diff --git a/simulation/frc_gazebo_plugins/clock/src/clock.cpp b/simulation/frc_gazebo_plugins/clock/src/clock.cpp
index d9fb821ac3..094c206f5b 100644
--- a/simulation/frc_gazebo_plugins/clock/src/clock.cpp
+++ b/simulation/frc_gazebo_plugins/clock/src/clock.cpp
@@ -7,6 +7,8 @@
 
 #include "clock.h"
 
+#include <boost/algorithm/string/replace.hpp>
+
 GZ_REGISTER_MODEL_PLUGIN(Clock)
 
 void Clock::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
diff --git a/simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.cpp b/simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.cpp
index 5bd755866d..9c3bd77ab4 100644
--- a/simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.cpp
+++ b/simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.cpp
@@ -7,6 +7,8 @@
 
 #include "dc_motor.h"
 
+#include <boost/algorithm/string/replace.hpp>
+
 GZ_REGISTER_MODEL_PLUGIN(DCMotor)
 
 void DCMotor::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
diff --git a/simulation/frc_gazebo_plugins/encoder/src/encoder.cpp b/simulation/frc_gazebo_plugins/encoder/src/encoder.cpp
index c0aa291fcd..a48369ce23 100644
--- a/simulation/frc_gazebo_plugins/encoder/src/encoder.cpp
+++ b/simulation/frc_gazebo_plugins/encoder/src/encoder.cpp
@@ -7,6 +7,8 @@
 
 #include "encoder.h"
 
+#include <boost/algorithm/string/replace.hpp>
+
 GZ_REGISTER_MODEL_PLUGIN(Encoder)
 
 void Encoder::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
diff --git a/simulation/frc_gazebo_plugins/gyro/src/gyro.cpp b/simulation/frc_gazebo_plugins/gyro/src/gyro.cpp
index 6207e0ad38..09b18cb71d 100644
--- a/simulation/frc_gazebo_plugins/gyro/src/gyro.cpp
+++ b/simulation/frc_gazebo_plugins/gyro/src/gyro.cpp
@@ -7,6 +7,8 @@
 
 #include "gyro.h"
 
+#include <boost/algorithm/string/replace.hpp>
+
 GZ_REGISTER_MODEL_PLUGIN(Gyro)
 
 void Gyro::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
diff --git a/simulation/frc_gazebo_plugins/limit_switch/src/limit_switch.cpp b/simulation/frc_gazebo_plugins/limit_switch/src/limit_switch.cpp
index fb3e060810..4af287e28c 100644
--- a/simulation/frc_gazebo_plugins/limit_switch/src/limit_switch.cpp
+++ b/simulation/frc_gazebo_plugins/limit_switch/src/limit_switch.cpp
@@ -7,6 +7,8 @@
 
 #include "limit_switch.h"
 
+#include <boost/algorithm/string/replace.hpp>
+
 GZ_REGISTER_MODEL_PLUGIN(LimitSwitch)
 
 void LimitSwitch::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
diff --git a/simulation/frc_gazebo_plugins/pneumatic_piston/src/pneumatic_piston.cpp b/simulation/frc_gazebo_plugins/pneumatic_piston/src/pneumatic_piston.cpp
index 820aa00539..b3a45472fc 100644
--- a/simulation/frc_gazebo_plugins/pneumatic_piston/src/pneumatic_piston.cpp
+++ b/simulation/frc_gazebo_plugins/pneumatic_piston/src/pneumatic_piston.cpp
@@ -13,6 +13,7 @@
 
 #include "pneumatic_piston.h"
 
+#include <boost/algorithm/string/replace.hpp>
 #include <gazebo/physics/physics.hh>
 #include <gazebo/transport/transport.hh>
 
diff --git a/simulation/frc_gazebo_plugins/potentiometer/src/potentiometer.cpp b/simulation/frc_gazebo_plugins/potentiometer/src/potentiometer.cpp
index 561955211c..fcb658d37b 100644
--- a/simulation/frc_gazebo_plugins/potentiometer/src/potentiometer.cpp
+++ b/simulation/frc_gazebo_plugins/potentiometer/src/potentiometer.cpp
@@ -13,7 +13,7 @@
 
 #include "potentiometer.h"
 
-#include <boost/algorithm/string.hpp>
+#include <boost/algorithm/string/replace.hpp>
 #include <gazebo/physics/physics.hh>
 #include <gazebo/transport/transport.hh>
 
diff --git a/simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.cpp b/simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.cpp
index c99c4c9fc7..eb20c45d82 100644
--- a/simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.cpp
+++ b/simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.cpp
@@ -13,6 +13,7 @@
 
 #include "rangefinder.h"
 
+#include <boost/algorithm/string/replace.hpp>
 #include <gazebo/physics/physics.hh>
 #include <gazebo/sensors/sensors.hh>
 #include <gazebo/transport/transport.hh>
diff --git a/simulation/frc_gazebo_plugins/servo/src/servo.cpp b/simulation/frc_gazebo_plugins/servo/src/servo.cpp
index 5335cc366a..73e15b646d 100644
--- a/simulation/frc_gazebo_plugins/servo/src/servo.cpp
+++ b/simulation/frc_gazebo_plugins/servo/src/servo.cpp
@@ -13,6 +13,7 @@
 
 #include "servo.h"
 
+#include <boost/algorithm/string/replace.hpp>
 #include <gazebo/physics/physics.hh>
 #include <gazebo/transport/transport.hh>