diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h
index 725a2f107..75cfc24e0 100644
--- a/gtsam/nonlinear/Values.h
+++ b/gtsam/nonlinear/Values.h
@@ -338,8 +338,8 @@ namespace gtsam {
     // supplied \c filter function.
     template<class ValueType>
     static bool filterHelper(const std::function<bool(Key)> filter, const ConstKeyValuePair& key_value) {
-      // static_assert if ValueType is not Value
-      static_assert(std::is_same<Value, ValueType>::value, "ValueType must be type: Value");
+      // static_assert if ValueType is type: Value
+      static_assert(!std::is_same<Value, ValueType>::value, "ValueType must not be type: Value to use this filter");
       // Filter and check the type
       return filter(key_value.key) && (dynamic_cast<const GenericValue<ValueType>*>(&key_value.value));
     }
diff --git a/gtsam_unstable/nonlinear/tests/testCustomChartExpression.cpp b/gtsam_unstable/nonlinear/tests/testCustomChartExpression.cpp
index a7e266cb5..5b98540e2 100644
--- a/gtsam_unstable/nonlinear/tests/testCustomChartExpression.cpp
+++ b/gtsam_unstable/nonlinear/tests/testCustomChartExpression.cpp
@@ -19,6 +19,8 @@
 
 #include <gtsam_unstable/nonlinear/expressionTesting.h>
 #include <CppUnitLite/TestHarness.h>
+#include <type_traits>
+
 
 using namespace gtsam;
 
@@ -46,8 +48,8 @@ struct ProjectionChart {
 
 namespace gtsam {
 namespace traits {
-template<> struct is_chart<ProjectionChart> : public boost::true_type {};
-template<> struct dimension<ProjectionChart> : public boost::integral_constant<int, 2> {};
+template<> struct is_chart<ProjectionChart> : public std::true_type {};
+template<> struct dimension<ProjectionChart> : public std::integral_constant<int, 2> {};
 }  // namespace traits
 }  // namespace gtsam