diff --git a/image_publisher/CMakeLists.txt b/image_publisher/CMakeLists.txt
index 03f11a4d3..b0865d402 100644
--- a/image_publisher/CMakeLists.txt
+++ b/image_publisher/CMakeLists.txt
@@ -3,10 +3,13 @@ project(image_publisher)
 
 find_package(catkin REQUIRED COMPONENTS cv_bridge dynamic_reconfigure camera_info_manager sensor_msgs image_transport nodelet roscpp)
 
-set(opencv_4_components core imgcodecs videoio)
 find_package(OpenCV REQUIRED COMPONENTS core)
 message(STATUS "opencv version ${OpenCV_VERSION}")
-find_package(OpenCV 4 REQUIRED COMPONENTS ${opencv_4_components})
+if(OpenCV_VERSION VERSION_LESS "4.0.0")
+  find_package(OpenCV 3 REQUIRED COMPONENTS core imgcodecs videoio)
+else()
+  find_package(OpenCV 4 REQUIRED COMPONENTS core imgcodecs videoio)
+endif()
 
 # generate the dynamic_reconfigure config file
 generate_dynamic_reconfigure_options(cfg/ImagePublisher.cfg)