diff --git a/package.xml b/package.xml
index 75b7f2e44b0da18c33f97732204ac9d7bace5fc0..05ffabb325132c8d9b147663a5aa8e7065ab0ccc 100644
--- a/package.xml
+++ b/package.xml
@@ -13,8 +13,10 @@
 
   <build_depend>git</build_depend>
   <build_depend>doxygen</build_depend>
-  <depend>python</depend>
-  <depend>python-numpy</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
   <depend>eigen</depend>
   <depend>boost</depend>