diff -Nru gazebo-9.6.0/debian/changelog gazebo-9.6.0/debian/changelog
--- gazebo-9.6.0/debian/changelog	2019-01-23 18:46:22.000000000 +0000
+++ gazebo-9.6.0/debian/changelog	2019-07-11 19:39:06.000000000 +0000
@@ -1,8 +1,10 @@
-gazebo (9.6.0-1build1) disco; urgency=medium
+gazebo (9.6.0-2) unstable; urgency=medium
 
-  * Rebuild against new libsimbody3.6.
+  * Add explicit boost dependency and remove obsolete signals
+  * Add patch to pkg-config to use Libs.private and make lintian happy
+  * Update boost dependencies for libgazebo9-dev too
 
- -- Gianfranco Costamagna <locutusofborg@debian.org>  Wed, 23 Jan 2019 19:46:22 +0100
+ -- Jose Luis Rivero <jrivero@osrfoundation.org>  Thu, 11 Jul 2019 19:39:06 +0000
 
 gazebo (9.6.0-1) unstable; urgency=medium
 
diff -Nru gazebo-9.6.0/debian/control gazebo-9.6.0/debian/control
--- gazebo-9.6.0/debian/control	2019-01-04 16:25:21.000000000 +0000
+++ gazebo-9.6.0/debian/control	2019-07-11 19:39:06.000000000 +0000
@@ -34,12 +34,12 @@
                libqtpropertybrowser-dev,
                libltdl-dev,
                libboost-thread-dev,
-               libboost-signals-dev,
                libboost-system-dev,
                libboost-filesystem-dev,
                libboost-program-options-dev,
                libboost-regex-dev,
                libboost-iostreams-dev,
+               libboost-date-time-dev,
                libgts-dev,
                libavformat-dev,
                libavcodec-dev,
@@ -57,7 +57,7 @@
                libgdal-dev,
                ronn,
                libgtest-dev
-Standards-Version: 4.2.1
+Standards-Version: 4.4.0
 Vcs-Browser: https://salsa.debian.org/science-team/gazebo
 Vcs-Git: https://salsa.debian.org/science-team/gazebo.git
 Homepage: http://gazebosim.org/
@@ -136,7 +136,13 @@
          libprotoc-dev,
          libfreeimage-dev,
          libprotobuf-dev,
-         libboost-all-dev,
+         libboost-thread-dev,
+         libboost-system-dev,
+         libboost-filesystem-dev,
+         libboost-program-options-dev,
+         libboost-regex-dev,
+         libboost-iostreams-dev,
+         libboost-date-time-dev,
          freeglut3-dev,
          libogre-1.9-dev,
          libtar-dev,
diff -Nru gazebo-9.6.0/debian/patches/0006-pkg_config-boost-private.patch gazebo-9.6.0/debian/patches/0006-pkg_config-boost-private.patch
--- gazebo-9.6.0/debian/patches/0006-pkg_config-boost-private.patch	1970-01-01 00:00:00.000000000 +0000
+++ gazebo-9.6.0/debian/patches/0006-pkg_config-boost-private.patch	2019-07-11 19:39:06.000000000 +0000
@@ -0,0 +1,16 @@
+Description: Move boost libraries to Libs.private in pkg-config
+Author: Jose Luis Rivero <jrivero@osrfoundation.org>
+Last-Update: 2019-07-12
+
+diff --git a/cmake/pkgconfig/gazebo.in b/cmake/pkgconfig/gazebo.in
+index 075cef3..a41eb7c 100644
+--- a/cmake/pkgconfig/gazebo.in
++++ b/cmake/pkgconfig/gazebo.in
+@@ -6,5 +6,6 @@ Name: gazebo
+ Description: Gazebo Libraries
+ Version: @GAZEBO_VERSION_FULL@
+ Requires: sdformat protobuf @TBB_PKG_CONFIG@ ignition-math4 ignition-msgs1 ignition-transport4 @IGNITION_FUEL_TOOLS_PKGCONFIG@
+-Libs: -Wl,-rpath,${prefix}/@CMAKE_INSTALL_LIBDIR@/gazebo-@GAZEBO_MAJOR_VERSION@/plugins -L${libdir} -L${prefix}/@CMAKE_INSTALL_LIBDIR@/gazebo-@GAZEBO_MAJOR_VERSION@/plugins -lgazebo_transport -lgazebo_physics -lgazebo_sensors -lgazebo_rendering -lgazebo_gui -lgazebo_client -lgazebo_msgs -lgazebo_common -lgazebo @Boost_PKGCONFIG_LIBS@ @APPLE_PKGCONFIG_LIBS@
++Libs: -Wl,-rpath,${prefix}/@CMAKE_INSTALL_LIBDIR@/gazebo-@GAZEBO_MAJOR_VERSION@/plugins -L${libdir} -L${prefix}/@CMAKE_INSTALL_LIBDIR@/gazebo-@GAZEBO_MAJOR_VERSION@/plugins -lgazebo_transport -lgazebo_physics -lgazebo_sensors -lgazebo_rendering -lgazebo_gui -lgazebo_client -lgazebo_msgs -lgazebo_common -lgazebo @APPLE_PKGCONFIG_LIBS@
++Libs.private: @Boost_PKGCONFIG_LIBS@
+ CFlags: -I${includedir}/gazebo-@GAZEBO_MAJOR_VERSION@ @Boost_PKGCONFIG_CFLAGS@ -std=c++11
diff -Nru gazebo-9.6.0/debian/patches/series gazebo-9.6.0/debian/patches/series
--- gazebo-9.6.0/debian/patches/series	2019-01-04 16:25:21.000000000 +0000
+++ gazebo-9.6.0/debian/patches/series	2019-07-11 19:39:06.000000000 +0000
@@ -4,3 +4,4 @@
 0004-pkgconfig-boost-pthread.patch
 0005-fix-problems-on-manpage.patch
 0008-arial-dejavu-fonts-removed-in-dfsg.patch
+0006-pkg_config-boost-private.patch