diff --git a/clients/roscpp/CMakeLists.txt b/clients/roscpp/CMakeLists.txt
index 37a8587a37..6b666fc629 100644
--- a/clients/roscpp/CMakeLists.txt
+++ b/clients/roscpp/CMakeLists.txt
@@ -20,6 +20,18 @@ list(GET roscpp_VERSION_LIST 0 roscpp_VERSION_MAJOR)
 list(GET roscpp_VERSION_LIST 1 roscpp_VERSION_MINOR)
 list(GET roscpp_VERSION_LIST 2 roscpp_VERSION_PATCH)
 
+# Make sure we use CLOCK_MONOTONIC for the condition variable wait_for if not Apple.
+if(NOT APPLE)
+  if(Boost_VERSION LESS 106100)
+    set(ROSCPP_USE_BACKPORTED_BOOST_CONDITION_VARIABLE_IMPLEMENTATION ON)
+  endif()
+  if(Boost_VERSION LESS 106700)
+    # CLOCK_MONOTONIC became the default in Boost 1.67:
+    # https://github.com/boostorg/thread/commit/1e84b978b2bb0aae830cc14533dea3b7ddda5cde
+    add_definitions(-DBOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC)
+  endif()
+endif()
+
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/include/ros/common.h.in ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/ros/common.h)
 
 find_package(Boost REQUIRED COMPONENTS chrono filesystem system)
diff --git a/clients/roscpp/include/boost_161_condition_variable.h b/clients/roscpp/include/boost_161_condition_variable.h
index ee2ff46188..7277ce1dc4 100644
--- a/clients/roscpp/include/boost_161_condition_variable.h
+++ b/clients/roscpp/include/boost_161_condition_variable.h
@@ -1,5 +1,5 @@
-#ifndef BOOST_THREAD_CONDITION_VARIABLE_HPP
-#define BOOST_THREAD_CONDITION_VARIABLE_HPP
+#ifndef BOOST_161_THREAD_CONDITION_VARIABLE_HPP
+#define BOOST_161_THREAD_CONDITION_VARIABLE_HPP
 
 //  condition_variable.hpp
 //
@@ -12,6 +12,9 @@
 #include <boost/thread/detail/platform.hpp>
 #if defined(BOOST_THREAD_PLATFORM_WIN32)
 #include <boost/thread/win32/condition_variable.hpp>
+namespace boost_161 {
+  using condition_variable = boost::condition_variable;
+}
 #elif defined(BOOST_THREAD_PLATFORM_PTHREAD)
 //#include <boost/thread/pthread/condition_variable.hpp>
 #include "boost_161_pthread_condition_variable.h"
diff --git a/clients/roscpp/include/boost_161_pthread_condition_variable.h b/clients/roscpp/include/boost_161_pthread_condition_variable.h
index 8100447bae..2aca774a48 100644
--- a/clients/roscpp/include/boost_161_pthread_condition_variable.h
+++ b/clients/roscpp/include/boost_161_pthread_condition_variable.h
@@ -1,5 +1,5 @@
-#ifndef BOOST_THREAD_CONDITION_VARIABLE_PTHREAD_HPP
-#define BOOST_THREAD_CONDITION_VARIABLE_PTHREAD_HPP
+#ifndef BOOST_161_THREAD_CONDITION_VARIABLE_PTHREAD_HPP
+#define BOOST_161_THREAD_CONDITION_VARIABLE_PTHREAD_HPP
 // Distributed under the Boost Software License, Version 1.0. (See
 // accompanying file LICENSE_1_0.txt or copy at
 // http://www.boost.org/LICENSE_1_0.txt)
@@ -7,57 +7,15 @@
 // (C) Copyright 2011-2012 Vicente J. Botet Escriba
 
 // make sure we include our backported version first!!
-// (before the system version might be included via some of the other header files)
 #include "boost_161_pthread_condition_variable_fwd.h"
 
