diff --git a/moveit_calibration_gui/CMakeLists.txt b/moveit_calibration_gui/CMakeLists.txt
index ee25512..bb528c7 100644
--- a/moveit_calibration_gui/CMakeLists.txt
+++ b/moveit_calibration_gui/CMakeLists.txt
@@ -13,6 +13,7 @@ find_package(eigen3_cmake_module REQUIRED)
 find_package(image_geometry REQUIRED)
 find_package(image_transport REQUIRED)
 find_package(moveit_calibration_plugins REQUIRED)
+find_package(moveit_ros_visualization REQUIRED)
 find_package(moveit_ros_planning_interface REQUIRED)
 find_package(moveit_visual_tools REQUIRED)
 find_package(OpenCV REQUIRED)
@@ -28,6 +29,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   image_geometry
   image_transport
   moveit_calibration_plugins
+  moveit_ros_visualization
   moveit_ros_planning_interface
   moveit_visual_tools
   pluginlib
diff --git a/moveit_calibration_gui/handeye_calibration_rviz_plugin/include/moveit/handeye_calibration_rviz_plugin/handeye_context_widget.h b/moveit_calibration_gui/handeye_calibration_rviz_plugin/include/moveit/handeye_calibration_rviz_plugin/handeye_context_widget.h
index ffb0f20..1f8fab4 100644
--- a/moveit_calibration_gui/handeye_calibration_rviz_plugin/include/moveit/handeye_calibration_rviz_plugin/handeye_context_widget.h
+++ b/moveit_calibration_gui/handeye_calibration_rviz_plugin/include/moveit/handeye_calibration_rviz_plugin/handeye_context_widget.h
@@ -61,7 +61,7 @@
 #include <moveit/handeye_calibration_rviz_plugin/handeye_calibration_display.h>
 #include <moveit/common_planning_interface_objects/common_objects.h>
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
-#include <moveit/background_processing/background_processing.h>
+#include <moveit/planning_scene_rviz_plugin/background_processing.hpp>
 #include <moveit/utils/rclcpp_utils.h>
 
 #ifndef Q_MOC_RUN
diff --git a/moveit_calibration_gui/handeye_calibration_rviz_plugin/include/moveit/handeye_calibration_rviz_plugin/handeye_control_widget.h b/moveit_calibration_gui/handeye_calibration_rviz_plugin/include/moveit/handeye_calibration_rviz_plugin/handeye_control_widget.h
index a0136c4..235cab4 100644
--- a/moveit_calibration_gui/handeye_calibration_rviz_plugin/include/moveit/handeye_calibration_rviz_plugin/handeye_control_widget.h
+++ b/moveit_calibration_gui/handeye_calibration_rviz_plugin/include/moveit/handeye_calibration_rviz_plugin/handeye_control_widget.h
@@ -62,7 +62,7 @@
 #include <moveit/move_group_interface/move_group_interface.h>
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <moveit/handeye_calibration_solver/handeye_solver_base.h>
-#include <moveit/background_processing/background_processing.h>
+#include <moveit/planning_scene_rviz_plugin/background_processing.hpp>
 #include <moveit/handeye_calibration_rviz_plugin/handeye_calibration_display.h>
 
 #ifndef Q_MOC_RUN
diff --git a/moveit_calibration_gui/handeye_calibration_rviz_plugin/src/handeye_context_widget.cpp b/moveit_calibration_gui/handeye_calibration_rviz_plugin/src/handeye_context_widget.cpp
index ebb5d51..0500f01 100644
--- a/moveit_calibration_gui/handeye_calibration_rviz_plugin/src/handeye_context_widget.cpp
+++ b/moveit_calibration_gui/handeye_calibration_rviz_plugin/src/handeye_context_widget.cpp
@@ -449,7 +449,7 @@ visualization_msgs::msg::Marker ContextTabWidget::getCameraFOVMarker(const geome
   marker.id = 0;
   marker.type = visualization_msgs::msg::Marker::TRIANGLE_LIST;
   marker.action = visualization_msgs::msg::Marker::ADD;
-  marker.lifetime = rclcpp::Duration(0.0);
+  marker.lifetime = rclcpp::Duration(0, 0);
   visual_tools_->setAlpha(alpha);
   marker.color = visual_tools_->getColor(color);
   marker.pose = pose;
diff --git a/moveit_calibration_gui/package.xml b/moveit_calibration_gui/package.xml
index 095aa50..76165a0 100644
--- a/moveit_calibration_gui/package.xml
+++ b/moveit_calibration_gui/package.xml
@@ -24,6 +24,7 @@
   <depend>image_transport</depend>
   <depend>libopencv-dev</depend>
   <depend>moveit_calibration_plugins</depend>
+  <depend>moveit_ros_visualization</depend>
   <depend>moveit_ros_planning_interface</depend>
   <depend>moveit_visual_tools</depend>
   <depend>pluginlib</depend>