diff --git a/pr2_moveit_tests/package.xml b/pr2_moveit_tests/package.xml
index 6e743a7..1ca8862 100644
--- a/pr2_moveit_tests/package.xml
+++ b/pr2_moveit_tests/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>pr2_moveit_tests</name>
   <version>0.7.3</version>
   <description>The pr2_moveit_tests package</description>
@@ -7,7 +7,8 @@
   <author email="sachinc@willowgarage.com">Sachin Chitta</author>
   <license>BSD</license>
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>orocos_kdl</build_depend>
+  <build_depend condition="$ROS_DISTRO != one">orocos_kdl</build_depend>
+  <build_depend condition="$ROS_DISTRO == one">liborocos-kdl</build_depend>
 
   <depend>pluginlib</depend>
   <depend>moveit_core</depend>