diff --git a/universal_robot/package.xml b/universal_robot/package.xml
index 714d43869d43059c4593885cfdc9e172a1f68284..fb67a0fc5bc5c411f89981df68c6b38c6867faa6 100644
--- a/universal_robot/package.xml
+++ b/universal_robot/package.xml
@@ -1,4 +1,4 @@
-<package>
+<package format="2">
<name>universal_robot</name>
<version>1.2.5</version>
<description>
@@ -20,7 +20,7 @@
<author email="fxm@ipa.fhg.de">Felix Messmer</author>
<buildtool_depend>catkin</buildtool_depend>
- <run_depend>universal_robots</run_depend>
+ <exec_depend>universal_robots</exec_depend>
<export>
<metapackage/>
diff --git a/ur10_e_moveit_config/package.xml b/ur10_e_moveit_config/package.xml
index 14cb73a3f42999295ca1b8243d64c12a6cbd13e5..bceb8039d1ef4df03a6299498a514fc695f1e6a5 100644
--- a/ur10_e_moveit_config/package.xml
+++ b/ur10_e_moveit_config/package.xml
@@ -1,4 +1,5 @@
-<package>
+<?xml version="1.0"?>
+<package format="2">
<name>ur10_e_moveit_config</name>
<version>1.2.5</version>
@@ -16,16 +17,15 @@
<url type="bugtracker">https://github.com/ros-planning/moveit_setup_assistant/issues</url>
<url type="repository">https://github.com/ros-planning/moveit_setup_assistant</url>
- <run_depend>moveit_ros_move_group</run_depend>
- <run_depend>moveit_planners_ompl</run_depend>
- <run_depend>moveit_ros_visualization</run_depend>
- <run_depend>moveit_fake_controller_manager</run_depend>
- <run_depend>moveit_simple_controller_manager</run_depend>
- <run_depend>joint_state_publisher</run_depend>
- <run_depend>robot_state_publisher</run_depend>
- <run_depend>xacro</run_depend>
- <build_depend>ur_description</build_depend>
- <run_depend>ur_description</run_depend>
+ <exec_depend>moveit_ros_move_group</exec_depend>
+ <exec_depend>moveit_planners_ompl</exec_depend>
+ <exec_depend>moveit_ros_visualization</exec_depend>
+ <exec_depend>moveit_fake_controller_manager</exec_depend>
+ <exec_depend>moveit_simple_controller_manager</exec_depend>
+ <exec_depend>joint_state_publisher</exec_depend>
+ <exec_depend>robot_state_publisher</exec_depend>
+ <exec_depend>xacro</exec_depend>
+ <depend>ur_description</depend>
<test_depend>roslaunch</test_depend>
<buildtool_depend>catkin</buildtool_depend>
diff --git a/ur10_moveit_config/package.xml b/ur10_moveit_config/package.xml
index 7dc3792c4291060ea749ddbe008ffa77360aa754..443544c14a7d19f7e9291037a82f0434a75be710 100644
--- a/ur10_moveit_config/package.xml
+++ b/ur10_moveit_config/package.xml
@@ -1,4 +1,5 @@
-<package>
+<?xml version="1.0"?>
+<package format="2">
<name>ur10_moveit_config</name>
<version>1.2.5</version>
@@ -16,16 +17,15 @@
<url type="bugtracker">https://github.com/ros-planning/moveit_setup_assistant/issues</url>
<url type="repository">https://github.com/ros-planning/moveit_setup_assistant</url>
- <run_depend>moveit_ros_move_group</run_depend>
- <run_depend>moveit_planners_ompl</run_depend>
- <run_depend>moveit_ros_visualization</run_depend>
- <run_depend>moveit_fake_controller_manager</run_depend>
- <run_depend>moveit_simple_controller_manager</run_depend>
- <run_depend>joint_state_publisher</run_depend>
- <run_depend>robot_state_publisher</run_depend>
- <run_depend>xacro</run_depend>
- <build_depend>ur_description</build_depend>
