diff --git a/package.xml b/package.xml
index 34a1783..2272256 100644
--- a/package.xml
+++ b/package.xml
@@ -16,6 +16,8 @@
   <author email="william@osrfoundation.org">William Woodall</author>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
 
   <build_depend>message_generation</build_depend>
   <build_depend>roslaunch</build_depend>
diff --git a/setup.py b/setup.py
index 5189301..c732ea8 100644
--- a/setup.py
+++ b/setup.py
@@ -1,4 +1,4 @@
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 d = generate_distutils_setup(