diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4c68a3ff2fead..7723623fab14c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -125,11 +125,7 @@ find_package(EIGEN3 3.0.5 QUIET)
 if(EIGEN3_FOUND)
   message(STATUS "Looking for EIGEN3 - ${EIGEN3_VERSION} found")
 else()
-  if(PC_EIGEN3_VERSION)
-    message(SEND_ERROR "Looking for EIGEN3 - ${EIGEN3_VERSION} found, ${PROJECT_NAME} requires 3.0.5 or greater.")
-  else()
-    message(SEND_ERROR "Looking for EIGEN3 - NOT found, please install libeigen3-dev")
-  endif()
+  message(SEND_ERROR "Looking for EIGEN3 - NOT found, please install libeigen3-dev (>= 3.0.5)")
 endif()
 
 # CCD
@@ -137,11 +133,7 @@ find_package(CCD 1.4.0 QUIET)
 if(CCD_FOUND)
   message(STATUS "Looking for CCD - ${CCD_VERSION} found")
 else()
-  if(CCD_VERSION)
-    message(SEND_ERROR "Looking for CCD - ${CCD_VERSION} found, ${PROJECT_NAME} requires 1.4.0 or greater.")
-  else()
-    message(SEND_ERROR "Looking for CCD - NOT found, please install libccd-dev")
-  endif()
+  message(SEND_ERROR "Looking for CCD - NOT found, please install libccd-dev (>= 1.4.0)")
 endif()
 
 # FCL
@@ -164,11 +156,7 @@ if(FCL_FOUND)
     endif()
   endif()
 else()
-  if(FCL_VERSION)
-    message(SEND_ERROR "Looking for FCL - ${FCL_VERSION} found, ${PROJECT_NAME} requires 0.2.9 or greater.")
-  else()
-    message(SEND_ERROR "Looking for FCL - NOT found, please install libfcl-dev")
-  endif()
+  message(SEND_ERROR "Looking for FCL - NOT found, please install libfcl-dev (>= 0.2.9)")
 endif()
 
 # ASSIMP
@@ -225,11 +213,7 @@ if(ASSIMP_FOUND)
   unset(CMAKE_REQUIRED_LIBRARIES)
 
 else()
-  if(ASSIMP_VERSION)
-    message(SEND_ERROR "Looking for ASSIMP - ${ASSIMP_VERSION} found, ${PROJECT_NAME} requires 3.0.0 or greater.")
-  else()
-    message(SEND_ERROR "Looking for ASSIMP - NOT found, please install libassimp-dev")
-  endif()
+  message(SEND_ERROR "Looking for ASSIMP - NOT found, please install libassimp-dev (>= 3.0.0)")
 endif()
 
 # OpenGL
@@ -276,11 +260,7 @@ if(NOT BUILD_CORE_ONLY)
   if(FLANN_FOUND)
     message(STATUS "Looking for FLANN - ${FLANN_VERSION} found")
   else()
-    if(FLANN_VERSION)
-      message(SEND_ERROR "Looking for FLANN - ${FLANN_VERSION} found, ${PROJECT_NAME} requires 1.8.4 or greater.")
-    else()
-      message(SEND_ERROR "Looking for FLANN - NOT found, please install libflann-dev")
-    endif()
+    message(SEND_ERROR "Looking for FLANN - NOT found, please install libflann-dev (>= 1.8.4)")
   endif()
 
   # TINYXML
@@ -288,11 +268,7 @@ if(NOT BUILD_CORE_ONLY)
   if(TINYXML_FOUND)
     message(STATUS "Looking for TINYXML - ${TINYXML_VERSION} found")
   else()
-    if(TINYXML_VERSION)
-      message(SEND_ERROR "Looking for TINYXML - ${TINYXML_VERSION} found, ${PROJECT_NAME} requires 2.6.2 or greater.")
-    else()
-      message(SEND_ERROR "Looking for TINYXML - NOT found, please install libtinyxml-dev")
-    endif()
+    message(SEND_ERROR "Looking for TINYXML - NOT found, please install libtinyxml-dev (>= 2.6.2)")
   endif()
 
   # TINYXML2
@@ -300,11 +276,7 @@ if(NOT BUILD_CORE_ONLY)
   if(TINYXML2_FOUND)
     message(STATUS "Looking for TINYXML2 - ${TINYXML2_VERSION} found")
   else()
-    if(TINYXML2_VERSION)
-      message(SEND_ERROR "Looking for TINYXML2 - ${TINYXML2_VERSION} found, ${PROJECT_NAME} requires 1.0.1 or greater.")
-    else()
-      message(SEND_ERROR "Looking for TINYXML2 - NOT found, please install libtinyxml2-dev")
-    endif()
+    message(SEND_ERROR "Looking for TINYXML2 - NOT found, please install libtinyxml2-dev (>= 1.0.1)")
   endif()
 
   # urdfdom
@@ -347,11 +319,7 @@ if(NLOPT_FOUND)
   message(STATUS "Looking for NLOPT - ${NLOPT_VERSION} found")
   set(HAVE_NLOPT TRUE)
 else()
-  if(NLOPT_VERSION)
-    message(STATUS "Looking for NLOPT - ${NLOPT_VERSION} found, ${PROJECT_NAME} requires 2.4.1 or greater.")
-  else()
-    message(STATUS "Looking for NLOPT - NOT found, please install libnlopt-dev")
-  endif()
+  message(STATUS "Looking for NLOPT - NOT found, please install libnlopt-dev (>= 2.4.1)")
   set(HAVE_NLOPT FALSE)
 endif()
 
@@ -361,11 +329,7 @@ if(IPOPT_FOUND)
   message(STATUS "Looking for IPOPT - ${IPOPT_VERSION} found")
   set(HAVE_IPOPT TRUE)
 else()
-  if(IPOPT_VERSION)
-    message(STATUS "Looking for IPOPT - ${IPOPT_VERSION} found, ${PROJECT_NAME} requires 3.11.4 or greater.")
-  else()
-    message(STATUS "Looking for IPOPT - NOT found, please install coinor-libipopt-dev")
-  endif()
+  message(STATUS "Looking for IPOPT - NOT found, please install coinor-libipopt-dev (>= 3.11.4)")
   set(HAVE_IPOPT FALSE)
 endif()