diff --git a/recipes-ros/ros-controllers/gripper-action-controller/0001-gripper_action_controller-drop-unneeded-rostest-depe.patch b/recipes-ros/ros-controllers/gripper-action-controller/0001-gripper_action_controller-drop-unneeded-rostest-depe.patch
new file mode 100644
index 0000000..ac2ec8a
--- /dev/null
+++ b/recipes-ros/ros-controllers/gripper-action-controller/0001-gripper_action_controller-drop-unneeded-rostest-depe.patch
@@ -0,0 +1,38 @@
+From 79856f596b827981fb5dad854c56347b912836fd Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Thu, 31 Jul 2014 21:06:41 +0200
+Subject: [PATCH] gripper_action_controller: drop unneeded rostest dependency
+
+Upstream-Status: Accepted
+---
+ gripper_action_controller/CMakeLists.txt |    1 -
+ gripper_action_controller/package.xml    |    1 -
+ 2 files changed, 2 deletions(-)
+
+diff --git a/gripper_action_controller/CMakeLists.txt b/gripper_action_controller/CMakeLists.txt
+index 555ec69..2b925a9 100644
+--- a/gripper_action_controller/CMakeLists.txt
++++ b/gripper_action_controller/CMakeLists.txt
+@@ -17,7 +17,6 @@ find_package(catkin
+       realtime_tools
+       control_msgs
+       trajectory_msgs
+-      rostest
+       controller_manager
+       xacro
+ )
+diff --git a/gripper_action_controller/package.xml b/gripper_action_controller/package.xml
+index 513321b..2607005 100644
+--- a/gripper_action_controller/package.xml
++++ b/gripper_action_controller/package.xml
+@@ -49,7 +49,6 @@
+   <build_depend>controller_manager</build_depend>
+   <build_depend>hardware_interface</build_depend>
+   <build_depend>realtime_tools</build_depend>
+-  <build_depend>rostest</build_depend>
+   <build_depend>trajectory_msgs</build_depend>
+   <build_depend>urdf</build_depend>
+   <build_depend>xacro</build_depend>
+-- 
+1.7.9.5
+
diff --git a/recipes-ros/ros-controllers/gripper-action-controller_0.7.2.bb b/recipes-ros/ros-controllers/gripper-action-controller_0.7.2.bb
index c8cec54..106c80d 100644
--- a/recipes-ros/ros-controllers/gripper-action-controller_0.7.2.bb
+++ b/recipes-ros/ros-controllers/gripper-action-controller_0.7.2.bb
@@ -4,6 +4,8 @@ LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=16;endline=16;md5=d566ef916e9dedc494f5f793a6690ba5"
 
 DEPENDS = "actionlib angles cmake-modules roscpp urdf control-toolbox controller-interface \
-  hardware-interface realtime-tools control-msgs trajectory-msgs rostest controller-manager xacro"
+  hardware-interface realtime-tools control-msgs trajectory-msgs controller-manager xacro"
 
 require ros-controllers.inc
+
+SRC_URI += "file://0001-gripper_action_controller-drop-unneeded-rostest-depe.patch;striplevel=2"
diff --git a/recipes-ros/ros-controllers/joint-trajectory-controller/0001-joint_trajectory_controller-make-rostest-in-CMakeLis.patch b/recipes-ros/ros-controllers/joint-trajectory-controller/0001-joint_trajectory_controller-make-rostest-in-CMakeLis.patch
new file mode 100644
index 0000000..614f52f
--- /dev/null
+++ b/recipes-ros/ros-controllers/joint-trajectory-controller/0001-joint_trajectory_controller-make-rostest-in-CMakeLis.patch
@@ -0,0 +1,43 @@
+From f87e0c5c30bf99e0a45cfef7a8dc17a60ac41cba Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Thu, 31 Jul 2014 21:18:31 +0200
+Subject: [PATCH] joint_trajectory_controller: make rostest in CMakeLists
+ optional (ros/rosdistro#3010)
+
+Upstream-Status: Accepted
+---
+ joint_trajectory_controller/CMakeLists.txt |    4 ++--
+ 1 file changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt
+index 06e9d93..9687ec3 100644
+--- a/joint_trajectory_controller/CMakeLists.txt
++++ b/joint_trajectory_controller/CMakeLists.txt
+@@ -61,7 +61,6 @@ else()
+       realtime_tools
+       control_msgs
+       trajectory_msgs
+-      rostest
+       controller_manager
+       xacro
+   )
+@@ -79,7 +78,6 @@ else()
+     realtime_tools
+     control_msgs
+     trajectory_msgs
+-    rostest
+     controller_manager
+     xacro
+     INCLUDE_DIRS include
+@@ -103,6 +101,8 @@ else()
+   target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+ 
+   if(CATKIN_ENABLE_TESTING)
++    find_package(rostest) 
++
+     catkin_add_gtest(quintic_spline_segment_test test/quintic_spline_segment_test.cpp)
+     target_link_libraries(quintic_spline_segment_test ${catkin_LIBRARIES})
+ 
+-- 
+1.7.9.5
+
diff --git a/recipes-ros/ros-controllers/joint-trajectory-controller_0.7.2.bb b/recipes-ros/ros-controllers/joint-trajectory-controller_0.7.2.bb
index d78704f..7e94e43 100644
--- a/recipes-ros/ros-controllers/joint-trajectory-controller_0.7.2.bb
+++ b/recipes-ros/ros-controllers/joint-trajectory-controller_0.7.2.bb
@@ -3,8 +3,9 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "actionlib angles cmake-modules control-toolbox controller-interface controller-manager control-msgs rostest urdf xacro"
+DEPENDS = "actionlib angles cmake-modules control-toolbox controller-interface controller-manager control-msgs urdf xacro"
 
 require ros-controllers.inc
 
-SRC_URI += "file://0001-check-for-CATKIN_ENABLE_TESTING.patch;striplevel=2"
+SRC_URI += "file://0001-check-for-CATKIN_ENABLE_TESTING.patch;striplevel=2 \
+  file://0001-joint_trajectory_controller-make-rostest-in-CMakeLis.patch;striplevel=2"