- <run_depend>ur_description</run_depend>
+ <exec_depend>moveit_ros_move_group</exec_depend>
+ <exec_depend>moveit_planners_ompl</exec_depend>
+ <exec_depend>moveit_ros_visualization</exec_depend>
+ <exec_depend>moveit_fake_controller_manager</exec_depend>
+ <exec_depend>moveit_simple_controller_manager</exec_depend>
+ <exec_depend>joint_state_publisher</exec_depend>
+ <exec_depend>robot_state_publisher</exec_depend>
+ <exec_depend>xacro</exec_depend>
+ <depend>ur_description</depend>
<test_depend>roslaunch</test_depend>
<buildtool_depend>catkin</buildtool_depend>
diff --git a/ur3_e_moveit_config/package.xml b/ur3_e_moveit_config/package.xml
index 5ee355b774680a31de5f9de44c6a0a71509d71ca..bfdb3f9bcfa0dc69cffd88b77769442c9be759f5 100644
--- a/ur3_e_moveit_config/package.xml
+++ b/ur3_e_moveit_config/package.xml
@@ -1,4 +1,5 @@
-<package>
+<?xml version="1.0"?>
+<package format="2">
<name>ur3_e_moveit_config</name>
<version>1.2.5</version>
@@ -16,16 +17,15 @@
<url type="bugtracker">https://github.com/ros-planning/moveit_setup_assistant/issues</url>
<url type="repository">https://github.com/ros-planning/moveit_setup_assistant</url>
- <run_depend>moveit_ros_move_group</run_depend>
- <run_depend>moveit_planners_ompl</run_depend>
- <run_depend>moveit_ros_visualization</run_depend>
- <run_depend>moveit_fake_controller_manager</run_depend>
- <run_depend>moveit_simple_controller_manager</run_depend>
- <run_depend>joint_state_publisher</run_depend>
- <run_depend>robot_state_publisher</run_depend>
- <run_depend>xacro</run_depend>
- <build_depend>ur_description</build_depend>
- <run_depend>ur_description</run_depend>
+ <exec_depend>moveit_ros_move_group</exec_depend>
+ <exec_depend>moveit_planners_ompl</exec_depend>
+ <exec_depend>moveit_ros_visualization</exec_depend>
+ <exec_depend>moveit_fake_controller_manager</exec_depend>
+ <exec_depend>moveit_simple_controller_manager</exec_depend>
+ <exec_depend>joint_state_publisher</exec_depend>
+ <exec_depend>robot_state_publisher</exec_depend>
+ <exec_depend>xacro</exec_depend>
+ <depend>ur_description</depend>
<test_depend>roslaunch</test_depend>
<buildtool_depend>catkin</buildtool_depend>
diff --git a/ur3_moveit_config/package.xml b/ur3_moveit_config/package.xml
index c1389e056541966561edffd0471c9c6fe15c8204..3a0920c229f77b0f78210c394012b08498f15d92 100644
--- a/ur3_moveit_config/package.xml
+++ b/ur3_moveit_config/package.xml
@@ -1,4 +1,5 @@
-<package>
+<?xml version="1.0"?>
+<package format="2">
<name>ur3_moveit_config</name>
<version>1.2.5</version>
@@ -16,16 +17,15 @@
<url type="bugtracker">https://github.com/ros-planning/moveit_setup_assistant/issues</url>
<url type="repository">https://github.com/ros-planning/moveit_setup_assistant</url>
- <run_depend>moveit_ros_move_group</run_depend>
- <run_depend>moveit_planners_ompl</run_depend>
- <run_depend>moveit_ros_visualization</run_depend>
- <run_depend>moveit_fake_controller_manager</run_depend>
- <run_depend>moveit_simple_controller_manager</run_depend>
- <run_depend>joint_state_publisher</run_depend>
- <run_depend>robot_state_publisher</run_depend>
- <run_depend>xacro</run_depend>
- <build_depend>ur_description</build_depend>
