diff --git a/CHANGELOG.md b/CHANGELOG.md
index 613202c559bbd51b1bd7db4f4dcbd66e64e83c63..9fc581f107df26f8803169f287a2f71d690b6503 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,12 @@
 # CHANGELOG
 
+## 0.2.2 - UNRELEASED
+
+Requires `libfranka` >= 0.2.0
+
+  * Catkin-related fixes for `franka_example_controllers`
+  * Added missing `<build_export_depend>` for `message_runtime`
+
 ## 0.2.1 - 2018-01-30
 
 Requires `libfranka` >= 0.2.0
diff --git a/franka_control/package.xml b/franka_control/package.xml
index 99fb29f7bf760dabd1fad70abebd45090376720b..38b1caba3ad17db8946051f9d57e0c71d728d184 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>0.2.1</version>
+  <version>0.2.2</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>
@@ -35,6 +35,8 @@
   <exec_depend>message_runtime</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
 
+  <build_export_depend>message_runtime</build_export_depend>
+
   <export>
     <controller_interface plugin="${prefix}/franka_controller_plugins.xml"/>
   </export>
diff --git a/franka_description/package.xml b/franka_description/package.xml
index 174fc5f6f07ce8a491d8102c05f126e391c53a53..3b4e76cd39c0f6bea9fdf37a7ae297a830f90a7d 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>0.2.1</version>
+  <version>0.2.2</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 3afabc1117b2643aacaa08ecd75cbc11cb089665..8511958750e3e9f2636af97205580cfaadea83c8 100644
--- a/franka_example_controllers/CMakeLists.txt
+++ b/franka_example_controllers/CMakeLists.txt
@@ -8,12 +8,15 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 find_package(catkin REQUIRED COMPONENTS
   controller_interface
+  dynamic_reconfigure
   franka_hw
+  geometry_msgs
+  hardware_interface
+  message_generation
   pluginlib
   realtime_tools
   roscpp
-  message_generation
-  dynamic_reconfigure
+  rospy
 )
 
 find_package(Eigen3 REQUIRED)
@@ -31,9 +34,17 @@ generate_dynamic_reconfigure_options(
 )
 
 catkin_package(
-  INCLUDE_DIRS include
   LIBRARIES franka_example_controllers
-  CATKIN_DEPENDS controller_interface franka_hw pluginlib
+  CATKIN_DEPENDS
+    controller_interface
+    dynamic_reconfigure
+    franka_hw
+    geometry_msgs
+    hardware_interface
+    message_runtime
+    pluginlib
+    realtime_tools
+    roscpp
   DEPENDS Franka
 )
 
@@ -69,9 +80,6 @@ install(TARGETS franka_example_controllers
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-)
 install(DIRECTORY launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
@@ -81,6 +89,10 @@ install(DIRECTORY config
 install(FILES franka_example_controllers_plugin.xml
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
+catkin_install_python(
+  PROGRAMS scripts/interactive_marker.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
 ## Tools
 include(${CMAKE_CURRENT_LIST_DIR}/../cmake/ClangTools.cmake OPTIONAL
diff --git a/franka_example_controllers/package.xml b/franka_example_controllers/package.xml
index f62e8ce54a313c5a9a5af7d9f1cfad16eff25cf0..9c7ab6ab8053b26f5697d0a8f80700c557969d4e 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>0.2.1</version>
+  <version>0.2.2</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>
@@ -13,18 +13,24 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>roscpp</build_depend>
   <build_depend>message_generation</build_depend>
-  <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>eigen</build_depend>
 
+  <build_export_depend>message_runtime</build_export_depend>
+
   <depend>controller_interface</depend>
+  <depend>dynamic_reconfigure</depend>
   <depend>franka_hw</depend>
+  <depend>geometry_msgs</depend>
+  <depend>hardware_interface</depend>
   <depend>libfranka</depend>
   <depend>pluginlib</depend>
   <depend>realtime_tools</depend>
+  <depend>roscpp</depend>
 
   <exec_depend>franka_description</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>rospy</exec_depend>
 
   <export>
     <controller_interface plugin="${prefix}/franka_example_controllers_plugin.xml"/>
diff --git a/franka_example_controllers/launch/scripts/interactive_marker.py b/franka_example_controllers/scripts/interactive_marker.py
similarity index 100%
rename from franka_example_controllers/launch/scripts/interactive_marker.py
rename to franka_example_controllers/scripts/interactive_marker.py
diff --git a/franka_gripper/package.xml b/franka_gripper/package.xml
index 6da167d8f0e3b7f9db480edb390218cdd52095b3..e35b722eb3b9d57c7ea913417f5394e0a1371c98 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>0.2.1</version>
+  <version>0.2.2</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>
@@ -23,4 +23,6 @@
   <depend>actionlib_msgs</depend>
 
   <exec_depend>message_runtime</exec_depend>
+
+  <build_export_depend>message_runtime</build_export_depend>
 </package>
diff --git a/franka_hw/package.xml b/franka_hw/package.xml
index f0db8cc2d403a29aa781dd42f296641273ee23f6..bb2e22a9fe4cf201c307fb3e1a513ea709bcf73b 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>0.2.1</version>
+  <version>0.2.2</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 ef20f5f8bd9b305471f9d89dc78e229ddaaed255..1c8dd3f3fc90c00718d284ee3985a4db330757a7 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>0.2.1</version>
+  <version>0.2.2</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>
@@ -16,6 +16,7 @@
   <depend>std_msgs</depend>
   <build_depend>message_generation</build_depend>
   <exec_depend>message_runtime</exec_depend>
+  <build_export_depend>message_runtime</build_export_depend>
 
   <export>
     <architecture_independent/>
diff --git a/franka_ros/package.xml b/franka_ros/package.xml
index 15e6102f250c30a36f1ade0f7ae5459eb7dc9140..7a3b34f8887f8bc56c91b21a5862af232b7d568e 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>0.2.1</version>
+  <version>0.2.2</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/package.xml b/franka_visualization/package.xml
index 2b3061ec321f95993f9a14f0be2ffcc50bfdd876..477ab3cf4050baebdaf860fb097e0e3527fdfc10 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>0.2.1</version>
+  <version>0.2.2</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 c6e1d17fcca21bbc911b80c53ae43d53a3ac6ffa..301834e5714721c69b011326349e3ae765e8e2a7 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>0.2.1</version>
+  <version>0.2.2</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>