diff --git a/moveit_core/robot_state/test/test_aabb.cpp b/moveit_core/robot_state/test/test_aabb.cpp
index cae7b5f730..c55258016d 100644
--- a/moveit_core/robot_state/test/test_aabb.cpp
+++ b/moveit_core/robot_state/test/test_aabb.cpp
@@ -42,7 +42,12 @@
 #include <string>
 #include <gtest/gtest.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+// TODO: Remove conditional include when released to all active distros.
+#if __has_include(<tf2/LinearMath/Vector3.hpp>)
+#include <tf2/LinearMath/Vector3.hpp>
+#else
 #include <tf2/LinearMath/Vector3.h>
+#endif
 #include <moveit/utils/robot_model_test_utils.hpp>
 
 // To visualize bbox of the PR2, set this to 1.
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.hpp b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.hpp
index 0ca3ff009e..a0cce0ab4b 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.hpp
+++ b/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.hpp
@@ -40,8 +40,17 @@
 #include <moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.hpp>
 #include <moveit/kinematics_base/kinematics_base.hpp>
 #include <moveit/robot_model/robot_model.hpp>
+// TODO: Remove conditional includes when released to all active distros.
+#if __has_include(<tf2/LinearMath/Quaternion.hpp>)
+#include <tf2/LinearMath/Quaternion.hpp>
+#else
 #include <tf2/LinearMath/Quaternion.h>
+#endif
+#if __has_include(<tf2/LinearMath/Vector3.hpp>)
+#include <tf2/LinearMath/Vector3.hpp>
+#else
 #include <tf2/LinearMath/Vector3.h>
+#endif
 #include <mutex>
 #include <unordered_map>
 #include <utility>
diff --git a/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp b/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp
index 3d7f69bac1..5df94a9873 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp
+++ b/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp
@@ -39,7 +39,12 @@
 #include <moveit/utils/logger.hpp>
 
 #include <tf2_kdl/tf2_kdl.hpp>
+// TODO: Remove conditional include when released to all active distros.
+#if __has_include(<tf2/transform_datatypes.hpp>)
+#include <tf2/transform_datatypes.hpp>
+#else
 #include <tf2/transform_datatypes.h>
+#endif
 
 #include <kdl_parser/kdl_parser.hpp>
 #include <kdl/chainfksolverpos_recursive.hpp>
diff --git a/moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp b/moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp
index 24ffe990b2..09a7251d67 100644
--- a/moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp
+++ b/moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp
@@ -38,7 +38,12 @@
 #include <chomp_motion_planner/chomp_planner.hpp>
 #include <chomp_motion_planner/chomp_trajectory.hpp>
 #include <moveit/robot_state/conversions.hpp>
+// TODO: Remove conditional include when released to all active distros.
+#if __has_include(<tf2/LinearMath/Quaternion.hpp>)
+#include <tf2/LinearMath/Quaternion.hpp>
+#else
 #include <tf2/LinearMath/Quaternion.h>
+#endif
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <moveit/utils/logger.hpp>
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_functions.hpp b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_functions.hpp
index 1f898b4ea0..b76ff8a705 100644
--- a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_functions.hpp
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_functions.hpp
@@ -39,7 +39,12 @@
 #include <moveit/robot_model/robot_model.hpp>
 #include <moveit/robot_state/robot_state.hpp>
 #include <moveit/robot_trajectory/robot_trajectory.hpp>
+// TODO: Remove conditional include when released to all active distros.
+#if __has_include(<tf2/transform_datatypes.hpp>)
+#include <tf2/transform_datatypes.hpp>
+#else
 #include <tf2/transform_datatypes.h>
+#endif
 #include <trajectory_msgs/msg/multi_dof_joint_trajectory.hpp>
 #include <moveit/planning_scene/planning_scene.hpp>
 
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp
index e4c5d6a4d8..c1fccdf3bd 100644
--- a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp
+++ b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp
@@ -35,7 +35,12 @@
 #include <pilz_industrial_motion_planner/trajectory_functions.hpp>
 
 #include <moveit/planning_scene/planning_scene.hpp>
+// TODO: Remove conditional include when released to all active distros.
+#if __has_include(<tf2/LinearMath/Quaternion.hpp>)
+#include <tf2/LinearMath/Quaternion.hpp>
+#else
 #include <tf2/LinearMath/Quaternion.h>
+#endif
 #include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_circ.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_circ.cpp
index 4e92524bfc..388542daf3 100644
--- a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_circ.cpp
+++ b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_circ.cpp
@@ -43,10 +43,10 @@
 #include <kdl/utilities/error.h>
 #include <kdl/utilities/utility.h>
 #include <moveit/robot_state/conversions.hpp>
-#include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
 #include <rclcpp/logger.hpp>
 #include <rclcpp/logging.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
+#include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <moveit/utils/logger.hpp>
 
