diff --git a/cartographer_ros/CMakeLists.txt b/cartographer_ros/CMakeLists.txt
index d7ff0b9..1e82443 100644
--- a/cartographer_ros/CMakeLists.txt
+++ b/cartographer_ros/CMakeLists.txt
@@ -48,6 +48,12 @@ pkg_search_module(YAMLCPP REQUIRED yaml-cpp>=0.5.1)
 
 find_package(LuaGoogle REQUIRED)
 find_package(PCL REQUIRED COMPONENTS common io)
+# Fix for PCL linking issue in Zesty, as in
+# https://github.com/ros-perception/perception_pcl/blob/b53b5d5c3abc7c3afde8a77177674e6d74c59522/pcl_ros/CMakeLists.txt#L12
+if(NOT "${PCL_LIBRARIES}" STREQUAL "")
+  # FIXME: this causes duplicates and not found error in ubuntu:zesty
+  list(REMOVE_ITEM PCL_LIBRARIES "/usr/lib/libmpi.so")
+endif()
 find_package(Eigen3 REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system iostreams)