diff --git a/rviz_carla_plugin/CMakeLists.txt b/rviz_carla_plugin/CMakeLists.txt
index 83904edb..e90018ef 100644
--- a/rviz_carla_plugin/CMakeLists.txt
+++ b/rviz_carla_plugin/CMakeLists.txt
@@ -52,6 +52,7 @@ elseif(${ROS_VERSION} EQUAL 2)
   find_package(carla_ros_scenario_runner_types COMPONENTS)
   find_package(pluginlib REQUIRED)
   find_package(rviz_ogre_vendor REQUIRED)
+  find_package(tf2_geometry_msgs REQUIRED)
 
   set(CMAKE_AUTOMOC ON)
 
@@ -74,7 +75,8 @@ elseif(${ROS_VERSION} EQUAL 2)
                                            plugin_description_ros2.xml)
 
   ament_target_dependencies(rviz_carla_plugin rclcpp carla_msgs nav_msgs
-                            carla_ros_scenario_runner_types rviz_common)
+                            carla_ros_scenario_runner_types rviz_common
+                            tf2_geometry_msgs)
 
   ament_export_libraries(${PROJECT_NAME})
 
diff --git a/rviz_carla_plugin/src/carla_control_panel_ROS2.cpp b/rviz_carla_plugin/src/carla_control_panel_ROS2.cpp
index a9dc0b98..1b7f0383 100644
--- a/rviz_carla_plugin/src/carla_control_panel_ROS2.cpp
+++ b/rviz_carla_plugin/src/carla_control_panel_ROS2.cpp
@@ -22,6 +22,7 @@
 #include <chrono>
 #include <iomanip>
 
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <tf2/utils.h>
 
 #include <OgreCamera.h>