diff --git a/kdl_parser_py/package.xml b/kdl_parser_py/package.xml
index b119d77..05a6ab7 100644
--- a/kdl_parser_py/package.xml
+++ b/kdl_parser_py/package.xml
@@ -1,5 +1,8 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model
+  href="http://download.ros.org/schema/package_format3.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>kdl_parser_py</name>
   <version>1.13.1</version>
   <description>
@@ -21,10 +24,8 @@
   <url type="bugtracker">https://github.com/ros/kdl_parser/issues</url>
 
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
-  <buildtool_depend>python-catkin-pkg</buildtool_depend>
-
-  <depend version_gte="1.3.0">orocos_kdl</depend>
-  <depend>urdf</depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-catkin-pkg</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-catkin-pkg</buildtool_depend>
 
   <build_export_depend>urdfdom_py</build_export_depend>
   <build_export_depend>python_orocos_kdl</build_export_depend>