diff --git a/debian_deps.txt b/debian_deps.txt
index 58e188ca..e3b3857a 100644
--- a/debian_deps.txt
+++ b/debian_deps.txt
@@ -3,3 +3,5 @@ gcc
 libpoco-dev
 libeigen3-dev
 libglfw3-dev
+libconsole-bridge-dev
+libtinyxml2-dev
\ No newline at end of file
diff --git a/extensions/rcs_fr3/CMakeLists.txt b/extensions/rcs_fr3/CMakeLists.txt
index c6703ba9..930e31ce 100644
--- a/extensions/rcs_fr3/CMakeLists.txt
+++ b/extensions/rcs_fr3/CMakeLists.txt
@@ -51,10 +51,14 @@ find_package(rcs REQUIRED)
 
 FetchContent_Declare(
     libfranka
-    GIT_REPOSITORY https://github.com/frankaemika/libfranka.git
-    GIT_TAG 0.15.0
+    GIT_REPOSITORY https://github.com/frankarobotics/libfranka.git
+    GIT_TAG 0.20.3
     GIT_PROGRESS TRUE
     EXCLUDE_FROM_ALL
+    # Overwrite the version check script with our dummy script
+    PATCH_COMMAND  ${CMAKE_COMMAND} -E copy
+        "${CMAKE_CURRENT_SOURCE_DIR}/cmake/SetVersionFromGit.cmake"
+        "cmake/SetVersionFromGit.cmake"
 )
 FetchContent_Declare(pybind11
     GIT_REPOSITORY https://github.com/pybind/pybind11.git
diff --git a/extensions/rcs_fr3/cmake/SetVersionFromGit.cmake b/extensions/rcs_fr3/cmake/SetVersionFromGit.cmake
new file mode 100644
index 00000000..dc647b72
--- /dev/null
+++ b/extensions/rcs_fr3/cmake/SetVersionFromGit.cmake
@@ -0,0 +1,6 @@
+# This replaces the original libfranka function to bypass git errors
+function(set_version_from_git VERSION_VAR TAG_VAR)
+    set(${VERSION_VAR} "" PARENT_SCOPE)
+    set(${TAG_VAR}   "" PARENT_SCOPE)
+    message(STATUS "Patched libfranka to bypass git check")
+endfunction()
\ No newline at end of file