diff -Naur a/src/octomap_server_multilayer.cpp b/src/octomap_server_multilayer.cpp
--- a/src/octomap_server_multilayer.cpp	2022-04-20 09:29:17.000000000 +0800
+++ b/src/octomap_server_multilayer.cpp	2026-10-09 11:20:46.671282893 +0800
@@ -29,6 +29,7 @@
 #include <octomap_server/octomap_server_multilayer.hpp>
 
 #include <geometry_msgs/msg/point_stamped.hpp>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 
 #include <vector>