diff --git a/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h b/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h
index 24265185fb..7845661a2e 100644
--- a/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h
+++ b/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.h
@@ -37,6 +37,7 @@
 #pragma once
 
 #include <rclcpp/rclcpp.hpp>
+#include <rclcpp/version.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_ros/message_filter.h>
 #if RCLCPP_VERSION_GTE(28, 3, 0)  // Rolling