diff --git a/CHANGELOG.md b/CHANGELOG.md
index bb9582153183c4b2a60fbf8da546ae1b5e017fe5..61545fa81acbf7bf5254a1ea81ace822c8dba8e8 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,11 @@
 # CHANGELOG
 
+## 0.2.1 - UNRELEASED
+
+Requires `libfranka` >= 0.2.0
+
+  * Added missing dependency to `franka_example_controllers`
+
 ## 0.2.0 - 2018-01-29
 
 Requires `libfranka` >= 0.2.0
diff --git a/franka_control/CMakeLists.txt b/franka_control/CMakeLists.txt
index 2f2b14b2fd3b9f9b9714b5c6797ef9f225d23120..9dbbba7c3e90e938635b04691848ea870c950cde 100644
--- a/franka_control/CMakeLists.txt
+++ b/franka_control/CMakeLists.txt
@@ -21,7 +21,7 @@ find_package(catkin REQUIRED COMPONENTS
   tf2_msgs
 )
 
-find_package(Franka REQUIRED)
+find_package(Franka 0.2.0 REQUIRED)
 
 add_service_files(FILES
   SetCartesianImpedance.srv
diff --git a/franka_control/package.xml b/franka_control/package.xml
index 02dfbe8f8dff6b4f0e0e316c707cce6b665dc25c..99fb29f7bf760dabd1fad70abebd45090376720b 100644
--- a/franka_control/package.xml
+++ b/franka_control/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>franka_control</name>
-  <version>0.2.0</version>
+  <version>0.2.1</version>
   <description>franka_control provides a hardware node to control a Franka Emika research robot</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_description/package.xml b/franka_description/package.xml
index 8bc7c60b4688d22049e70bb3d1ae34428cdedf3a..174fc5f6f07ce8a491d8102c05f126e391c53a53 100644
--- a/franka_description/package.xml
+++ b/franka_description/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>franka_description</name>
-  <version>0.2.0</version>
+  <version>0.2.1</version>
   <description>franka_description contains URDF files and meshes of Franka Emika robots</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_example_controllers/CMakeLists.txt b/franka_example_controllers/CMakeLists.txt
index feec755dacd55f45fd4d434d0e425944b0b92cf5..3afabc1117b2643aacaa08ecd75cbc11cb089665 100644
--- a/franka_example_controllers/CMakeLists.txt
+++ b/franka_example_controllers/CMakeLists.txt
@@ -17,6 +17,7 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 find_package(Eigen3 REQUIRED)
+find_package(Franka 0.2.0 REQUIRED)
 
 add_message_files(FILES
   JointTorqueComparison.msg
@@ -33,6 +34,7 @@ catkin_package(
   INCLUDE_DIRS include
   LIBRARIES franka_example_controllers
   CATKIN_DEPENDS controller_interface franka_hw pluginlib
+  DEPENDS Franka
 )
 
 include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS})
@@ -56,7 +58,10 @@ add_dependencies(franka_example_controllers
   ${PROJECT_NAME}_gencfg
 )
 
-target_link_libraries(franka_example_controllers ${catkin_LIBRARIES})
+target_link_libraries(franka_example_controllers
+  ${catkin_LIBRARIES}
+  Franka::Franka
+)
 
 ## Installation
 install(TARGETS franka_example_controllers
diff --git a/franka_example_controllers/package.xml b/franka_example_controllers/package.xml
index 0ccc65def7b4d2ebceb7c25544cb3d1fd1931c3a..f62e8ce54a313c5a9a5af7d9f1cfad16eff25cf0 100644
--- a/franka_example_controllers/package.xml
+++ b/franka_example_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>franka_example_controllers</name>
-  <version>0.2.0</version>
+  <version>0.2.1</version>
   <description>franka_example_controllers provides example code for controlling Franka Emika research robots with ros_control</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
@@ -20,6 +20,7 @@
 
   <depend>controller_interface</depend>
   <depend>franka_hw</depend>
+  <depend>libfranka</depend>
   <depend>pluginlib</depend>
   <depend>realtime_tools</depend>
 
diff --git a/franka_gripper/CMakeLists.txt b/franka_gripper/CMakeLists.txt
index d0113f202553cf9833103f6ba98b94686af29676..f501b3491fd7cfc0a6db2b9b635a45d13ad44726 100644
--- a/franka_gripper/CMakeLists.txt
+++ b/franka_gripper/CMakeLists.txt
@@ -14,7 +14,7 @@ find_package(catkin REQUIRED COMPONENTS
   actionlib_msgs
 )
 
