diff --git a/hrpsys_ros_bridge/package.xml b/hrpsys_ros_bridge/package.xml
index 1018b9cf0..feb1956a3 100644
--- a/hrpsys_ros_bridge/package.xml
+++ b/hrpsys_ros_bridge/package.xml
@@ -72,7 +72,7 @@
   <run_depend>diagnostic_msgs</run_depend>
   <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>ipython</run_depend>
-  <run_depend>hrpsys</run_depend>
+  <run_depend version_gte="315.3.1">hrpsys</run_depend>
   <run_depend>hrpsys_tools</run_depend>
   <run_depend>image_transport</run_depend>
   <run_depend>nav_msgs</run_depend>