diff --git a/installer/check_dependency_versions.py b/installer/check_dependency_versions.py
new file mode 100755
index 000000000..3276f994d
--- /dev/null
+++ b/installer/check_dependency_versions.py
@@ -0,0 +1,158 @@
+#! /usr/bin/env python3
+
+from typing import Mapping
+import os
+import sys
+import xml.etree.ElementTree as ET
+
+from catkin_pkg.condition import evaluate_condition
+
+import rospkg
+
+rospack = rospkg.RosPack()
+from collections import namedtuple
+
+Dependency = namedtuple("Dependency", ["name", "req_version", "actual_version", "comparator"])
+
+
+def main() -> int:
+    """
+    Print all dependencies of the specified package
+    """
+
+    if len(sys.argv) != 2:
+        print("Usage: parse_package_xml_2 PACKAGE.XML")
+        return 1
+
+    mismatch_found = False
+    deps = recursive_get_deps(sys.argv[1])
+    for key, value in deps.items():
+        if value.req_version != "None" and value.req_version != value.actual_version:
+            print(f"Package {value.name}, current version {value.actual_version}, required version {value.req_version}")
+            mismatch_found = True
+
+    if mismatch_found:
+        print("Mismatch found in dependencies")
+    else:
+        print("Dependencies are consistent")
+
+    return 0
+
+
+def recursive_get_deps(path: str) -> dict:
+    parsed_packages = list()
+    to_parse_packages = list()
+    deps = dict()
+
+    parsed_mapping = packagexml_parser(path)
+    direct_deps = parsed_mapping["deps"]
+    to_parse_packages.extend([dep[0] for dep in direct_deps])
+    for dep in direct_deps:
+        deps[dep[0]] = Dependency(dep[0], dep[1], "0.0.0", 0)
+
+    while len(to_parse_packages) > 0:
+        package = to_parse_packages.pop()
+        parsed_packages.append(package)
+
+        # get dependencies of the dependency
+        try:
+            dep_path = rospack.get_path(package) + "/package.xml"
+        except rospkg.common.ResourceNotFound:
+            del deps[package]
+            continue
+
+        parsed_mapping = packagexml_parser(dep_path)
+        # register current version
+        version_set = parsed_mapping["version"]
+        if len(version_set) != 1:
+            print(f"Package {package} should have 1 version, instead its version is {version_set}")
+            raise Exception  # TODO better exception
+        # update actual version
+        deps[package] = Dependency(
+            deps[package].name, deps[package].req_version, list(version_set)[0], deps[package].comparator
+        )
+
+        dep_set = parsed_mapping["deps"]
+        for dep in dep_set:
+            if dep[0] in parsed_packages:
+                if dep[0] in deps and deps[dep[0]].req_version != dep[1]:
+                    print(
+                        f"inconsistent dependency. According to package {package}, package {dep[0]} should have version {dep[1]}, but another package requires {deps[dep[0]].req_version}"
+                    )
+                continue
+            if dep[0] not in to_parse_packages:
+                to_parse_packages.append(dep[0])
+                deps[dep[0]] = Dependency(dep[0], dep[1], "Problems!", 0)
+    return deps
+
+
+def packagexml_parser(path: str) -> Mapping:
+    """
+    parse the xml file and return a list of dependencies as a mapping
+    @param path: absolute path to the xml file to be parsed
+    @return Mapping with the following fields:
+        parsed: ...
+        deps: list of strings naming the dependencies of the package
+    """
+    tree = ET.parse(path)
+    doc = tree.getroot()
+
+    dep_set = set()
+
+    dep_types = []
+    dep_versions = []
+    fields = ["name", "version", "description", "maintainer", "export"]
+    parsed = {}
+
+    if os.getenv("TUE_INSTALL_SKIP_ROS_DEPS", "false") == "false":
+        dep_types.extend(
+            [
+                "build_depend",
+                "buildtool_depend",
+                "build_export_depend",
+                "buildtool_export_depend",
+                "exec_depend",
+                "depend",
+                "run_depend",
+            ]
+        )
+        dep_versions.extend(["version_eq"])
+
+    if os.getenv("TUE_INSTALL_TEST_DEPEND", "false") == "true":
+        dep_types.append("test_depend")
+
+    if os.getenv("TUE_INSTALL_DOC_DEPEND", "false") == "true":
+        dep_types.append("doc_depend")
+
+    for types in fields + dep_types:
+        parsed[types] = set()
+
+    for dep_type in dep_types:
+        deps = doc.findall(dep_type)
+        for dep in deps:
+            if evaluate_condition(dep.attrib.get("condition", None), os.environ):
+                version = None
+                for dep_version in dep_versions:
+                    version = dep.get(dep_version)
+                version = str(version)
+                parsed[dep_type] |= {(dep.text, version)}
+        dep_set |= parsed[dep_type]
+
+    for field in fields:
+        values = doc.findall(field)
+        if field == "export":
+            for exports in values:
+                parsed["build_type"] = {bt.text for bt in exports if bt.tag == "build_type"}
+        else:
+            parsed[field] |= {value.text for value in values}
+            if field == "maintainer":
+                emails = {}
+                for value in values:
+                    emails[value.text] = value.attrib.get("email")
+                parsed["emails"] = emails
+
+    return {"parser": parsed, "deps": dep_set, "version": parsed["version"]}
+
+
+if __name__ == "__main__":
+    sys.exit(main())