diff --git a/franka_control/CMakeLists.txt b/franka_control/CMakeLists.txt
index b2e24688f..945fd3490 100644
--- a/franka_control/CMakeLists.txt
+++ b/franka_control/CMakeLists.txt
@@ -20,9 +20,15 @@ find_package(catkin REQUIRED COMPONENTS
   std_srvs
 )
 
-find_package(Franka 0.9.0 QUIET)
+find_package(Franka 0.15.0 QUIET)
 if(NOT Franka_FOUND)
-  find_package(Franka 0.8.0 REQUIRED)
+  find_package(Franka 0.14.1 QUIET)
+  if(NOT Franka_FOUND)
+    find_package(Franka 0.9.0 QUIET)
+    if(NOT Franka_FOUND)
+      find_package(Franka 0.8.0 REQUIRED)
+    endif()
+  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..d8fcf35ff 100644
--- a/franka_example_controllers/CMakeLists.txt
+++ b/franka_example_controllers/CMakeLists.txt
@@ -26,9 +26,15 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 find_package(Eigen3 REQUIRED)
-find_package(Franka 0.9.0 QUIET)
+find_package(Franka 0.15.0 QUIET)
 if(NOT Franka_FOUND)
-  find_package(Franka 0.8.0 REQUIRED)
+  find_package(Franka 0.14.1 QUIET)
+  if(NOT Franka_FOUND)
+    find_package(Franka 0.9.0 QUIET)
+    if(NOT Franka_FOUND)
+      find_package(Franka 0.8.0 REQUIRED)
+    endif()
+  endif()
 endif()
 
 # merge Franka + INCLUDE_DIRS in topological order
diff --git a/franka_gripper/CMakeLists.txt b/franka_gripper/CMakeLists.txt
index 6a830b389..a722d40c8 100644
--- a/franka_gripper/CMakeLists.txt
+++ b/franka_gripper/CMakeLists.txt
@@ -14,9 +14,15 @@ find_package(catkin REQUIRED COMPONENTS
   actionlib_msgs
 )
 
-find_package(Franka 0.9.0 QUIET)
+find_package(Franka 0.15.0 QUIET)
 if(NOT Franka_FOUND)
-  find_package(Franka 0.8.0 REQUIRED)
+  find_package(Franka 0.14.1 QUIET)
+  if(NOT Franka_FOUND)
+    find_package(Franka 0.9.0 QUIET)
+    if(NOT Franka_FOUND)
+      find_package(Franka 0.8.0 REQUIRED)
+    endif()
+  endif()
 endif()
 
 # merge Franka + catkin INCLUDE_DIRS in topological order
diff --git a/franka_hw/CMakeLists.txt b/franka_hw/CMakeLists.txt
index d7888a831..f49699bec 100644
--- a/franka_hw/CMakeLists.txt
+++ b/franka_hw/CMakeLists.txt
@@ -18,9 +18,15 @@ find_package(catkin REQUIRED COMPONENTS
   message_generation
 )
 
-find_package(Franka 0.9.0 QUIET)
+find_package(Franka 0.15.0 QUIET)
 if(NOT Franka_FOUND)
-  find_package(Franka 0.8.0 REQUIRED)
+  find_package(Franka 0.14.1 QUIET)
+  if(NOT Franka_FOUND)
+    find_package(Franka 0.9.0 QUIET)
+    if(NOT Franka_FOUND)
+      find_package(Franka 0.8.0 REQUIRED)
+    endif()
+  endif()
 endif()
 
 # merge Franka + catkin INCLUDE_DIRS in topological order
diff --git a/franka_visualization/CMakeLists.txt b/franka_visualization/CMakeLists.txt
index d8c55a32c..50d6abe0c 100644
--- a/franka_visualization/CMakeLists.txt
+++ b/franka_visualization/CMakeLists.txt
@@ -9,9 +9,15 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
 )
 
-find_package(Franka 0.9.0 QUIET)
+find_package(Franka 0.15.0 QUIET)
 if(NOT Franka_FOUND)
-  find_package(Franka 0.8.0 REQUIRED)
+  find_package(Franka 0.14.1 QUIET)
+  if(NOT Franka_FOUND)
+    find_package(Franka 0.9.0 QUIET)
+    if(NOT Franka_FOUND)
+      find_package(Franka 0.8.0 REQUIRED)
+    endif()
+  endif()
 endif()
 
 # merge Franka + catkin INCLUDE_DIRS in topological order