diff --git a/tf2_geometry_msgs/CMakeLists.txt b/tf2_geometry_msgs/CMakeLists.txt
index d63e49d6..be704db7 100644
--- a/tf2_geometry_msgs/CMakeLists.txt
+++ b/tf2_geometry_msgs/CMakeLists.txt
@@ -25,7 +25,7 @@ endif()
 cmake_policy(SET CMP0094 NEW)
 set(Python3_FIND_UNVERSIONED_NAMES FIRST)
 
-find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
+find_package(Python3 REQUIRED COMPONENTS Interpreter)
 
 find_package(geometry_msgs REQUIRED)
 find_package(orocos_kdl_vendor REQUIRED)
diff --git a/tf2_py/package.xml b/tf2_py/package.xml
index c898e8bc..9c8f3562 100644
--- a/tf2_py/package.xml
+++ b/tf2_py/package.xml
@@ -16,6 +16,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>geometry_msgs</build_depend>
+  <build_depend>python3-dev</build_depend>
 
   <depend>tf2</depend>
 
diff --git a/tf2_sensor_msgs/CMakeLists.txt b/tf2_sensor_msgs/CMakeLists.txt
index 12542c1b..72172e0d 100644
--- a/tf2_sensor_msgs/CMakeLists.txt
+++ b/tf2_sensor_msgs/CMakeLists.txt
@@ -25,7 +25,7 @@ endif()
 cmake_policy(SET CMP0094 NEW)
 set(Python3_FIND_UNVERSIONED_NAMES FIRST)
 
-find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
+find_package(Python3 REQUIRED COMPONENTS Interpreter)
 
 find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)