diff --git a/capabilities/CMakeLists.txt b/capabilities/CMakeLists.txt
index a5cf37ce0..09f2542ea 100644
--- a/capabilities/CMakeLists.txt
+++ b/capabilities/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1.3)
+cmake_minimum_required(VERSION 3.16)
 project(moveit_task_constructor_capabilities)
 
 find_package(fmt REQUIRED)
diff --git a/core/CMakeLists.txt b/core/CMakeLists.txt
index 12af7292b..8bc43f071 100644
--- a/core/CMakeLists.txt
+++ b/core/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1.3)
+cmake_minimum_required(VERSION 3.16)
 project(moveit_task_constructor_core)
 
 find_package(Boost REQUIRED)
diff --git a/demo/CMakeLists.txt b/demo/CMakeLists.txt
index a421eefcc..3182a9102 100644
--- a/demo/CMakeLists.txt
+++ b/demo/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1.3)
+cmake_minimum_required(VERSION 3.16)
 project(moveit_task_constructor_demo)
 
 find_package(catkin REQUIRED COMPONENTS
diff --git a/msgs/CMakeLists.txt b/msgs/CMakeLists.txt
index f2792232e..4000619ce 100644
--- a/msgs/CMakeLists.txt
+++ b/msgs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1.3)
+cmake_minimum_required(VERSION 3.16)
 project(moveit_task_constructor_msgs)
 
 set(MSG_DEPS moveit_msgs visualization_msgs)
diff --git a/rviz_marker_tools/CMakeLists.txt b/rviz_marker_tools/CMakeLists.txt
index 3878ba199..6cf85147a 100644
--- a/rviz_marker_tools/CMakeLists.txt
+++ b/rviz_marker_tools/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1.3)
+cmake_minimum_required(VERSION 3.16)
 project(rviz_marker_tools)
 
 find_package(catkin REQUIRED COMPONENTS
diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt
index d72aaebf7..84793ab30 100644
--- a/visualization/CMakeLists.txt
+++ b/visualization/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1.3)
+cmake_minimum_required(VERSION 3.16)
 project(moveit_task_constructor_visualization)
 
 find_package(fmt REQUIRED)