diff --git a/utilities/xmlrpcpp/src/XmlRpcServer.cpp b/utilities/xmlrpcpp/src/XmlRpcServer.cpp
index 99154efacb..3b84286780 100644
--- a/utilities/xmlrpcpp/src/XmlRpcServer.cpp
+++ b/utilities/xmlrpcpp/src/XmlRpcServer.cpp
@@ -27,15 +27,18 @@ XmlRpcServer::XmlRpcServer()
     _accept_retry_time_sec(0.0)
 {
   struct rlimit limit = { .rlim_cur = 0, .rlim_max = 0 };
-  int max_files = 1024;
+  unsigned int max_files = 1024;
 
   if(getrlimit(RLIMIT_NOFILE, &limit) == 0) {
     max_files = limit.rlim_max;
+    if( limit.rlim_max == RLIM_INFINITY ) {
+      max_files = 0;
+    }
   } else {
     XmlRpcUtil::error("Could not get open file limit: %s", strerror(errno));
   }
   pollfds.resize(max_files);
-  for(int i=0; i<max_files; i++) {
+  for(unsigned int i=0; i<max_files; i++) {
     // Set up file descriptor query for all events.
     pollfds[i].fd = i;
     pollfds[i].events = POLLIN | POLLPRI | POLLOUT;
@@ -218,6 +221,11 @@ int XmlRpcServer::countFreeFDs() {
 
   // Get the current soft limit on the number of file descriptors.
   if(getrlimit(RLIMIT_NOFILE, &limit) == 0) {
+    // If we have infinite file descriptors, always return FREE_FD_BUFFER so
+    // that we never hit the low-water mark.
+    if( limit.rlim_max == RLIM_INFINITY ) {
+      return FREE_FD_BUFFER;
+    }
 
     // Poll the available file descriptors.
     // The POSIX specification guarantees that rlim_cur will always be less or
diff --git a/utilities/xmlrpcpp/test/CMakeLists.txt b/utilities/xmlrpcpp/test/CMakeLists.txt
index 0c57e69c82..6a7bb10cd1 100644
--- a/utilities/xmlrpcpp/test/CMakeLists.txt
+++ b/utilities/xmlrpcpp/test/CMakeLists.txt
@@ -12,7 +12,8 @@ find_package(Boost REQUIRED COMPONENTS system thread)
 include_directories(${Boost_INCLUDE_DIRS})
 
 add_library(test_fixtures test_fixtures.cpp)
-target_link_libraries(test_fixtures ${Boost_LIBRARIES})
+target_link_libraries(test_fixtures xmlrpcpp ${Boost_LIBRARIES} ${GTEST_LIBRARIES})
+set_target_properties(test_fixtures PROPERTIES EXCLUDE_FROM_ALL TRUE)
 
 catkin_add_gtest(HelloTest HelloTest.cpp)
 target_link_libraries(HelloTest xmlrpcpp ${Boost_LIBRARIES})
@@ -24,6 +25,8 @@ catkin_add_gtest(test_ulimit test_ulimit.cpp)
 target_link_libraries(test_ulimit xmlrpcpp test_fixtures ${Boost_LIBRARIES})
 
 add_library(mock_socket mock_socket.cpp)
+target_link_libraries(mock_socket ${GTEST_LIBRARIES})
+set_target_properties(mock_socket PROPERTIES EXCLUDE_FROM_ALL TRUE)
 
 catkin_add_gtest(test_client
   test_client.cpp
@@ -46,10 +49,17 @@ catkin_add_gtest(test_dispatch
   ../libb64/src/cencode.c
 )
 target_link_libraries(test_dispatch mock_socket ${catkin_LIBRARIES})
+if(APPLE)
 set_target_properties(test_dispatch PROPERTIES
   LINK_FLAGS
-  "-Wl,--wrap=select -Wl,--wrap=poll"
+  "-Wl,-alias,___wrap_poll,_poll"
 )
+elseif(UNIX)
+set_target_properties(test_dispatch PROPERTIES
+  LINK_FLAGS
+  "-Wl,--wrap=poll"
+)
+endif()
 
