diff --git a/README.md b/README.md
index cd1159c..b0935b5 100644
--- a/README.md
+++ b/README.md
@@ -10,7 +10,8 @@ The driver is designed to listen on a TCP or Serial port for the [_Fixposition A
 ## Changelogs
 
 _For questions about compatibility, please contact Fixpositions Support support@fixposition.com_
-
+-   [6.0.2](https://github.com/fixposition/fixposition_driver/releases/tag/6.0.2)
+    -   Add missing depencency of `tf2_eigen` in `fixposition_driver_ros2/CMakeList.txt`
 -   [6.0.1](https://github.com/fixposition/fixposition_driver/releases/tag/6.0.1)
     -   Adapted to be compatible with updated Fixposition message definitions
     -   **Compatible with Vision-RTK 2 software released after 09.03.2023**
diff --git a/fixposition_driver_ros2/CMakeLists.txt b/fixposition_driver_ros2/CMakeLists.txt
index 3f96cc3..e4e2136 100644
--- a/fixposition_driver_ros2/CMakeLists.txt
+++ b/fixposition_driver_ros2/CMakeLists.txt
@@ -19,6 +19,7 @@ find_package(rosidl_default_generators REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
+find_package(tf2_eigen REQUIRED)
 find_package(fixposition_gnss_tf REQUIRED)
 find_package(fixposition_driver_lib REQUIRED)
 
@@ -79,7 +80,7 @@ install(DIRECTORY
   "launch"
   DESTINATION share/${PROJECT_NAME}/
 )
-ament_target_dependencies(${PROJECT_NAME}_exec rclcpp std_msgs nav_msgs geometry_msgs sensor_msgs tf2_ros fixposition_gnss_tf fixposition_driver_lib)
+ament_target_dependencies(${PROJECT_NAME}_exec rclcpp std_msgs nav_msgs geometry_msgs sensor_msgs tf2_ros tf2_eigen fixposition_gnss_tf fixposition_driver_lib)
 
 # define ament package for this project
 ament_package()