diff --git a/doc/examples/trajopt_planner/src/trajopt_example.cpp b/doc/examples/trajopt_planner/src/trajopt_example.cpp
index 7f165b12f1..bdccefde62 100644
--- a/doc/examples/trajopt_planner/src/trajopt_example.cpp
+++ b/doc/examples/trajopt_planner/src/trajopt_example.cpp
@@ -17,9 +17,17 @@
 #include <moveit_msgs/PlanningScene.h>
 
 #include <geometry_msgs/TransformStamped.h>
+
+// TODO(mosfet80): remove else after EOL galactic
+#if __has_include(<tf2/utils.hpp>)
+#include <tf2/utils.hpp>
+#include <tf2_eigen/tf2_eigen.hpp>
+#include <tf2_ros/transform_listener.hpp>
+#else
 #include <tf2/utils.h>
 #include <tf2_eigen/tf2_eigen.h>
 #include <tf2_ros/transform_listener.h>
+#endif
 
 /* Author: Omid Heidari
    Desc: This file is a test for using trajopt in MoveIt. The goal is to make different types of constraints in