diff --git a/packages/deb/debian/control.focal b/packages/deb/debian/control.focal
index a07a1d4cc..998521c3e 100644
--- a/packages/deb/debian/control.focal
+++ b/packages/deb/debian/control.focal
@@ -10,7 +10,7 @@ Package: openrtm2
 Architecture: any
 Multi-Arch: same
 Pre-Depends: ${misc:Pre-Depends}
-Depends: ${misc:Depends}, omniorb-nameserver, openrtm2-naming
+Depends: ${misc:Depends}, omniorb-nameserver, openrtm2-naming (>= 2.0.2-0)
 Description: OpenRTM-aist, RT-Middleware distributed by AIST
  OpenRTM-aist is a reference implementation of RTC (Robotic Technology
  Component Version 1.1, formal/12-09-01) specification which is OMG
@@ -25,6 +25,8 @@ Description: OpenRTM-aist, RT-Middleware distributed by AIST
 Package: openrtm2-naming
 Architecture: any
 Multi-Arch: same
+Replaces: openrtm2 (<< 2.0.2-0)
+Breaks: openrtm2 (<< 2.0.2-0)
 Description: OpenRTM-aist name server launcher
 
 Package: openrtm2-ros-tp
diff --git a/packages/deb/debian/control.jammy b/packages/deb/debian/control.jammy
index 2743fb16d..59d45d5a0 100644
--- a/packages/deb/debian/control.jammy
+++ b/packages/deb/debian/control.jammy
@@ -10,7 +10,7 @@ Package: openrtm2
 Architecture: any
 Multi-Arch: same
 Pre-Depends: ${misc:Pre-Depends}
-Depends: ${misc:Depends}, omniorb-nameserver, openrtm2-naming
+Depends: ${misc:Depends}, omniorb-nameserver, openrtm2-naming (>= 2.0.2-0)
 Description: OpenRTM-aist, RT-Middleware distributed by AIST
  OpenRTM-aist is a reference implementation of RTC (Robotic Technology
  Component Version 1.1, formal/12-09-01) specification which is OMG
@@ -25,6 +25,8 @@ Description: OpenRTM-aist, RT-Middleware distributed by AIST
 Package: openrtm2-naming
 Architecture: any
 Multi-Arch: same
+Replaces: openrtm2 (<< 2.0.2-0)
+Breaks: openrtm2 (<< 2.0.2-0)
 Description: OpenRTM-aist name server launcher
 
 Package: openrtm2-ros2-tp
diff --git a/packages/deb/debian/control.not-ros-support b/packages/deb/debian/control.not-ros-support
index c5313430b..b88df9d14 100644
--- a/packages/deb/debian/control.not-ros-support
+++ b/packages/deb/debian/control.not-ros-support
@@ -10,7 +10,7 @@ Package: openrtm2
 Architecture: any
 Multi-Arch: same
 Pre-Depends: ${misc:Pre-Depends}
-Depends: ${misc:Depends}, omniorb-nameserver, openrtm2-naming
+Depends: ${misc:Depends}, omniorb-nameserver, openrtm2-naming (>= 2.0.2-0)
 Description: OpenRTM-aist, RT-Middleware distributed by AIST
  OpenRTM-aist is a reference implementation of RTC (Robotic Technology
  Component Version 1.1, formal/12-09-01) specification which is OMG
@@ -25,6 +25,8 @@ Description: OpenRTM-aist, RT-Middleware distributed by AIST
 Package: openrtm2-naming
 Architecture: any
 Multi-Arch: same
+Replaces: openrtm2 (<< 2.0.2-0)
+Breaks: openrtm2 (<< 2.0.2-0)
 Description: OpenRTM-aist name server launcher
 
 Package: openrtm2-dev