- <run_depend>ur_description</run_depend>
+ <exec_depend>moveit_ros_move_group</exec_depend>
+ <exec_depend>moveit_planners_ompl</exec_depend>
+ <exec_depend>moveit_ros_visualization</exec_depend>
+ <exec_depend>moveit_fake_controller_manager</exec_depend>
+ <exec_depend>moveit_simple_controller_manager</exec_depend>
+ <exec_depend>joint_state_publisher</exec_depend>
+ <exec_depend>robot_state_publisher</exec_depend>
+ <exec_depend>xacro</exec_depend>
+ <depend>ur_description</depend>
<test_depend>roslaunch</test_depend>
<buildtool_depend>catkin</buildtool_depend>
diff --git a/ur5_e_moveit_config/package.xml b/ur5_e_moveit_config/package.xml
index 64ff6ced5a0e3e943af2277e8f4480bdd1c12679..f81c4cc1dd067b884a5952ddc2353fc070b810e1 100644
--- a/ur5_e_moveit_config/package.xml
+++ b/ur5_e_moveit_config/package.xml
@@ -1,4 +1,5 @@
-<package>
+<?xml version="1.0"?>
+<package format="2">
<name>ur5_e_moveit_config</name>
<version>1.2.5</version>
@@ -16,16 +17,15 @@
<url type="bugtracker">https://github.com/ros-planning/moveit_setup_assistant/issues</url>
<url type="repository">https://github.com/ros-planning/moveit_setup_assistant</url>
- <run_depend>moveit_ros_move_group</run_depend>
- <run_depend>moveit_planners_ompl</run_depend>
- <run_depend>moveit_ros_visualization</run_depend>
- <run_depend>moveit_fake_controller_manager</run_depend>
- <run_depend>moveit_simple_controller_manager</run_depend>
- <run_depend>joint_state_publisher</run_depend>
- <run_depend>robot_state_publisher</run_depend>
- <run_depend>xacro</run_depend>
- <build_depend>ur_description</build_depend>
- <run_depend>ur_description</run_depend>
+ <exec_depend>moveit_ros_move_group</exec_depend>
+ <exec_depend>moveit_planners_ompl</exec_depend>
+ <exec_depend>moveit_ros_visualization</exec_depend>
+ <exec_depend>moveit_fake_controller_manager</exec_depend>
+ <exec_depend>moveit_simple_controller_manager</exec_depend>
+ <exec_depend>joint_state_publisher</exec_depend>
+ <exec_depend>robot_state_publisher</exec_depend>
+ <exec_depend>xacro</exec_depend>
+ <depend>ur_description</depend>
<test_depend>roslaunch</test_depend>
<buildtool_depend>catkin</buildtool_depend>
diff --git a/ur5_moveit_config/package.xml b/ur5_moveit_config/package.xml
index 3a1b4e093937df7d70aa163ef36b708cfce2b581..cd6507462eb78de766ec14725b1bb6e6fd7330d6 100644
--- a/ur5_moveit_config/package.xml
+++ b/ur5_moveit_config/package.xml
@@ -1,4 +1,5 @@
-<package>
+<?xml version="1.0"?>
+<package format="2">
<name>ur5_moveit_config</name>
<version>1.2.5</version>
@@ -16,16 +17,15 @@
<url type="bugtracker">https://github.com/ros-planning/moveit_setup_assistant/issues</url>
<url type="repository">https://github.com/ros-planning/moveit_setup_assistant</url>
- <run_depend>moveit_ros_move_group</run_depend>
- <run_depend>moveit_planners_ompl</run_depend>
- <run_depend>moveit_ros_visualization</run_depend>
- <run_depend>moveit_fake_controller_manager</run_depend>
- <run_depend>moveit_simple_controller_manager</run_depend>
- <run_depend>joint_state_publisher</run_depend>
- <run_depend>robot_state_publisher</run_depend>
- <run_depend>xacro</run_depend>
- <build_depend>ur_description</build_depend>
- <run_depend>ur_description</run_depend>
