diff --git a/tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp b/tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp
index 38704dc77..28c58a39d 100644
--- a/tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp
+++ b/tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp
@@ -29,6 +29,14 @@
 
 /** \author Wim Meeussen */
 
+#ifdef _MSC_VER
+#ifndef _USE_MATH_DEFINES
+#define _USE_MATH_DEFINES
+#endif
+#endif
+
+// To get M_PI, especially on Windows.
+#include <math.h>
 
 #include <rclcpp/clock.hpp>
 #include <tf2_ros/transform_listener.h>