diff --git a/CMakeLists.txt b/CMakeLists.txt
index 59b20134..f2e52ff6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -439,6 +439,7 @@ ELSE() # COLCON_BUILD
    find_package(message_filters REQUIRED)
    find_package(tf2 REQUIRED)
    find_package(tf2_ros REQUIRED)
+   find_package(tf2_geometry_msgs REQUIRED)
    find_package(geometry_msgs REQUIRED)
 
    ## Generate messages and services
diff --git a/package.xml b/package.xml
index 997285d8..d519aaee 100644
--- a/package.xml
+++ b/package.xml
@@ -18,6 +18,7 @@
   <depend condition="$ROS_VERSION == 2">rclcpp</depend>
   <depend condition="$ROS_VERSION == 2">tf2</depend>
   <depend condition="$ROS_VERSION == 2">tf2_ros</depend>
+  <depend condition="$ROS_VERSION == 2">tf2_geometry_msgs</depend>
   
   <build_depend    condition="$ROS_VERSION == 2">ros_environment</build_depend>
   <depend          condition="$ROS_VERSION == 2">builtin_interfaces</depend>
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index a1a0ccf7..c6a95a69 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -135,6 +135,7 @@ IF(COLCON_BUILD)
       message_filters
       tf2
       tf2_ros
+      tf2_geometry_msgs
       geometry_msgs
    )
 ENDIF(COLCON_BUILD)