diff --git a/franka_control/CMakeLists.txt b/franka_control/CMakeLists.txt
index b2e24688f..51d61aead 100644
--- a/franka_control/CMakeLists.txt
+++ b/franka_control/CMakeLists.txt
@@ -20,9 +20,12 @@ find_package(catkin REQUIRED COMPONENTS
   std_srvs
 )
 
-find_package(Franka 0.9.0 QUIET)
+find_package(Franka 0.14.1 QUIET)
 if(NOT Franka_FOUND)
-  find_package(Franka 0.8.0 REQUIRED)
+  find_package(Franka 0.9.0 QUIET)
+  if(NOT Franka_FOUND)
+    find_package(Franka 0.8.0 REQUIRED)
+  endif()
 endif()
 
 # merge Franka + catkin INCLUDE_DIRS in topological order
diff --git a/franka_example_controllers/CMakeLists.txt b/franka_example_controllers/CMakeLists.txt
index 2ad6b6b09..6b7f4ab12 100644
--- a/franka_example_controllers/CMakeLists.txt
+++ b/franka_example_controllers/CMakeLists.txt
@@ -26,9 +26,12 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 find_package(Eigen3 REQUIRED)
-find_package(Franka 0.9.0 QUIET)
+find_package(Franka 0.14.1 QUIET)
 if(NOT Franka_FOUND)
-  find_package(Franka 0.8.0 REQUIRED)
+  find_package(Franka 0.9.0 QUIET)
+  if(NOT Franka_FOUND)
+    find_package(Franka 0.8.0 REQUIRED)
+  endif()
 endif()
 
 # merge Franka + INCLUDE_DIRS in topological order
diff --git a/franka_gripper/CMakeLists.txt b/franka_gripper/CMakeLists.txt
index 6a830b389..b0c833f69 100644
--- a/franka_gripper/CMakeLists.txt
+++ b/franka_gripper/CMakeLists.txt
@@ -14,9 +14,12 @@ find_package(catkin REQUIRED COMPONENTS
   actionlib_msgs
 )
 
-find_package(Franka 0.9.0 QUIET)
+find_package(Franka 0.14.1 QUIET)
 if(NOT Franka_FOUND)
-  find_package(Franka 0.8.0 REQUIRED)
+  find_package(Franka 0.9.0 QUIET)
+  if(NOT Franka_FOUND)
+    find_package(Franka 0.8.0 REQUIRED)
+  endif()
 endif()
 
 # merge Franka + catkin INCLUDE_DIRS in topological order
diff --git a/franka_hw/CMakeLists.txt b/franka_hw/CMakeLists.txt
index d7888a831..960df3880 100644
--- a/franka_hw/CMakeLists.txt
+++ b/franka_hw/CMakeLists.txt
@@ -18,9 +18,12 @@ find_package(catkin REQUIRED COMPONENTS
   message_generation
 )
 
-find_package(Franka 0.9.0 QUIET)
+find_package(Franka 0.14.1 QUIET)
 if(NOT Franka_FOUND)
-  find_package(Franka 0.8.0 REQUIRED)
+  find_package(Franka 0.9.0 QUIET)
+  if(NOT Franka_FOUND)
+    find_package(Franka 0.8.0 REQUIRED)
+  endif()
 endif()
 
 # merge Franka + catkin INCLUDE_DIRS in topological order
diff --git a/franka_visualization/CMakeLists.txt b/franka_visualization/CMakeLists.txt
index d8c55a32c..e7370a8d2 100644
--- a/franka_visualization/CMakeLists.txt
+++ b/franka_visualization/CMakeLists.txt
@@ -9,9 +9,12 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
 )
 
-find_package(Franka 0.9.0 QUIET)
+find_package(Franka 0.14.1 QUIET)
 if(NOT Franka_FOUND)
-  find_package(Franka 0.8.0 REQUIRED)
+  find_package(Franka 0.9.0 QUIET)
+  if(NOT Franka_FOUND)
+    find_package(Franka 0.8.0 REQUIRED)
+  endif()
 endif()
 
 # merge Franka + catkin INCLUDE_DIRS in topological order