diff --git a/docker/melodic/Dockerfile b/docker/melodic/Dockerfile
index 1680df07..1d5d941f 100644
--- a/docker/melodic/Dockerfile
+++ b/docker/melodic/Dockerfile
@@ -3,6 +3,7 @@ FROM ros:melodic
 RUN apt-get update && apt-get install --no-install-recommends -y \
     && apt-get install --no-install-recommends -y wget nano build-essential \
     libomp-dev libgtest-dev libboost-all-dev libopencv-dev \
+    ros-melodic-tf2 ros-melodic-tf2-ros ros-melodic-tf2-geometry-msgs \
     ros-melodic-tf-conversions ros-melodic-pcl-ros \
     && apt-get clean \
     && rm -rf /var/lib/apt/lists/*
diff --git a/docker/melodic_llvm/Dockerfile b/docker/melodic_llvm/Dockerfile
index 8ec2e138..2d19d8cb 100644
--- a/docker/melodic_llvm/Dockerfile
+++ b/docker/melodic_llvm/Dockerfile
@@ -2,7 +2,9 @@ FROM ros:melodic
 
 RUN apt-get update && apt-get install --no-install-recommends -y \
     && apt-get install --no-install-recommends -y wget nano build-essential \
-    libomp-dev libgtest-dev libboost-all-dev libopencv-dev clang lld ros-melodic-tf-conversions ros-melodic-pcl-ros \
+    libomp-dev libgtest-dev libboost-all-dev libopencv-dev clang lld \
+    ros-melodic-tf2 ros-melodic-tf2-ros ros-melodic-tf2-geometry-msgs \
+    ros-melodic-tf-conversions ros-melodic-pcl-ros \
     && apt-get clean \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/docker/noetic/Dockerfile b/docker/noetic/Dockerfile
index 38386d14..d571ee5e 100644
--- a/docker/noetic/Dockerfile
+++ b/docker/noetic/Dockerfile
@@ -2,7 +2,9 @@ FROM ros:noetic
 
 RUN apt-get update && apt-get install --no-install-recommends -y \
     && apt-get install --no-install-recommends -y wget nano build-essential \
-    git libgtest-dev libboost-all-dev libopencv-dev ros-noetic-tf-conversions ros-noetic-pcl-ros \
+    git libgtest-dev libboost-all-dev libopencv-dev \
+    ros-noetic-tf2 ros-noetic-tf2-ros ros-noetic-tf2-geometry-msgs \
+    ros-noetic-tf-conversions ros-noetic-pcl-ros \
     && apt-get clean \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/docker/noetic_llvm/Dockerfile b/docker/noetic_llvm/Dockerfile
index fd2b8905..d966177a 100644
--- a/docker/noetic_llvm/Dockerfile
+++ b/docker/noetic_llvm/Dockerfile
@@ -2,7 +2,9 @@ FROM ros:noetic
 
 RUN apt-get update && apt-get install --no-install-recommends -y \
     && apt-get install --no-install-recommends -y wget nano build-essential \
-    git clang lld libomp-dev libgtest-dev libboost-all-dev libopencv-dev ros-noetic-tf-conversions ros-noetic-pcl-ros \
+    git clang lld libomp-dev libgtest-dev libboost-all-dev libopencv-dev \
+    ros-noetic-tf2 ros-noetic-tf2-ros ros-noetic-tf2-geometry-msgs \
+    ros-noetic-tf-conversions ros-noetic-pcl-ros \
     && apt-get clean \
     && rm -rf /var/lib/apt/lists/*