diff --git a/CMakeLists.txt b/CMakeLists.txt
index d0677128..1f39c45f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,6 +5,10 @@ find_package(orocos_kdl REQUIRED)
 find_package(catkin REQUIRED geometry_msgs kdl_conversions tf)
 find_package(Eigen3 REQUIRED)
 
+set(Python_ADDITIONAL_VERSIONS 3.6;3.7;3.8) ## https://stackoverflow.com/questions/29245558/how-to-link-with-python3-libs-with-cmake
+find_package(PythonInterp 3 REQUIRED) ## tf_python3 :: use Python3 by default
+find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}")
+
 catkin_python_setup()
 
 catkin_package(
@@ -53,6 +57,6 @@ endif()
 #   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
 ## tf_pytyhon3 :: re-set PROJECT_NAME to tf
-set(PROJECT_NAME tf)
+set(PROJECT_NAME tf_conversions)
 ## tf_pytyhon3 :: re-set CATKIN_PACKAGE_PYTHON_DESTINATION with PROJECT_NAME as tf
 set(CATKIN_PACKAGE_PYTHON_DESTINATION lib/python${PYTHON_VERSION_MAJOR}/dist-packages/${PROJECT_NAME})