diff --git a/CMakeLists.txt b/CMakeLists.txt
index ef95865..7793cfc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -43,6 +43,12 @@ IF(BUILD_PYTHON_INTERFACE)
   STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
   ADD_PROJECT_DEPENDENCY(dynamic-graph-python 4.0.0 REQUIRED)
   SET(CATKIN_REQUIRED_COMPONENTS ${CATKIN_REQUIRED_COMPONENTS} rospy)
+
+  IF(Boost_VERSION GREATER 107299 OR Boost_VERSION_MACRO GREATER 107299)
+    # Silence a warning about a deprecated use of boost bind by boost >= 1.73
+    # without dropping support for boost < 1.73
+    ADD_DEFINITIONS(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
+  ENDIF()
 ENDIF(BUILD_PYTHON_INTERFACE)
 
 find_package(catkin REQUIRED COMPONENTS ${CATKIN_REQUIRED_COMPONENTS})