diff --git a/rmf_robot_sim_common/include/rmf_robot_sim_common/slotcar_common.hpp b/rmf_robot_sim_common/include/rmf_robot_sim_common/slotcar_common.hpp
index 96e3ab7..a9e8ad3 100644
--- a/rmf_robot_sim_common/include/rmf_robot_sim_common/slotcar_common.hpp
+++ b/rmf_robot_sim_common/include/rmf_robot_sim_common/slotcar_common.hpp
@@ -22,7 +22,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 #include <Eigen/Geometry>
-#include <tf2_ros/transform_broadcaster.h>
+#include <tf2_ros/transform_broadcaster.hpp>
 
 #include <geometry_msgs/msg/transform_stamped.hpp>
 #include <rmf_fleet_msgs/msg/robot_collision.hpp>
diff --git a/rmf_robot_sim_common/src/slotcar_common.cpp b/rmf_robot_sim_common/src/slotcar_common.cpp
index ce3036c..151bc74 100644
--- a/rmf_robot_sim_common/src/slotcar_common.cpp
+++ b/rmf_robot_sim_common/src/slotcar_common.cpp
@@ -205,7 +205,8 @@ void SlotcarCommon::init_ros_node(const rclcpp::Node::SharedPtr node)
   _current_mode.mode = RobotMode::MODE_MOVING;
   _ros_node = std::move(node);
 
-  _tf2_broadcaster = std::make_shared<tf2_ros::TransformBroadcaster>(_ros_node);
+  _tf2_broadcaster =
+    std::make_shared<tf2_ros::TransformBroadcaster>(*_ros_node);
 
   _robot_state_pub =
     _ros_node->create_publisher<rmf_fleet_msgs::msg::RobotState>(