diff --git a/gpsd_client/CMakeLists.txt b/gpsd_client/CMakeLists.txt
index af83744..d8d4ae6 100644
--- a/gpsd_client/CMakeLists.txt
+++ b/gpsd_client/CMakeLists.txt
@@ -26,6 +26,7 @@ catkin_package()
 
 include_directories(${catkin_INCLUDE_DIRS} ${libgps_INCLUDE_DIRS})
 add_executable(${PROJECT_NAME} src/client.cpp)
+add_dependencies(${PROJECT_NAME} gps_common_generate_messages_cpp)
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${libgps_LIBRARIES})
 
 #############
diff --git a/gpsd_client/src/client.cpp b/gpsd_client/src/client.cpp
index 06ecd18..504f674 100644
--- a/gpsd_client/src/client.cpp
+++ b/gpsd_client/src/client.cpp
@@ -110,7 +110,11 @@ class GPSDClient {
 
       status.satellite_used_prn.resize(status.satellites_used);
       for (int i = 0; i < status.satellites_used; ++i) {
+#if GPSD_API_MAJOR_VERSION >= 6
+        status.satellite_used_prn[i] = p->skyview[i].used;
+#else
         status.satellite_used_prn[i] = p->used[i];
+#endif
       }
 
       status.satellites_visible = SATS_VISIBLE;
@@ -121,18 +125,28 @@ class GPSDClient {
       status.satellite_visible_snr.resize(status.satellites_visible);
 
       for (int i = 0; i < SATS_VISIBLE; ++i) {
+#if GPSD_API_MAJOR_VERSION >= 6
+        status.satellite_visible_prn[i] = p->skyview[i].PRN;
+        status.satellite_visible_z[i] = p->skyview[i].elevation;
+        status.satellite_visible_azimuth[i] = p->skyview[i].azimuth;
+        status.satellite_visible_snr[i] = p->skyview[i].ss;
+#else
         status.satellite_visible_prn[i] = p->PRN[i];
         status.satellite_visible_z[i] = p->elevation[i];
         status.satellite_visible_azimuth[i] = p->azimuth[i];
         status.satellite_visible_snr[i] = p->ss[i];
+#endif
       }
 
       if ((p->status & STATUS_FIX) && !(check_fix_by_variance && isnan(p->fix.epx))) {
         status.status = 0; // FIXME: gpsmm puts its constants in the global
                            // namespace, so `GPSStatus::STATUS_FIX' is illegal.
 
+#if GPSD_API_MAJOR_VERSION < 6
+        // STATUS_DPGS_FIX is not in GPSD 6.x.x
         if (p->status & STATUS_DGPS_FIX)
           status.status |= 18; // same here
+#endif
 
         fix.time = p->fix.time;
         fix.latitude = p->fix.latitude;
@@ -194,9 +208,11 @@ class GPSDClient {
         case STATUS_FIX:
           fix->status.status = 0; // NavSatStatus::STATUS_FIX;
           break;
+#if GPSD_API_MAJOR_VERSION < 6
         case STATUS_DGPS_FIX:
           fix->status.status = 2; // NavSatStatus::STATUS_GBAS_FIX;
           break;
+#endif
       }
 
       fix->status.service = NavSatStatus::SERVICE_GPS;