diff --git a/humanoid_msgs/package.xml b/humanoid_msgs/package.xml
index 2d21218..ec49668 100644
--- a/humanoid_msgs/package.xml
+++ b/humanoid_msgs/package.xml
@@ -9,7 +9,10 @@
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
   <license>Apache 2.0</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
+
   <export>
     <metapackage />
   </export>
diff --git a/humanoid_nav_msgs/package.xml b/humanoid_nav_msgs/package.xml
index b0ee8c8..fa0d680 100644
--- a/humanoid_nav_msgs/package.xml
+++ b/humanoid_nav_msgs/package.xml
@@ -9,7 +9,9 @@
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
   <license>Apache 2.0</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
 
   <build_depend>message_generation</build_depend>
   <build_depend>std_msgs</build_depend>
diff --git a/humanoid_robot_action_module_msgs/package.xml b/humanoid_robot_action_module_msgs/package.xml
index d5d5f56..49ddb59 100644
--- a/humanoid_robot_action_module_msgs/package.xml
+++ b/humanoid_robot_action_module_msgs/package.xml
@@ -6,7 +6,9 @@
   <license>Apache 2.0</license>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
 
   <build_depend>std_msgs</build_depend>
   <build_depend>message_generation</build_depend>
diff --git a/humanoid_robot_controller_msgs/package.xml b/humanoid_robot_controller_msgs/package.xml
index 9690623..51ce6ba 100644
--- a/humanoid_robot_controller_msgs/package.xml
+++ b/humanoid_robot_controller_msgs/package.xml
@@ -6,7 +6,9 @@
   <license>Apache 2.0</license>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
 
   <build_depend>std_msgs</build_depend>
   <build_depend>sensor_msgs</build_depend>
diff --git a/humanoid_robot_msgs/package.xml b/humanoid_robot_msgs/package.xml
index 7144d68..c08c791 100644
--- a/humanoid_robot_msgs/package.xml
+++ b/humanoid_robot_msgs/package.xml
@@ -6,7 +6,9 @@
   <license>Apache 2.0</license>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
 
   <build_depend>humanoid_robot_action_module_msgs</build_depend>
   <build_depend>humanoid_robot_offset_tuner_msgs</build_depend>
diff --git a/humanoid_robot_offset_tuner_msgs/package.xml b/humanoid_robot_offset_tuner_msgs/package.xml
index 2f9822f..1f08293 100644
--- a/humanoid_robot_offset_tuner_msgs/package.xml
+++ b/humanoid_robot_offset_tuner_msgs/package.xml
@@ -6,7 +6,9 @@
   <license>Apache 2.0</license>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
 
   <build_depend>std_msgs</build_depend>
   <build_depend>message_generation</build_depend>
diff --git a/humanoid_robot_online_walking_module_msgs/package.xml b/humanoid_robot_online_walking_module_msgs/package.xml
index b9bc84d..7519834 100644
--- a/humanoid_robot_online_walking_module_msgs/package.xml
+++ b/humanoid_robot_online_walking_module_msgs/package.xml
@@ -6,7 +6,9 @@
   <license>Apache 2.0</license>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
 
   <build_depend>std_msgs</build_depend>
   <build_depend>sensor_msgs</build_depend>
diff --git a/humanoid_robot_tuning_module_msgs/package.xml b/humanoid_robot_tuning_module_msgs/package.xml
index b801f4f..b688f22 100644
--- a/humanoid_robot_tuning_module_msgs/package.xml
+++ b/humanoid_robot_tuning_module_msgs/package.xml
@@ -6,7 +6,9 @@
   <license>Apache 2.0</license>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
 
   <build_depend>std_msgs</build_depend>
   <build_depend>message_generation</build_depend>
diff --git a/humanoid_robot_walking_module_msgs/package.xml b/humanoid_robot_walking_module_msgs/package.xml
index f7e9d93..5756194 100644
--- a/humanoid_robot_walking_module_msgs/package.xml
+++ b/humanoid_robot_walking_module_msgs/package.xml
@@ -6,7 +6,9 @@
   <license>Apache 2.0</license>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
 
   <build_depend>std_msgs</build_depend>
   <build_depend>message_generation</build_depend>