diff --git a/recipes-extended/freeglut/freeglut_2.8.1.bb b/recipes-extended/freeglut/freeglut_2.8.1.bb
index d1375e1..914aa8d 100644
--- a/recipes-extended/freeglut/freeglut_2.8.1.bb
+++ b/recipes-extended/freeglut/freeglut_2.8.1.bb
@@ -10,4 +10,7 @@ SRC_URI[sha256sum] = "dde46626a62a1cd9cf48a11951cdd592e7067c345cffe193a149dfd47a
 
 S = "${WORKDIR}/freeglut-${PV}"
 
-inherit autotools
+inherit autotools distro_features_check
+
+# Depends on libxi libglu which need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"
diff --git a/recipes-extended/libfreenect/libfreenect_0.5.2.bb b/recipes-extended/libfreenect/libfreenect_0.5.2.bb
index 017b07f..71c9c23 100644
--- a/recipes-extended/libfreenect/libfreenect_0.5.2.bb
+++ b/recipes-extended/libfreenect/libfreenect_0.5.2.bb
@@ -8,7 +8,10 @@ SRC_URI = "https://github.com/OpenKinect/libfreenect/archive/v${PV}.tar.gz;downl
 SRC_URI[md5sum] = "4d683cffe79f741aeb777cacaa88fd44"
 SRC_URI[sha256sum] = "91af5c09b7eae217c4be69234ae5a6371f24da8ff6986f98c2db19f1993f2a71"
 
-inherit cmake
+inherit cmake distro_features_check
+
+# Depends on freeglut libxi libxmu which need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"
 
 #force libs always into /usr/lib, even when compiling on 64bit arch
 EXTRA_OECMAKE += " -DLIB_SUFFIX=''"
diff --git a/recipes-extended/wxwidgets/wxpython_2.9.5.0.bb b/recipes-extended/wxwidgets/wxpython_2.9.5.0.bb
index 5a43a2b..d435eb5 100644
--- a/recipes-extended/wxwidgets/wxpython_2.9.5.0.bb
+++ b/recipes-extended/wxwidgets/wxpython_2.9.5.0.bb
@@ -12,7 +12,10 @@ SRC_URI[sha256sum] = "1a5b7e771eff467538d0834136188e8a7506a4fe6e85d0a46c40158cdb
 
 S = "${WORKDIR}/wxPython-src-${PV}/wxPython"
 
-inherit pkgconfig pythonnative python-dir distutils
+inherit pkgconfig pythonnative python-dir distutils distro_features_check
+
+# Depends on wxwidgets which depends on libxinerama, libglu, gtk need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"
 
 CFLAGS += "-I${STAGING_INCDIR}/wx-2.9/ -I${STAGING_LIBDIR}/wx/include/${TARGET_PREFIX}gtk2-unicode-2.9/"
 CFLAGS += "-std=gnu++11"
diff --git a/recipes-extended/wxwidgets/wxwidgets_2.9.5.bb b/recipes-extended/wxwidgets/wxwidgets_2.9.5.bb
index 7231c8a..b8b1b83 100644
--- a/recipes-extended/wxwidgets/wxwidgets_2.9.5.bb
+++ b/recipes-extended/wxwidgets/wxwidgets_2.9.5.bb
@@ -12,7 +12,10 @@ SRC_URI[sha256sum] = "b74ba96ca537cc5d049d21ec9ab5eb2670406a4aa9f1ea4845ea84a995
 
 S = "${WORKDIR}/wxWidgets-${PV}"
 
-inherit autotools-brokensep pkgconfig binconfig
+inherit autotools-brokensep pkgconfig binconfig distro_features_check
+
+# Depends on libxinerama, libglu, gtk need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"
 
 EXTRA_AUTORECONF = " -I ${S}/build/aclocal"
 EXTRA_OECONF = "  --with-opengl \
diff --git a/recipes-ros/freenect-stack/freenect-camera_0.4.1.bb b/recipes-ros/freenect-stack/freenect-camera_0.4.1.bb
index 717a315..840e95b 100644
--- a/recipes-ros/freenect-stack/freenect-camera_0.4.1.bb
+++ b/recipes-ros/freenect-stack/freenect-camera_0.4.1.bb
@@ -8,3 +8,8 @@ DEPENDS = "camera-info-manager diagnostic-updater dynamic-reconfigure \
     image-transport libfreenect nodelet roscpp sensor-msgs pluginlib"
 
 require freenect-stack.inc
+
+inherit distro_features_check
+
+# Depends on libfreenect which depends on freeglut libxi libxmu which need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"
diff --git a/recipes-ros/freenect-stack/freenect-launch_0.4.1.bb b/recipes-ros/freenect-stack/freenect-launch_0.4.1.bb
index 50a151f..59eee01 100644
--- a/recipes-ros/freenect-stack/freenect-launch_0.4.1.bb
+++ b/recipes-ros/freenect-stack/freenect-launch_0.4.1.bb
@@ -8,3 +8,8 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9de
 require freenect-stack.inc
 
 RRECOMMENDS_${PN} = "freenect-camera image-proc nodelet rgbd-launch tf"
+
+inherit distro_features_check
+
+# Depends on freenect-camera which depends on libfreenect which depends on freeglut libxi libxmu which need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"
diff --git a/recipes-ros/robot-model/joint-state-publisher_1.11.14.bb b/recipes-ros/robot-model/joint-state-publisher_1.11.14.bb
index 3c3ddfe..2098a8b 100644
--- a/recipes-ros/robot-model/joint-state-publisher_1.11.14.bb
+++ b/recipes-ros/robot-model/joint-state-publisher_1.11.14.bb
@@ -10,4 +10,9 @@ require robot-model.inc
 
 RDEPENDS_${PN} = "wxpython"
 
+inherit distro_features_check
+
+# Depends on wxpython which depends on wxwidgets which depends on libxinerama, libglu, gtk need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"
+
 PNBLACKLIST[joint-state-publisher] ?= "Depends on wxpython which depends on wxwidgets which depends on old gstreamer 0.10 recipes removed from meta-oe in 2.7 Warrior"