diff --git a/README.md b/README.md
index cb2737d35..7493d4084 100644
--- a/README.md
+++ b/README.md
@@ -19,7 +19,7 @@ EigenPy — Efficient Python bindings between Numpy/Eigen
 
 ## Setup
 
-The installation of **EigenPy** on your computer is made easy for Linux/BSD and Mac OS X environments.
+The installation of **EigenPy** on your computer is made easy for Linux/BSD, Mac OS X and Windows environments.
 
 ### The Conda approach
 
@@ -69,10 +69,6 @@ and then install **EigenPy** for Python 3.x with:
 ```
 brew install eigenpy
 ```
-or for Python 2.7:
-```
-brew install eigenpy@2
-```
 
 ## Credits
 
diff --git a/cmake b/cmake
index 078c4aee2..a61ae6147 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 078c4aee2d9d6c50007d587480b3e13dd1cca0bd
+Subproject commit a61ae61479a1d50d1ae3c988d1d9aaf20841173d
diff --git a/package.xml b/package.xml
index 75b7f2e44..cf9df44b3 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>eigenpy</name>
-  <version>2.3.1</version>
+  <version>2.3.2</version>
   <description>Bindings between Numpy and Eigen using Boost.Python</description>
   <maintainer email="justin.carpentier@inria.fr">Justin Carpentier</maintainer>
   <maintainer email="wolfgang.merkt@ed.ac.uk">Wolfgang Merkt</maintainer>
@@ -13,8 +13,10 @@
 
   <build_depend>git</build_depend>
   <build_depend>doxygen</build_depend>
-  <depend>python</depend>
-  <depend>python-numpy</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
   <depend>eigen</depend>
   <depend>boost</depend>