diff --git a/clients/roscpp/include/ros/connection.h b/clients/roscpp/include/ros/connection.h
index 1d1f161d17..d5916057bb 100644
--- a/clients/roscpp/include/ros/connection.h
+++ b/clients/roscpp/include/ros/connection.h
@@ -38,7 +38,16 @@
 #include "ros/header.h"
 #include "common.h"
 
+#ifndef BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#define BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#define ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#endif
 #include <boost/signals.hpp>
+#ifdef ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#undef ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#undef BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#endif
+
 #include <boost/function.hpp>
 #include <boost/shared_ptr.hpp>
 #include <boost/shared_array.hpp>
diff --git a/clients/roscpp/include/ros/poll_manager.h b/clients/roscpp/include/ros/poll_manager.h
index fd6431d112..4762382fe5 100644
--- a/clients/roscpp/include/ros/poll_manager.h
+++ b/clients/roscpp/include/ros/poll_manager.h
@@ -31,7 +31,17 @@
 #include "forwards.h"
 #include "poll_set.h"
 #include "common.h"
+
+#ifndef BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#define BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#define ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#endif
 #include <boost/signals.hpp>
+#ifdef ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#undef ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#undef BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#endif
+
 #include <boost/thread/recursive_mutex.hpp>
 #include <boost/thread/thread.hpp>
 
diff --git a/utilities/message_filters/include/message_filters/cache.h b/utilities/message_filters/include/message_filters/cache.h
index 307af02e89..e4b4cee73f 100644
--- a/utilities/message_filters/include/message_filters/cache.h
+++ b/utilities/message_filters/include/message_filters/cache.h
@@ -38,7 +38,17 @@
 #include <deque>
 #include "boost/thread.hpp"
 #include "boost/shared_ptr.hpp"
+
+#ifndef BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#define BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#define ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#endif
 #include <boost/signals.hpp>
+#ifdef ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#undef ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#undef BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#endif
+
 #include "ros/time.h"
 
 #include "connection.h"
diff --git a/utilities/message_filters/include/message_filters/subscriber.h b/utilities/message_filters/include/message_filters/subscriber.h
index 3695ee9c2b..06c6264c78 100644
--- a/utilities/message_filters/include/message_filters/subscriber.h
+++ b/utilities/message_filters/include/message_filters/subscriber.h
@@ -37,7 +37,16 @@
 
 #include <ros/ros.h>
 
+#ifndef BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#define BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#define ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#endif
 #include <boost/signals.hpp>
+#ifdef ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#undef ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#undef BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#endif
+
 #include <boost/thread/mutex.hpp>
 
 #include "connection.h"
diff --git a/utilities/message_filters/include/message_filters/sync_policies/approximate_time.h b/utilities/message_filters/include/message_filters/sync_policies/approximate_time.h
index 67578bac9c..31ff4bdcea 100644
--- a/utilities/message_filters/include/message_filters/sync_policies/approximate_time.h
+++ b/utilities/message_filters/include/message_filters/sync_policies/approximate_time.h
@@ -44,7 +44,17 @@
 #include <boost/shared_ptr.hpp>
 #include <boost/function.hpp>
 #include <boost/thread/mutex.hpp>
+
+#ifndef BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#define BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#define ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#endif
 #include <boost/signals.hpp>
+#ifdef ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#undef ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#undef BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#endif
+
 #include <boost/bind.hpp>
 #include <boost/type_traits/is_same.hpp>
 #include <boost/noncopyable.hpp>
diff --git a/utilities/message_filters/include/message_filters/sync_policies/exact_time.h b/utilities/message_filters/include/message_filters/sync_policies/exact_time.h
index db33cdca64..479228087b 100644
--- a/utilities/message_filters/include/message_filters/sync_policies/exact_time.h
+++ b/utilities/message_filters/include/message_filters/sync_policies/exact_time.h
@@ -44,7 +44,17 @@
 #include <boost/shared_ptr.hpp>
 #include <boost/function.hpp>
 #include <boost/thread/mutex.hpp>
+
+#ifndef BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#define BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#define ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#endif
 #include <boost/signals.hpp>
+#ifdef ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#undef ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#undef BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#endif
+
 #include <boost/bind.hpp>
 #include <boost/type_traits/is_same.hpp>
 #include <boost/noncopyable.hpp>
diff --git a/utilities/message_filters/include/message_filters/synchronizer.h b/utilities/message_filters/include/message_filters/synchronizer.h
index 7644f068f9..de17cf4bc3 100644
--- a/utilities/message_filters/include/message_filters/synchronizer.h
+++ b/utilities/message_filters/include/message_filters/synchronizer.h
@@ -39,7 +39,17 @@
 #include <boost/shared_ptr.hpp>
 #include <boost/function.hpp>
 #include <boost/thread/mutex.hpp>
+
+#ifndef BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#define BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#define ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#endif
 #include <boost/signals.hpp>
+#ifdef ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#undef ros_BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#undef BOOST_SIGNALS_NO_DEPRECATION_WARNING
+#endif
+
 #include <boost/bind.hpp>
 #include <boost/type_traits/is_same.hpp>
 #include <boost/noncopyable.hpp>