-#include <boost/thread/pthread/timespec.hpp>
-#include <boost/thread/pthread/pthread_mutex_scoped_lock.hpp>
-#if defined BOOST_THREAD_PROVIDES_INTERRUPTIONS
-#include <boost/thread/pthread/thread_data.hpp>
-#endif
-//#include <boost/thread/pthread/condition_variable_fwd.hpp>
-#ifdef BOOST_THREAD_USES_CHRONO
-#include <boost/chrono/system_clocks.hpp>
-#include <boost/chrono/ceil.hpp>
-#endif
-#include <boost/thread/detail/delete.hpp>
+// include upstream
+#include <boost/thread/pthread/condition_variable.hpp>
 
 #include <boost/config/abi_prefix.hpp>
 
-namespace boost
+namespace boost_161
 {
-#if defined BOOST_THREAD_PROVIDES_INTERRUPTIONS
-    namespace this_thread
-    {
-        void BOOST_THREAD_DECL interruption_point();
-    }
-#endif
-
-    namespace thread_cv_detail
-    {
-        template<typename MutexType>
-        struct lock_on_exit
-        {
-            MutexType* m;
-
-            lock_on_exit():
-                m(0)
-            {}
-
-            void activate(MutexType& m_)
-            {
-                m_.unlock();
-                m=&m_;
-            }
-            ~lock_on_exit()
-            {
-                if(m)
-                {
-                    m->lock();
-                }
-           }
-        };
-    }
 
     inline void condition_variable::wait(unique_lock<mutex>& m)
     {
@@ -154,7 +112,7 @@ namespace boost
             {
                 boost::throw_exception(thread_resource_error(res, "boost::condition_variable_any::condition_variable_any() failed in pthread_mutex_init"));
             }
-            int const res2 = detail::monotonic_pthread_cond_init(cond);
+            int const res2 = detail_161::monotonic_pthread_cond_init(cond);
             if(res2)
             {
                 BOOST_VERIFY(!pthread_mutex_destroy(&internal_mutex));
diff --git a/clients/roscpp/include/boost_161_pthread_condition_variable_fwd.h b/clients/roscpp/include/boost_161_pthread_condition_variable_fwd.h
index 2e4e4c6761..0a58b16bf6 100644
--- a/clients/roscpp/include/boost_161_pthread_condition_variable_fwd.h
+++ b/clients/roscpp/include/boost_161_pthread_condition_variable_fwd.h
@@ -1,38 +1,22 @@
-#ifndef BOOST_THREAD_PTHREAD_CONDITION_VARIABLE_FWD_HPP
-#define BOOST_THREAD_PTHREAD_CONDITION_VARIABLE_FWD_HPP
+#ifndef BOOST_161_THREAD_PTHREAD_CONDITION_VARIABLE_FWD_HPP
+#define BOOST_161_THREAD_PTHREAD_CONDITION_VARIABLE_FWD_HPP
 // Distributed under the Boost Software License, Version 1.0. (See
 // accompanying file LICENSE_1_0.txt or copy at
 // http://www.boost.org/LICENSE_1_0.txt)
 // (C) Copyright 2007-8 Anthony Williams
 // (C) Copyright 2011-2012 Vicente J. Botet Escriba
 
-// define to check if this backported version was included
-#define USING_BACKPORTED_BOOST_CONDITION_VARIABLE 1
-
-#include <boost/assert.hpp>
-#include <boost/throw_exception.hpp>
-#include <pthread.h>
-#include <boost/thread/cv_status.hpp>
-#include <boost/thread/mutex.hpp>
-#include <boost/thread/lock_types.hpp>
-#include <boost/thread/thread_time.hpp>
-#include <boost/thread/pthread/timespec.hpp>
-#if defined BOOST_THREAD_USES_DATETIME
-#include <boost/thread/xtime.hpp>
-#endif
-
-#ifdef BOOST_THREAD_USES_CHRONO
-#include <boost/chrono/system_clocks.hpp>
-#include <boost/chrono/ceil.hpp>
-#endif
-#include <boost/thread/detail/delete.hpp>
-#include <boost/date_time/posix_time/posix_time_duration.hpp>
+// include upstream
+#include <boost/thread/pthread/condition_variable_fwd.hpp>
 
