diff --git a/CMakeLists.txt b/CMakeLists.txt
index ad252934b6f1ed9daf47b7e6c4305d0725fd0028..6db28e5a2922bc777c20d12d57df3e8df32365bd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,7 +7,7 @@ SET(CUSTOM_HEADER_DIR "hpp/anymal-rbprm")
 SET(CXX_DISABLE_WERROR true)
 SET(PROJECT_USE_CMAKE_EXPORT TRUE)
 
-INCLUDE(cmake/hpp.cmake)
+INCLUDE(cmake/base.cmake)
 INCLUDE(cmake/python.cmake)
 
 COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
diff --git a/anymal_rbprm/__init__.py b/anymal_rbprm/__init__.py
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..9f9a265599b4299c98b1835663e4c426ab38f1e9 100644
--- a/anymal_rbprm/__init__.py
+++ b/anymal_rbprm/__init__.py
@@ -0,0 +1,6 @@
+from pathlib import Path
+
+
+def prefix():
+    """$prefix/lib/pythonX.Y/site-packages/$module/__init__.py: extract prefix from module"""
+    return Path(__file__).parent.parent.parent.parent.parent
diff --git a/anymal_rbprm/anymal.py b/anymal_rbprm/anymal.py
index 1a25355c1520a67cf94b08875393ba3dbb7c6138..8ee84146e5ab1a58a52be2ee2a62e94096c538cd 100644
--- a/anymal_rbprm/anymal.py
+++ b/anymal_rbprm/anymal.py
@@ -19,12 +19,6 @@
 from hpp.corbaserver.rbprm.rbprmfullbody import FullBody as Parent
 from pinocchio import SE3
 import numpy as np
-from pathlib import Path
-
-
-def prefix(module):
-    """$prefix/lib/pythonX.Y/site-packages/$module/__init__.py: extract prefix from module"""
-    return Path(module.__file__).parent.parent.parent.parent.parent
 
 
 class Robot(Parent):
@@ -131,9 +125,9 @@ class Robot(Parent):
     legy = 0.02
     import anymal_rbprm
     kinematic_constraints_path = str(
-        prefix(anymal_rbprm) / "share/anymal-rbprm/com_inequalities/feet_quasi_flat/anymal_")
+        anymal_rbprm.prefix() / "share/anymal-rbprm/com_inequalities/feet_quasi_flat/anymal_")
     relative_feet_constraints_path = str(
-        prefix(anymal_rbprm) / "share/anymal-rbprm/relative_effector_positions/anymal_")
+        anymal_rbprm.prefix() / "share/anymal-rbprm/relative_effector_positions/anymal_")
 
     minDist = 0.2
 
diff --git a/package.xml b/package.xml
index 41837416a4e74cc853ec9d2ddc5cc5b219978167..3bf4b802d025fc435e82eab0a572b24c0d3d96de 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <?xml version='1.0'?>
-<package format='2'>
-    <name>anymal-rbprm</name>
+<package format='3'>
+    <name>anymal_rbprm</name>
     <version>4.12.0</version>
     <description>Database for anymal robot using hpp-rbprm</description>
 
@@ -10,5 +10,12 @@
     <author>Pierre Fernbach</author>
     <author>Steve Tonneau</author>
 
-    <buildtool_depend>catkin</buildtool_depend>
+    <!-- The following tags are recommended by REP-136 -->
+    <exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
+    <buildtool_depend>cmake</buildtool_depend>
+    <depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
+    <depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
+    <export>
+        <build_type>cmake</build_type>
+    </export>
 </package>