diff --git a/include/diff_drive_controller/diff_drive_controller.h b/include/diff_drive_controller/diff_drive_controller.h
index e08b726b..75af7688 100644
--- a/include/diff_drive_controller/diff_drive_controller.h
+++ b/include/diff_drive_controller/diff_drive_controller.h
@@ -122,11 +122,11 @@ namespace diff_drive_controller{
     ros::Subscriber sub_command_;
 
     /// Publish executed commands
-    boost::shared_ptr<realtime_tools::RealtimePublisher<geometry_msgs::TwistStamped> > cmd_vel_pub_;
+    std::shared_ptr<realtime_tools::RealtimePublisher<geometry_msgs::TwistStamped> > cmd_vel_pub_;
 
     /// Odometry related:
-    boost::shared_ptr<realtime_tools::RealtimePublisher<nav_msgs::Odometry> > odom_pub_;
-    boost::shared_ptr<realtime_tools::RealtimePublisher<tf::tfMessage> > tf_odom_pub_;
+    std::shared_ptr<realtime_tools::RealtimePublisher<nav_msgs::Odometry> > odom_pub_;
+    std::shared_ptr<realtime_tools::RealtimePublisher<tf::tfMessage> > tf_odom_pub_;
     Odometry odometry_;
 
     /// Wheel separation, wrt the midpoint of the wheel width:
diff --git a/src/diff_drive_controller.cpp b/src/diff_drive_controller.cpp
index 79c29724..237c606c 100644
--- a/src/diff_drive_controller.cpp
+++ b/src/diff_drive_controller.cpp
@@ -58,7 +58,7 @@ static double euclideanOfVectors(const urdf::Vector3& vec1, const urdf::Vector3&
  * \param link Link
  * \return true if the link is modeled as a Cylinder; false otherwise
  */
-static bool isCylinder(const boost::shared_ptr<const urdf::Link>& link)
+static bool isCylinder(const std::shared_ptr<const urdf::Link>& link)
 {
   if (!link)
   {
@@ -93,7 +93,7 @@ static bool isCylinder(const boost::shared_ptr<const urdf::Link>& link)
  * \param [out] wheel_radius Wheel radius [m]
  * \return true if the wheel radius was found; false otherwise
  */
-static bool getWheelRadius(const boost::shared_ptr<const urdf::Link>& wheel_link, double& wheel_radius)
+static bool getWheelRadius(const std::shared_ptr<const urdf::Link>& wheel_link, double& wheel_radius)
 {
   if (!isCylinder(wheel_link))
   {
@@ -500,10 +500,10 @@ namespace diff_drive_controller{
       return false;
     }
 
-    boost::shared_ptr<urdf::ModelInterface> model(urdf::parseURDF(robot_model_str));
+    std::shared_ptr<urdf::ModelInterface> model = (urdf::parseURDF(robot_model_str));
 
-    boost::shared_ptr<const urdf::Joint> left_wheel_joint(model->getJoint(left_wheel_name));
-    boost::shared_ptr<const urdf::Joint> right_wheel_joint(model->getJoint(right_wheel_name));
+    std::shared_ptr<const urdf::Joint> left_wheel_joint(model->getJoint(left_wheel_name));
+    std::shared_ptr<const urdf::Joint> right_wheel_joint(model->getJoint(right_wheel_name));
 
     if (lookup_wheel_separation)
     {