diff --git a/CHANGELOG.md b/CHANGELOG.md
index 40c09611a7e24371d1d1937bec07950fcff54f6d..34cbc30e7a2f7321d1aacbeb23f0ef0505817e1c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,6 +5,9 @@
 Requires `libfranka` >= 0.3.0
 
   * **BREAKING** Changed signatures in `franka_hw::FrankaModelHandle`
+  * Added missing dependency to `panda_moveit_config`
+  * Fixed linker errors when building with `-DFranka_DIR` while an older version of
+    `ros-kinetic-libfranka` is installed
 
 ## 0.2.2 - 2018-01-31
 
diff --git a/franka_control/CMakeLists.txt b/franka_control/CMakeLists.txt
index 7a747a6618af7d1642d6a079dc4f4859c4f63f44..bf926fba094c137034388704faa00b83044f02e8 100644
--- a/franka_control/CMakeLists.txt
+++ b/franka_control/CMakeLists.txt
@@ -68,12 +68,15 @@ add_dependencies(franka_state_controller
 )
 
 target_link_libraries(franka_state_controller
+  ${Franka_LIBRARIES}
   ${catkin_LIBRARIES}
-  Franka::Franka
 )
 
-target_include_directories(franka_state_controller PUBLIC
+target_include_directories(franka_state_controller SYSTEM PUBLIC
+  ${Franka_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
+)
+target_include_directories(franka_state_controller PUBLIC
   include
 )
 
@@ -88,12 +91,15 @@ add_dependencies(franka_control_services
 )
 
 target_link_libraries(franka_control_services
+  ${Franka_LIBRARIES}
   ${catkin_LIBRARIES}
-  Franka::Franka
 )
 
-target_include_directories(franka_control_services PUBLIC
+target_include_directories(franka_control_services SYSTEM PUBLIC
+  ${Franka_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
+)
+target_include_directories(franka_control_services PUBLIC
   include
 )
 
@@ -108,12 +114,13 @@ add_dependencies(franka_control_node
 )
 
 target_link_libraries(franka_control_node
-  ${catkin_LIBRARIES}
+  ${Franka_LIBRARIES}
   franka_control_services
-  Franka::Franka
+  ${catkin_LIBRARIES}
 )
 
-target_include_directories(franka_control_node PUBLIC
+target_include_directories(franka_control_node SYSTEM PUBLIC
+  ${Franka_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
 )
 
diff --git a/franka_example_controllers/CMakeLists.txt b/franka_example_controllers/CMakeLists.txt
index 09f535a0b2302394a5b62992c666fb9f432288ec..235c5cb69c4e2dcda02213c0be2e6bd3aa7b21bc 100644
--- a/franka_example_controllers/CMakeLists.txt
+++ b/franka_example_controllers/CMakeLists.txt
@@ -48,8 +48,6 @@ catkin_package(
   DEPENDS Franka
 )
 
-include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS})
-
 add_library(franka_example_controllers
   src/cartesian_pose_example_controller.cpp
   src/cartesian_velocity_example_controller.cpp
@@ -69,9 +67,18 @@ add_dependencies(franka_example_controllers
   ${PROJECT_NAME}_gencfg
 )
 
-target_link_libraries(franka_example_controllers
+target_link_libraries(franka_example_controllers PUBLIC
+  ${Franka_LIBRARIES}
   ${catkin_LIBRARIES}
-  Franka::Franka
+)
+
+target_include_directories(franka_example_controllers SYSTEM PUBLIC
+  ${Franka_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+)
+target_include_directories(franka_example_controllers PUBLIC
+  include
 )
 
 ## Installation
diff --git a/franka_gripper/CMakeLists.txt b/franka_gripper/CMakeLists.txt
index 9b5c6ef4fe047345cf9996fb59827d3b998b09bd..bdec2005a489b1c85b8d93f79c3e1f12576932b2 100644
--- a/franka_gripper/CMakeLists.txt
+++ b/franka_gripper/CMakeLists.txt
@@ -50,12 +50,15 @@ add_dependencies(franka_gripper
 )
 
 target_link_libraries(franka_gripper
-   ${catkin_LIBRARIES}
-   Franka::Franka
+  ${Franka_LIBRARIES}
+  ${catkin_LIBRARIES}
 )
 
-target_include_directories(franka_gripper PUBLIC
+target_include_directories(franka_gripper SYSTEM PUBLIC
+  ${Franka_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
+)
+target_include_directories(franka_gripper PUBLIC
   include
 )
 
@@ -74,9 +77,8 @@ target_link_libraries(franka_gripper_node
    franka_gripper
 )
 
-target_include_directories(franka_gripper_node PUBLIC
+target_include_directories(franka_gripper_node SYSTEM PUBLIC
   ${catkin_INCLUDE_DIRS}
-  include
 )
 
 ## Installation
diff --git a/franka_hw/CMakeLists.txt b/franka_hw/CMakeLists.txt
index 49cc35a464a43587f7779efd66abcf86103a2865..0dcf4852d6b41dcacf5734e39ddeefaed93d42d4 100644
--- a/franka_hw/CMakeLists.txt
+++ b/franka_hw/CMakeLists.txt
@@ -33,12 +33,15 @@ add_dependencies(franka_hw
 )
 
 target_link_libraries(franka_hw
+  ${Franka_LIBRARIES}
   ${catkin_LIBRARIES}
-  Franka::Franka
 )
 
-target_include_directories(franka_hw PUBLIC
+target_include_directories(franka_hw SYSTEM PUBLIC
+  ${Franka_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
+)
+target_include_directories(franka_hw PUBLIC
   include
 )
 
diff --git a/franka_visualization/CMakeLists.txt b/franka_visualization/CMakeLists.txt
index 03da6fe66f0b5cf65034517fa986347c802fc825..7111e3fc07413704cf27ab59bd60ed58d1e82907 100644
--- a/franka_visualization/CMakeLists.txt
+++ b/franka_visualization/CMakeLists.txt
@@ -20,13 +20,14 @@ add_dependencies(franka_joint_state_publisher
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
   ${catkin_EXPORTED_TARGETS}
 )
-target_link_libraries(franka_joint_state_publisher
-  ${catkin_LIBRARIES}
-  Franka::Franka
-)
-target_include_directories(franka_joint_state_publisher PUBLIC
+target_include_directories(franka_joint_state_publisher SYSTEM PUBLIC
+  ${Franka_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
 )
+target_link_libraries(franka_joint_state_publisher PUBLIC
+  ${Franka_LIBRARIES}
+  ${catkin_LIBRARIES}
+)
 
 ## Installation
 install(TARGETS franka_joint_state_publisher