diff --git a/python_orocos_kdl/package.xml b/python_orocos_kdl/package.xml
index 6950bddbf..bb86bf35c 100644
--- a/python_orocos_kdl/package.xml
+++ b/python_orocos_kdl/package.xml
@@ -28,7 +28,8 @@
   <test_depend condition="$ROS_PYTHON_VERSION == 2">python-psutil</test_depend>
   <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-psutil</test_depend>
 
-  <doc_depend>python-sphinx</doc_depend>
+  <doc_depend condition="$ROS_PYTHON_VERSION == 2">python-sphinx</doc_depend>
+  <doc_depend condition="$ROS_PYTHON_VERSION == 3">python3-sphinx</doc_depend>
 
   <export>
     <rosdoc config="rosdoc.yaml"/>