diff --git a/recipes-ros/ros-control/controller-manager-tests_0.6.0.bb b/recipes-ros/ros-control/controller-manager-tests_0.6.0.bb
index 16ac8e6d1fde1aaa896e09604ddd6f0869d03225..926b91cee52b9873b9c3267756329b2618c0685d 100644
--- a/recipes-ros/ros-control/controller-manager-tests_0.6.0.bb
+++ b/recipes-ros/ros-control/controller-manager-tests_0.6.0.bb
@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "rostest control-toolbox controller-interface controller-manager"
+DEPENDS = "control-toolbox controller-interface controller-manager"
 
 require ros-control.inc
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
new file mode 100644
index 0000000000000000000000000000000000000000..04237c31435053278ec7daae2bd3f93f9fb8442d
--- /dev/null
+++ b/recipes-ros/ros-control/files/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch
@@ -0,0 +1,56 @@
+From b746072f9729b9d39a5e1901c0ffa7dcb5f19956 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Tue, 4 Feb 2014 16:06:33 +0100
+Subject: [PATCH] make rostest in CMakeLists optional (ros/rosdistro#3010)
+
+---
+ controller_manager_tests/CMakeLists.txt | 3 ++-
+ joint_limits_interface/CMakeLists.txt   | 4 +++-
+ 2 files changed, 5 insertions(+), 2 deletions(-)
+
+diff --git a/controller_manager_tests/CMakeLists.txt b/controller_manager_tests/CMakeLists.txt
+index 95c73cc..9e018b1 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})
+ 
+@@ -53,6 +53,7 @@ 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 16644a2..7053abc 100644
+--- a/joint_limits_interface/CMakeLists.txt
++++ b/joint_limits_interface/CMakeLists.txt
+@@ -23,7 +23,7 @@ if(USE_ROSBUILD)
+ 
+ else() # catkin
+ 
+-  find_package(catkin REQUIRED COMPONENTS roscpp rostest)
++  find_package(catkin REQUIRED COMPONENTS roscpp)
+ 
+   include_directories(
+     SYSTEM 
+@@ -44,6 +44,8 @@ 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})
+ 
+-- 
+1.8.3.2
+
diff --git a/recipes-ros/ros-control/joint-limits-interface_0.6.0.bb b/recipes-ros/ros-control/joint-limits-interface_0.6.0.bb
index 0b8ddb6a85f8411a625bf132621cd1603882607d..3fd2274926c01a2bbdbd8353b5007259092ddbc1 100644
--- a/recipes-ros/ros-control/joint-limits-interface_0.6.0.bb
+++ b/recipes-ros/ros-control/joint-limits-interface_0.6.0.bb
@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=6;endline=6;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "rostest roscpp hardware-interface urdfdom"
+DEPENDS = "roscpp hardware-interface urdfdom"
 
 require ros-control.inc
diff --git a/recipes-ros/ros-control/ros-control.inc b/recipes-ros/ros-control/ros-control.inc
index d010f5ffdd9b0b286f85f907666f29ae75bedd08..6939154e98dd018e2148f4620a17f251791b94c5 100644
--- a/recipes-ros/ros-control/ros-control.inc
+++ b/recipes-ros/ros-control/ros-control.inc
@@ -2,6 +2,8 @@ SRC_URI = "https://github.com/ros-controls/${ROS_SPN}/archive/${PV}.tar.gz;downl
 SRC_URI[md5sum] = "f3fa5aabaa68f4f23bb277f47746cfc4"
 SRC_URI[sha256sum] = "598d6c28148764f328b87ef0c2533e49f9b4925a1457688f2715ce332fc82dfd"
 
+SRC_URI += "file://0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch;patchdir=.."
+
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin