diff --git a/cartographer_ros/package.xml b/cartographer_ros/package.xml
index d97e26d..62e0e9c 100644
--- a/cartographer_ros/package.xml
+++ b/cartographer_ros/package.xml
@@ -41,8 +41,8 @@
   <build_depend>protobuf-dev</build_depend>
   <build_depend>python-sphinx</build_depend>
 
-  <depend>cartographer</depend>
-  <depend>cartographer_ros_msgs</depend>
+  <depend version_gte="1.0.0">cartographer</depend>
+  <depend version_gte="1.0.0">cartographer_ros_msgs</depend>
   <depend>eigen_conversions</depend>
   <depend>geometry_msgs</depend>
   <depend>libgflags-dev</depend>
diff --git a/cartographer_rviz/package.xml b/cartographer_rviz/package.xml
index 5801a47..a5bf766 100644
--- a/cartographer_rviz/package.xml
+++ b/cartographer_rviz/package.xml
@@ -38,9 +38,9 @@
 
   <build_depend>g++-static</build_depend>
 
-  <depend>cartographer</depend>
-  <depend>cartographer_ros</depend>
-  <depend>cartographer_ros_msgs</depend>
+  <depend version_gte="1.0.0">cartographer</depend>
+  <depend version_gte="1.0.0">cartographer_ros</depend>
+  <depend version_gte="1.0.0">cartographer_ros_msgs</depend>
   <depend>eigen_conversions</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>