diff --git a/pcl_recorder/CMakeLists.txt b/pcl_recorder/CMakeLists.txt
index 3310bbbf..546f863c 100644
--- a/pcl_recorder/CMakeLists.txt
+++ b/pcl_recorder/CMakeLists.txt
@@ -50,6 +50,7 @@ elseif(${ROS_VERSION} EQUAL 2)
   find_package(rclcpp_components REQUIRED)
   find_package(sensor_msgs COMPONENTS)
   find_package(tf2 REQUIRED)
+  find_package(tf2_eigen REQUIRED)
   find_package(tf2_geometry_msgs REQUIRED)
   find_package(tf2_ros REQUIRED)
   find_package(pcl_conversions REQUIRED)
@@ -65,7 +66,7 @@ elseif(${ROS_VERSION} EQUAL 2)
   add_executable(${PROJECT_NAME}_node src/PclRecorderROS2.cpp src/mainROS2.cpp)
 
   ament_target_dependencies(${PROJECT_NAME}_node rclcpp sensor_msgs
-                            pcl_conversions tf2_ros tf2)
+                            pcl_conversions tf2 tf2_ros)
 
   target_link_libraries(${PROJECT_NAME}_node ${Boost_SYSTEM_LIBRARY}
                         ${PCL_LIBRARIES})
diff --git a/pcl_recorder/src/PclRecorderROS2.cpp b/pcl_recorder/src/PclRecorderROS2.cpp
index ce18a59c..62f6864e 100644
--- a/pcl_recorder/src/PclRecorderROS2.cpp
+++ b/pcl_recorder/src/PclRecorderROS2.cpp
@@ -27,7 +27,7 @@ PclRecorderROS2::PclRecorderROS2() : Node("pcl_recorder")
     roleName = "ego_vehicle";
   }
   auto sub_opt = rclcpp::SubscriptionOptions();
-  sub_opt.callback_group = this->create_callback_group(rclcpp::callback_group::CallbackGroupType::MutuallyExclusive);
+  sub_opt.callback_group = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
   sub = this->create_subscription<sensor_msgs::msg::PointCloud2>("/carla/" + roleName + "/lidar", 10, std::bind(&PclRecorderROS2::callback, this, std::placeholders::_1), sub_opt);
 }
 
@@ -47,7 +47,7 @@ void PclRecorderROS2::callback(const sensor_msgs::msg::PointCloud2::SharedPtr cl
 
   Eigen::Affine3d transform;
   try {
-    transform = tf2::transformToEigen (tf_buffer_->lookupTransform(fixed_frame_, cloud->header.frame_id,  cloud->header.stamp, rclcpp::Duration(1)));
+    transform = tf2::transformToEigen (tf_buffer_->lookupTransform(fixed_frame_, cloud->header.frame_id,  cloud->header.stamp, rclcpp::Duration::from_seconds(1)));
 
     pcl::PointCloud<pcl::PointXYZ> pclCloud;
     pcl::fromROSMsg(*cloud, pclCloud);
diff --git a/rviz_carla_plugin/CMakeLists.txt b/rviz_carla_plugin/CMakeLists.txt
index 48c1e54f..83904edb 100644
--- a/rviz_carla_plugin/CMakeLists.txt
+++ b/rviz_carla_plugin/CMakeLists.txt
@@ -74,7 +74,7 @@ elseif(${ROS_VERSION} EQUAL 2)
                                            plugin_description_ros2.xml)
 
   ament_target_dependencies(rviz_carla_plugin rclcpp carla_msgs nav_msgs
-                            carla_ros_scenario_runner_types)
+                            carla_ros_scenario_runner_types rviz_common)
 
   ament_export_libraries(${PROJECT_NAME})