diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
index 291071a3aa..c63a171c8a 100644
--- a/diff_drive_controller/src/diff_drive_controller.cpp
+++ b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -26,7 +26,7 @@
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "rclcpp/logging.hpp"
-#include "tf2/LinearMath/Quaternion.h"
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 namespace
 {
diff --git a/mecanum_drive_controller/src/mecanum_drive_controller.cpp b/mecanum_drive_controller/src/mecanum_drive_controller.cpp
index 8336f0fbf3..e36e9bcc5f 100644
--- a/mecanum_drive_controller/src/mecanum_drive_controller.cpp
+++ b/mecanum_drive_controller/src/mecanum_drive_controller.cpp
@@ -22,7 +22,6 @@
 #include "controller_interface/helpers.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
-#include "tf2/transform_datatypes.h"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 namespace
diff --git a/mecanum_drive_controller/src/odometry.cpp b/mecanum_drive_controller/src/odometry.cpp
index bb873fcfdb..bac2566ea2 100644
--- a/mecanum_drive_controller/src/odometry.cpp
+++ b/mecanum_drive_controller/src/odometry.cpp
@@ -14,7 +14,6 @@
 
 #include "mecanum_drive_controller/odometry.hpp"
 
-#include "tf2/transform_datatypes.h"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 namespace mecanum_drive_controller
diff --git a/tricycle_controller/CMakeLists.txt b/tricycle_controller/CMakeLists.txt
index 7192afa5cc..5287a37f3c 100644
--- a/tricycle_controller/CMakeLists.txt
+++ b/tricycle_controller/CMakeLists.txt
@@ -20,7 +20,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   realtime_tools
   std_srvs
   tf2
-  tf2_msgs
+  tf2_geometry_msgs
 )
 
 find_package(ament_cmake REQUIRED)
@@ -69,7 +69,7 @@ if(BUILD_TESTING)
     rclcpp_lifecycle
     realtime_tools
     tf2
-    tf2_msgs
+    tf2_geometry_msgs
   )
 
   add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
diff --git a/tricycle_controller/package.xml b/tricycle_controller/package.xml
index b57aae052a..08b7702517 100644
--- a/tricycle_controller/package.xml
+++ b/tricycle_controller/package.xml
@@ -37,7 +37,7 @@
   <depend>realtime_tools</depend>
   <depend>std_srvs</depend>
   <depend>tf2</depend>
-  <depend>tf2_msgs</depend>
+  <depend>tf2_geometry_msgs</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
diff --git a/tricycle_controller/src/tricycle_controller.cpp b/tricycle_controller/src/tricycle_controller.cpp
index 02f5449b4c..40c724ef8d 100644
--- a/tricycle_controller/src/tricycle_controller.cpp
+++ b/tricycle_controller/src/tricycle_controller.cpp
@@ -27,8 +27,8 @@
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "rclcpp/logging.hpp"
-#include "tf2/LinearMath/Quaternion.h"
 #include "tricycle_controller/tricycle_controller.hpp"
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 namespace
 {