diff --git a/franka_control/CMakeLists.txt b/franka_control/CMakeLists.txt
index 065df6aa3fa39fcd57a5d3135346fcab8a84d0ae..a753cda75a9e78a8bf04337bbec0ec1c251469df 100644
--- a/franka_control/CMakeLists.txt
+++ b/franka_control/CMakeLists.txt
@@ -19,11 +19,11 @@ find_package(catkin REQUIRED COMPONENTS
   tf2_msgs
 )
 
-find_package(Franka 0.5.0 REQUIRED)
+find_package(Franka 0.7.0 REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES franka_state_controller franka_control_services
+  LIBRARIES franka_state_controller
   CATKIN_DEPENDS
     controller_interface
     franka_hw
diff --git a/franka_example_controllers/CMakeLists.txt b/franka_example_controllers/CMakeLists.txt
index 669121caa156141cc3abbc5b36f15dddcd1a2e8c..3f935f9538d4d248c68678f8f5e3273a7968aac7 100644
--- a/franka_example_controllers/CMakeLists.txt
+++ b/franka_example_controllers/CMakeLists.txt
@@ -22,7 +22,7 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 find_package(Eigen3 REQUIRED)
-find_package(Franka 0.5.0 REQUIRED)
+find_package(Franka 0.7.0 REQUIRED)
 
 add_message_files(FILES
   JointTorqueComparison.msg
diff --git a/franka_gripper/CMakeLists.txt b/franka_gripper/CMakeLists.txt
index 38070193399771b33f4ab6ac43cecb56e05dbdf8..14dd8524315cf9d7aa8d2b446d93010545fa1096 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 0.5.0 REQUIRED)
+find_package(Franka 0.7.0 REQUIRED)
 
 add_action_files(
   DIRECTORY action
diff --git a/franka_hw/CMakeLists.txt b/franka_hw/CMakeLists.txt
index 90b93b8a7db2bf50394e0757988e0837aa07be80..417b816f8f529274f51081db88926bfc0b32bba9 100644
--- a/franka_hw/CMakeLists.txt
+++ b/franka_hw/CMakeLists.txt
@@ -17,11 +17,11 @@ find_package(catkin REQUIRED COMPONENTS
   message_generation
 )
 
-find_package(Franka 0.5.0 REQUIRED)
+find_package(Franka 0.7.0 REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES franka_hw
+  LIBRARIES franka_hw franka_control_services
   CATKIN_DEPENDS
     actionlib_msgs
     actionlib
diff --git a/franka_visualization/CMakeLists.txt b/franka_visualization/CMakeLists.txt
index 65322ddd8362228a9b76cdb73ac829d521bcccaa..3354d32e3b1730f67463d546cb93410a53fe3954 100644
--- a/franka_visualization/CMakeLists.txt
+++ b/franka_visualization/CMakeLists.txt
@@ -9,7 +9,7 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
 )
 
-find_package(Franka 0.5.0 REQUIRED)
+find_package(Franka 0.7.0 REQUIRED)
 
 catkin_package(CATKIN_DEPENDS sensor_msgs roscpp)