diff --git a/CHANGELOG.md b/CHANGELOG.md
index 22a2fbd5a7b29ec70fde8582a664949785fb09d2..4171744012dac16039e07b7dc220cd38e1a295d1 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -3,6 +3,7 @@
 ## 0.1.1 - UNRELEASED
 
   * Integrate franka_description as subdirectory
+  * Fix dependencies on libfranka
 
 ## 0.1.0 - 2017-09-15
 
diff --git a/franka_control/package.xml b/franka_control/package.xml
index 470be51fd515314ea70d9a214847b0014fade0b7..e4937458ce7b38ea708d18d5ac37d5760d6cf858 100644
--- a/franka_control/package.xml
+++ b/franka_control/package.xml
@@ -15,7 +15,7 @@
 
   <build_depend>message_generation</build_depend>
 
-  <depend>Franka</depend>
+  <depend>libfranka</depend>
   <depend>actionlib</depend>
   <depend>actionlib_msgs</depend>
   <depend>controller_interface</depend>
diff --git a/franka_gripper/package.xml b/franka_gripper/package.xml
index a2c87f77edb6c473cbc5fb9f1d5273e67fc2a288..eb41a2cbf7a310460240cab82bc970c8f625029c 100644
--- a/franka_gripper/package.xml
+++ b/franka_gripper/package.xml
@@ -15,7 +15,7 @@
 
   <depend>roscpp</depend>
   <depend>message_generation</depend>
-  <depend>Franka</depend>
+  <depend>libfranka</depend>
   <depend>control_msgs</depend>
   <depend>actionlib</depend>
   <depend>sensor_msgs</depend>
diff --git a/franka_hw/package.xml b/franka_hw/package.xml
index e363fab7b6032d833da9bcbf58c3c683442b12b0..74195a9f26d509b31d490a2b4aecae368937a17c 100644
--- a/franka_hw/package.xml
+++ b/franka_hw/package.xml
@@ -13,7 +13,7 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <depend>Franka</depend>
+  <depend>libfranka</depend>
   <depend>controller_interface</depend>
   <depend>hardware_interface</depend>
   <depend>joint_limits_interface</depend>
diff --git a/franka_visualization/package.xml b/franka_visualization/package.xml
index f2c25ed8617f3faa164b39e5ac269b7dbb9b3e40..413cb216dc53be7f63c9ccf61b037f61d6ac45d6 100644
--- a/franka_visualization/package.xml
+++ b/franka_visualization/package.xml
@@ -15,7 +15,7 @@
 
   <depend>sensor_msgs</depend>
   <depend>roscpp</depend>
-  <depend>Franka</depend>
+  <depend>libfranka</depend>
   
   <exec_depend>xacro</exec_depend>
 </package>