diff --git a/clearpath_common/package.xml b/clearpath_common/package.xml
index 04ce0ee3..239598f2 100644
--- a/clearpath_common/package.xml
+++ b/clearpath_common/package.xml
@@ -13,9 +13,9 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <exec_depend>clearpath_control</exec_depend>
-  <exec_depend>clearpath_description</exec_depend>
-  <exec_depend>clearpath_generator_common</exec_depend>
+  <exec_depend version_gte="1.0.0">clearpath_control</exec_depend>
+  <exec_depend version_gte="1.0.0">clearpath_description</exec_depend>
+  <exec_depend version_gte="1.0.0">clearpath_generator_common</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/clearpath_description/package.xml b/clearpath_description/package.xml
index 95a9f9ae..5711359c 100644
--- a/clearpath_description/package.xml
+++ b/clearpath_description/package.xml
@@ -17,10 +17,10 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <exec_depend>clearpath_mounts_description</exec_depend>
-  <exec_depend>clearpath_platform_description</exec_depend>
-  <exec_depend>clearpath_sensors_description</exec_depend>
-  <exec_depend>clearpath_manipulators_description</exec_depend>
+  <exec_depend version_gte="1.0.0">clearpath_mounts_description</exec_depend>
+  <exec_depend version_gte="1.0.0">clearpath_platform_description</exec_depend>
+  <exec_depend version_gte="1.0.0">clearpath_sensors_description</exec_depend>
+  <exec_depend version_gte="1.0.0">clearpath_manipulators_description</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/clearpath_generator_common/package.xml b/clearpath_generator_common/package.xml
index 0f20cb0c..9413c496 100644
--- a/clearpath_generator_common/package.xml
+++ b/clearpath_generator_common/package.xml
@@ -14,10 +14,10 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <exec_depend>clearpath_config</exec_depend>
-  <exec_depend>clearpath_control</exec_depend>
-  <exec_depend>clearpath_description</exec_depend>
-  <exec_depend>clearpath_manipulators</exec_depend>
+  <exec_depend version_gte="1.0.0">clearpath_config</exec_depend>
+  <exec_depend version_gte="1.0.0">clearpath_control</exec_depend>
+  <exec_depend version_gte="1.0.0">clearpath_description</exec_depend>
+  <exec_depend version_gte="1.0.0">clearpath_manipulators</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/clearpath_manipulators/package.xml b/clearpath_manipulators/package.xml
index d0088f1f..1363f0d9 100644
--- a/clearpath_manipulators/package.xml
+++ b/clearpath_manipulators/package.xml
@@ -14,7 +14,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>moveit_planners_chomp</exec_depend>
-  <exec_depend>clearpath_manipulators_description</exec_depend>
+  <exec_depend version_gte="1.0.0">clearpath_manipulators_description</exec_depend>
   <exec_depend>gripper_controllers</exec_depend>
   <exec_depend>moveit_configs_utils</exec_depend>
   <exec_depend>moveit_kinematics</exec_depend>