+ <exec_depend>moveit_ros_move_group</exec_depend>
+ <exec_depend>moveit_planners_ompl</exec_depend>
+ <exec_depend>moveit_ros_visualization</exec_depend>
+ <exec_depend>moveit_fake_controller_manager</exec_depend>
+ <exec_depend>moveit_simple_controller_manager</exec_depend>
+ <exec_depend>joint_state_publisher</exec_depend>
+ <exec_depend>robot_state_publisher</exec_depend>
+ <exec_depend>xacro</exec_depend>
+ <depend>ur_description</depend>
<test_depend>roslaunch</test_depend>
<buildtool_depend>catkin</buildtool_depend>
diff --git a/ur_bringup/package.xml b/ur_bringup/package.xml
index 13177fca4e042f499ef357b008695e3ac6590f70..137cf3bf77e1d04b05ef4cb2b8199f36a51197a6 100644
--- a/ur_bringup/package.xml
+++ b/ur_bringup/package.xml
@@ -1,5 +1,5 @@
<?xml version="1.0"?>
-<package>
+<package format="2">
<name>ur_bringup</name>
<version>1.2.5</version>
<description>The ur_bringup package</description>
@@ -16,10 +16,10 @@
<buildtool_depend>catkin</buildtool_depend>
<test_depend>roslaunch</test_depend>
- <run_depend>tf2_ros</run_depend>
- <run_depend>ur_description</run_depend>
- <run_depend>ur_driver</run_depend>
- <run_depend>robot_state_publisher</run_depend>
+ <exec_depend>tf2_ros</exec_depend>
+ <exec_depend>ur_description</exec_depend>
+ <exec_depend>ur_driver</exec_depend>
+ <exec_depend>robot_state_publisher</exec_depend>
<export>
</export>
diff --git a/ur_description/package.xml b/ur_description/package.xml
index f5af9a9a457be4b37a6500b1b4b56bf30f817a8d..0fc77915bf947a0833b27de5e87a837857eb2fb0 100644
--- a/ur_description/package.xml
+++ b/ur_description/package.xml
@@ -1,5 +1,5 @@
<?xml version="1.0"?>
-<package>
+<package format="2">
<name>ur_description</name>
<version>1.2.5</version>
<description>
@@ -19,11 +19,11 @@
<url type="website">http://ros.org/wiki/ur_description</url>
<buildtool_depend>catkin</buildtool_depend>
- <run_depend>joint_state_publisher</run_depend>
- <run_depend>robot_state_publisher</run_depend>
- <run_depend>rviz</run_depend>
- <run_depend>urdf</run_depend>
- <run_depend>xacro</run_depend>
+ <exec_depend>joint_state_publisher</exec_depend>
+ <exec_depend>robot_state_publisher</exec_depend>
+ <exec_depend>rviz</exec_depend>
+ <exec_depend>urdf</exec_depend>
+ <exec_depend>xacro</exec_depend>
<export>
</export>
diff --git a/ur_driver/package.xml b/ur_driver/package.xml
index 0e4c3bc80ae38343f342f9096d25a85986cc95c6..dc4184902e1d2b00b46ab11c68c0ea4cf47d822e 100644
--- a/ur_driver/package.xml
+++ b/ur_driver/package.xml
@@ -1,5 +1,5 @@
<?xml version="1.0"?>
-<package>
+<package format="2">
<name>ur_driver</name>
<version>1.2.5</version>
<description>
@@ -17,14 +17,13 @@
<url type="website">http://ros.org/wiki/ur_driver</url>
<buildtool_depend>catkin</buildtool_depend>
- <build_depend>dynamic_reconfigure</build_depend>
-
- <run_depend>rospy</run_depend>
- <run_depend>actionlib</run_depend>
- <run_depend>control_msgs</run_depend>
- <run_depend>sensor_msgs</run_depend>
- <run_depend>trajectory_msgs</run_depend>
- <run_depend>ur_msgs</run_depend>
- <run_depend>python-lxml</run_depend>
- <run_depend>dynamic_reconfigure</run_depend>
+ <depend>dynamic_reconfigure</depend>
+
+ <exec_depend>rospy</exec_depend>
