diff --git a/moveit_ros/perception/CMakeLists.txt b/moveit_ros/perception/CMakeLists.txt
index b656319b8f..27ce4ca893 100644
--- a/moveit_ros/perception/CMakeLists.txt
+++ b/moveit_ros/perception/CMakeLists.txt
@@ -21,8 +21,15 @@ if(WITH_OPENGL)
   endif()
   find_package(OpenGL REQUIRED)
   find_package(GLEW REQUIRED)
-  find_package(GLUT REQUIRED)
+
   set(gl_LIBS ${gl_LIBS} ${OPENGL_LIBRARIES})
+  if(APPLE)
+    find_package(FreeGLUT REQUIRED)
+    set(SYSTEM_GL_LIBRARIES ${GLEW_LIBRARIES} GLEW::GLEW FreeGLUT::freeglut)
+  else()
+    find_package(GLUT REQUIRED)
+    set(SYSTEM_GL_LIBRARIES ${GLEW_LIBRARIES} GLUT::GLUT)
+  endif()
   set(perception_GL_INCLUDE_DIRS "mesh_filter/include" "depth_image_octomap_updater/include")
   set(SYSTEM_GL_INCLUDE_DIRS ${GLEW_INCLUDE_DIR} ${GLUT_INCLUDE_DIR})
 endif()
diff --git a/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp b/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
index f637c59b63..4edc9a3758 100644
--- a/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
+++ b/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
@@ -120,7 +120,8 @@ bool DepthImageOctomapUpdater::initialize(const rclcpp::Node::SharedPtr& node)
   mesh_filter_->setShadowThreshold(shadow_threshold_);
   mesh_filter_->setPaddingOffset(padding_offset_);
   mesh_filter_->setPaddingScale(padding_scale_);
-  mesh_filter_->setTransformCallback(boost::bind(&DepthImageOctomapUpdater::getShapeTransform, this, _1, _2));
+  mesh_filter_->setTransformCallback(boost::bind(&DepthImageOctomapUpdater::getShapeTransform, this,
+                                                 boost::placeholders::_1, boost::placeholders::_2));
 
   // init rclcpp time default value
   last_update_time_ = node_->now();
@@ -140,9 +141,11 @@ void DepthImageOctomapUpdater::start()
 
   pub_filtered_label_image_ = filtered_label_transport_->advertiseCamera("filtered_label", 1);
 
-  sub_depth_image_ = image_transport::create_camera_subscription(
-      node_.get(), image_topic_, boost::bind(&DepthImageOctomapUpdater::depthImageCallback, this, _1, _2), "raw",
-      custom_qos);
+  sub_depth_image_ =
+      image_transport::create_camera_subscription(node_.get(), image_topic_,
+                                                  boost::bind(&DepthImageOctomapUpdater::depthImageCallback, this,
+                                                              boost::placeholders::_1, boost::placeholders::_2),
+                                                  "raw", custom_qos);
 }
 
 void DepthImageOctomapUpdater::stop()
diff --git a/moveit_ros/perception/lazy_free_space_updater/CMakeLists.txt b/moveit_ros/perception/lazy_free_space_updater/CMakeLists.txt
index ae38c52cf0..98dbb81058 100644
--- a/moveit_ros/perception/lazy_free_space_updater/CMakeLists.txt
+++ b/moveit_ros/perception/lazy_free_space_updater/CMakeLists.txt
@@ -4,6 +4,9 @@ add_library(${MOVEIT_LIB_NAME} SHARED src/lazy_free_space_updater.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
+if(APPLE)
+  target_link_libraries(${MOVEIT_LIB_NAME} OpenMP::OpenMP_CXX)
+endif()
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   rclcpp
   moveit_ros_occupancy_map_monitor
diff --git a/moveit_ros/perception/mesh_filter/CMakeLists.txt b/moveit_ros/perception/mesh_filter/CMakeLists.txt
index 5f5b7f1865..6a83af3974 100644
--- a/moveit_ros/perception/mesh_filter/CMakeLists.txt
+++ b/moveit_ros/perception/mesh_filter/CMakeLists.txt
@@ -15,7 +15,8 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
   Eigen3
   Boost
 )
-target_link_libraries(${MOVEIT_LIB_NAME} ${gl_LIBS} GLUT::GLUT ${GLEW_LIBRARIES})
+
+target_link_libraries(${MOVEIT_LIB_NAME} ${gl_LIBS} ${SYSTEM_GL_LIBRARIES})
 
 # TODO: Port to ROS2
 # add_library(moveit_depth_self_filter SHARED
diff --git a/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp b/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp
index 92f01b44af..fec53a26e5 100644
--- a/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp
+++ b/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp
@@ -39,8 +39,8 @@
 #include <OpenGL/glu.h>
 #else
 #include <GL/glu.h>
-#endif
 #include <GL/glut.h>
+#endif
 #include <GL/freeglut.h>
 #include <moveit/mesh_filter/gl_renderer.h>
 #include <sstream>
diff --git a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
index fbddf61674..4007b4da4f 100644
--- a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
+++ b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
@@ -86,7 +86,8 @@ bool PointCloudOctomapUpdater::initialize(const rclcpp::Node::SharedPtr& node)
   tf_buffer_->setCreateTimerInterface(create_timer_interface);
   tf_listener_.reset(new tf2_ros::TransformListener(*tf_buffer_));
   shape_mask_.reset(new point_containment_filter::ShapeMask());
-  shape_mask_->setTransformCallback(boost::bind(&PointCloudOctomapUpdater::getShapeTransform, this, _1, _2));
+  shape_mask_->setTransformCallback(boost::bind(&PointCloudOctomapUpdater::getShapeTransform, this,
+                                                boost::placeholders::_1, boost::placeholders::_2));
   last_update_time_ = node_->now();
   return true;
 }
@@ -104,13 +105,15 @@ void PointCloudOctomapUpdater::start()
   {
     point_cloud_filter_ = new tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>(
         *point_cloud_subscriber_, *tf_buffer_, monitor_->getMapFrame(), 5, node_);
-    point_cloud_filter_->registerCallback(boost::bind(&PointCloudOctomapUpdater::cloudMsgCallback, this, _1));
+    point_cloud_filter_->registerCallback(
+        boost::bind(&PointCloudOctomapUpdater::cloudMsgCallback, this, boost::placeholders::_1));
     RCLCPP_INFO(LOGGER, "Listening to '%s' using message filter with target frame '%s'", point_cloud_topic_.c_str(),
                 point_cloud_filter_->getTargetFramesString().c_str());
   }
   else
   {
-    point_cloud_subscriber_->registerCallback(boost::bind(&PointCloudOctomapUpdater::cloudMsgCallback, this, _1));
+    point_cloud_subscriber_->registerCallback(
+        boost::bind(&PointCloudOctomapUpdater::cloudMsgCallback, this, boost::placeholders::_1));
     RCLCPP_INFO(LOGGER, "Listening to '%s'", point_cloud_topic_.c_str());
   }
 }