diff --git a/rotational_recovery/package.xml b/rotational_recovery/package.xml
index 4561eef0330e1264a5dedcc7774c40052134449b..2d8778a71c80a5a9edf6c7a6fbb3c1aa8cb69f95 100644
--- a/rotational_recovery/package.xml
+++ b/rotational_recovery/package.xml
@@ -16,7 +16,7 @@
   <depend>geometry_msgs</depend>
   <depend>nav_core</depend>
   <depend>pluginlib</depend>
-  <depend>tf</depend>
+  <depend>tf2_ros</depend>
 
   <export>
     <nav_core plugin="${prefix}/rotational_recovery.xml" />
diff --git a/stepback_and_steerturn_recovery/package.xml b/stepback_and_steerturn_recovery/package.xml
index 2cb5cd68c19f82095a54481b0c9b798d9263ce8d..350e0fef4a5353c362f680bb35fa6d423639096e 100644
--- a/stepback_and_steerturn_recovery/package.xml
+++ b/stepback_and_steerturn_recovery/package.xml
@@ -17,7 +17,7 @@
 
     <buildtool_depend>catkin</buildtool_depend>
     <depend>roscpp</depend>
-    <depend>tf</depend>
+    <depend>tf2_ros</depend>
     <depend>costmap_2d</depend>
     <depend>nav_core</depend>
     <depend>pluginlib</depend>