diff --git a/youbot_arm_kinematics_moveit/ros/src/youbot_arm_kinematics_moveit.cpp b/youbot_arm_kinematics_moveit/ros/src/youbot_arm_kinematics_moveit.cpp
index 09462bf..9c0d61b 100644
--- a/youbot_arm_kinematics_moveit/ros/src/youbot_arm_kinematics_moveit.cpp
+++ b/youbot_arm_kinematics_moveit/ros/src/youbot_arm_kinematics_moveit.cpp
@@ -185,12 +185,12 @@ bool KinematicsPlugin::extractKinematicData(const urdf::Model &robot_model,
         std::vector<double> &lower_limits,
         std::vector<double> &upper_limits) const
 {
-    boost::shared_ptr<urdf::Link> link = boost::const_pointer_cast<urdf::Link>(
+    std::shared_ptr<urdf::Link> link = std::const_pointer_cast<urdf::Link>(
             robot_model.getLink(tip_frame));
 
     while ((link) && (link->name != base_frame)) {
         link_names.push_back(link->name);
-        boost::shared_ptr<urdf::Joint> joint = link->parent_joint;
+        std::shared_ptr<urdf::Joint> joint = link->parent_joint;
 
         // Don't consider invalid, unknown or fixed joints
         if ((!joint) || (joint->type == urdf::Joint::UNKNOWN)