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_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..4f240b247ed56ab4fd0fd7a7b3df8ad50f6c40e0 100644
--- a/franka_example_controllers/package.xml
+++ b/franka_example_controllers/package.xml
@@ -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_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_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)