diff --git a/rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h b/rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h
index 7e99f1cf..362a010f 100644
--- a/rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h
+++ b/rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h
@@ -212,8 +212,8 @@ rtabmap::Transform getTransform(
 rtabmap::Transform getMovingTransform(
 		const std::string & movingFrame,
 		const std::string & fixedFrame,
-		const ros::Time & stampFrom,
-		const ros::Time & stampTo,
+		const rclcpp::Time & stampFrom,
+		const rclcpp::Time & stampTo,
 		tf2_ros::Buffer & tfBuffer,
 		double waitForTransform);
 
diff --git a/rtabmap_conversions/src/MsgConversion.cpp b/rtabmap_conversions/src/MsgConversion.cpp
index f6730d93..1587d06a 100644
--- a/rtabmap_conversions/src/MsgConversion.cpp
+++ b/rtabmap_conversions/src/MsgConversion.cpp
@@ -2008,8 +2008,8 @@ rtabmap::Transform getTransform(
 rtabmap::Transform getMovingTransform(
 		const std::string & movingFrame,
 		const std::string & fixedFrame,
-		const ros::Time & stampFrom,
-		const ros::Time & stampTo,
+		const rclcpp::Time & stampFrom,
+		const rclcpp::Time & stampTo,
 		tf2_ros::Buffer & tfBuffer,
 		double waitForTransform)
 {