diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6410d12..6558258 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,7 @@
 # CMake
 ##############################################################################
 
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(genjava)
 
 ##############################################################################
diff --git a/package.xml b/package.xml
index a907f61..86233ab 100644
--- a/package.xml
+++ b/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>genjava</name>
   <version>0.3.4</version>
   <description>
@@ -16,18 +20,16 @@
   <author>Daniel Stonier</author>
 
   <buildtool_depend version_gte="0.5.78">catkin</buildtool_depend>
-
-  <build_depend>genmsg</build_depend>
-  <build_depend>python-catkin-pkg</build_depend>
-  <build_depend>python-rospkg</build_depend>
-  <build_depend>rosjava_bootstrap</build_depend>
-  <build_depend>rosjava_build_tools</build_depend>
-
-  <run_depend>genmsg</run_depend>
-  <run_depend>python-catkin-pkg</run_depend>
-  <run_depend>python-rospkg</run_depend>
-  <run_depend>rosjava_bootstrap</run_depend>
-  <run_depend>rosjava_build_tools</run_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
+
+  <depend>genmsg</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-catkin-pkg</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-rospkg</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-catkin-pkg</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-rospkg</depend>
+  <depend>rosjava_bootstrap</depend>
+  <depend>rosjava_build_tools</depend>
 
   <export>
     <message_generator>java</message_generator>
diff --git a/setup.py b/setup.py
index 2b031ef..cf9ec7a 100644
--- a/setup.py
+++ b/setup.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 d = generate_distutils_setup(
diff --git a/src/genjava/gradle_project.py b/src/genjava/gradle_project.py
index 66a85a8..5ecfbca 100644
--- a/src/genjava/gradle_project.py
+++ b/src/genjava/gradle_project.py
@@ -79,7 +79,7 @@ def get_templates():
 
 def populate_project(project_name, project_version, pkg_directory, gradle_project_dir, msg_dependencies):
     author = author_name()
-    for filename, template in get_templates().iteritems():
+    for filename, template in get_templates().items():
         contents = instantiate_genjava_template(template, project_name, project_version, pkg_directory, author, msg_dependencies)
         try:
             p = os.path.abspath(os.path.join(gradle_project_dir, filename))