diff --git a/robot_calibration/include/robot_calibration/finders/feature_finder.hpp b/robot_calibration/include/robot_calibration/finders/feature_finder.hpp
index 3fdf35e4..6af2ccc5 100644
--- a/robot_calibration/include/robot_calibration/finders/feature_finder.hpp
+++ b/robot_calibration/include/robot_calibration/finders/feature_finder.hpp
@@ -23,6 +23,8 @@
 
 #include <rclcpp/rclcpp.hpp>
 #include <robot_calibration_msgs/msg/calibration_data.hpp>
+// Including this before buffer.h as a workaround for missing symbols
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <tf2_ros/buffer.h>
 
 namespace robot_calibration
diff --git a/robot_calibration/src/finders/plane_finder.cpp b/robot_calibration/src/finders/plane_finder.cpp
index c05c3395..d5999650 100644
--- a/robot_calibration/src/finders/plane_finder.cpp
+++ b/robot_calibration/src/finders/plane_finder.cpp
@@ -24,7 +24,6 @@
 #include <robot_calibration/finders/plane_finder.hpp>
 #include <robot_calibration/util/eigen_geometry.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 static const rclcpp::Logger LOGGER = rclcpp::get_logger("plane_finder");
 
diff --git a/robot_calibration/src/finders/robot_finder.cpp b/robot_calibration/src/finders/robot_finder.cpp
index 2a9709d1..473c05e9 100644
--- a/robot_calibration/src/finders/robot_finder.cpp
+++ b/robot_calibration/src/finders/robot_finder.cpp
@@ -21,7 +21,6 @@
 #include <math.h>
 #include <robot_calibration/finders/robot_finder.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 static const rclcpp::Logger LOGGER = rclcpp::get_logger("robot_finder");
 
diff --git a/robot_calibration/src/finders/scan_finder.cpp b/robot_calibration/src/finders/scan_finder.cpp
index acc15767..b4edba03 100644
--- a/robot_calibration/src/finders/scan_finder.cpp
+++ b/robot_calibration/src/finders/scan_finder.cpp
@@ -21,7 +21,6 @@
 #include <math.h>
 #include <robot_calibration/finders/scan_finder.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 static const rclcpp::Logger LOGGER = rclcpp::get_logger("scan_finder");