diff --git a/moveit_planners/stomp/include/stomp_moveit/math/multivariate_gaussian.hpp b/moveit_planners/stomp/include/stomp_moveit/math/multivariate_gaussian.hpp
index 4011f3c647e..24316fd7721 100644
--- a/moveit_planners/stomp/include/stomp_moveit/math/multivariate_gaussian.hpp
+++ b/moveit_planners/stomp/include/stomp_moveit/math/multivariate_gaussian.hpp
@@ -44,9 +44,8 @@
 
 // TODO(#2166): Replace with std types
 #include <boost/random/variate_generator.hpp>
-#include <boost/random/normal_distribution.hpp>
-#include <boost/random/mersenne_twister.hpp>
-#include <boost/shared_ptr.hpp>
+
+#include <random>
 #include <cstdlib>
 
 namespace stomp_moveit
@@ -79,9 +78,11 @@ class MultivariateGaussian
   Eigen::MatrixXd covariance_cholesky_; /**< Cholesky decomposition (LL^T) of the covariance */
 
   int size_;
-  boost::mt19937 rng_;
-  boost::normal_distribution<> normal_dist_;
-  std::shared_ptr<boost::variate_generator<boost::mt19937, boost::normal_distribution<> > > gaussian_;
+  std::mt19937 rng_;
+  std::normal_distribution<double> normal_dist_;
+  std::shared_ptr<boost::variate_generator<
+      std::mt19937, STD_MSGS__MSG__DETAIL__COLOR_RGBA__TYPE_SUPPORT_HPP_::std::normal_distribution<>>>
+      gaussian_;
 };
 
 //////////////////////// template function definitions follow //////////////////////////////
@@ -93,7 +94,7 @@ MultivariateGaussian::MultivariateGaussian(const Eigen::MatrixBase<Derived1>& me
 {
   rng_.seed(rand());
   size_ = mean.rows();
-  gaussian_.reset(new boost::variate_generator<boost::mt19937, boost::normal_distribution<> >(rng_, normal_dist_));
+  gaussian_.reset(new boost::variate_generator<std::mt19937, std::normal_distribution<double>>(rng_, normal_dist_));
 }
 
 template <typename Derived>