diff --git a/nav2_controller/CMakeLists.txt b/nav2_controller/CMakeLists.txt
index 89f0601012869d7b3e35a8da9ca71bf9959016fa..90dc9fd172df2522cdf746b231ccaaaac8d1f9e5 100644
--- a/nav2_controller/CMakeLists.txt
+++ b/nav2_controller/CMakeLists.txt
@@ -50,6 +50,9 @@ ament_target_dependencies(${library_name}
   ${dependencies}
 )
 
+# prevent pluginlib from using boost
+target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
 ament_target_dependencies(${executable_name}
   ${dependencies}
 )
diff --git a/nav2_dwb_controller/dwb_plugins/CMakeLists.txt b/nav2_dwb_controller/dwb_plugins/CMakeLists.txt
index 1df6056478a229c2f48ae854e3339d0a81b92cc8..9645f9ce1225d7fab715c798294df552fc8157fa 100644
--- a/nav2_dwb_controller/dwb_plugins/CMakeLists.txt
+++ b/nav2_dwb_controller/dwb_plugins/CMakeLists.txt
@@ -29,10 +29,16 @@ include_directories(
 
 add_library(simple_goal_checker SHARED src/simple_goal_checker.cpp)
 ament_target_dependencies(simple_goal_checker ${dependencies})
+# prevent pluginlib from using boost
+target_compile_definitions(simple_goal_checker PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
 
 add_library(stopped_goal_checker SHARED src/stopped_goal_checker.cpp)
 target_link_libraries(stopped_goal_checker simple_goal_checker)
 ament_target_dependencies(stopped_goal_checker ${dependencies})
+# prevent pluginlib from using boost
+target_compile_definitions(stopped_goal_checker PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
 
 add_library(standard_traj_generator SHARED
             src/standard_traj_generator.cpp
@@ -40,6 +46,9 @@ add_library(standard_traj_generator SHARED
             src/kinematic_parameters.cpp
             src/xy_theta_iterator.cpp)
 ament_target_dependencies(standard_traj_generator ${dependencies})
+# prevent pluginlib from using boost
+target_compile_definitions(standard_traj_generator PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/nav2_navfn_planner/CMakeLists.txt b/nav2_navfn_planner/CMakeLists.txt
index a467c43879ca56456c6ee876ed4f56179bf0ad16..34fc36f2fb61d203c1c5a9db9bb34ab0fb05fe63 100644
--- a/nav2_navfn_planner/CMakeLists.txt
+++ b/nav2_navfn_planner/CMakeLists.txt
@@ -52,6 +52,9 @@ ament_target_dependencies(${library_name}
   ${dependencies}
 )
 
+# prevent pluginlib from using boost
+target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
 pluginlib_export_plugin_description_file(nav2_core global_planner_plugin.xml)
 
 install(TARGETS ${library_name}
diff --git a/nav2_planner/CMakeLists.txt b/nav2_planner/CMakeLists.txt
index 8648152d5dbaded82db26e2c5e4850e3b69634f5..4012f40b9dd0796088d1309cd6049f2445682d68 100644
--- a/nav2_planner/CMakeLists.txt
+++ b/nav2_planner/CMakeLists.txt
@@ -64,6 +64,9 @@ ament_target_dependencies(${executable_name}
   ${dependencies}
 )
 
+# prevent pluginlib from using boost
+target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
 install(TARGETS ${executable_name} ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
diff --git a/nav2_recoveries/CMakeLists.txt b/nav2_recoveries/CMakeLists.txt
index c375e5b4f0c7536542888633b6e5fa5877f8764b..0209845d8fa707f75a5765118b8c8a1b7b7d7d1d 100644
--- a/nav2_recoveries/CMakeLists.txt
+++ b/nav2_recoveries/CMakeLists.txt
@@ -53,6 +53,9 @@ ament_target_dependencies(nav2_spin_recovery
   ${dependencies}
 )
 
+# prevent pluginlib from using boost
+target_compile_definitions(nav2_spin_recovery PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
 add_library(nav2_backup_recovery SHARED
   plugins/back_up.cpp
 )
@@ -61,6 +64,9 @@ ament_target_dependencies(nav2_backup_recovery
   ${dependencies}
 )
 
+# prevent pluginlib from using boost
+target_compile_definitions(nav2_backup_recovery PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
 add_library(nav2_wait_recovery SHARED
   plugins/wait.cpp
 )
@@ -69,6 +75,9 @@ ament_target_dependencies(nav2_wait_recovery
   ${dependencies}
 )
 
+# prevent pluginlib from using boost
+target_compile_definitions(nav2_wait_recovery PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
 pluginlib_export_plugin_description_file(nav2_core recovery_plugin.xml)
 
 # Library
@@ -80,6 +89,9 @@ ament_target_dependencies(${library_name}
   ${dependencies}
 )
 
+# prevent pluginlib from using boost
+target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
 # Executable
 add_executable(${executable_name}
   src/main.cpp