+ <exec_depend>actionlib</exec_depend>
+ <exec_depend>control_msgs</exec_depend>
+ <exec_depend>sensor_msgs</exec_depend>
+ <exec_depend>trajectory_msgs</exec_depend>
+ <exec_depend>ur_msgs</exec_depend>
+ <exec_depend>python-lxml</exec_depend>
</package>
diff --git a/ur_e_description/package.xml b/ur_e_description/package.xml
index 78daff8884e721cd32e19ca79b9c8c774843c992..e8776490afefe18aeb2097baa99efdacf1920c35 100644
--- a/ur_e_description/package.xml
+++ b/ur_e_description/package.xml
@@ -1,5 +1,5 @@
<?xml version="1.0"?>
-<package>
+<package format="2">
<name>ur_e_description</name>
<version>1.2.5</version>
<description>
@@ -19,11 +19,11 @@
<url type="website">http://ros.org/wiki/ur_e_description</url>
<buildtool_depend>catkin</buildtool_depend>
- <run_depend>joint_state_publisher</run_depend>
- <run_depend>robot_state_publisher</run_depend>
- <run_depend>rviz</run_depend>
- <run_depend>urdf</run_depend>
- <run_depend>xacro</run_depend>
+ <exec_depend>joint_state_publisher</exec_depend>
+ <exec_depend>robot_state_publisher</exec_depend>
+ <exec_depend>rviz</exec_depend>
+ <exec_depend>urdf</exec_depend>
+ <exec_depend>xacro</exec_depend>
<export>
</export>
diff --git a/ur_e_gazebo/package.xml b/ur_e_gazebo/package.xml
index 09197961bae37b39b40558d9b8e5d527441b9ff2..e738b7e3b30319f62ab729594150b17c923714e7 100644
--- a/ur_e_gazebo/package.xml
+++ b/ur_e_gazebo/package.xml
@@ -1,5 +1,5 @@
<?xml version="1.0"?>
-<package>
+<package format="2">
<name>ur_e_gazebo</name>
<version>1.2.5</version>
<description>
@@ -20,16 +20,16 @@
<buildtool_depend>catkin</buildtool_depend>
<test_depend>roslaunch</test_depend>
- <run_depend>controller_manager</run_depend>
- <run_depend>effort_controllers</run_depend>
- <run_depend>joint_state_controller</run_depend>
- <run_depend>joint_trajectory_controller</run_depend>
- <run_depend>gazebo_ros</run_depend>
- <run_depend>gazebo_ros_control</run_depend>
- <run_depend>position_controllers</run_depend>
- <run_depend>robot_state_publisher</run_depend>
- <run_depend>rostopic</run_depend>
- <run_depend>ur_e_description</run_depend>
+ <exec_depend>controller_manager</exec_depend>
+ <exec_depend>effort_controllers</exec_depend>
+ <exec_depend>joint_state_controller</exec_depend>
+ <exec_depend>joint_trajectory_controller</exec_depend>
+ <exec_depend>gazebo_ros</exec_depend>
+ <exec_depend>gazebo_ros_control</exec_depend>
+ <exec_depend>position_controllers</exec_depend>
+ <exec_depend>robot_state_publisher</exec_depend>
+ <exec_depend>rostopic</exec_depend>
+ <exec_depend>ur_e_description</exec_depend>
<export>
diff --git a/ur_gazebo/package.xml b/ur_gazebo/package.xml
index 0bc1f0ce4cdd0ca5c181435ee6a20d4ec69dd592..506cef08ee27865f45156c35ed4cb0a18c4abb71 100644
--- a/ur_gazebo/package.xml
+++ b/ur_gazebo/package.xml
@@ -1,5 +1,5 @@
<?xml version="1.0"?>
-<package>
+<package format="2">
<name>ur_gazebo</name>
<version>1.2.5</version>
<description>
@@ -20,16 +20,16 @@
<buildtool_depend>catkin</buildtool_depend>
<test_depend>roslaunch</test_depend>
- <run_depend>controller_manager</run_depend>
- <run_depend>effort_controllers</run_depend>
- <run_depend>gazebo_ros</run_depend>
- <run_depend>gazebo_ros_control</run_depend>
