diff --git a/pcl_ros/include/pcl_ros/filters/extract_indices.hpp b/pcl_ros/include/pcl_ros/filters/extract_indices.hpp
index 0d244551..8f4bc55a 100644
--- a/pcl_ros/include/pcl_ros/filters/extract_indices.hpp
+++ b/pcl_ros/include/pcl_ros/filters/extract_indices.hpp
@@ -40,7 +40,6 @@
 
 // PCL includes
 #include <pcl/filters/extract_indices.h>
-#include <mutex>
 #include <vector>
 #include "pcl_ros/filters/filter.hpp"
 
diff --git a/pcl_ros/include/pcl_ros/filters/filter.hpp b/pcl_ros/include/pcl_ros/filters/filter.hpp
index bbb0999a..c4e88d7f 100644
--- a/pcl_ros/include/pcl_ros/filters/filter.hpp
+++ b/pcl_ros/include/pcl_ros/filters/filter.hpp
@@ -38,7 +38,6 @@
 #ifndef PCL_ROS__FILTERS__FILTER_HPP_
 #define PCL_ROS__FILTERS__FILTER_HPP_
 
-#include <pcl/filters/filter.h>
 #include <memory>
 #include <string>
 #include <vector>
diff --git a/pcl_ros/include/pcl_ros/impl/transforms.hpp b/pcl_ros/include/pcl_ros/impl/transforms.hpp
index 1f92e648..0916c203 100644
--- a/pcl_ros/include/pcl_ros/impl/transforms.hpp
+++ b/pcl_ros/include/pcl_ros/impl/transforms.hpp
@@ -47,7 +47,8 @@
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 
-#include <Eigen/Dense>
+#include <Eigen/Core>
+#include <Eigen/Geometry>
 #include <string>
 
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
diff --git a/pcl_ros/include/pcl_ros/transforms.hpp b/pcl_ros/include/pcl_ros/transforms.hpp
index e1bd4a6b..4ed335c1 100644
--- a/pcl_ros/include/pcl_ros/transforms.hpp
+++ b/pcl_ros/include/pcl_ros/transforms.hpp
@@ -37,11 +37,11 @@
 #ifndef PCL_ROS__TRANSFORMS_HPP_
 #define PCL_ROS__TRANSFORMS_HPP_
 
-#include <pcl/common/transforms.h>
+#include <pcl/point_cloud.h>
 #include <tf2/LinearMath/Transform.h>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
-#include <Eigen/Dense>
+#include <Eigen/Core>
 #include <string>
 #include <rclcpp/time.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
diff --git a/pcl_ros/src/pcl_ros/filters/project_inliers.cpp b/pcl_ros/src/pcl_ros/filters/project_inliers.cpp
index 21faa96d..39804ba3 100644
--- a/pcl_ros/src/pcl_ros/filters/project_inliers.cpp
+++ b/pcl_ros/src/pcl_ros/filters/project_inliers.cpp
@@ -36,7 +36,6 @@
  */
 
 #include "pcl_ros/filters/project_inliers.hpp"
-#include <pcl/io/io.h>
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 pcl_ros::ProjectInliers::ProjectInliers(const rclcpp::NodeOptions & options)
diff --git a/pcl_ros/src/transforms.cpp b/pcl_ros/src/transforms.cpp
index d733708d..95279969 100644
--- a/pcl_ros/src/transforms.cpp
+++ b/pcl_ros/src/transforms.cpp
@@ -47,7 +47,7 @@
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 
-#include <Eigen/Dense>
+#include <Eigen/Core>
 #include <cmath>
 #include <limits>
 #include <string>