diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4a075741f..a3ce13bb6 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -14,6 +14,7 @@ Requires `libfranka` >= 0.8.0
   * `franka_description`: `<xacro:franka_robot/>` macro now supports to customize the `parent` frame and its `xyz` + `rpy` offset
   * `franka_hw`: Fix the bug where the previous controller is still running after switching the controller. ([#326](https://github.com/frankaemika/franka_ros/issues/326))
   * `franka_gazebo`: Add `set_franka_model_configuration` service.
+  * Update minimum CMake version to 3.10 to remove deprecation warnings
 
 ## 0.10.1 - 2022-09-15
 
diff --git a/franka_control/CMakeLists.txt b/franka_control/CMakeLists.txt
index b2e24688f..09ebf5b5c 100644
--- a/franka_control/CMakeLists.txt
+++ b/franka_control/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.10)
 project(franka_control)
 
 set(CMAKE_CXX_STANDARD 14)
diff --git a/franka_description/CMakeLists.txt b/franka_description/CMakeLists.txt
index 119ed42c1..69e5717c5 100644
--- a/franka_description/CMakeLists.txt
+++ b/franka_description/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.10)
 project(franka_description)
 
 find_package(catkin REQUIRED)
diff --git a/franka_example_controllers/CMakeLists.txt b/franka_example_controllers/CMakeLists.txt
index 2ad6b6b09..157260db3 100644
--- a/franka_example_controllers/CMakeLists.txt
+++ b/franka_example_controllers/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.10)
 project(franka_example_controllers)
 
 set(CMAKE_BUILD_TYPE Release)
diff --git a/franka_gazebo/CMakeLists.txt b/franka_gazebo/CMakeLists.txt
index 56bdcae13..3e7b2283c 100644
--- a/franka_gazebo/CMakeLists.txt
+++ b/franka_gazebo/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.10)
 project(franka_gazebo)
 
 execute_process(COMMAND uname -m
diff --git a/franka_gripper/CMakeLists.txt b/franka_gripper/CMakeLists.txt
index 6a830b389..99719751a 100644
--- a/franka_gripper/CMakeLists.txt
+++ b/franka_gripper/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.10)
 project(franka_gripper)
 
 set(CMAKE_CXX_STANDARD 14)
diff --git a/franka_hw/CMakeLists.txt b/franka_hw/CMakeLists.txt
index d7888a831..8424e7c89 100644
--- a/franka_hw/CMakeLists.txt
+++ b/franka_hw/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.10)
 project(franka_hw)
 
 set(CMAKE_CXX_STANDARD 14)
diff --git a/franka_msgs/CMakeLists.txt b/franka_msgs/CMakeLists.txt
index 94b423342..517629990 100644
--- a/franka_msgs/CMakeLists.txt
+++ b/franka_msgs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.10)
 project(franka_msgs)
 
 find_package(catkin REQUIRED COMPONENTS message_generation std_msgs sensor_msgs actionlib_msgs)
diff --git a/franka_ros/CMakeLists.txt b/franka_ros/CMakeLists.txt
index 3bbd61f39..11908b981 100644
--- a/franka_ros/CMakeLists.txt
+++ b/franka_ros/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1.3)
+cmake_minimum_required(VERSION 2.8.3)
 project(franka_ros)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/franka_visualization/CMakeLists.txt b/franka_visualization/CMakeLists.txt
index d8c55a32c..7699136a7 100644
--- a/franka_visualization/CMakeLists.txt
+++ b/franka_visualization/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.10)
 project(franka_visualization)
 
 set(CMAKE_CXX_STANDARD 14)