diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2e3a686..62ba80d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -22,6 +22,7 @@ set(CARTOGRAPHER_PATCH_VERSION 0)
 set(CARTOGRAPHER_VERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION}.${CARTOGRAPHER_PATCH_VERSION})
 set(CARTOGRAPHER_SOVERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION})
 option(BUILD_GRPC "build Cartographer gRPC support" false)
+set(CARTOGRAPHER_HAS_GRPC ${BUILD_GRPC})
 option(BUILD_PROMETHEUS "build Prometheus monitoring support" false)
 
 include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
diff --git a/cartographer-config.cmake.in b/cartographer-config.cmake.in
index 3a5db96..2b4ae76 100644
--- a/cartographer-config.cmake.in
+++ b/cartographer-config.cmake.in
@@ -32,4 +32,10 @@ else ()
    find_package(Ceres HINTS ${CERES_DIR_HINTS})
 endif()
 
+set(CARTOGRAPHER_HAS_GRPC @CARTOGRAPHER_HAS_GRPC@)
+
+if(CARTOGRAPHER_HAS_GRPC)
+   find_package(async_grpc)
+endif()
+
 include("${CARTOGRAPHER_CMAKE_DIR}/CartographerTargets.cmake")