 #include <boost/config/abi_prefix.hpp>
 
-namespace boost
+namespace boost_161
 {
-  namespace detail {
+  using namespace boost;
+  namespace detail = boost::detail;
+
+  namespace detail_161 {
     inline int monotonic_pthread_cond_init(pthread_cond_t& cond) {
 
 #ifdef BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
@@ -100,7 +84,7 @@ namespace boost
                 boost::throw_exception(thread_resource_error(res, "boost::condition_variable::condition_variable() constructor failed in pthread_mutex_init"));
             }
 #endif
-            res = detail::monotonic_pthread_cond_init(cond);
+            res = detail_161::monotonic_pthread_cond_init(cond);
             if (res)
             {
 #if defined BOOST_THREAD_PROVIDES_INTERRUPTIONS
diff --git a/clients/roscpp/include/ros/callback_queue.h b/clients/roscpp/include/ros/callback_queue.h
index 4fe811d745..44a021f31e 100644
--- a/clients/roscpp/include/ros/callback_queue.h
+++ b/clients/roscpp/include/ros/callback_queue.h
@@ -37,22 +37,11 @@
 
 // check if we might need to include our own backported version boost::condition_variable
 // in order to use CLOCK_MONOTONIC for the condition variable
-// the include order here is important!
-#ifdef BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
-#include <boost/version.hpp>
-#if BOOST_VERSION < 106100
-// use backported version of boost condition variable, see https://svn.boost.org/trac/boost/ticket/6377
-#include "boost_161_condition_variable.h"
-#else // Boost version is 1.61 or greater and has the steady clock fixes
-#include <boost/thread/condition_variable.hpp>
-#endif
-#else // !BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
-#include <boost/thread/condition_variable.hpp>
-#endif // BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
+#include "ros/common.h"
+#include ROSCPP_BOOST_CONDITION_VARIABLE_HEADER
 
 #include "ros/callback_queue_interface.h"
 #include "ros/time.h"
-#include "common.h"
 
 #include <boost/shared_ptr.hpp>
 #include <boost/thread/mutex.hpp>
@@ -177,7 +166,7 @@ class ROSCPP_DECL CallbackQueue : public CallbackQueueInterface
   D_CallbackInfo callbacks_;
   size_t calling_;
   boost::mutex mutex_;
-  boost::condition_variable condition_;
+  ROSCPP_BOOST_CONDITION_VARIABLE condition_;
 
   boost::mutex id_info_mutex_;
   M_IDInfo id_info_;
diff --git a/clients/roscpp/include/ros/common.h.in b/clients/roscpp/include/ros/common.h.in
index 5351aeb937..f5655d793f 100644
--- a/clients/roscpp/include/ros/common.h.in
+++ b/clients/roscpp/include/ros/common.h.in
@@ -38,6 +38,7 @@
 #include "ros/serialized_message.h"
 
 #include <boost/shared_array.hpp>
+#include <boost/version.hpp>
 
 #define ROS_VERSION_MAJOR @roscpp_VERSION_MAJOR@
 #define ROS_VERSION_MINOR @roscpp_VERSION_MINOR@
@@ -48,6 +49,18 @@
 #define ROS_VERSION_GE(major1, minor1, patch1, major2, minor2, patch2) (ROS_VERSION_COMBINED(major1, minor1, patch1) >= ROS_VERSION_COMBINED(major2, minor2, patch2))
 #define ROS_VERSION_MINIMUM(major, minor, patch) ROS_VERSION_GE(ROS_VERSION_MAJOR, ROS_VERSION_MINOR, ROS_VERSION_PATCH, major, minor, patch)
 
+// check if we might need to include our own backported version boost::condition_variable
+// in order to use CLOCK_MONOTONIC for the condition variable and for the SteadyTimer
+#cmakedefine ROSCPP_USE_BACKPORTED_BOOST_CONDITION_VARIABLE_IMPLEMENTATION
+#ifdef ROSCPP_USE_BACKPORTED_BOOST_CONDITION_VARIABLE_IMPLEMENTATION
+  // use backported version of boost condition variable, see https://svn.boost.org/trac/boost/ticket/6377
+  #define ROSCPP_BOOST_CONDITION_VARIABLE_HEADER "boost_161_condition_variable.h"
+  #define ROSCPP_BOOST_CONDITION_VARIABLE boost_161::condition_variable
+#else
+  #define ROSCPP_BOOST_CONDITION_VARIABLE_HEADER <boost/thread/condition_variable.hpp>
+  #define ROSCPP_BOOST_CONDITION_VARIABLE boost::condition_variable
+#endif
+
 #include <ros/macros.h>
 
