diff --git a/tf2/include/tf2/impl/utils.h b/tf2/include/tf2/impl/utils.h
index a38eb4545..8953ceed3 100644
--- a/tf2/include/tf2/impl/utils.h
+++ b/tf2/include/tf2/impl/utils.h
@@ -24,6 +24,10 @@
 
 namespace tf2
 {
+
+// Forward declare functions needed in this header
+void fromMsg(const geometry_msgs::msg::Quaternion & in, tf2::Quaternion & out);
+
 namespace impl
 {