diff --git a/novatel_gps_driver/CMakeLists.txt b/novatel_gps_driver/CMakeLists.txt
index d40d1d5..e34beb5 100644
--- a/novatel_gps_driver/CMakeLists.txt
+++ b/novatel_gps_driver/CMakeLists.txt
@@ -18,6 +18,7 @@ find_package(swri_math_util  REQUIRED)
 find_package(swri_roscpp REQUIRED)
 find_package(swri_serial_util REQUIRED)
 find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
 
 # Boost
 find_package(Boost REQUIRED COMPONENTS system thread)
@@ -78,6 +79,7 @@ ament_target_dependencies(${PROJECT_NAME}
   swri_roscpp
   swri_serial_util
   tf2
+  tf2_geometry_msgs
 )
 
 ### ROS Node ###
@@ -147,4 +149,4 @@ ament_export_libraries(${PROJECT_NAME}
   libpcap
 )
 
-ament_package()
\ No newline at end of file
+ament_package()
diff --git a/novatel_gps_driver/package.xml b/novatel_gps_driver/package.xml
index 4b36be4..7f6480e 100644
--- a/novatel_gps_driver/package.xml
+++ b/novatel_gps_driver/package.xml
@@ -28,6 +28,7 @@
   <depend>swri_roscpp</depend>
   <depend>swri_serial_util</depend>
   <depend>tf2</depend>
+  <depend>tf2_geometry_msgs</depend>
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_index_cpp</test_depend>
   <test_depend>ament_lint_auto</test_depend>