 // Import/export for windows dll's and visibility for gcc shared libraries.
diff --git a/clients/roscpp/include/ros/rosout_appender.h b/clients/roscpp/include/ros/rosout_appender.h
index 5a4b91fc4a..31c1944a7b 100644
--- a/clients/roscpp/include/ros/rosout_appender.h
+++ b/clients/roscpp/include/ros/rosout_appender.h
@@ -35,8 +35,12 @@
 #ifndef ROSCPP_ROSOUT_APPENDER_H
 #define ROSCPP_ROSOUT_APPENDER_H
 
+// check if we might need to include our own backported version boost::condition_variable
+// in order to use CLOCK_MONOTONIC for the condition variable
+#include "ros/common.h"
+#include ROSCPP_BOOST_CONDITION_VARIABLE_HEADER
+
 #include <ros/message_forward.h>
-#include "common.h"
 
 #include <boost/shared_ptr.hpp>
 #include <boost/weak_ptr.hpp>
@@ -73,7 +77,7 @@ class ROSCPP_DECL ROSOutAppender : public ros::console::LogAppender
   typedef std::vector<rosgraph_msgs::LogPtr> V_Log;
   V_Log log_queue_;
   boost::mutex queue_mutex_;
-  boost::condition_variable queue_condition_;
+  ROSCPP_BOOST_CONDITION_VARIABLE queue_condition_;
   bool shutting_down_;
   bool disable_topics_;
 
diff --git a/clients/roscpp/include/ros/service_server_link.h b/clients/roscpp/include/ros/service_server_link.h
index 55b6109b96..8cf8789fdb 100644
--- a/clients/roscpp/include/ros/service_server_link.h
+++ b/clients/roscpp/include/ros/service_server_link.h
@@ -35,7 +35,10 @@
 #ifndef ROSCPP_SERVICE_SERVER_LINK_H
 #define ROSCPP_SERVICE_SERVER_LINK_H
 
+// check if we might need to include our own backported version boost::condition_variable
+// in order to use CLOCK_MONOTONIC for the condition variable
 #include "ros/common.h"
+#include ROSCPP_BOOST_CONDITION_VARIABLE_HEADER
 
 #include <boost/thread/mutex.hpp>
 #include <boost/shared_array.hpp>
@@ -64,7 +67,7 @@ class ROSCPP_DECL ServiceServerLink : public boost::enable_shared_from_this<Serv
     SerializedMessage* resp_;
 
     bool finished_;
-    boost::condition_variable finished_condition_;
+    ROSCPP_BOOST_CONDITION_VARIABLE finished_condition_;
     boost::mutex finished_mutex_;
     boost::thread::id caller_thread_id_;
 
diff --git a/clients/roscpp/include/ros/timer_manager.h b/clients/roscpp/include/ros/timer_manager.h
index 2264ee91fb..a96f83af79 100644
--- a/clients/roscpp/include/ros/timer_manager.h
+++ b/clients/roscpp/include/ros/timer_manager.h
@@ -30,18 +30,8 @@
 
 // check if we might need to include our own backported version boost::condition_variable
 // in order to use CLOCK_MONOTONIC for the SteadyTimer
-// the include order here is important!
-#ifdef BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
-#include <boost/version.hpp>
-#if BOOST_VERSION < 106100
-// use backported version of boost condition variable, see https://svn.boost.org/trac/boost/ticket/6377
-#include "boost_161_condition_variable.h"
-#else // Boost version is 1.61 or greater and has the steady clock fixes
-#include <boost/thread/condition_variable.hpp>
-#endif
-#else // !BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
-#include <boost/thread/condition_variable.hpp>
-#endif // BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
+#include "ros/common.h"
+#include ROSCPP_BOOST_CONDITION_VARIABLE_HEADER
 
