diff --git a/recipes-ros/geometry2/tf2_0.5.16.bb b/recipes-ros/geometry2/tf2_0.5.16.bb
index bd9b4ed..cef14d6 100644
--- a/recipes-ros/geometry2/tf2_0.5.16.bb
+++ b/recipes-ros/geometry2/tf2_0.5.16.bb
@@ -6,4 +6,6 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=16;endline=16;md5=d566ef916e9de
 
 DEPENDS = "tf2-msgs geometry-msgs console-bridge rospy"
 
+RDEPENDS_${PN} += "tf2-msgs geometry-msgs console-bridge rostime"
+
 require geometry2.inc