
-			NAMES rtabmap_core
-			PATHS ${RTABMap_ROOT}/lib)
-ENDIF()
-
-	
-IF (RTABMap_INCLUDE_DIRS AND RTABMap_LIBRARIES)
-   SET(RTABMap_FOUND TRUE)
-ENDIF (RTABMap_INCLUDE_DIRS AND RTABMap_LIBRARIES)
-
-IF (RTABMap_FOUND)
-   # show which RTABMap was found only if not quiet
-   IF (NOT RTABMap_FIND_QUIETLY)
-      MESSAGE(STATUS "Found RTABMap ${RTABMap_VERSION}")
-   ENDIF (NOT RTABMap_FIND_QUIETLY)
-ELSE ()
-   # fatal error if RTABMap is required but not found
-   IF (RTABMap_FIND_REQUIRED)
-      MESSAGE(FATAL_ERROR "Could not find RTABMap. Verify your PATH if it is already installed or download it at http://rtabmap.googlecode.com")
-   ENDIF (RTABMap_FIND_REQUIRED)
-ENDIF ()
diff --git a/doc/FindRTABMap.cmake b/cmake_modules/FindRTABMap.cmake
similarity index 100%
rename from doc/FindRTABMap.cmake
rename to cmake_modules/FindRTABMap.cmake