diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index ba7fbe05..88a97f1d 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -29,8 +29,6 @@ jobs:
       run: apt-get update && apt-get -y install python3-pip
     - name: Install dependencies
       run: rosdep update && rosdep install --from-paths src --ignore-src -y
-    - name: Install GeographicLib datasets
-      run: wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
     - name: catkin_make
       run: source /opt/ros/$ROS_DISTRO/setup.bash && catkin_make
     - name: Run tests
diff --git a/clover/CMakeLists.txt b/clover/CMakeLists.txt
index abfaa9c3..95697470 100644
--- a/clover/CMakeLists.txt
+++ b/clover/CMakeLists.txt
@@ -46,6 +46,14 @@ find_package(OpenCV ${_opencv_version} REQUIRED
     imgproc
 )
 
+# Download GeographicLib datasets
+message(STATUS "Downloading GeographicLib datasets to ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_SHARE_DESTINATION}")
+add_custom_target(download_geographiclib_datasets ALL
+  COMMAND geographiclib-get-geoids -p ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_SHARE_DESTINATION}/GeographicLib egm96-5
+  COMMAND geographiclib-get-gravity -p ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_SHARE_DESTINATION}/GeographicLib egm96
+  COMMAND geographiclib-get-magnetic -p ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_SHARE_DESTINATION}/GeographicLib emm2015
+)
+
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 
diff --git a/clover/launch/mavros.launch b/clover/launch/mavros.launch
index 8b445d62..05493eb4 100644
--- a/clover/launch/mavros.launch
+++ b/clover/launch/mavros.launch
@@ -44,6 +44,9 @@
         <!-- remap rangefinder -->
         <remap from="mavros/distance_sensor/rangefinder_sub" to="$(arg distance_sensor_remap)" if="$(eval bool(distance_sensor_remap))"/>
 
+        <!-- path to find GoegraphicLib datasets -->
+        <env name="GEOGRAPHICLIB_DATA" value="$(eval env('CMAKE_PREFIX_PATH').split(':')[0] + '/share/GeographicLib')"/>
+
         <rosparam param="plugin_whitelist">
             - altitude
             - command
diff --git a/clover/test/basic.test b/clover/test/basic.test
index 3aac7f10..9777cad4 100755
--- a/clover/test/basic.test
+++ b/clover/test/basic.test
@@ -4,6 +4,7 @@
     <node pkg="mavros" type="mavros_node" name="mavros" required="true" output="screen">
         <param name="fcu_url" value="udp://@127.0.1:14557"/>
         <rosparam command="load" file="$(find clover)/launch/mavros_config.yaml"/>
+        <env name="GEOGRAPHICLIB_DATA" value="$(eval env('CMAKE_PREFIX_PATH').split(':')[0] + '/share/GeographicLib')"/>
     </node>
 
     <node name="visualization" pkg="mavros_extras" type="visualization" required="true">