diff --git a/CMakeLists.txt b/CMakeLists.txt
index b8e49b9a21a2bfa445b517cfbb84853398db98ab..a2e31ff389e079d5f4429357a084c84c613f3b71 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,7 +12,6 @@ OPTION(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
 # Project configuration
 SET(PROJECT_USE_CMAKE_EXPORT TRUE)
 SET(CXX_DISABLE_WERROR TRUE)
-SET(CMAKE_CXX_STANDARD 11)
 
 # JRL-cmakemodule setup
 INCLUDE(cmake/base.cmake)
@@ -20,6 +19,7 @@ INCLUDE(cmake/base.cmake)
 # Project definition
 COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX C)
 PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
+CHECK_MINIMAL_CXX_STANDARD(11 ENFORCE)
 
 # Project dependencies
 ADD_PROJECT_DEPENDENCY(urdfdom REQUIRED)
@@ -27,6 +27,10 @@ ADD_PROJECT_DEPENDENCY(gazebo REQUIRED)
 ADD_PROJECT_DEPENDENCY(roscpp)
 find_package(catkin REQUIRED COMPONENTS roscpp)
 
+if(${gazebo_VERSION} VERSION_GREATER_EQUAL 11)
+  CHECK_MINIMAL_CXX_STANDARD(17 ENFORCE)
+endif()
+
 # Main Library
 SET(${PROJECT_NAME}_HEADERS
   )
diff --git a/cmake b/cmake
index 72cf8cdefcf8cde818745ad7998122bde0b54734..be9051ce90147cde6cc77cea0dcbe12895756fd1 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 72cf8cdefcf8cde818745ad7998122bde0b54734
+Subproject commit be9051ce90147cde6cc77cea0dcbe12895756fd1