diff --git a/CMakeLists.txt b/CMakeLists.txt
index 080cee6..21aaedd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,24 +17,38 @@ catkin_package(
         lpp
 )
 
+if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/lib/BMI08x-Sensor-API)
+    message(STATUS "BMI08x-Sensor-API found")
+    SET(MAV_IMU_BUILD_BOSCH ON)
+    include_directories(lib/BMI08x-Sensor-API)
+else()
+    message(WARNING "BMI08x-Sensor-API not found. Bosch BMI088 will not be supported.")
+endif()
+
 include_directories(
         include
-        lib/BMI08x-Sensor-API
         ${catkin_INCLUDE_DIRS})
 
+if (MAV_IMU_BUILD_BOSCH)
+    set(MAV_IMU_BOSCH_SRC_FILE src/imu/bmi088.cpp)
+endif ()
+
 add_library(${PROJECT_NAME}
         src/spi_driver.cpp
         src/imu_node.cpp
         src/imu/adis16448.cpp
-        src/imu/bmi088.cpp
+        ${MAV_IMU_BOSCH_SRC_FILE}
         src/imu/ImuFactory.cpp)
 
+if (MAV_IMU_BUILD_BOSCH)
+    target_compile_definitions(${PROJECT_NAME} PUBLIC MAV_IMU_BUILD_BOSCH)
 # Bosch API
 add_library(${PROJECT_NAME}_BMI08x
         lib/BMI08x-Sensor-API/bmi08a.c
         lib/BMI08x-Sensor-API/bmi08g.c
         lib/BMI08x-Sensor-API/bmi08xa.c)
 target_link_libraries(${PROJECT_NAME} ${PROJECT_NAME}_BMI08x)
+endif()
 
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
 
diff --git a/src/imu/ImuFactory.cpp b/src/imu/ImuFactory.cpp
index 90e1d00..a49cf92 100644
--- a/src/imu/ImuFactory.cpp
+++ b/src/imu/ImuFactory.cpp
@@ -4,7 +4,9 @@
 
 #include <imu/ImuFactory.h>
 #include <imu/adis16448.h>
+#ifdef MAV_IMU_BUILD_BOSCH
 #include <imu/bmi088.h>
+#endif
 #include <log++.h>
 #include <memory>
 
@@ -24,7 +26,10 @@ ImuInterfacePtr ImuFactory::createImuByName(const std::string &imu_name,
     if (adis->init() && adis->setBurstCRCEnabled(true)) { return adis; }
     LOG(E, "Failed to initialize " << imu_name);
     return nullptr;
-  } else if (imu_name == "bmi088") {
+  }
+
+  else if (imu_name == "bmi088") {
+#ifdef MAV_IMU_BUILD_BOSCH
     // Select the second Chip Select for the gyro.
     // get the last letter of the string
     char last_letter = spi_path[spi_path.length() - 1];
@@ -45,6 +50,11 @@ ImuInterfacePtr ImuFactory::createImuByName(const std::string &imu_name,
     if (bmi->init()) { return bmi; }
     LOG(E, "Failed to initialize " << imu_name);
     return nullptr;
+
+#else
+    LOG(E, "Compiled without Bosch BMI088 support");
+    return nullptr;
+#endif
   }
 
   LOG(E, "Imu of type " << imu_name << " not supported");