diff --git a/dev-ros/dwa_local_planner/dwa_local_planner-1.16.0.ebuild b/dev-ros/dwa_local_planner/dwa_local_planner-1.16.0.ebuild
index 16fd4d5bf38e2..cb86c0b5ae583 100644
--- a/dev-ros/dwa_local_planner/dwa_local_planner-1.16.0.ebuild
+++ b/dev-ros/dwa_local_planner/dwa_local_planner-1.16.0.ebuild
@@ -25,6 +25,8 @@ RDEPEND="
 	dev-ros/roscpp
 	dev-ros/tf2_ros
 
+	dev-ros/tf2_geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+
 	dev-libs/boost:=[threads]
 	dev-libs/console_bridge:=
 "
diff --git a/dev-ros/dwa_local_planner/dwa_local_planner-9999.ebuild b/dev-ros/dwa_local_planner/dwa_local_planner-9999.ebuild
index 16fd4d5bf38e2..cb86c0b5ae583 100644
--- a/dev-ros/dwa_local_planner/dwa_local_planner-9999.ebuild
+++ b/dev-ros/dwa_local_planner/dwa_local_planner-9999.ebuild
@@ -25,6 +25,8 @@ RDEPEND="
 	dev-ros/roscpp
 	dev-ros/tf2_ros
 
+	dev-ros/tf2_geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+
 	dev-libs/boost:=[threads]
 	dev-libs/console_bridge:=
 "