diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4122e1da..8c2cbb0e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,6 +20,7 @@ endif()
 
 if(catkin_FOUND)
   find_package(catkin REQUIRED COMPONENTS behavior_tree_core rosbag rosbag_storage roscpp)
+  find_package(behavior_tree_core 3.2.0 REQUIRED)
   find_package(cmake_modules REQUIRED)
   find_package(TinyXML2 REQUIRED)
 
diff --git a/package.xml b/package.xml
index 2816dad6..6090f423 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
     <name>groot</name>
-    <version>1.2.1</version>
+    <version>1.2.2</version>
     <description>Graphical editor to create behaviour trees</description>
 
     <maintainer email="jponchu@upo.es">Javier Ponce</maintainer>
@@ -14,7 +14,7 @@
     <build_depend>cmake_modules</build_depend>
     <build_depend>pluginlib</build_depend>
     <build_depend>roscpp</build_depend>
-    <build_depend>behavior_tree_core</build_depend>
+    <build_depend version_gte="3.2.0">behavior_tree_core</build_depend>
     <build_depend>qtbase5-dev</build_depend>
     <build_depend>libqt5-opengl-dev</build_depend>
     <build_depend>libqt5-svg-dev</build_depend>
@@ -25,7 +25,7 @@
     <build_export_depend>cmake_modules</build_export_depend>
     <build_export_depend>pluginlib</build_export_depend>
     <build_export_depend>roscpp</build_export_depend>
-    <build_export_depend>behavior_tree_core</build_export_depend>
+    <build_export_depend version_gte="3.2.0">behavior_tree_core</build_export_depend>
     <build_export_depend>qtbase5-dev</build_export_depend>
     <build_export_depend>libqt5-opengl-dev</build_export_depend>
     <build_export_depend>libqt5-svg-dev</build_export_depend>
@@ -35,7 +35,7 @@
 
     <exec_depend>pluginlib</exec_depend>
     <exec_depend>roscpp</exec_depend>
-    <exec_depend>behavior_tree_core</exec_depend>
+    <exec_depend version_gte="3.2.0">behavior_tree_core</exec_depend>
     <exec_depend>qtbase5-dev</exec_depend>
     <exec_depend>libqt5-opengl</exec_depend>
     <exec_depend>libqt5-svg-dev</exec_depend>