diff --git a/rviz_rendering/src/rviz_rendering/objects/wrench_visual.cpp b/rviz_rendering/src/rviz_rendering/objects/wrench_visual.cpp
index 66c007c87..19c411e6f 100644
--- a/rviz_rendering/src/rviz_rendering/objects/wrench_visual.cpp
+++ b/rviz_rendering/src/rviz_rendering/objects/wrench_visual.cpp
@@ -27,6 +27,8 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
+#define _USE_MATH_DEFINES
+#include <cmath>
 #include <memory>
 
 #include <OgreVector3.h>