diff --git a/python_orocos_kdl/manifest.xml b/python_orocos_kdl/manifest.xml
deleted file mode 100644
index ae3cd5ac7..000000000
--- a/python_orocos_kdl/manifest.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<package>
-  <description brief="python_orocos_kdl">
-
-     python_orocos_kdl
-
-  </description>
-  <author>Ruben Smits</author>
-  <license>LGPL</license>
-  <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/python_orocos_kdl</url>
-
-  <depend package="orocos_kdl"/>
-  <rosdep name="python-sip"/>
-
-  <export>
-    <python path="${prefix}/lib"  />
-    <rosdoc config="rosdoc.yaml"/>
-  </export>
-
-</package>
-
-
diff --git a/python_orocos_kdl/package.xml b/python_orocos_kdl/package.xml
index 3fe99b324..57af0be51 100644
--- a/python_orocos_kdl/package.xml
+++ b/python_orocos_kdl/package.xml
@@ -1,4 +1,8 @@
-<package>
+<?xml version="1.0"?>
+<?xml-model
+  href="http://download.ros.org/schema/package_format3.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>python_orocos_kdl</name>
   <version>1.4.0</version>
   <description>
@@ -12,11 +16,13 @@
   <buildtool_depend>cmake</buildtool_depend>
 
   <build_depend>orocos_kdl</build_depend>
-  <build_depend>python-sip</build_depend>
+  <build_depend condition="$ROS_PYTHON_VERSION == 2">python-sip</build_depend>
+  <build_depend condition="$ROS_PYTHON_VERSION == 3">python3-sip</build_depend>
 
-  <run_depend>catkin</run_depend>
-  <run_depend>orocos_kdl</run_depend>
-  <run_depend>python-sip</run_depend>
+  <exec_depend>catkin</exec_depend>
+  <exec_depend>orocos_kdl</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-sip</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-sip</exec_depend>
 
   <export>
     <build_type>cmake</build_type>