diff --git a/pcl_ros/CMakeLists.txt b/pcl_ros/CMakeLists.txt
index 73a41404..9665fd34 100644
--- a/pcl_ros/CMakeLists.txt
+++ b/pcl_ros/CMakeLists.txt
@@ -27,6 +27,7 @@ find_package(catkin REQUIRED COMPONENTS
   sensor_msgs
   std_msgs
   tf
+  tf2_eigen
 )
 
 ## Add include directories
diff --git a/pcl_ros/package.xml b/pcl_ros/package.xml
index fe646241..63ca83e8 100644
--- a/pcl_ros/package.xml
+++ b/pcl_ros/package.xml
@@ -40,6 +40,7 @@
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>tf</depend>
+  <depend>tf2_eigen</depend>
   <depend>libvtk-java</depend>
   <!-- libproj-dev needed due to error in vtk6 -->
   <depend>proj</depend>