diff --git a/cmake/catkin_libraries.cmake b/cmake/catkin_libraries.cmake
index b19f4c8aa..5d9a24c1b 100644
--- a/cmake/catkin_libraries.cmake
+++ b/cmake/catkin_libraries.cmake
@@ -114,6 +114,40 @@ function(catkin_unpack_libraries_with_build_configuration VAR)
   set(${VAR} "${result}" PARENT_SCOPE)
 endfunction()
 
+#
+# Find libraries by imported location or soname with location dir as hint
+#
+# :param VAR: the output variable name
+# :type VAR: string
+# :param LIB: the imported target to find the library for
+# :type LIB: string
+# :type ARGN: selected config to query in the target's properties
+# :type ARGN: string
+#
+# @public
+#
+function(catkin_find_library_imported_location_library VAR LIB)
+  set(lib ${LIB})
+  if(ARGN)
+    set(cfg _${ARGN})
+  endif()
+  set(imported_location_libnames)
+  get_target_property(imported_soname ${lib} IMPORTED_SONAME${cfg})
+  if(imported_soname)
+    list(APPEND imported_location_libnames ${imported_soname})
+  endif()
+  get_target_property(imported_location ${lib} IMPORTED_LOCATION${cfg})
+  if(imported_location)
+    get_filename_component(imported_location_name ${imported_location} NAME)
+    get_filename_component(imported_location_dir ${imported_location} DIRECTORY)
+    list(APPEND imported_location_libnames ${imported_location_name})
+  endif()
+  if(imported_location_libnames)
+    find_library(imported_location_library NAMES ${imported_location_libnames} HINTS ${imported_location_dir} NO_CACHE)
+  endif()
+  set(${VAR} "${imported_location_library}" PARENT_SCOPE)
+endfunction()
+
 #
 # Replace imported library target names with the library name.
 #
@@ -142,10 +176,9 @@ function(catkin_replace_imported_library_targets VAR)
           list(APPEND result ${${lib}_resolved_libs})
         endif()
       elseif(${${lib}_imported})
-        set(imported_libraries)  # empty list
-        get_target_property(${lib}_imported_location ${lib} IMPORTED_LOCATION)
-        if(${lib}_imported_location)
-          list(APPEND imported_libraries ${${lib}_imported_location})
+        catkin_find_library_imported_location_library(${lib}_imported_location_library ${lib})
+        if(${lib}_imported_location_library)
+          list(APPEND imported_libraries ${${lib}_imported_location_library})
         else()
           get_target_property(${lib}_imported_configurations ${lib} IMPORTED_CONFIGURATIONS)
           foreach(cfg ${${lib}_imported_configurations})
@@ -156,11 +189,14 @@ function(catkin_replace_imported_library_targets VAR)
               if(NOT ${lib}_imported_location_${cfg})
                 get_target_property(${lib}_imported_location_${cfg} ${lib} IMPORTED_LOCATION_${cfg})
               endif()
+              if(${lib}_imported_location_${cfg})
+                list(APPEND imported_libraries ${${lib}_imported_location_${cfg}})
+              endif()
             else()
-              get_target_property(${lib}_imported_location_${cfg} ${lib} IMPORTED_LOCATION_${cfg})
-            endif()
-            if(${lib}_imported_location_${cfg})
-              list(APPEND imported_libraries ${${lib}_imported_location_${cfg}})
+              catkin_find_library_imported_location_library(${lib}_imported_location_library_${cfg} ${lib} ${cfg})
+              if(${lib}_imported_location_library_${cfg})
+                list(APPEND imported_libraries ${${lib}_imported_location_library_${cfg}})
+              endif()
             endif()
           endforeach()
         endif()