diff --git a/recipes-ros/ros-control/controller-interface_0.7.2.bb b/recipes-ros/ros-control/controller-interface_0.7.3.bb
similarity index 100%
rename from recipes-ros/ros-control/controller-interface_0.7.2.bb
rename to recipes-ros/ros-control/controller-interface_0.7.3.bb
diff --git a/recipes-ros/ros-control/controller-manager-msgs_0.7.2.bb b/recipes-ros/ros-control/controller-manager-msgs_0.7.3.bb
similarity index 100%
rename from recipes-ros/ros-control/controller-manager-msgs_0.7.2.bb
rename to recipes-ros/ros-control/controller-manager-msgs_0.7.3.bb
diff --git a/recipes-ros/ros-control/controller-manager-tests_0.7.2.bb b/recipes-ros/ros-control/controller-manager-tests_0.7.3.bb
similarity index 100%
rename from recipes-ros/ros-control/controller-manager-tests_0.7.2.bb
rename to recipes-ros/ros-control/controller-manager-tests_0.7.3.bb
diff --git a/recipes-ros/ros-control/controller-manager_0.7.2.bb b/recipes-ros/ros-control/controller-manager_0.7.3.bb
similarity index 100%
rename from recipes-ros/ros-control/controller-manager_0.7.2.bb
rename to recipes-ros/ros-control/controller-manager_0.7.3.bb
diff --git a/recipes-ros/ros-control/files/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch b/recipes-ros/ros-control/files/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch
deleted file mode 100644
index ca70515..0000000
--- a/recipes-ros/ros-control/files/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch
+++ /dev/null
@@ -1,56 +0,0 @@
-From 00fbc3fa30d78c10e13ecd04d85ecf98a39a4bb2 Mon Sep 17 00:00:00 2001
-From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
-Date: Sun, 27 Jul 2014 09:07:29 +0200
-Subject: [PATCH] make rostest in CMakeLists optional (ros/rosdistro#3010)
-
-Upstream-Status: Accepted
----
- controller_manager_tests/CMakeLists.txt | 3 ++-
- joint_limits_interface/CMakeLists.txt   | 3 ++-
- 2 files changed, 4 insertions(+), 2 deletions(-)
-
-diff --git a/controller_manager_tests/CMakeLists.txt b/controller_manager_tests/CMakeLists.txt
-index 64731bd..badc147 100644
---- a/controller_manager_tests/CMakeLists.txt
-+++ b/controller_manager_tests/CMakeLists.txt
-@@ -29,7 +29,7 @@ if(USE_ROSBUILD)
- else()
- 
-   # Load catkin and all dependencies required for this package
--  find_package(catkin REQUIRED COMPONENTS rostest controller_manager controller_interface control_toolbox)
-+  find_package(catkin REQUIRED COMPONENTS controller_manager controller_interface control_toolbox)
- 
-   include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
- 
-@@ -54,6 +54,7 @@ else()
-   target_link_libraries(dummy_app ${PROJECT_NAME} ${catkin_LIBRARIES})
- 
-   if(CATKIN_ENABLE_TESTING)
-+    find_package(rostest)
-     add_executable(cm_test test/cm_test.cpp)
-     add_dependencies(tests cm_test)
-     target_link_libraries(cm_test ${GTEST_LIBRARIES} ${catkin_LIBRARIES})
-diff --git a/joint_limits_interface/CMakeLists.txt b/joint_limits_interface/CMakeLists.txt
-index fedaadd..f8305f1 100644
---- a/joint_limits_interface/CMakeLists.txt
-+++ b/joint_limits_interface/CMakeLists.txt
-@@ -25,7 +25,6 @@ else() # catkin
- 
-   find_package(catkin REQUIRED
-     roscpp
--    rostest
-     hardware_interface
-     urdfdom
-   )
-@@ -49,6 +48,8 @@ else() # catkin
-   )
- 
-   if(CATKIN_ENABLE_TESTING)
-+    find_package(rostest)
-+
-     catkin_add_gtest(joint_limits_interface_test test/joint_limits_interface_test.cpp)
-     target_link_libraries(joint_limits_interface_test ${catkin_LIBRARIES})
- 
--- 
-1.9.3
-
diff --git a/recipes-ros/ros-control/hardware-interface_0.7.2.bb b/recipes-ros/ros-control/hardware-interface_0.7.3.bb
similarity index 100%
rename from recipes-ros/ros-control/hardware-interface_0.7.2.bb
rename to recipes-ros/ros-control/hardware-interface_0.7.3.bb
diff --git a/recipes-ros/ros-control/joint-limits-interface_0.7.2.bb b/recipes-ros/ros-control/joint-limits-interface_0.7.3.bb
similarity index 100%
rename from recipes-ros/ros-control/joint-limits-interface_0.7.2.bb
rename to recipes-ros/ros-control/joint-limits-interface_0.7.3.bb
diff --git a/recipes-ros/ros-control/ros-control.inc b/recipes-ros/ros-control/ros-control.inc
index 9e87248..dc2ea5b 100644
--- a/recipes-ros/ros-control/ros-control.inc
+++ b/recipes-ros/ros-control/ros-control.inc
@@ -1,8 +1,6 @@
 SRC_URI = "https://github.com/ros-controls/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "4eadd134fcb828a341fc65ff521f7e5c"
-SRC_URI[sha256sum] = "7bc3bfde309e0938cf2cd639d97e95c06e837c140831357378df861e3b657577"
-
-SRC_URI += "file://0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch;patchdir=.."
+SRC_URI[md5sum] = "58d4b8a8d98120bb3a46cee07168287d"
+SRC_URI[sha256sum] = "48f841a2a4f048d08149488028289da8b8374a2aab91c5e2c628300a574cac37"
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
diff --git a/recipes-ros/ros-control/transmission-interface_0.7.2.bb b/recipes-ros/ros-control/transmission-interface_0.7.3.bb
similarity index 100%
rename from recipes-ros/ros-control/transmission-interface_0.7.2.bb
rename to recipes-ros/ros-control/transmission-interface_0.7.3.bb