 if(NOT WIN32)
   catkin_add_gtest(test_socket
@@ -58,10 +68,17 @@ if(NOT WIN32)
     ../src/XmlRpcSocket.cpp
     ../src/XmlRpcUtil.cpp
   )
-  set_target_properties(test_socket PROPERTIES
-    LINK_FLAGS
-    "-Wl,--wrap=accept -Wl,--wrap=bind -Wl,--wrap=close -Wl,--wrap=connect -Wl,--wrap=getaddrinfo -Wl,--wrap=getsockname -Wl,--wrap=listen -Wl,--wrap=read -Wl,--wrap=setsockopt -Wl,--wrap=select -Wl,--wrap=socket -Wl,--wrap=write -Wl,--wrap=fcntl -Wl,--wrap=freeaddrinfo"
-  )
+  if(APPLE)
+    set_target_properties(test_socket PROPERTIES
+      LINK_FLAGS
+      "-Wl,-alias,___wrap_accept,_accept -Wl,-alias,___wrap_bind,_bind -Wl,-alias,___wrap_close,_close -Wl,-alias,___wrap_connect,_connect -Wl,-alias,___wrap_getaddrinfo,_getaddrinfo -Wl,-alias,___wrap_getsockname,_getsockname -Wl,-alias,___wrap_listen,_listen -Wl,-alias,___wrap_read,_read -Wl,-alias,___wrap_setsockopt,_setsockopt -Wl,-alias,___wrap_select,_select -Wl,-alias,___wrap_select,_select$1050 -Wl,-alias,___wrap_socket,_socket -Wl,-alias,___wrap_write,_write -Wl,-alias,___wrap_fcntl,_fcntl -Wl,-alias,___wrap_freeaddrinfo,_freeaddrinfo"
+    )
+  elseif(UNIX)
+    set_target_properties(test_socket PROPERTIES
+      LINK_FLAGS
+      "-Wl,--wrap=accept -Wl,--wrap=bind -Wl,--wrap=close -Wl,--wrap=connect -Wl,--wrap=getaddrinfo -Wl,--wrap=getsockname -Wl,--wrap=listen -Wl,--wrap=read -Wl,--wrap=setsockopt -Wl,--wrap=select -Wl,--wrap=socket -Wl,--wrap=write -Wl,--wrap=fcntl -Wl,--wrap=freeaddrinfo"
+    )
+  endif()
 endif()
 
 catkin_add_gtest(TestValues TestValues.cpp)
diff --git a/utilities/xmlrpcpp/test/test_dispatch.cpp b/utilities/xmlrpcpp/test/test_dispatch.cpp
index 0caeb29a35..364367286a 100644
--- a/utilities/xmlrpcpp/test/test_dispatch.cpp
+++ b/utilities/xmlrpcpp/test/test_dispatch.cpp
@@ -46,15 +46,13 @@
 // those symbols instead use __wrap_xxx
 extern "C" {
 // Mock for poll
-int __real_poll(struct pollfd *fds, nfds_t nfds, int timeout);
-
 int (*fake_poll)(struct pollfd *, nfds_t, int) = 0;
 
 int __wrap_poll(struct pollfd *fds, nfds_t nfds, int timeout) {
   if(fake_poll) {
     return fake_poll(fds, nfds, timeout);
   } else {
-    return __real_poll(fds, nfds, timeout);
+    return 0;
   }
 }
 
@@ -72,7 +70,7 @@ int mock_poll(struct pollfd *fds, nfds_t nfds, int timeout) {
   EXPECT_EQ(poll_fds.size(), nfds);
   EXPECT_EQ(poll_timeout, timeout);
 
-  for(nfds_t i=0; i<std::min(nfds, poll_fds.size()); i++) {
+  for(nfds_t i=0; i<nfds && i<poll_fds.size(); i++) {
     EXPECT_EQ(poll_fds[i].fd, fds[i].fd);
     EXPECT_EQ(poll_fds[i].events, fds[i].events);
     fds[i].revents = poll_fds[i].revents;
diff --git a/utilities/xmlrpcpp/test/test_system_mocks.c b/utilities/xmlrpcpp/test/test_system_mocks.c
index 7ae68bdb86..59da49dc77 100644
--- a/utilities/xmlrpcpp/test/test_system_mocks.c
+++ b/utilities/xmlrpcpp/test/test_system_mocks.c
@@ -28,13 +28,12 @@
 #endif
 
 #define MOCK_SYSCALL(ret, name, ARG_TYPES, ARG_NAMES)                          \
-  ret __real_##name ARG_TYPES;                                                 \
   ret(*fake_##name) ARG_TYPES = 0;                                             \
   ret __wrap_##name ARG_TYPES {                                                \
     if (fake_##name) {                                                         \
       return fake_##name ARG_NAMES;                                            \
     } else {                                                                   \
-      return __real_##name ARG_NAMES;                                          \
+      return -1;                                                                \
     }                                                                          \
   }                                                                            \
   int name##_calls = 0;                                                        \
@@ -47,7 +46,6 @@
 
 // custom mock for fcntl because it is varargs
 // the mocked version always takes the third argument
-int __real_fcntl(int fd, int cmd, ...);
 int (*fake_fcntl)(int fd, int cmd, unsigned long) = 0;
 int __wrap_fcntl(int fd, int cmd, ...) {
   va_list ap;
@@ -58,7 +56,7 @@ int __wrap_fcntl(int fd, int cmd, ...) {
   if (fake_fcntl) {
     return fake_fcntl(fd, cmd, arg);
   } else {
-    return __real_fcntl(fd, cmd, arg);
+    return -1;
   }
 }
 int fcntl_calls = 0;
@@ -68,13 +66,12 @@ int count_fcntl(int fd, int cmd, unsigned long arg) {
 }
 
 // Custom mock for freeaddrinfo because it returns void.
-void __real_freeaddrinfo(struct addrinfo* res);
 void (*fake_freeaddrinfo)(struct addrinfo* res) = 0;
 void __wrap_freeaddrinfo(struct addrinfo* res) {
   if (fake_freeaddrinfo) {
     return fake_freeaddrinfo(res);
   } else {
-    return __real_freeaddrinfo(res);
+    return;
   }
 }
 int freeaddrinfo_calls = 0;