diff --git a/recipes-ros/geometry/tf/0001-cmake-remove-boost-signals-search-as-it-is-removed-s.patch b/recipes-ros/geometry/tf/0001-cmake-remove-boost-signals-search-as-it-is-removed-s.patch
new file mode 100644
index 0000000..32d3dde
--- /dev/null
+++ b/recipes-ros/geometry/tf/0001-cmake-remove-boost-signals-search-as-it-is-removed-s.patch
@@ -0,0 +1,24 @@
+From 65a6507591ba13333c4d79d119b3316a29e49f6a Mon Sep 17 00:00:00 2001
+From: =?UTF-8?q?Jo=C3=ABl=20Esponde?= <joel.esponde@easymile.com>
+Date: Wed, 27 Feb 2019 15:18:57 +0100
+Subject: [PATCH] cmake: remove boost signals search as it is removed since
+ 1.69
+
+Upstream-Status: Inappropriate [upstream source code changed]
+---
+ tf/CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/tf/CMakeLists.txt b/tf/CMakeLists.txt
+index 8429516..9fcdebd 100644
+--- a/tf/CMakeLists.txt
++++ b/tf/CMakeLists.txt
+@@ -13,7 +13,7 @@ find_package(catkin REQUIRED COMPONENTS
+     std_msgs
+     tf2_ros
+ )
+-find_package(Boost REQUIRED COMPONENTS thread signals system)
++find_package(Boost REQUIRED COMPONENTS thread system)
+ 
+ catkin_python_setup()
+ 
diff --git a/recipes-ros/geometry/tf_1.11.9.bb b/recipes-ros/geometry/tf_1.11.9.bb
index 50d9ea4..413347e 100644
--- a/recipes-ros/geometry/tf_1.11.9.bb
+++ b/recipes-ros/geometry/tf_1.11.9.bb
@@ -9,6 +9,8 @@ require geometry.inc
 
 RDEPENDS_${PN} = "${PYTHON_PN}-numpy"
 
+SRC_URI += "file://0001-cmake-remove-boost-signals-search-as-it-is-removed-s.patch;striplevel=2"
+
 # This option disables python support in case of python3 flavour of ROS because
 # only python2 is supported by tf.
 EXTRA_OECMAKE =+ "${@'-DANDROID=ON' if d.getVar('PYTHON_PN', True) == 'python3' else ''}"
diff --git a/recipes-ros/geometry2/tf2/0001-cmake-remove-boost-signals-search-as-it-is-removed-s.patch b/recipes-ros/geometry2/tf2/0001-cmake-remove-boost-signals-search-as-it-is-removed-s.patch
new file mode 100644
index 0000000..0097c76
--- /dev/null
+++ b/recipes-ros/geometry2/tf2/0001-cmake-remove-boost-signals-search-as-it-is-removed-s.patch
@@ -0,0 +1,24 @@
+From 075784dd6599521ee03b7103e0b13d1a4d229e0f Mon Sep 17 00:00:00 2001
+From: =?UTF-8?q?Jo=C3=ABl=20Esponde?= <joel.esponde@easymile.com>
+Date: Wed, 27 Feb 2019 14:24:38 +0100
+Subject: [PATCH] cmake: remove boost signals search as it is removed since
+ 1.69
+
+Upstream-Status: Inappropriate [upstream source code changed]
+---
+ CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/tf2/CMakeLists.txt b/tf2/CMakeLists.txt
+index 0d5754f..c9e2597 100644
+--- a/tf2/CMakeLists.txt
++++ b/tf2/CMakeLists.txt
+@@ -3,7 +3,7 @@ project(tf2)
+ 
+ find_package(console_bridge REQUIRED)
+ find_package(catkin REQUIRED COMPONENTS geometry_msgs rostime tf2_msgs)
+-find_package(Boost REQUIRED COMPONENTS signals system thread)
++find_package(Boost REQUIRED COMPONENTS system thread)
+ 
+ catkin_package(
+    INCLUDE_DIRS include
diff --git a/recipes-ros/geometry2/tf2_0.5.18.bb b/recipes-ros/geometry2/tf2_0.5.18.bb
index cef14d6..a51d6c5 100644
--- a/recipes-ros/geometry2/tf2_0.5.18.bb
+++ b/recipes-ros/geometry2/tf2_0.5.18.bb
@@ -9,3 +9,5 @@ DEPENDS = "tf2-msgs geometry-msgs console-bridge rospy"
 RDEPENDS_${PN} += "tf2-msgs geometry-msgs console-bridge rostime"
 
