diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt
index 5c2d3ea3e..e0cb3f3f0 100644
--- a/ackermann_steering_controller/CMakeLists.txt
+++ b/ackermann_steering_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(ackermann_steering_controller)
 
 # Default to C++14
diff --git a/diff_drive_controller/CMakeLists.txt b/diff_drive_controller/CMakeLists.txt
index ef46254f0..fe43a6520 100644
--- a/diff_drive_controller/CMakeLists.txt
+++ b/diff_drive_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(diff_drive_controller)
 
 # Default to C++14
diff --git a/effort_controllers/CMakeLists.txt b/effort_controllers/CMakeLists.txt
index 7841d795e..94c5017f4 100644
--- a/effort_controllers/CMakeLists.txt
+++ b/effort_controllers/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(effort_controllers)
 
 # Default to C++14
diff --git a/force_torque_sensor_controller/CMakeLists.txt b/force_torque_sensor_controller/CMakeLists.txt
index 8d8267846..43ecf3607 100644
--- a/force_torque_sensor_controller/CMakeLists.txt
+++ b/force_torque_sensor_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(force_torque_sensor_controller)
 
 # Default to C++14
@@ -32,7 +32,7 @@ catkin_package(
 include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
 
 add_library(${PROJECT_NAME}
-  src/force_torque_sensor_controller.cpp 
+  src/force_torque_sensor_controller.cpp
   include/force_torque_sensor_controller/force_torque_sensor_controller.h
 )
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
diff --git a/forward_command_controller/CMakeLists.txt b/forward_command_controller/CMakeLists.txt
index cb31781e4..b8f3355f2 100644
--- a/forward_command_controller/CMakeLists.txt
+++ b/forward_command_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(forward_command_controller)
 
 # Default to C++14
diff --git a/four_wheel_steering_controller/CMakeLists.txt b/four_wheel_steering_controller/CMakeLists.txt
index 2c8c50d1d..71c28bd4e 100644
--- a/four_wheel_steering_controller/CMakeLists.txt
+++ b/four_wheel_steering_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(four_wheel_steering_controller)
 
 # Default to C++14
diff --git a/gripper_action_controller/CMakeLists.txt b/gripper_action_controller/CMakeLists.txt
index 3464363f5..9f3f3cf4a 100644
--- a/gripper_action_controller/CMakeLists.txt
+++ b/gripper_action_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(gripper_action_controller)
 
 # Default to C++14
@@ -6,7 +6,7 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 
-find_package(catkin 
+find_package(catkin
   REQUIRED COMPONENTS
       actionlib
       angles
@@ -27,12 +27,12 @@ find_package(catkin
 catkin_package(
 INCLUDE_DIRS include
 LIBRARIES gripper_action_controller
-CATKIN_DEPENDS 
-  actionlib 
-  cmake_modules 
-  controller_interface 
-  control_msgs 
-  hardware_interface 
+CATKIN_DEPENDS
+  actionlib
+  cmake_modules
+  controller_interface
+  control_msgs
+  hardware_interface
   realtime_tools
   trajectory_msgs
 )
diff --git a/imu_sensor_controller/CMakeLists.txt b/imu_sensor_controller/CMakeLists.txt
index 682c0161b..f5edf5e35 100644
--- a/imu_sensor_controller/CMakeLists.txt
+++ b/imu_sensor_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(imu_sensor_controller)
 
 # Default to C++14
@@ -16,7 +16,7 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 catkin_package(
-  CATKIN_DEPENDS 
+  CATKIN_DEPENDS
     controller_interface
     hardware_interface
     pluginlib
@@ -30,7 +30,7 @@ catkin_package(
 include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
 
 add_library(${PROJECT_NAME}
-  src/imu_sensor_controller.cpp 
+  src/imu_sensor_controller.cpp
   include/imu_sensor_controller/imu_sensor_controller.h)
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
 
diff --git a/joint_state_controller/CMakeLists.txt b/joint_state_controller/CMakeLists.txt
index 8e37f220b..7561800d3 100644
--- a/joint_state_controller/CMakeLists.txt
+++ b/joint_state_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(joint_state_controller)
 
 # Default to C++14
diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt
index c9f60cb00..651f7f632 100644
--- a/joint_trajectory_controller/CMakeLists.txt
+++ b/joint_trajectory_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(joint_trajectory_controller)
 
 # Default to C++14
diff --git a/position_controllers/CMakeLists.txt b/position_controllers/CMakeLists.txt
index 07665bcf7..98a869ec8 100644
--- a/position_controllers/CMakeLists.txt
+++ b/position_controllers/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(position_controllers)
 
 # Load catkin and all dependencies required for this package
diff --git a/ros_controllers/CMakeLists.txt b/ros_controllers/CMakeLists.txt
index 959fe1d74..670806036 100644
--- a/ros_controllers/CMakeLists.txt
+++ b/ros_controllers/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(ros_controllers)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/rqt_joint_trajectory_controller/CMakeLists.txt b/rqt_joint_trajectory_controller/CMakeLists.txt
index c6384e32e..7ff521916 100644
--- a/rqt_joint_trajectory_controller/CMakeLists.txt
+++ b/rqt_joint_trajectory_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(rqt_joint_trajectory_controller)
 
 find_package(catkin REQUIRED COMPONENTS)
diff --git a/velocity_controllers/CMakeLists.txt b/velocity_controllers/CMakeLists.txt
index 3c5b6ea99..c363ae3a7 100644
--- a/velocity_controllers/CMakeLists.txt
+++ b/velocity_controllers/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(velocity_controllers)
 
 # Default to C++14