-find_package(Franka REQUIRED)
+find_package(Franka 0.2.0 REQUIRED)
 
 add_action_files(
   DIRECTORY action
diff --git a/franka_gripper/package.xml b/franka_gripper/package.xml
index f2431ccae1b71a2fa740f48ee5a60e806bfbff83..6da167d8f0e3b7f9db480edb390218cdd52095b3 100644
--- a/franka_gripper/package.xml
+++ b/franka_gripper/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>franka_gripper</name>
-  <version>0.2.0</version>
+  <version>0.2.1</version>
   <description>This package implements the franka gripper of type Franka Hand for the use in ros</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_hw/CMakeLists.txt b/franka_hw/CMakeLists.txt
index a4f25a5fd9f8607a70ca0d90f690d7e2d6d98a58..096e63133791d4f1a12570450bb9eb5a0e823c45 100644
--- a/franka_hw/CMakeLists.txt
+++ b/franka_hw/CMakeLists.txt
@@ -11,7 +11,7 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
 )
 
-find_package(Franka REQUIRED)
+find_package(Franka 0.2.0 REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS include
diff --git a/franka_hw/package.xml b/franka_hw/package.xml
index ad2431395dd3258d22f23ac105703d6a53bcd5fc..f0db8cc2d403a29aa781dd42f296641273ee23f6 100644
--- a/franka_hw/package.xml
+++ b/franka_hw/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>franka_hw</name>
-  <version>0.2.0</version>
+  <version>0.2.1</version>
   <description>franka_hw provides hardware interfaces for using Franka Emika research robots with ros_control</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_msgs/package.xml b/franka_msgs/package.xml
index bc1ce996feaf06238d93bf79ae533572ec42e990..ef20f5f8bd9b305471f9d89dc78e229ddaaed255 100644
--- a/franka_msgs/package.xml
+++ b/franka_msgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>franka_msgs</name>
-  <version>0.2.0</version>
+  <version>0.2.1</version>
   <description>franka_msgs provides messages specific to Franka Emika research robots</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_ros/package.xml b/franka_ros/package.xml
index c0b516c53d7652e5fedd802f2a14551c9eff82e5..15e6102f250c30a36f1ade0f7ae5459eb7dc9140 100644
--- a/franka_ros/package.xml
+++ b/franka_ros/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>franka_ros</name>
-  <version>0.2.0</version>
+  <version>0.2.1</version>
   <description>franka_ros is a metapackage for all Franka Emika ROS packages</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/franka_visualization/CMakeLists.txt b/franka_visualization/CMakeLists.txt
index e5ffe18fb13347b25d9b40def072cfe7e5cd2389..76f4182be1778351a59a9198cd108a418d14e863 100644
--- a/franka_visualization/CMakeLists.txt
+++ b/franka_visualization/CMakeLists.txt
@@ -9,7 +9,7 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
 )
 
-find_package(Franka REQUIRED)
+find_package(Franka 0.2.0 REQUIRED)
 
 catkin_package(CATKIN_DEPENDS sensor_msgs roscpp)
 
diff --git a/franka_visualization/package.xml b/franka_visualization/package.xml
index 15dfcb81fc53fede7174d5d1c18cd601f3cfa0b4..2b3061ec321f95993f9a14f0be2ffcc50bfdd876 100644
--- a/franka_visualization/package.xml
+++ b/franka_visualization/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>franka_visualization</name>
-  <version>0.2.0</version>
+  <version>0.2.1</version>
   <description>This package contains visualization tools for Franka Emika.</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>
diff --git a/panda_moveit_config/package.xml b/panda_moveit_config/package.xml
index a25edcbc6dd4ac89d625bc06cb6b9220fa752942..c6e1d17fcca21bbc911b80c53ae43d53a3ac6ffa 100644
--- a/panda_moveit_config/package.xml
+++ b/panda_moveit_config/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>panda_moveit_config</name>
-  <version>0.2.0</version>
+  <version>0.2.1</version>
   <description> A partly automatically generated package with all the configuration and launch files for using Panda research with MoveIt!</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>