diff --git a/install_dependencies.sh b/install_dependencies.sh
index 369f9505..41fa2d43 100755
--- a/install_dependencies.sh
+++ b/install_dependencies.sh
@@ -46,6 +46,7 @@ sudo apt-get install --no-install-recommends -y \
     wget \
     qt5-default \
     ros-$ROS_DISTRO-pcl-conversions \
+    ros-$ROS_DISTRO-tf2-geometry-msgs \
     $ADDITIONAL_PACKAGES
 
 pip$PYTHON_SUFFIX install --upgrade pip$PYTHON_SUFFIX
diff --git a/rviz_carla_plugin/package.xml b/rviz_carla_plugin/package.xml
index 32f993ac..678dcda9 100644
--- a/rviz_carla_plugin/package.xml
+++ b/rviz_carla_plugin/package.xml
@@ -18,6 +18,7 @@
 
   <build_depend>qtbase5-dev</build_depend>
   <depend>carla_msgs</depend>
+  <build_depend>tf2_geometry_msgs</build_depend>
   <build_depend>nav_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>carla_ros_scenario_runner_types</build_depend>
@@ -27,7 +28,7 @@
   <exec_depend>libqt5-core</exec_depend>
   <exec_depend>libqt5-gui</exec_depend>
   <exec_depend>libqt5-widgets</exec_depend>
-  
+
   <export>
       <rviz condition="$ROS_VERSION == 1" plugin="${prefix}/plugin_description.xml"/> -->
       <build_type condition="$ROS_VERSION == 1">catkin</build_type>