diff --git a/CHANGELOG.md b/CHANGELOG.md
index 353abc4b7..c61d92d72 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -13,6 +13,7 @@ Requires `libfranka` >= 0.8.0
   * `franka_gazebo`: `FrankaHWSim` only acts on joints belonging to a Franka robot. This allows to combine a Franka robot and others (like mobile platforms) in same URDF ([#313](https://github.com/frankaemika/franka_ros/issues/313))
   * `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))
+  * 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_gazebo/models/ambient_sun/model.config b/franka_gazebo/models/ambient_sun/model.config
new file mode 100644
index 000000000..0ddd15ec8
--- /dev/null
+++ b/franka_gazebo/models/ambient_sun/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Ambient sun</name>
+  <version>1.0</version>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Nate Koenig</name>
+    <email>nate@osrfoundation.org</email>
+  </author>
+
+  <description>
+    A ambient light for the sun.
+  </description>
+</model>
diff --git a/franka_gazebo/models/ambient_sun/model.sdf b/franka_gazebo/models/ambient_sun/model.sdf
new file mode 100644
index 000000000..5117a4270
--- /dev/null
+++ b/franka_gazebo/models/ambient_sun/model.sdf
@@ -0,0 +1,17 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <light type="directional" name="ambient">
+    <cast_shadows>true</cast_shadows>
+    <pose>0 0 10 0 0 0</pose>
+    <diffuse>0.8 0.8 0.8 1</diffuse>
+    <specular>0.2 0.2 0.2 1</specular>
+    <ambient>0.4 0.4 0.4 1</ambient>
+    <attenuation>
+      <range>1000</range>
+      <constant>0.9</constant>
+      <linear>0.01</linear>
+      <quadratic>0.001</quadratic>
+    </attenuation>
+    <direction>-0.5 0.1 -0.9</direction>
+  </light>
+</sdf>
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 1f6f92659..f669fce91 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 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)