diff --git a/include/rviz_visual_tools/tf_visual_tools.hpp b/include/rviz_visual_tools/tf_visual_tools.hpp
index a0da8aa..4e254a3 100644
--- a/include/rviz_visual_tools/tf_visual_tools.hpp
+++ b/include/rviz_visual_tools/tf_visual_tools.hpp
@@ -40,12 +40,19 @@
 
 // ROS
 #include <rclcpp/rclcpp.hpp>
+#include <rclcpp/version.h>
 #include <geometry_msgs/msg/transform_stamped.hpp>
 
 // Eigen
 #include <Eigen/Geometry>
 
+// For Rolling, Kilted, and newer
+#if RCLCPP_VERSION_GTE(29, 6, 0)
+#include <tf2_ros/transform_broadcaster.hpp>
+// For Jazzy and older
+#else
 #include <tf2_ros/transform_broadcaster.h>
+#endif
 
 namespace rviz_visual_tools
 {