diff --git a/kdl_parser/CMakeLists.txt b/kdl_parser/CMakeLists.txt
index 3c74ca0..d5890c0 100644
--- a/kdl_parser/CMakeLists.txt
+++ b/kdl_parser/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 
 project(kdl_parser)
 
diff --git a/kdl_parser_py/CMakeLists.txt b/kdl_parser_py/CMakeLists.txt
index eb340e0..5a79a29 100644
--- a/kdl_parser_py/CMakeLists.txt
+++ b/kdl_parser_py/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 
 project(kdl_parser_py)
 
diff --git a/kdl_parser_py/package.xml b/kdl_parser_py/package.xml
index 05a6ab7..ba37801 100644
--- a/kdl_parser_py/package.xml
+++ b/kdl_parser_py/package.xml
@@ -24,6 +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 condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_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>
 
diff --git a/kdl_parser_py/setup.py b/kdl_parser_py/setup.py
index 0ff6afe..ccdca84 100644
--- a/kdl_parser_py/setup.py
+++ b/kdl_parser_py/setup.py
@@ -1,11 +1,10 @@
 #!/usr/bin/env python
 
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 d = generate_distutils_setup(
-   packages=['kdl_parser_py'],
-   package_dir={'': ''}
+   packages=['kdl_parser_py']
 )
 
 setup(**d)