 #include "ros/forwards.h"
 #include "ros/time.h"
@@ -126,7 +116,7 @@ class TimerManager
 
   V_TimerInfo timers_;
   boost::mutex timers_mutex_;
-  boost::condition_variable timers_cond_;
+  ROSCPP_BOOST_CONDITION_VARIABLE timers_cond_;
   volatile bool new_timer_;
 
   boost::mutex waiting_mutex_;
@@ -230,7 +220,13 @@ template<class T, class D, class E>
 TimerManager<T, D, E>::TimerManager() :
   new_timer_(false), id_counter_(0), thread_started_(false), quit_(false)
 {
-
+#if (BOOST_VERSION < 106700) && !defined(BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC)
+  ROS_ASSERT_MSG(false,
+                 "ros::TimerManager was instantiated by package " ROS_PACKAGE_NAME
+                 "without that BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC is defined! "
+                 "Be aware that timers might misbehave when system time jumps, "
+                 "e.g. due to network time corrections.");
+#endif
 }
 
 template<class T, class D, class E>
diff --git a/clients/roscpp/src/libros/callback_queue.cpp b/clients/roscpp/src/libros/callback_queue.cpp
index b2bab574b3..c38fcbde95 100644
--- a/clients/roscpp/src/libros/callback_queue.cpp
+++ b/clients/roscpp/src/libros/callback_queue.cpp
@@ -32,23 +32,10 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-// Make sure we use CLOCK_MONOTONIC for the condition variable wait_for if not Apple.
-#ifndef __APPLE__
-#define BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
-#endif
-
 #include "ros/callback_queue.h"
 #include "ros/assert.h"
 #include <boost/scope_exit.hpp>
 
-// check if we have really included the backported boost condition variable
-// just in case someone messes with the include order...
-#if BOOST_VERSION < 106100
-#ifndef USING_BACKPORTED_BOOST_CONDITION_VARIABLE
-#error "needs boost version >= 1.61 or the backported headers!"
-#endif
-#endif
-
 namespace ros
 {
 
diff --git a/clients/roscpp/src/libros/internal_timer_manager.cpp b/clients/roscpp/src/libros/internal_timer_manager.cpp
index 4f5f751412..67bb5d214c 100644
--- a/clients/roscpp/src/libros/internal_timer_manager.cpp
+++ b/clients/roscpp/src/libros/internal_timer_manager.cpp
@@ -25,22 +25,9 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-// Make sure we use CLOCK_MONOTONIC for the condition variable if not Apple.
-#if !defined(__APPLE__) && !defined(WIN32)
-#define BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
-#endif
-
 #include "ros/timer_manager.h"
 #include "ros/internal_timer_manager.h"
 
-// check if we have really included the backported boost condition variable
-// just in case someone messes with the include order...
-#if BOOST_VERSION < 106100
-#ifndef USING_BACKPORTED_BOOST_CONDITION_VARIABLE
-#error "steady timer needs boost version >= 1.61 or the backported headers!"
-#endif
-#endif
-
 namespace ros
 {
 
diff --git a/clients/roscpp/src/libros/steady_timer.cpp b/clients/roscpp/src/libros/steady_timer.cpp
index b4340ecbb1..8c0517498c 100644
--- a/clients/roscpp/src/libros/steady_timer.cpp
+++ b/clients/roscpp/src/libros/steady_timer.cpp
@@ -25,22 +25,9 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-// Make sure we use CLOCK_MONOTONIC for the condition variable if not Apple.
-#if !defined(__APPLE__) && !defined(WIN32)
-#define BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
-#endif
-
 #include "ros/steady_timer.h"
 #include "ros/timer_manager.h"
 
-// check if we have really included the backported boost condition variable
-// just in case someone messes with the include order...
-#if BOOST_VERSION < 106100
-#ifndef USING_BACKPORTED_BOOST_CONDITION_VARIABLE
-#error "steady timer needs boost version >= 1.61 or the backported headers!"
-#endif
-#endif
-
 namespace ros
 {