diff --git a/map_server/CMakeLists.txt b/map_server/CMakeLists.txt
index 40be4ccec3..c2bff5f15a 100644
--- a/map_server/CMakeLists.txt
+++ b/map_server/CMakeLists.txt
@@ -6,7 +6,6 @@ find_package(catkin REQUIRED
             roscpp
             tf
             nav_msgs
-            rostest
         )
 
 find_package(Boost REQUIRED COMPONENTS system)
@@ -55,6 +54,7 @@ endfunction()
 
 ## Tests
 if(CATKIN_ENABLE_TESTING)
+  find_package(rostest)
   copy_test_data( FILES
       test/testmap.bmp
       test/testmap.png )
diff --git a/robot_pose_ekf/CMakeLists.txt b/robot_pose_ekf/CMakeLists.txt
index c6d6ff0b54..bd511641cd 100644
--- a/robot_pose_ekf/CMakeLists.txt
+++ b/robot_pose_ekf/CMakeLists.txt
@@ -23,7 +23,6 @@ link_directories(${BFL_LIBRARY_DIRS})
 find_package(catkin REQUIRED
         COMPONENTS
             roscpp
-            rostest
             tf
             nav_msgs
             std_msgs
@@ -79,6 +78,8 @@ include(CMakeDetermineSystem)
 if(CMAKE_SYSTEM_NAME MATCHES "Linux")
 if(CATKIN_ENABLE_TESTING)
 
+find_package(rostest)
+
 catkin_download_test_data(download_data_ekf_test2_indexed.bag http://download.ros.org/data/robot_pose_ekf/ekf_test2_indexed.bag FILENAME test/ekf_test2.bag MD5 71addef0ed900e05b301e0b4fdca99e2)
 add_executable(test_robot_pose_ekf test/test_robot_pose_ekf.cpp)
 target_link_libraries(test_robot_pose_ekf