diff --git a/recipes-ros/filters/filters/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch b/recipes-ros/filters/filters/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch
new file mode 100644
index 0000000..3674f22
--- /dev/null
+++ b/recipes-ros/filters/filters/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch
@@ -0,0 +1,33 @@
+From 5aef0d6619394df17bffe743071295ad041b5794 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Tue, 4 Feb 2014 16:02:09 +0100
+Subject: [PATCH] make rostest in CMakeLists optional (ros/rosdistro#3010)
+
+---
+ CMakeLists.txt | 3 ++-
+ 1 file changed, 2 insertions(+), 1 deletion(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index ccb54f9..97eea51 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -5,7 +5,7 @@ project(filters)
+ # Find dependencies
+ ##############################################################################
+ 
+-find_package(catkin REQUIRED COMPONENTS pluginlib roslib roscpp rosconsole rostest)
++find_package(catkin REQUIRED COMPONENTS pluginlib roslib roscpp rosconsole)
+ find_package(Boost COMPONENTS system filesystem thread REQUIRED)
+ 
+ include_directories(
+@@ -41,6 +41,7 @@ add_library(transfer_function src/transfer_function.cpp)
+ target_link_libraries(transfer_function ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+ 
+ if(CATKIN_ENABLE_TESTING)
++  find_package(rostest)
+   # Test median filter
+   add_executable(median_test EXCLUDE_FROM_ALL test/test_median.cpp )
+   target_link_libraries(median_test median ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${GTEST_LIBRARIES}) 
+-- 
+1.8.3.2
+
diff --git a/recipes-ros/filters/filters_1.7.4.bb b/recipes-ros/filters/filters_1.7.4.bb
index 8f9a0c1..661b23b 100644
--- a/recipes-ros/filters/filters_1.7.4.bb
+++ b/recipes-ros/filters/filters_1.7.4.bb
@@ -3,12 +3,13 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "roslib rosconsole roscpp pluginlib rostest"
+DEPENDS = "roslib rosconsole roscpp pluginlib"
 
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
 SRC_URI[md5sum] = "0dd26504be16afa7816e9a5aa11715f1"
 SRC_URI[sha256sum] = "fb71f1fbeaf89726877fce66dce1db8957c5cc6dffa1973d6a104a10233f8237"
 
-SRC_URI += "file://0001-check-for-CATKIN_ENABLE_TESTING.patch"
+SRC_URI += "file://0001-check-for-CATKIN_ENABLE_TESTING.patch; \
+  file://0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch"
 
 inherit catkin