diff --git a/gazebo/common/MovingWindowFilter.hh b/gazebo/common/MovingWindowFilter.hh
index 87b54921ab..24abfffb42 100644
--- a/gazebo/common/MovingWindowFilter.hh
+++ b/gazebo/common/MovingWindowFilter.hh
@@ -22,8 +22,12 @@
 #include <vector>
 #include <map>
 
-#include <boost/function.hpp>
+// This fixes compiler warnings, see #3147 and #3160
+#ifndef BOOST_BIND_GLOBAL_PLACEHOLDERS
+#define BOOST_BIND_GLOBAL_PLACEHOLDERS
+#endif
 #include <boost/bind.hpp>
+#include <boost/function.hpp>
 #include <boost/shared_ptr.hpp>
 #include <boost/thread/mutex.hpp>
 
diff --git a/gazebo/common/WeakBind.hh b/gazebo/common/WeakBind.hh
index b406138e6c..e278d6fda1 100644
--- a/gazebo/common/WeakBind.hh
+++ b/gazebo/common/WeakBind.hh
@@ -18,8 +18,12 @@
 #ifndef GAZEBO_COMMON_WEAKBIND_HH_
 #define GAZEBO_COMMON_WEAKBIND_HH_
 
-#include <boost/shared_ptr.hpp>
+// This fixes compiler warnings, see #3147 and #3160
+#ifndef BOOST_BIND_GLOBAL_PLACEHOLDERS
+#define BOOST_BIND_GLOBAL_PLACEHOLDERS
+#endif
 #include <boost/bind.hpp>
+#include <boost/shared_ptr.hpp>
 
 namespace gazebo
 {
diff --git a/gazebo/transport/Connection.hh b/gazebo/transport/Connection.hh
index bb48a73bfc..20634e02d9 100644
--- a/gazebo/transport/Connection.hh
+++ b/gazebo/transport/Connection.hh
@@ -20,6 +20,10 @@
 #include <tbb/task.h>
 #include <google/protobuf/message.h>
 
+// This fixes compiler warnings, see #3147 and #3160
+#ifndef BOOST_BIND_GLOBAL_PLACEHOLDERS
+#define BOOST_BIND_GLOBAL_PLACEHOLDERS
+#endif
 #include <boost/asio.hpp>
 #include <boost/bind.hpp>
 #include <boost/function.hpp>
diff --git a/gazebo/transport/Node.hh b/gazebo/transport/Node.hh
index bf5bd96258..26242874cd 100644
--- a/gazebo/transport/Node.hh
+++ b/gazebo/transport/Node.hh
@@ -19,6 +19,11 @@
 #define GAZEBO_TRANSPORT_NODE_HH_
 
 #include <tbb/task.h>
+
+// This fixes compiler warnings, see #3147 and #3160
+#ifndef BOOST_BIND_GLOBAL_PLACEHOLDERS
+#define BOOST_BIND_GLOBAL_PLACEHOLDERS
+#endif
 #include <boost/bind.hpp>
 #include <boost/enable_shared_from_this.hpp>
 #include <map>
diff --git a/gazebo/transport/TopicManager.hh b/gazebo/transport/TopicManager.hh
index 7714e5daf7..b2adc04c8d 100644
--- a/gazebo/transport/TopicManager.hh
+++ b/gazebo/transport/TopicManager.hh
@@ -17,6 +17,10 @@
 #ifndef GAZEBO_TRANSPORT_TOPICMANAGER_HH_
 #define GAZEBO_TRANSPORT_TOPICMANAGER_HH_
 
+// This fixes compiler warnings, see #3147 and #3160
+#ifndef BOOST_BIND_GLOBAL_PLACEHOLDERS
+#define BOOST_BIND_GLOBAL_PLACEHOLDERS
+#endif
 #include <boost/bind.hpp>
 #include <boost/function.hpp>
 #include <map>
diff --git a/gazebo/transport/TransportIface.hh b/gazebo/transport/TransportIface.hh
index e860997120..4b5d6045c1 100644
--- a/gazebo/transport/TransportIface.hh
+++ b/gazebo/transport/TransportIface.hh
@@ -17,6 +17,10 @@
 #ifndef _GAZEBO_TRANSPORTIFACE_HH_
 #define _GAZEBO_TRANSPORTIFACE_HH_
 
+// This fixes compiler warnings, see #3147 and #3160
+#ifndef BOOST_BIND_GLOBAL_PLACEHOLDERS
+#define BOOST_BIND_GLOBAL_PLACEHOLDERS
+#endif
 #include <boost/bind.hpp>
 #include <string>
 #include <list>