diff --git a/tf/include/tf/message_filter.h b/tf/include/tf/message_filter.h
index 8d09a5cb..b8cf860f 100644
--- a/tf/include/tf/message_filter.h
+++ b/tf/include/tf/message_filter.h
@@ -40,7 +40,7 @@
 #include <list>
 #include <vector>
 #include <boost/function.hpp>
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
 #include <boost/shared_ptr.hpp>
 #include <boost/weak_ptr.hpp>
 #include <boost/thread.hpp>
@@ -302,7 +302,7 @@ class MessageFilter : public MessageFilterBase, public message_filters::SimpleFi
   message_filters::Connection registerFailureCallback(const FailureCallback& callback)
   {
     boost::mutex::scoped_lock lock(failure_signal_mutex_);
-    return message_filters::Connection(boost::bind(&MessageFilter::disconnectFailure, this, _1), failure_signal_.connect(callback));
+    return message_filters::Connection(boost::bind(&MessageFilter::disconnectFailure, this, boost::placeholders::_1), failure_signal_.connect(callback));
   }
 
   virtual void setQueueSize( uint32_t new_queue_size )
diff --git a/tf/src/tf_monitor.cpp b/tf/src/tf_monitor.cpp
index 878c1b46..59c0a666 100644
--- a/tf/src/tf_monitor.cpp
+++ b/tf/src/tf_monitor.cpp
@@ -35,7 +35,7 @@
 #include "tf/tf.h"
 #include "tf/transform_listener.h"
 #include <string>
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
 #include <boost/thread.hpp>
 #include "ros/ros.h"
 
@@ -168,8 +168,8 @@ class TFMonitor
       }
       cout <<endl;*/
     }
-    subscriber_tf_ = node_.subscribe<tf::tfMessage>("tf", 100, boost::bind(&TFMonitor::callback, this, _1));
-    subscriber_tf_static_ = node_.subscribe<tf::tfMessage>("tf_static", 100, boost::bind(&TFMonitor::static_callback, this, _1));
+    subscriber_tf_ = node_.subscribe<tf::tfMessage>("tf", 100, boost::bind(&TFMonitor::callback, this, boost::placeholders::_1));
+    subscriber_tf_static_ = node_.subscribe<tf::tfMessage>("tf_static", 100, boost::bind(&TFMonitor::static_callback, this, boost::placeholders::_1));
     
   }
 
diff --git a/tf/test/test_message_filter.cpp b/tf/test/test_message_filter.cpp
index 632ec905..ddc4e520 100644
--- a/tf/test/test_message_filter.cpp
+++ b/tf/test/test_message_filter.cpp
@@ -33,7 +33,7 @@
 #include <tf/transform_listener.h>
 #include <tf/transform_broadcaster.h>
 #include <geometry_msgs/PointStamped.h>
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
 #include <boost/scoped_ptr.hpp>
 
 #include "ros/ros.h"
@@ -72,7 +72,7 @@ TEST(MessageFilter, noTransforms)
   tf::TransformListener tf_client;
 	Notification n(1);
 	MessageFilter<geometry_msgs::PointStamped> filter(tf_client, "frame1", 1);
-	filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
+	filter.registerCallback(boost::bind(&Notification::notify, &n, boost::placeholders::_1));
 
 	geometry_msgs::PointStampedPtr msg(new geometry_msgs::PointStamped);
 	msg->header.stamp = ros::Time::now();
@@ -87,7 +87,7 @@ TEST(MessageFilter, noTransformsSameFrame)
   tf::TransformListener tf_client;
   Notification n(1);
   MessageFilter<geometry_msgs::PointStamped> filter(tf_client, "frame1", 1);
-  filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
+  filter.registerCallback(boost::bind(&Notification::notify, &n, boost::placeholders::_1));
 
   geometry_msgs::PointStampedPtr msg(new geometry_msgs::PointStamped);
   msg->header.stamp = ros::Time::now();
@@ -102,7 +102,7 @@ TEST(MessageFilter, preexistingTransforms)
   tf::TransformListener tf_client;
   Notification n(1);
   MessageFilter<geometry_msgs::PointStamped> filter(tf_client, "frame1", 1);
-  filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
+  filter.registerCallback(boost::bind(&Notification::notify, &n, boost::placeholders::_1));
 
 	ros::Time stamp = ros::Time::now();
 	tf::StampedTransform transform(tf::Transform(tf::Quaternion(0,0,0,1), tf::Vector3(1,2,3)), stamp, "frame1", "frame2");
@@ -122,7 +122,7 @@ TEST(MessageFilter, postTransforms)
   tf::TransformListener tf_client;
   Notification n(1);
   MessageFilter<geometry_msgs::PointStamped> filter(tf_client, "frame1", 1);
-  filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
+  filter.registerCallback(boost::bind(&Notification::notify, &n, boost::placeholders::_1));
 
 	ros::Time stamp = ros::Time::now();
 
