diff --git a/CMakeLists.txt b/CMakeLists.txt
index fdfb8ef..39c6cee 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,7 +4,9 @@ set( CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake"
 
 # Find catkin
 find_package(catkin REQUIRED)
-find_package(Boost REQUIRED)
+if(CATKIN_ENABLE_TESTING)
+  find_package(Boost REQUIRED)
+endif()
 
 if(APPLE)
     find_library(IOKIT_LIBRARY IOKit)
diff --git a/package.xml b/package.xml
index 5c0de92..27781e1 100644
--- a/package.xml
+++ b/package.xml
@@ -21,6 +21,6 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <test_depend>Boost</test_depend>
+  <test_depend>boost</test_depend>
 
 </package>