diff --git a/tf2_ros/CMakeLists.txt b/tf2_ros/CMakeLists.txt
index 0e5817a1f..200424f54 100644
--- a/tf2_ros/CMakeLists.txt
+++ b/tf2_ros/CMakeLists.txt
@@ -10,14 +10,26 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(message_filters REQUIRED)
+find_package(rcl_interfaces REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_msgs REQUIRED)
 
+set(dependencies
+  builtin_interfaces
+  geometry_msgs
+  message_filters
+  rclcpp
+  rclcpp_action
+  tf2
+  tf2_msgs
+)
+
 # tf2_ros library
 add_library(${PROJECT_NAME} SHARED
   src/buffer.cpp
@@ -32,12 +44,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
 ament_target_dependencies(${PROJECT_NAME}
-  "geometry_msgs"
-  "message_filters"
-  "rclcpp"
-  "rclcpp_action"
-  "tf2"
-  "tf2_msgs"
+  ${dependencies}
 )
 
 target_compile_definitions(${PROJECT_NAME} PRIVATE "TF2_ROS_BUILDING_DLL")
@@ -48,12 +55,24 @@ target_link_libraries(buffer_server
   ${PROJECT_NAME}
 )
 ament_target_dependencies(buffer_server
+  ${dependencies}
+)
+
+add_library(static_transform_broadcaster_node SHARED
+  src/static_transform_broadcaster_node.cpp
+)
+target_compile_definitions(static_transform_broadcaster_node PRIVATE "STATIC_TRANSFORM_BROADCASTER_BUILDING_DLL")
+target_include_directories(static_transform_broadcaster_node PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include>")
+target_link_libraries(static_transform_broadcaster_node ${PROJECT_NAME})
+ament_target_dependencies(static_transform_broadcaster_node
   "geometry_msgs"
   "rclcpp"
-  "rclcpp_action"
-  "tf2"
+  "rclcpp_components"
   "tf2_msgs"
 )
+rclcpp_components_register_nodes(static_transform_broadcaster_node "tf2_ros::StaticTransformBroadcasterNode")
 
 # static_transform_publisher
 add_executable(static_transform_publisher
@@ -66,25 +85,10 @@ target_link_libraries(static_transform_publisher
 ament_target_dependencies(static_transform_publisher
   "geometry_msgs"
   "rclcpp"
+  "tf2"
   "tf2_msgs"
 )
 
-add_library(static_transform_broadcaster_node SHARED
-  src/static_transform_broadcaster_node.cpp
-)
-target_compile_definitions(static_transform_broadcaster_node PRIVATE "STATIC_TRANSFORM_BROADCASTER_BUILDING_DLL")
-target_include_directories(static_transform_broadcaster_node PUBLIC
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include>")
-target_link_libraries(static_transform_broadcaster_node ${PROJECT_NAME})
-ament_target_dependencies(static_transform_broadcaster_node
-  "geometry_msgs"
-  "rclcpp"
-  "rclcpp_components"
-  "tf2_msgs"
-)
-rclcpp_components_register_nodes(static_transform_broadcaster_node "tf2_ros::StaticTransformBroadcasterNode")
-
 add_executable(tf2_echo
   src/tf2_echo.cpp
 )
@@ -92,7 +96,9 @@ target_link_libraries(tf2_echo
   ${PROJECT_NAME}
 )
 ament_target_dependencies(tf2_echo
+  "geometry_msgs"
   "rclcpp"
+  "tf2"
 )
 
 add_executable(tf2_monitor
@@ -102,8 +108,7 @@ target_link_libraries(tf2_monitor
   ${PROJECT_NAME}
 )
 ament_target_dependencies(tf2_monitor
-  "rclcpp"
-  "tf2_msgs"
+  ${dependencies}
 )
 
 # Install rules
@@ -138,37 +143,62 @@ install(DIRECTORY include/${PROJECT_NAME}/
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   ament_add_gtest(test_buffer test/test_buffer.cpp)
+  ament_target_dependencies(test_buffer
+    ${dependencies}
+  )
   target_link_libraries(test_buffer ${PROJECT_NAME})
 
   ament_add_gtest(test_buffer_server test/test_buffer_server.cpp)
+  ament_target_dependencies(test_buffer_server
+    ${dependencies}
+  )
   target_link_libraries(test_buffer_server ${PROJECT_NAME})
 
   ament_add_gtest(test_buffer_client test/test_buffer_client.cpp)
+  ament_target_dependencies(test_buffer_client
+    ${dependencies}
+  )
   target_link_libraries(test_buffer_client ${PROJECT_NAME})
 
   # Adds a tf2_ros message_filter unittest that uses
   # multiple target frames and a non-zero time tolerance
   ament_add_gtest(${PROJECT_NAME}_test_message_filter test/message_filter_test.cpp)
+  ament_target_dependencies(${PROJECT_NAME}_test_message_filter
+    ${dependencies}
+  )
   target_link_libraries(${PROJECT_NAME}_test_message_filter ${PROJECT_NAME})
 
   ament_add_gtest(${PROJECT_NAME}_test_transform_listener test/test_transform_listener.cpp)
+  ament_target_dependencies(${PROJECT_NAME}_test_transform_listener
+    ${dependencies}
+  )
   target_link_libraries(${PROJECT_NAME}_test_transform_listener ${PROJECT_NAME})
 
   ament_add_gtest(${PROJECT_NAME}_test_static_transform_broadcaster test/test_static_transform_broadcaster.cpp)
+  ament_target_dependencies(${PROJECT_NAME}_test_static_transform_broadcaster
+    rclcpp
+  )
   target_link_libraries(${PROJECT_NAME}_test_static_transform_broadcaster ${PROJECT_NAME})
 
   ament_add_gtest(${PROJECT_NAME}_test_transform_broadcaster test/test_transform_broadcaster.cpp)
+  ament_target_dependencies(${PROJECT_NAME}_test_transform_broadcaster
+    rclcpp
+  )
   target_link_libraries(${PROJECT_NAME}_test_transform_broadcaster ${PROJECT_NAME})
 
   ament_add_gtest(${PROJECT_NAME}_test_time_reset test/time_reset_test.cpp)
   ament_target_dependencies(${PROJECT_NAME}_test_time_reset
-    rclcpp
+    ${dependencies}
+    rosgraph_msgs
   )
   target_link_libraries(${PROJECT_NAME}_test_time_reset ${PROJECT_NAME})
 
   ament_add_gtest(${PROJECT_NAME}_test_listener test/listener_unittest.cpp)
   ament_target_dependencies(${PROJECT_NAME}_test_listener
+    builtin_interfaces
+    geometry_msgs
     rclcpp
+    tf2
   )
   target_link_libraries(${PROJECT_NAME}_test_listener ${PROJECT_NAME})
 
@@ -177,5 +207,9 @@ endif()
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME} static_transform_broadcaster_node)
 ament_export_targets(${PROJECT_NAME} static_transform_broadcaster_node)
-ament_export_dependencies(geometry_msgs message_filters rclcpp rclcpp_action rclcpp_components tf2 tf2_msgs)
+ament_export_dependencies(
+  ${dependencies}
+  rcl_interfaces
+  rclcpp_components
+)
 ament_package()
diff --git a/tf2_ros/package.xml b/tf2_ros/package.xml
index 83e16b088..9efeb8ae4 100644
--- a/tf2_ros/package.xml
+++ b/tf2_ros/package.xml
@@ -13,8 +13,10 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
   <depend>message_filters</depend>
+  <depend>rcl_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
   <depend>rclcpp_components</depend>