diff --git a/sensor_msgs/CMakeLists.txt b/sensor_msgs/CMakeLists.txt
index 56592fa3..06076c48 100644
--- a/sensor_msgs/CMakeLists.txt
+++ b/sensor_msgs/CMakeLists.txt
@@ -2,8 +2,6 @@ cmake_minimum_required(VERSION 2.8.3)
 project(sensor_msgs)
 
 find_package(catkin REQUIRED COMPONENTS geometry_msgs message_generation std_msgs)
-# We want boost/format.hpp, which isn't in its own component.
-find_package(Boost REQUIRED)
 
 # For point_cloud2.py
 catkin_python_setup()
@@ -49,8 +47,7 @@ generate_messages(DEPENDENCIES geometry_msgs std_msgs)
 
 catkin_package(
   INCLUDE_DIRS include
-  CATKIN_DEPENDS geometry_msgs message_runtime std_msgs
-  DEPENDS Boost)
+  CATKIN_DEPENDS geometry_msgs message_runtime std_msgs)
 
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
diff --git a/sensor_msgs/include/sensor_msgs/point_cloud_conversion.h b/sensor_msgs/include/sensor_msgs/point_cloud_conversion.h
index 698d6c33..f63ed2f1 100644
--- a/sensor_msgs/include/sensor_msgs/point_cloud_conversion.h
+++ b/sensor_msgs/include/sensor_msgs/point_cloud_conversion.h
@@ -117,7 +117,8 @@ static inline bool convertPointCloud2ToPointCloud (const sensor_msgs::PointCloud
   {
     if (input.fields[d].datatype != sensor_msgs::PointField::FLOAT32)
     {
-      std::cerr << boost::str(boost::format("sensor_msgs::PointCloud accepts only float32 values, but field %d (%s) has field type %d!")%(int)d% input.fields[d].name%input.fields[d].datatype) << std::endl;
+      std::cerr << "sensor_msgs::PointCloud accepts only float32 values, but field "\
+                <<(int)d << "( " << input.fields[d].name <<") has field type " << input.fields[d].datatype << "!" << std::endl;
     }
   }