@@ -148,8 +148,8 @@ TEST(MessageFilter, queueSize)
   tf::TransformListener tf_client;
   Notification n(10);
   MessageFilter<geometry_msgs::PointStamped> filter(tf_client, "frame1", 10);
-  filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
-  filter.registerFailureCallback(boost::bind(&Notification::failure, &n, _1, _2));
+  filter.registerCallback(boost::bind(&Notification::notify, &n, boost::placeholders::_1));
+  filter.registerFailureCallback(boost::bind(&Notification::failure, &n, boost::placeholders::_1, boost::placeholders::_2));
 
 	ros::Time stamp = ros::Time::now();
 
@@ -179,7 +179,7 @@ TEST(MessageFilter, setTargetFrame)
   tf::TransformListener tf_client;
   Notification n(1);
   MessageFilter<geometry_msgs::PointStamped> filter(tf_client, "frame1", 1);
-  filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
+  filter.registerCallback(boost::bind(&Notification::notify, &n, boost::placeholders::_1));
 	filter.setTargetFrame("frame1000");
 
 	ros::Time stamp = ros::Time::now();
@@ -201,7 +201,7 @@ TEST(MessageFilter, multipleTargetFrames)
   tf::TransformListener tf_client;
   Notification n(1);
   MessageFilter<geometry_msgs::PointStamped> filter(tf_client, "", 1);
-  filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
+  filter.registerCallback(boost::bind(&Notification::notify, &n, boost::placeholders::_1));
 
   std::vector<std::string> target_frames;
   target_frames.push_back("frame1");
@@ -239,7 +239,7 @@ TEST(MessageFilter, tolerance)
   tf::TransformListener tf_client;
   Notification n(1);
   MessageFilter<geometry_msgs::PointStamped> filter(tf_client, "frame1", 1);
-  filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
+  filter.registerCallback(boost::bind(&Notification::notify, &n, boost::placeholders::_1));
   filter.setTolerance(offset);
 
 	ros::Time stamp = ros::Time::now();
@@ -276,7 +276,7 @@ TEST(MessageFilter, maxRate)
   tf::TransformListener tf_client;
   Notification n(1);
   MessageFilter<geometry_msgs::PointStamped> filter(tf_client, "frame1", 1, ros::NodeHandle(), ros::Duration(1.0));
-  filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
+  filter.registerCallback(boost::bind(&Notification::notify, &n, boost::placeholders::_1));
 
   ros::Time stamp = ros::Time::now();
   tf::StampedTransform transform(tf::Transform(tf::Quaternion(0,0,0,1), tf::Vector3(1,2,3)), stamp, "frame1", "frame2");
@@ -313,7 +313,7 @@ TEST(MessageFilter, outTheBackFailure)
   tf::TransformListener tf_client;
   Notification n(1);
   MessageFilter<geometry_msgs::PointStamped> filter(tf_client, "frame1", 1);
-  filter.registerFailureCallback(boost::bind(&Notification::failure, &n, _1, _2));
+  filter.registerFailureCallback(boost::bind(&Notification::failure, &n, boost::placeholders::_1, boost::placeholders::_2));
 
   ros::Time stamp = ros::Time::now();
   tf::StampedTransform transform(tf::Transform(tf::Quaternion(0,0,0,1), tf::Vector3(1,2,3)), stamp, "frame1", "frame2");
@@ -335,7 +335,7 @@ TEST(MessageFilter, emptyFrameIDFailure)
   tf::TransformListener tf_client;
   Notification n(1);
   MessageFilter<geometry_msgs::PointStamped> filter(tf_client, "frame1", 1);
-  filter.registerFailureCallback(boost::bind(&Notification::failure, &n, _1, _2));
+  filter.registerFailureCallback(boost::bind(&Notification::failure, &n, boost::placeholders::_1, boost::placeholders::_2));
 
   geometry_msgs::PointStampedPtr msg(new geometry_msgs::PointStamped);
   msg->header.frame_id = "";