diff --git a/CMakeLists.txt b/CMakeLists.txt
index 36b1f34b..c9f2b2f2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -361,6 +361,7 @@ else()
   function(rosidl_get_typesupport_target var generate_interfaces_target typesupport_name)
     rosidl_target_interfaces(${var} ${generate_interfaces_target} ${typesupport_name})
   endfunction()
+  add_definitions(-DPRE_ROS_HUMBLE)
 endif()
 
 rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::RGBDOdometry")
diff --git a/src/MsgConversion.cpp b/src/MsgConversion.cpp
index 3d65a528..a7070680 100644
--- a/src/MsgConversion.cpp
+++ b/src/MsgConversion.cpp
@@ -44,8 +44,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <geometry_msgs/msg/transform.hpp>
 #include <laser_geometry/laser_geometry.hpp>
 #include <rtabmap/core/util3d_surface.h>
+#ifdef PRE_ROS_HUMBLE
+#include <tf2_eigen/tf2_eigen.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
 
 namespace rtabmap_ros {