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_lin.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_lin.cpp
index 4b51582099..77ed726c0e 100644
--- a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_lin.cpp
+++ b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_lin.cpp
@@ -43,11 +43,16 @@
 #include <kdl/path_line.hpp>
 #include <kdl/trajectory_segment.hpp>
 #include <kdl/utilities/error.h>
+// TODO: Remove conditional include when released to all active distros.
+#if __has_include(<tf2/convert.hpp>)
+#include <tf2/convert.hpp>
+#else
 #include <tf2/convert.h>
-#include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
+#endif
 #include <rclcpp/logger.hpp>
 #include <rclcpp/logging.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
+#include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <moveit/utils/logger.hpp>
 
diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_utils.hpp b/moveit_planners/pilz_industrial_motion_planner/test/test_utils.hpp
index 87c2d319ab..5adb93a6a9 100644
--- a/moveit_planners/pilz_industrial_motion_planner/test/test_utils.hpp
+++ b/moveit_planners/pilz_industrial_motion_planner/test/test_utils.hpp
@@ -56,8 +56,17 @@
 #include <moveit_msgs/action/move_group.hpp>
 #include <sensor_msgs/msg/joint_state.hpp>
 #include <string>
+// TODO: Remove conditional include swhen released to all active distros.
+#if __has_include(<tf2/LinearMath/Quaternion.hpp>)
+#include <tf2/LinearMath/Quaternion.hpp>
+#else
 #include <tf2/LinearMath/Quaternion.h>
+#endif
+#if __has_include(<tf2/convert.hpp>)
+#include <tf2/convert.hpp>
+#else
 #include <tf2/convert.h>
+#endif
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <utility>
 
diff --git a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp
index 4df96995c5..4ea25702de 100644
--- a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp
+++ b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp
@@ -43,12 +43,12 @@
 
 
 #include <Eigen/Geometry>
-#include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
 #include <rclcpp/logger.hpp>
 #include <rclcpp/logging.hpp>
 #include <rclcpp/node.hpp>
 #include <rclcpp/parameter_value.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
+#include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>
 #include <tf2_kdl/tf2_kdl.hpp>
 #include <moveit/kinematics_base/kinematics_base.hpp>
 #include <moveit/robot_state/robot_state.hpp>
diff --git a/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp b/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
index 6912877fad..be57f380b0 100644
--- a/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
+++ b/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
@@ -38,8 +38,17 @@
 #include <moveit/occupancy_map_monitor/occupancy_map_monitor.hpp>
 #include <cmath>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+// TODO: Remove conditional includes when released to all active distros.
+#if __has_include(<tf2/LinearMath/Vector3.hpp>)
+#include <tf2/LinearMath/Vector3.hpp>
+#else
 #include <tf2/LinearMath/Vector3.h>
+#endif
+#if __has_include(<tf2/LinearMath/Transform.hpp>)
+#include <tf2/LinearMath/Transform.hpp>
+#else
 #include <tf2/LinearMath/Transform.h>
+#endif
 #include <geometric_shapes/shape_operations.h>
 #include <sensor_msgs/image_encodings.hpp>
 #include <stdint.h>
diff --git a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
index c652430513..74a6fcebae 100644
--- a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
+++ b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
@@ -38,8 +38,17 @@
 #include <moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.hpp>
 #include <moveit/occupancy_map_monitor/occupancy_map_monitor.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+// TODO: Remove conditional includes when released to all active distros.
+#if __has_include(<tf2/LinearMath/Vector3.hpp>)
+#include <tf2/LinearMath/Vector3.hpp>
+#else
 #include <tf2/LinearMath/Vector3.h>
+#endif
+#if __has_include(<tf2/LinearMath/Transform.hpp>)
+#include <tf2/LinearMath/Transform.hpp>
+#else
 #include <tf2/LinearMath/Transform.h>
+#endif
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 #include <tf2_ros/create_timer_interface.h>
 #include <tf2_ros/create_timer_ros.h>
diff --git a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
index 478e98d1b9..0f3d1a067b 100644
--- a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
@@ -41,8 +41,17 @@
 #include <moveit_msgs/srv/get_planning_scene.hpp>
 #include <moveit/utils/logger.hpp>
 