- <run_depend>joint_state_controller</run_depend>
- <run_depend>joint_trajectory_controller</run_depend>
- <run_depend>position_controllers</run_depend>
- <run_depend>robot_state_publisher</run_depend>
- <run_depend>rostopic</run_depend>
- <run_depend>ur_description</run_depend>
+ <exec_depend>controller_manager</exec_depend>
+ <exec_depend>effort_controllers</exec_depend>
+ <exec_depend>gazebo_ros</exec_depend>
+ <exec_depend>gazebo_ros_control</exec_depend>
+ <exec_depend>joint_state_controller</exec_depend>
+ <exec_depend>joint_trajectory_controller</exec_depend>
+ <exec_depend>position_controllers</exec_depend>
+ <exec_depend>robot_state_publisher</exec_depend>
+ <exec_depend>rostopic</exec_depend>
+ <exec_depend>ur_description</exec_depend>
<export>
</export>
diff --git a/ur_kinematics/package.xml b/ur_kinematics/package.xml
index 608dc3aed4b2cbeb5ac7b87eb69c06e1a95affb0..8e9b1fdc865b301348cd0baf070eef7fe2caf71e 100644
--- a/ur_kinematics/package.xml
+++ b/ur_kinematics/package.xml
@@ -1,5 +1,5 @@
<?xml version="1.0"?>
-<package>
+<package format="2">
<name>ur_kinematics</name>
<version>1.2.5</version>
<description>
@@ -15,27 +15,19 @@
<url type="website">http://wiki.ros.org/ur_kinematics</url>
<url type="bugtracker">https://github.com/ros-industrial/universal_robot/issues</url>
<url type="repository">https://github.com/ros-industrial/universal_robot</url>
-
+
<buildtool_depend>catkin</buildtool_depend>
- <build_depend>moveit_core</build_depend>
- <build_depend>moveit_kinematics</build_depend>
- <build_depend>moveit_ros_planning</build_depend>
- <build_depend>roscpp</build_depend>
- <build_depend>geometry_msgs</build_depend>
- <build_depend>pluginlib</build_depend>
- <build_depend>tf_conversions</build_depend>
- <build_depend>boost</build_depend>
+ <depend>moveit_core</depend>
+ <depend>moveit_kinematics</depend>
+ <depend>moveit_ros_planning</depend>
+ <depend>roscpp</depend>
+ <depend>geometry_msgs</depend>
+ <depend>pluginlib</depend>
+ <depend>tf_conversions</depend>
+ <depend>boost</depend>
- <run_depend>rospy</run_depend>
- <run_depend>moveit_core</run_depend>
- <run_depend>moveit_kinematics</run_depend>
- <run_depend>moveit_ros_planning</run_depend>
- <run_depend>roscpp</run_depend>
- <run_depend>geometry_msgs</run_depend>
- <run_depend>pluginlib</run_depend>
- <run_depend>tf_conversions</run_depend>
- <run_depend>boost</run_depend>
+ <exec_depend>rospy</exec_depend>
<export>
<moveit_core plugin="${prefix}/ur_moveit_plugins.xml"/>
diff --git a/ur_msgs/package.xml b/ur_msgs/package.xml
index d35cbba57e9119b4f31bfd9438d073a7d044c1a8..3b2b3c378063ff28f63639c0c53461fe1a1dac25 100644
--- a/ur_msgs/package.xml
+++ b/ur_msgs/package.xml
@@ -1,5 +1,5 @@
<?xml version="1.0"?>
-<package>
+<package format="2">
<name>ur_msgs</name>
<version>1.2.5</version>
<description>The ur_msgs package</description>
@@ -14,9 +14,8 @@
<buildtool_depend>catkin</buildtool_depend>
<build_depend>message_generation</build_depend>
- <build_depend>std_msgs</build_depend>
- <run_depend>message_runtime</run_depend>
- <run_depend>std_msgs</run_depend>
+ <depend>std_msgs</depend>
+ <exec_depend>message_runtime</exec_depend>
<export>
</export>