diff --git a/kdl_parser/package.xml b/kdl_parser/package.xml
index 3c9f197..41e119a 100644
--- a/kdl_parser/package.xml
+++ b/kdl_parser/package.xml
@@ -19,14 +19,14 @@
 
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>orocos_kdl</build_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>
 
-  <run_depend>orocos_kdl</run_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>