diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 37244295..ecdade80 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -31,7 +31,7 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip setuptools
-          python -m pip install PyYAML argparse empy rosdep vcstools catkin-pkg python-dateutil packaging
+          python -m pip install PyYAML argparse 'empy<4' rosdep vcstools catkin-pkg python-dateutil packaging
           python -m pip install nose coverage pep8
       - name: Run tests
         run: |
diff --git a/setup.py b/setup.py
index 8729e72f..eb4b0ea2 100755
--- a/setup.py
+++ b/setup.py
@@ -6,7 +6,7 @@
 install_requires = [
     'catkin_pkg >= 0.4.3',
     'setuptools',
-    'empy',
+    'empy < 4',
     'packaging',
     'python-dateutil',
     'PyYAML',