diff --git a/launch/planning_context.launch b/launch/planning_context.launch
index d94e6fed91de2ba4c70ce2d86c97c4a416f3e93a..b591e1aedd5119b9691e77248e0409929232f720 100644
--- a/launch/planning_context.launch
+++ b/launch/planning_context.launch
@@ -8,7 +8,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param name="$(arg robot_description)" command="xacro '$(find franka_description)/robots/panda_arm.urdf.xacro' hand:=$(arg load_gripper) arm_id:=$(arg arm_id)" if="$(arg load_robot_description)" />
+  <param name="$(arg robot_description)" command="xacro '$(find franka_description)/robots/panda/panda.urdf.xacro' hand:=$(arg load_gripper) arm_id:=$(arg arm_id)" if="$(arg load_robot_description)" />
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" command="xacro '$(find panda_moveit_config)/config/panda.srdf.xacro' hand:=$(arg load_gripper) arm_id:=$(arg arm_id)" />
diff --git a/package.xml b/package.xml
index 69170dd60c6822c0e1975d6a7f4e557c35b9ce4f..de05169c1dc9b7764b0f2a19c38f494a0b4d676d 100644
--- a/package.xml
+++ b/package.xml
@@ -35,7 +35,6 @@
   <!-- <run_depend>gazebo_ros_control</run_depend> -->
   <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
   <!-- <run_depend>warehouse_ros_mongo</run_depend> -->
-  <run_depend>franka_description</run_depend>
-
+  <run_depend version_gte="0.10.0">franka_description</run_depend>
 
 </package>