diff --git a/clients/roscpp/package.xml b/clients/roscpp/package.xml
index 03cfa64fde..440497eff3 100644
--- a/clients/roscpp/package.xml
+++ b/clients/roscpp/package.xml
@@ -24,6 +24,9 @@
   <buildtool_depend version_gte="0.5.78">catkin</buildtool_depend>
 
   <build_depend version_gte="0.3.17">cpp_common</build_depend>
+  <build_depend>libboost-chrono-dev</build_depend>
+  <build_depend>libboost-filesystem-dev</build_depend>
+  <build_depend>libboost-system-dev</build_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>pkg-config</build_depend>
   <build_depend>rosconsole</build_depend>
@@ -36,6 +39,8 @@
   <build_depend>xmlrpcpp</build_depend>
 
   <run_depend version_gte="0.3.17">cpp_common</run_depend>
+  <run_depend>libboost-chrono-dev</run_depend>
+  <run_depend>libboost-system-dev</run_depend>
   <run_depend>message_runtime</run_depend>
   <run_depend>rosconsole</run_depend>
   <run_depend>roscpp_serialization</run_depend>
diff --git a/utilities/message_filters/package.xml b/utilities/message_filters/package.xml
index a671f4ad9f..dcabb07308 100644
--- a/utilities/message_filters/package.xml
+++ b/utilities/message_filters/package.xml
@@ -14,12 +14,13 @@
 
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>boost</build_depend>
+  <build_depend>libboost-thread-dev</build_depend>
   <build_depend>rosconsole</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>rostest</build_depend>
   <build_depend>rosunit</build_depend>
 
+  <run_depend>libboost-thread-dev</run_depend>
   <run_depend>rosconsole</run_depend>
   <run_depend>roscpp</run_depend>