diff --git a/CMakeLists.txt b/CMakeLists.txt
index 487af66..2943612 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,7 +4,7 @@ project(dr_kdl)
 find_package(catkin REQUIRED COMPONENTS
 	sensor_msgs
 	kdl_parser
-	dr_cmake
+	dr_base
 	dr_util
 	dr_eigen
 )
diff --git a/package.xml b/package.xml
index 6deaae6..ffa574b 100644
--- a/package.xml
+++ b/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
 	<name>dr_kdl</name>
 	<version>1.0.0</version>
 	<description>Delft Robotics KDL functions.</description>
@@ -12,12 +12,10 @@
 	<author email="hansg91@gmail.com">Hans Gaiser</author>
 
 	<buildtool_depend>catkin</buildtool_depend>
-	<build_depend>dr_cmake</build_depend>
-	<build_depend>dr_util</build_depend>
-	<build_depend>kdl_parser</build_depend>
-	<build_depend>dr_eigen</build_depend>
-	<run_depend>kdl_parser</run_depend>
-	<run_depend>dr_eigen</run_depend>
+	<depend>dr_base</depend>
+	<depend>dr_util</depend>
+	<depend>dr_eigen</depend>
+	<depend>kdl_parser</depend>
 
 	<export>
 	</export>