diff --git a/ed_sensor_integration/CMakeLists.txt b/ed_sensor_integration/CMakeLists.txt
index dc078cd5..7362f2e5 100644
--- a/ed_sensor_integration/CMakeLists.txt
+++ b/ed_sensor_integration/CMakeLists.txt
@@ -8,7 +8,6 @@ find_package(catkin REQUIRED COMPONENTS
   geometry_msgs
   image_geometry
   sensor_msgs
-  tf2
   tf2_ros
   tue_config
   tue_filesystem
diff --git a/ed_sensor_integration/package.xml b/ed_sensor_integration/package.xml
index b1f48eec..ae842d1f 100644
--- a/ed_sensor_integration/package.xml
+++ b/ed_sensor_integration/package.xml
@@ -19,7 +19,6 @@
   <depend>geometry_msgs</depend>
   <depend>image_geometry</depend>
   <depend>sensor_msgs</depend>
-  <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>tue_config</depend>
   <depend>tue_filesystem</depend>
diff --git a/ed_sensor_integration/src/laser/laser_plugin.cpp b/ed_sensor_integration/src/laser/laser_plugin.cpp
index aed11d15..7a28f595 100644
--- a/ed_sensor_integration/src/laser/laser_plugin.cpp
+++ b/ed_sensor_integration/src/laser/laser_plugin.cpp
@@ -12,12 +12,14 @@
 #include <geolib/ros/msg_conversions.h>
 #include <geolib/Shape.h>
 
+#include <geometry_msgs/TransformStamped.h>
+
 #include <opencv2/imgproc/imgproc.hpp>
 
 #include <ros/console.h>
 #include <ros/node_handle.h>
 
-#include "tf2/transform_datatypes.h"
+#include <tf2_ros/transform_listener.h>
 
 #include <iostream>
 
diff --git a/ed_sensor_integration/src/laser/laser_plugin.h b/ed_sensor_integration/src/laser/laser_plugin.h
index dc44e972..83bbd933 100644
--- a/ed_sensor_integration/src/laser/laser_plugin.h
+++ b/ed_sensor_integration/src/laser/laser_plugin.h
@@ -11,13 +11,17 @@
 #include <ros/subscriber.h>
 #include <ros/callback_queue.h>
 #include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
 #include <sensor_msgs/LaserScan.h>
 
 #include <queue>
 #include <map>
 #include <memory>
 
+namespace tf2_ros
+{
+class TransformListener;
+}
+
 class LaserPlugin : public ed::Plugin
 {