diff --git a/install_dependencies.sh b/install_dependencies.sh
index e96914b7..41fa2d43 100755
--- a/install_dependencies.sh
+++ b/install_dependencies.sh
@@ -23,6 +23,10 @@ fi
 
 echo ADDITIONAL PACKAGES $ADDITIONAL_PACKAGES
 
+# Apply fix for GPG key expired error
+# Link: https://github.com/osrf/docker_images/issues/697#issuecomment-1819626877
+apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA
+
 sudo apt update
 sudo apt-get install --no-install-recommends -y \
     python$PYTHON_SUFFIX-pip \
@@ -42,6 +46,7 @@ sudo apt-get install --no-install-recommends -y \
     wget \
     qt5-default \
     ros-$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/CMakeLists.txt b/rviz_carla_plugin/CMakeLists.txt
index 83904edb..eac31da5 100644
--- a/rviz_carla_plugin/CMakeLists.txt
+++ b/rviz_carla_plugin/CMakeLists.txt
@@ -52,6 +52,7 @@ elseif(${ROS_VERSION} EQUAL 2)
   find_package(carla_ros_scenario_runner_types COMPONENTS)
   find_package(pluginlib REQUIRED)
   find_package(rviz_ogre_vendor REQUIRED)
+  find_package(tf2_geometry_msgs REQUIRED)
 
   set(CMAKE_AUTOMOC ON)
 
@@ -73,8 +74,14 @@ elseif(${ROS_VERSION} EQUAL 2)
   pluginlib_export_plugin_description_file(rviz_common
                                            plugin_description_ros2.xml)
 
-  ament_target_dependencies(rviz_carla_plugin rclcpp carla_msgs nav_msgs
-                            carla_ros_scenario_runner_types rviz_common)
+  ament_target_dependencies(
+    rviz_carla_plugin
+    rclcpp
+    carla_msgs
+    nav_msgs
+    carla_ros_scenario_runner_types
+    rviz_common
+    tf2_geometry_msgs)
 
   ament_export_libraries(${PROJECT_NAME})
 
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>
diff --git a/rviz_carla_plugin/src/carla_control_panel_ROS2.cpp b/rviz_carla_plugin/src/carla_control_panel_ROS2.cpp
index a9dc0b98..86af2db3 100644
--- a/rviz_carla_plugin/src/carla_control_panel_ROS2.cpp
+++ b/rviz_carla_plugin/src/carla_control_panel_ROS2.cpp
@@ -22,6 +22,7 @@
 #include <chrono>
 #include <iomanip>
 
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <tf2/utils.h>
 
 #include <OgreCamera.h>