diff --git a/aruco_pose/package.xml b/aruco_pose/package.xml
index 03977753..a29c85b2 100644
--- a/aruco_pose/package.xml
+++ b/aruco_pose/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>aruco_pose</name>
   <version>0.23.0</version>
   <description>Positioning with ArUco markers</description>
@@ -28,6 +28,8 @@
   <depend>sensor_msgs</depend>
   <depend>rostest</depend>
   <depend>dynamic_reconfigure</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-docopt</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-docopt</depend>
 
   <test_depend>image_publisher</test_depend>
   <test_depend>ros_pytest</test_depend>
diff --git a/builder/test/tests.py b/builder/test/tests.py
index 6bce4823..e550cf52 100755
--- a/builder/test/tests.py
+++ b/builder/test/tests.py
@@ -35,6 +35,7 @@ import pymavlink
 from pymavlink import mavutil
 # from espeak import espeak
 from pyzbar import pyzbar
+import docopt
 
 print(cv2.getBuildInformation())
 
diff --git a/clover/requirements.txt b/clover/requirements.txt
index 81d0fda6..64b5f719 100644
--- a/clover/requirements.txt
+++ b/clover/requirements.txt
@@ -1,5 +1,4 @@
 flask==1.1.1
-docopt==0.6.2
 geopy==1.11.0
 smbus2==0.3.0
 VL53L1X==0.0.5
diff --git a/clover_simulation/package.xml b/clover_simulation/package.xml
index a7d27462..7ee6983f 100644
--- a/clover_simulation/package.xml
+++ b/clover_simulation/package.xml
@@ -1,4 +1,4 @@
-<package format="2">
+<package format="3">
     <name>clover_simulation</name>
     <version>0.23.0</version>
     <description>The clover_simulation package provides worlds and launch files for Gazebo.</description>
@@ -22,6 +22,8 @@
     <depend>gazebo_ros</depend>
     <depend>gazebo_plugins</depend>
     <depend>rospy</depend>
+    <depend condition="$ROS_PYTHON_VERSION == 2">python-docopt</depend>
+    <depend condition="$ROS_PYTHON_VERSION == 3">python3-docopt</depend>
 
     <export>
         <gazebo_ros gazebo_media_path="${prefix}"/>