The study of exoplanetary atmospheres is key to understand the differences between their physical, chemical and dynamical processes. Up to now, the bulk of atmospheric characterization analysis has been conducted on transiting planets. On some sufficiently bright targets, high-resolution spectroscopy (HRS) has also been successfully tested for non-transiting planets. We study the dayside of the non-transiting planet HD 102195b using the GIANO spectrograph mounted at TNG, demonstrating the feasibility of atmospheric characterization measurements and molecular detection for non-transiting planets with the HRS technique using 4-m class telescopes. The Doppler-shifted planetary signal changes on the order of many km/s during the observations, in contrast with the telluric absorption which is stationary in wavelength, allowing us to remove the contamination from telluric lines while preserving the features of the planetary spectrum. The emission signal from HD 102195bs atmosphere is then extracted by cross-correlating the residual spectra with atmospheric models. We detect molecular absorption from water vapor at 4.4$sigma$ level. We also find convincing evidence for the presence of methane, which is detected at the 4.1$sigma$ level. The two molecules are detected with a combined significance of 5.3$sigma$, at a semi-amplitude of the planet radial velocity $K_P=128pm 6$ km/s. We estimate a planet true mass of $M_P=0.46pm 0.03~M_J$ and orbital inclination between 72.5 and 84.79$^{circ}$ (1$sigma$). Our analysis indicates a non-inverted atmosphere for HD 102195b, as expected given the relatively low temperature of the planet, inefficient to keep TiO/VO in gas phase. Moreover, a comparison with theoretical expectations and chemical model predictions corroborates our methane detection and suggests that the detected $CH_4$ and $H_2O$ signatures could be consistent with a low C/O ratio.
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