diff --git a/package.xml b/package.xml
index 40b85d296..3d0eb2957 100644
--- a/package.xml
+++ b/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>robot_localization</name>
   <version>2.6.7</version>
   <description>Provides nonlinear state estimation through sensor fusion of an abritrary number of sensors.</description>
@@ -35,7 +35,8 @@
   <depend>yaml-cpp</depend>
 
   <build_depend>message_generation</build_depend>
-  <build_depend>python-catkin-pkg</build_depend>
+  <build_depend condition="$ROS_PYTHON_VERSION == 2">python-catkin-pkg</build_depend>
+  <build_depend condition="$ROS_PYTHON_VERSION == 3">python3-catkin-pkg</build_depend>
   <build_depend>roslint</build_depend>
 
   <exec_depend>message_runtime</exec_depend>