diff --git a/recipes-ros/navigation/base-local-planner/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch b/recipes-ros/navigation/base-local-planner/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch
new file mode 100644
index 0000000..7e4b8bd
--- /dev/null
+++ b/recipes-ros/navigation/base-local-planner/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch
@@ -0,0 +1,35 @@
+From e6f3979ff8b988fe7992bf08a8267f1e11f58627 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+Date: Tue, 4 Apr 2017 14:39:25 +0200
+Subject: [PATCH] make rostest in CMakeLists optional (ros/rosdistro#3010)
+
+Upstream-Status: Submitted [https://github.com/ros-planning/navigation/pull/565]
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+---
+ base_local_planner/CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/base_local_planner/CMakeLists.txt b/base_local_planner/CMakeLists.txt
+index 2444ae1..507af18 100644
+--- a/base_local_planner/CMakeLists.txt
++++ b/base_local_planner/CMakeLists.txt
+@@ -10,7 +10,6 @@ find_package(catkin REQUIRED
+             dynamic_reconfigure
+             nav_core
+             pcl_conversions
+-            rostest
+             costmap_2d
+             pluginlib
+             angles
+@@ -129,6 +128,7 @@ install(DIRECTORY include/${PROJECT_NAME}/
+ )
+ 
+ if(CATKIN_ENABLE_TESTING)
++  find_package(rostest)
+   catkin_add_gtest(base_local_planner_utest
+     test/gtest_main.cpp
+     test/utest.cpp
+-- 
+2.5.5
+
diff --git a/recipes-ros/navigation/base-local-planner_1.12.13.bb b/recipes-ros/navigation/base-local-planner_1.12.13.bb
index f558da9..48c04f7 100644
--- a/recipes-ros/navigation/base-local-planner_1.12.13.bb
+++ b/recipes-ros/navigation/base-local-planner_1.12.13.bb
@@ -6,6 +6,8 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=01c2bc31767cc
 
 DEPENDS = "angles costmap-2d dynamic-reconfigure geometry-msgs libeigen message-generation \
     nav-core nav-msgs pcl-conversions pcl-ros pluginlib rosconsole roscpp rospy std-msgs tf \
-    voxel-grid visualization-msgs rostest"
+    voxel-grid visualization-msgs"
 
 require navigation.inc
+
+SRC_URI += "file://0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch;striplevel=2"