diff --git a/build_depends.repos b/build_depends.repos
index d761deb6d3f13..26142e3299bc6 100644
--- a/build_depends.repos
+++ b/build_depends.repos
@@ -7,3 +7,9 @@ repositories:
     type: git
     url: https://github.com/tier4/ublox.git
     version: foxy-devel
+  # temporary adding geometry2 package to add support for transforming covariance
+  # TODO(mitsudome-r): remove after geometry2 package is released in Foxy anytime after 2020/10/30
+  vendor/geometry2:
+    type: git
+    url: https://github.com/ros2/geometry2.git
+    version: foxy
\ No newline at end of file
diff --git a/localization/twist_estimator/pose2twist/package.xml b/localization/twist_estimator/pose2twist/package.xml
index caf46987db737..f4b48f22ac75d 100644
--- a/localization/twist_estimator/pose2twist/package.xml
+++ b/localization/twist_estimator/pose2twist/package.xml
@@ -11,6 +11,7 @@
     <depend>geometry_msgs</depend>
     <depend>rclcpp</depend>
     <depend>std_msgs</depend>
+    <depend>tf2</depend>
     <depend>tf2_geometry_msgs</depend>
 
     <export>
diff --git a/map/lanelet2_extension/package.xml b/map/lanelet2_extension/package.xml
index fafed391fca34..54fcfcc1066fa 100644
--- a/map/lanelet2_extension/package.xml
+++ b/map/lanelet2_extension/package.xml
@@ -22,6 +22,8 @@
   <depend>lanelet2_validation</depend>
   <depend>autoware_lanelet2_msgs</depend>
   <depend>geometry_msgs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_geometry_msgs</depend>
   <depend>visualization_msgs</depend>
   <depend>pugixml-dev</depend>
 
diff --git a/planning/mission_planning/mission_planner/package.xml b/planning/mission_planning/mission_planner/package.xml
index af694b93438c9..cd361dd20417c 100644
--- a/planning/mission_planning/mission_planner/package.xml
+++ b/planning/mission_planning/mission_planner/package.xml
@@ -14,6 +14,7 @@
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>rclcpp</depend>
+  <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_geometry_msgs</depend>