 require geometry2.inc
+
+SRC_URI += "file://0001-cmake-remove-boost-signals-search-as-it-is-removed-s.patch;striplevel=2"
diff --git a/recipes-ros/ros-comm/message-filters/0002-cmake-remove-boost-signals-search-as-it-is-removed-s.patch b/recipes-ros/ros-comm/message-filters/0002-cmake-remove-boost-signals-search-as-it-is-removed-s.patch
new file mode 100644
index 0000000..4477254
--- /dev/null
+++ b/recipes-ros/ros-comm/message-filters/0002-cmake-remove-boost-signals-search-as-it-is-removed-s.patch
@@ -0,0 +1,24 @@
+From 8fa4972c5059597f79265bc64af7e2f6f65d6d04 Mon Sep 17 00:00:00 2001
+From: =?UTF-8?q?Jo=C3=ABl=20Esponde?= <joel.esponde@easymile.com>
+Date: Wed, 27 Feb 2019 14:46:29 +0100
+Subject: [PATCH] cmake: remove boost signals search as it is removed since
+ 1.69
+
+Upstream-Status: Inappropriate [upstream source code changed]
+---
+ CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/utilities/message_filters/CMakeLists.txt b/utilities/message_filters/CMakeLists.txt
+index 03e906a1..2503cfae 100644
+--- a/utilities/message_filters/CMakeLists.txt
++++ b/utilities/message_filters/CMakeLists.txt
+@@ -13,7 +13,7 @@ catkin_package(
+ )
+ catkin_python_setup()
+ 
+-find_package(Boost REQUIRED COMPONENTS signals thread)
++find_package(Boost REQUIRED COMPONENTS thread)
+ 
+ include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+ link_directories(${catkin_LIBRARY_DIRS})
diff --git a/recipes-ros/ros-comm/message-filters_1.11.21.bb b/recipes-ros/ros-comm/message-filters_1.11.21.bb
index 08a18d4..fdc2dc0 100644
--- a/recipes-ros/ros-comm/message-filters_1.11.21.bb
+++ b/recipes-ros/ros-comm/message-filters_1.11.21.bb
@@ -9,4 +9,6 @@ require ros-comm.inc
 
 ROS_PKG_SUBDIR = "utilities"
 
-SRC_URI += "file://0001-Changed-invocation-to-add-to-conform-template-syntax.patch;patchdir=../.."
+SRC_URI += "\
+    file://0001-Changed-invocation-to-add-to-conform-template-syntax.patch;striplevel=3\
+    file://0002-cmake-remove-boost-signals-search-as-it-is-removed-s.patch;striplevel=3"
diff --git a/recipes-ros/ros-comm/roscpp/0001-make-implicit-cast-explicit.patch b/recipes-ros/ros-comm/roscpp/0002-make-implicit-cast-explicit.patch
similarity index 100%
rename from recipes-ros/ros-comm/roscpp/0001-make-implicit-cast-explicit.patch
rename to recipes-ros/ros-comm/roscpp/0002-make-implicit-cast-explicit.patch
diff --git a/recipes-ros/ros-comm/roscpp/0003-cmake-remove-boost-signals-search-as-it-is-removed-s.patch b/recipes-ros/ros-comm/roscpp/0003-cmake-remove-boost-signals-search-as-it-is-removed-s.patch
new file mode 100644
index 0000000..97bace5
--- /dev/null
+++ b/recipes-ros/ros-comm/roscpp/0003-cmake-remove-boost-signals-search-as-it-is-removed-s.patch
@@ -0,0 +1,23 @@
+From 80858e3ba7ea3d89cb745e79c50794edf7c568f8 Mon Sep 17 00:00:00 2001
+From: =?UTF-8?q?Jo=C3=ABl=20Esponde?= <joel.esponde@easymile.com>
+Date: Wed, 27 Feb 2019 13:15:13 +0100
+Subject: [PATCH] cmake: remove boost signals search as it is removed since
+ 1.69
+
+Upstream-Status: Inappropriate [upstream source code changed]
+---
+ CMakeLists.txt | 2 ++--
+ 1 file changed, 1 insertions(+), 1 deletions(-)
+
+diff --git a/clients/roscpp/CMakeLists.txt b/clients/roscpp/CMakeLists.txt
+index 91bd3113..c3a38487 100644
+--- a/clients/roscpp/CMakeLists.txt
++++ b/clients/roscpp/CMakeLists.txt
+@@ -22,7 +22,7 @@ list(GET roscpp_VERSION_LIST 2 roscpp_VERSION_PATCH)
+
+ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/include/ros/common.h.in ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/ros/common.h)
+
+-find_package(Boost REQUIRED COMPONENTS signals filesystem system)
++find_package(Boost REQUIRED COMPONENTS filesystem system)
+
+ include_directories(include ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/ros ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
diff --git a/recipes-ros/ros-comm/roscpp_1.11.21.bb b/recipes-ros/ros-comm/roscpp_1.11.21.bb
index b878e5a..0a3ec40 100644
--- a/recipes-ros/ros-comm/roscpp_1.11.21.bb
+++ b/recipes-ros/ros-comm/roscpp_1.11.21.bb
@@ -12,7 +12,8 @@ require ros-comm.inc
 
 SRC_URI += "\
     file://0001-roscpp-add-missing-header-for-writev.patch;striplevel=3\
-    file://0001-make-implicit-cast-explicit.patch;striplevel=3"
+    file://0002-make-implicit-cast-explicit.patch;striplevel=3\
+    file://0003-cmake-remove-boost-signals-search-as-it-is-removed-s.patch;striplevel=3"
 
 ROS_PKG_SUBDIR = "clients"