diff --git a/draco_point_cloud_transport/CMakeLists.txt b/draco_point_cloud_transport/CMakeLists.txt
index 48dda28..f80ba2b 100644
--- a/draco_point_cloud_transport/CMakeLists.txt
+++ b/draco_point_cloud_transport/CMakeLists.txt
@@ -9,6 +9,7 @@ find_package(pluginlib REQUIRED)
 find_package(point_cloud_interfaces REQUIRED)
 find_package(point_cloud_transport REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rcpputils REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 
@@ -19,6 +20,7 @@ set(dependencies
   point_cloud_interfaces
   point_cloud_transport
   rclcpp
+  rcpputils
   sensor_msgs
   std_msgs
 )
diff --git a/draco_point_cloud_transport/package.xml b/draco_point_cloud_transport/package.xml
index 86b6925..bb2980a 100644
--- a/draco_point_cloud_transport/package.xml
+++ b/draco_point_cloud_transport/package.xml
@@ -24,6 +24,7 @@
   <depend>point_cloud_interfaces</depend>
   <depend>point_cloud_transport</depend>
   <depend>rclcpp</depend>
+  <depend>rcpputils</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
 
diff --git a/draco_point_cloud_transport/src/draco_publisher.cpp b/draco_point_cloud_transport/src/draco_publisher.cpp
index dcffed5..7a1db1a 100644
--- a/draco_point_cloud_transport/src/draco_publisher.cpp
+++ b/draco_point_cloud_transport/src/draco_publisher.cpp
@@ -42,7 +42,7 @@
 #include <vector>
 
 #include <point_cloud_interfaces/msg/compressed_point_cloud2.hpp>
-#include <tl_expected/expected.hpp>
+#include <rcpputils/tl_expected/expected.hpp>
 
 #include <draco_point_cloud_transport/cloud.hpp>
 #include <draco_point_cloud_transport/draco_publisher.hpp>
diff --git a/draco_point_cloud_transport/src/draco_subscriber.cpp b/draco_point_cloud_transport/src/draco_subscriber.cpp
index 9788d8a..eb404ca 100644
--- a/draco_point_cloud_transport/src/draco_subscriber.cpp
+++ b/draco_point_cloud_transport/src/draco_subscriber.cpp
@@ -41,7 +41,7 @@
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
 #include <point_cloud_interfaces/msg/compressed_point_cloud2.hpp>
-#include <tl_expected/expected.hpp>
+#include <rcpputils/tl_expected/expected.hpp>
 
 #include <draco_point_cloud_transport/draco_subscriber.hpp>