+// TODO: Remove conditional includes when released to all active distros.
+#if __has_include(<tf2/exceptions.hpp>)
+#include <tf2/exceptions.hpp>
+#else
 #include <tf2/exceptions.h>
+#endif
+#if __has_include(<tf2/LinearMath/Transform.hpp>)
+#include <tf2/LinearMath/Transform.hpp>
+#else
 #include <tf2/LinearMath/Transform.h>
+#endif
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
index b7238268d5..37c2471c2a 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -61,7 +61,12 @@
 
 #include <std_msgs/msg/string.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>
+// TODO: Remove conditional include when released to all active distros.
+#if __has_include(<tf2/utils.hpp>)
+#include <tf2/utils.hpp>
+#else
 #include <tf2/utils.h>
+#endif
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_ros/transform_listener.h>
 #include <rclcpp/rclcpp.hpp>
diff --git a/moveit_ros/planning_interface/test/move_group_ompl_constraints_test.cpp b/moveit_ros/planning_interface/test/move_group_ompl_constraints_test.cpp
index 8d72dee6de..9324e9a4d7 100644
--- a/moveit_ros/planning_interface/test/move_group_ompl_constraints_test.cpp
+++ b/moveit_ros/planning_interface/test/move_group_ompl_constraints_test.cpp
@@ -41,7 +41,12 @@
 
 // ROS
 #include <rclcpp/rclcpp.hpp>
+// TODO: Remove conditional include when released to all active distros.
+#if __has_include(<tf2/LinearMath/Quaternion.hpp>)
+#include <tf2/LinearMath/Quaternion.hpp>
+#else
 #include <tf2/LinearMath/Quaternion.h>
+#endif
 #include <tf2_eigen/tf2_eigen.hpp>
 
 // MoveIt
diff --git a/moveit_ros/robot_interaction/src/interaction_handler.cpp b/moveit_ros/robot_interaction/src/interaction_handler.cpp
index 8d79f91519..3426dee360 100644
--- a/moveit_ros/robot_interaction/src/interaction_handler.cpp
+++ b/moveit_ros/robot_interaction/src/interaction_handler.cpp
@@ -43,7 +43,12 @@
 #include <moveit/transforms/transforms.hpp>
 #include <interactive_markers/interactive_marker_server.hpp>
 #include <interactive_markers/menu_handler.hpp>
+// TODO: Remove conditional include when released to all active distros.
+#if __has_include(<tf2/LinearMath/Transform.hpp>)
+#include <tf2/LinearMath/Transform.hpp>
+#else
 #include <tf2/LinearMath/Transform.h>
+#endif
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <moveit/utils/logger.hpp>
diff --git a/moveit_ros/robot_interaction/src/interactive_marker_helpers.cpp b/moveit_ros/robot_interaction/src/interactive_marker_helpers.cpp
index fe6fce7250..5d550af50d 100644
--- a/moveit_ros/robot_interaction/src/interactive_marker_helpers.cpp
+++ b/moveit_ros/robot_interaction/src/interactive_marker_helpers.cpp
@@ -36,7 +36,12 @@
 
 #include <math.h>
 #include <moveit/robot_interaction/interactive_marker_helpers.hpp>
+// TODO: Remove conditional include when released to all active distros.
+#if __has_include(<tf2/LinearMath/Quaternion.hpp>)
+#include <tf2/LinearMath/Quaternion.hpp>
+#else
 #include <tf2/LinearMath/Quaternion.h>
+#endif
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 namespace robot_interaction
diff --git a/moveit_ros/robot_interaction/src/robot_interaction.cpp b/moveit_ros/robot_interaction/src/robot_interaction.cpp
index 23d5cbacd5..98c97087b5 100644
--- a/moveit_ros/robot_interaction/src/robot_interaction.cpp
+++ b/moveit_ros/robot_interaction/src/robot_interaction.cpp
@@ -44,7 +44,12 @@
 #include <interactive_markers/menu_handler.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+// TODO: Remove conditional include when released to all active distros.
+#if __has_include(<tf2/LinearMath/Transform.hpp>)
+#include <tf2/LinearMath/Transform.hpp>
+#else
 #include <tf2/LinearMath/Transform.h>
+#endif
 #include <moveit/utils/logger.hpp>
 
 #include <algorithm>