diff --git a/kdl_parser/CMakeLists.txt b/kdl_parser/CMakeLists.txt
index 3c548e0..95d48d0 100644
--- a/kdl_parser/CMakeLists.txt
+++ b/kdl_parser/CMakeLists.txt
@@ -6,7 +6,7 @@ find_package(Boost REQUIRED)
 include_directories(${Boost_INCLUDE_DIR})
 
 find_package(catkin REQUIRED
-  COMPONENTS roscpp rosconsole urdf cmake_modules
+  COMPONENTS rosconsole urdf cmake_modules
 )
 find_package(orocos_kdl REQUIRED)
 find_package(TinyXML REQUIRED)
@@ -21,7 +21,7 @@ add_compile_options(-std=c++11)
 catkin_package(
   LIBRARIES ${PROJECT_NAME} ${orocos_kdl_LIBRARIES}
   INCLUDE_DIRS include
-  CATKIN_DEPENDS roscpp rosconsole urdf
+  CATKIN_DEPENDS rosconsole urdf
   DEPENDS orocos_kdl TinyXML
 )
 
@@ -34,7 +34,7 @@ add_executable(check_kdl_parser src/check_kdl_parser.cpp )
 target_link_libraries(check_kdl_parser ${PROJECT_NAME})
 
 if(CATKIN_ENABLE_TESTING)
-  find_package(catkin REQUIRED COMPONENTS rostest)
+  find_package(catkin REQUIRED COMPONENTS roscpp rostest)
   add_rostest_gtest(test_kdl_parser test/test_kdl_parser.launch test/test_kdl_parser.cpp )
   target_link_libraries(test_kdl_parser ${PROJECT_NAME})
 
@@ -44,7 +44,7 @@ endif()
 
 # How does CATKIN do this?
 #rosbuild_add_rostest(${PROJECT_SOURCE_DIR}/test/test_kdl_parser.launch)
-install(TARGETS ${PROJECT_NAME} 
+install(TARGETS ${PROJECT_NAME}
   DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
 install(DIRECTORY include/${PROJECT_NAME}/
diff --git a/kdl_parser/package.xml b/kdl_parser/package.xml
index 6c063a8..f677f62 100644
--- a/kdl_parser/package.xml
+++ b/kdl_parser/package.xml
@@ -1,4 +1,4 @@
-<package>
+<package format="2">
   <name>kdl_parser</name>
   <version>1.12.10</version>
   <description>
@@ -21,17 +21,22 @@
   <url type="bugtracker">https://github.com/ros/kdl_parser/issues</url>
 
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
+  <depend>urdf</depend>
+
+  <depend version_gte="1.3.0">orocos_kdl</depend>
 
-  <build_depend version_gte="1.3.0">orocos_kdl</build_depend>
-  <build_depend>rosconsole</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>urdf</build_depend>
   <build_depend>cmake_modules</build_depend>
-  <build_depend>rostest</build_depend>
+  <build_depend>liburdfdom-headers-dev</build_depend>
+  <build_depend>rosconsole</build_depend>
+  <build_depend>tinyxml</build_depend>
 
-  <run_depend version_gte="1.3.0">orocos_kdl</run_depend>
-  <run_depend>rosconsole</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>urdf</run_depend>
+  <build_export_depend>liburdfdom-headers-dev</build_export_depend>
+  <build_export_depend>tinyxml</build_export_depend>
+
+  <exec_depend>rosconsole</exec_depend>
+  <exec_depend>tinyxml</exec_depend>
+
+  <test_depend>roscpp</test_depend>
+  <test_depend>rostest</test_depend>
 
 </package>
diff --git a/kdl_parser_py/package.xml b/kdl_parser_py/package.xml
index 1b7f823..82b3052 100644
--- a/kdl_parser_py/package.xml
+++ b/kdl_parser_py/package.xml
@@ -1,4 +1,4 @@
-<package>
+<package format="2">
   <name>kdl_parser_py</name>
   <version>1.12.10</version>
   <description>
@@ -22,13 +22,15 @@
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
   <buildtool_depend>python-catkin-pkg</buildtool_depend>
 
-  <build_depend version_gte="1.3.0">orocos_kdl</build_depend>
-  <build_depend>urdf</build_depend>
-  <build_depend>rostest</build_depend>
+  <depend version_gte="1.3.0">orocos_kdl</depend>
+  <depend>urdf</depend>
 
-  <run_depend version_gte="1.3.0">orocos_kdl</run_depend>
-  <run_depend>urdf</run_depend>
-  <run_depend>urdfdom_py</run_depend>
-  <run_depend>python_orocos_kdl</run_depend>
+  <build_export_depend>urdfdom_py</build_export_depend>
+  <build_export_depend>python_orocos_kdl</build_export_depend>
+
+  <exec_depend>urdfdom_py</exec_depend>
+  <exec_depend>python_orocos_kdl</exec_depend>
+
+  <test_depend>rostest</test_depend>
 
 </package>