diff --git a/setup.py b/setup.py
index 89fd9108a..5257b5041 100644
--- a/setup.py
+++ b/setup.py
@@ -8,7 +8,7 @@
     version=__version__,  # noqa:F821
     packages=['rosdep2', 'rosdep2.platforms'],
     package_dir={'': 'src'},
-    install_requires=['catkin_pkg', 'rospkg >= 1.0.37', 'rosdistro >= 0.7.0', 'PyYAML >= 3.1'],
+    install_requires=['catkin_pkg >= 0.4.0', 'rospkg >= 1.0.37', 'rosdistro >= 0.7.0', 'PyYAML >= 3.1'],
     test_suite='nose.collector',
     test_requires=['mock', 'nose >= 1.0'],
     scripts=['scripts/rosdep', 'scripts/rosdep-source'],
diff --git a/src/rosdep2/rospkg_loader.py b/src/rosdep2/rospkg_loader.py
index 69e3e4800..5b415675d 100644
--- a/src/rosdep2/rospkg_loader.py
+++ b/src/rosdep2/rospkg_loader.py
@@ -34,6 +34,8 @@
 
 from __future__ import print_function
 
+import os
+
 import catkin_pkg.package
 import rospkg
 
@@ -137,8 +139,9 @@ def get_rosdeps(self, resource_name, implicit=True):
 
         if resource_name in self.get_catkin_paths():
             pkg = catkin_pkg.package.parse_package(self.get_catkin_paths()[resource_name])
+            pkg.evaluate_conditions(os.environ)
             deps = pkg.build_depends + pkg.buildtool_depends + pkg.run_depends + pkg.test_depends
-            return [d.name for d in deps]
+            return [d.name for d in deps if d.evaluated_condition]
         elif resource_name in self.get_loadable_resources():
             return self._rospack.get_rosdeps(resource_name, implicit=implicit)
         elif resource_name in self._rosstack.list():
diff --git a/stdeb.cfg b/stdeb.cfg
index 6cd42c6d3..f11a50afa 100644
--- a/stdeb.cfg
+++ b/stdeb.cfg
@@ -1,6 +1,6 @@
 [DEFAULT]
-Depends: ca-certificates, python-rospkg (>= 1.0.37), python-yaml, python-catkin-pkg, python-rosdistro (>= 0.7.0)
-Depends3: ca-certificates, python3-rospkg (>= 1.0.37), python3-yaml, python3-catkin-pkg, python3-rosdistro (>= 0.7.0)
+Depends: ca-certificates, python-rospkg (>= 1.0.37), python-yaml, python-catkin-pkg (>= 0.4.0), python-rosdistro (>= 0.7.0)
+Depends3: ca-certificates, python3-rospkg (>= 1.0.37), python3-yaml, python3-catkin-pkg (>= 0.4.0), python3-rosdistro (>= 0.7.0)
 Conflicts: python3-rosdep, python-rosdep2, python3-rosdep2
 Conflicts3: python-rosdep, python-rosdep2, python3-rosdep2
 Copyright-File: LICENSE