diff --git a/mission/map_manager/CMakeLists.txt b/mission/map_manager/CMakeLists.txt
index aa64153..f76c00e 100644
--- a/mission/map_manager/CMakeLists.txt
+++ b/mission/map_manager/CMakeLists.txt
@@ -22,6 +22,8 @@ find_package(geometry_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(PCL REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
 
 include_directories(include)
 
@@ -38,6 +40,8 @@ ament_target_dependencies(
   geometry_msgs
   nav_msgs
   sensor_msgs
+  tf2
+  tf2_ros
 )
 
 install(
diff --git a/mission/map_manager/package.xml b/mission/map_manager/package.xml
index 6db8a03..cee4d52 100644
--- a/mission/map_manager/package.xml
+++ b/mission/map_manager/package.xml
@@ -14,6 +14,8 @@
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>sensor_msgs</depend>
+  <depend>tf2_ros</depend>
+  <depend>tf2</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>