diff --git a/control/trajectory_follower/CMakeLists.txt b/control/trajectory_follower/CMakeLists.txt
index cc0065a86dc20..64331e65a5e68 100644
--- a/control/trajectory_follower/CMakeLists.txt
+++ b/control/trajectory_follower/CMakeLists.txt
@@ -65,7 +65,7 @@ target_compile_options(${LATERAL_CONTROLLER_LIB} PRIVATE -Wno-error=old-style-ca
 
 # workaround to allow deprecated header to build on both galactic and rolling
 if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
-  target_compile_definitions(${LATERAL_CONTROLLER_LIB} PUBLIC
+  target_compile_definitions(${LATERAL_CONTROLLER_LIB} PRIVATE
     USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
   )
 endif()
@@ -95,7 +95,7 @@ target_compile_options(${LONGITUDINAL_CONTROLLER_LIB} PRIVATE -Wno-error=old-sty
 
 # workaround to allow deprecated header to build on both galactic and rolling
 if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
-  target_compile_definitions(${LONGITUDINAL_CONTROLLER_LIB} PUBLIC
+  target_compile_definitions(${LONGITUDINAL_CONTROLLER_LIB} PRIVATE
     USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
   )
 endif()
@@ -118,6 +118,13 @@ if(BUILD_TESTING)
   autoware_set_compile_options(${TEST_LATERAL_CONTROLLER_EXE})
   target_link_libraries(${TEST_LATERAL_CONTROLLER_EXE} ${LATERAL_CONTROLLER_LIB})
 
+  # workaround to allow deprecated header to build on both galactic and rolling
+  if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
+    target_compile_definitions(${TEST_LATERAL_CONTROLLER_EXE} PRIVATE
+      USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+    )
+  endif()
+
   set(TEST_LON_SOURCES
     test/test_debug_values.cpp
     test/test_pid.cpp
@@ -128,6 +135,13 @@ if(BUILD_TESTING)
   ament_add_gtest(${TEST_LONGITUDINAL_CONTROLLER_EXE} ${TEST_LON_SOURCES})
   autoware_set_compile_options(${TEST_LONGITUDINAL_CONTROLLER_EXE})
   target_link_libraries(${TEST_LONGITUDINAL_CONTROLLER_EXE} ${LONGITUDINAL_CONTROLLER_LIB})
+
+  # workaround to allow deprecated header to build on both galactic and rolling
+  if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
+    target_compile_definitions(${TEST_LONGITUDINAL_CONTROLLER_EXE} PRIVATE
+      USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+    )
+  endif()
 endif()
 
 # ament package generation and installing
diff --git a/control/trajectory_follower/include/trajectory_follower/mpc_utils.hpp b/control/trajectory_follower/include/trajectory_follower/mpc_utils.hpp
index 37e7a56d7cee2..64efa6dfaf451 100644
--- a/control/trajectory_follower/include/trajectory_follower/mpc_utils.hpp
+++ b/control/trajectory_follower/include/trajectory_follower/mpc_utils.hpp
@@ -24,6 +24,13 @@
 #include "motion_common/motion_common.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/utils.h"
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
+#else
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#endif
+
 #include "trajectory_follower/interpolate.hpp"
 #include "trajectory_follower/mpc_trajectory.hpp"
 #include "trajectory_follower/visibility_control.hpp"
@@ -32,7 +39,6 @@
 #include "autoware_auto_planning_msgs/msg/trajectory_point.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "geometry_msgs/msg/twist_stamped.hpp"
-#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
 
 #include <cmath>
 #include <string>
diff --git a/control/trajectory_follower/src/longitudinal_controller_utils.cpp b/control/trajectory_follower/src/longitudinal_controller_utils.cpp
index 7e82740017cd3..4a376eb0920de 100644
--- a/control/trajectory_follower/src/longitudinal_controller_utils.cpp
+++ b/control/trajectory_follower/src/longitudinal_controller_utils.cpp
@@ -20,7 +20,11 @@
 
 #include <experimental/optional>  // NOLINT
 
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include "tf2_geometry_msgs/tf2_geometry_msgs.h"
+#else
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#endif
 
 #include <algorithm>
 #include <limits>
diff --git a/control/trajectory_follower/src/pid.cpp b/control/trajectory_follower/src/pid.cpp
index d79f5f5e4f47c..badb3fb51a1a0 100644
--- a/control/trajectory_follower/src/pid.cpp
+++ b/control/trajectory_follower/src/pid.cpp
@@ -16,6 +16,7 @@
 
 #include <algorithm>
 #include <memory>
+#include <stdexcept>
 #include <utility>
 #include <vector>
 
diff --git a/control/trajectory_follower/test/test_longitudinal_controller_utils.cpp b/control/trajectory_follower/test/test_longitudinal_controller_utils.cpp
index 35957855a74fa..102c56bacbac6 100644
--- a/control/trajectory_follower/test/test_longitudinal_controller_utils.cpp
+++ b/control/trajectory_follower/test/test_longitudinal_controller_utils.cpp
@@ -21,7 +21,12 @@
 #include "geometry_msgs/msg/point.hpp"
 #include "geometry_msgs/msg/pose.hpp"
 #include "geometry_msgs/msg/quaternion.hpp"
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include "tf2_geometry_msgs/tf2_geometry_msgs.h"
+#else
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#endif
 
 #include <limits>
 
diff --git a/control/trajectory_follower/test/test_mpc.cpp b/control/trajectory_follower/test/test_mpc.cpp
index a9cfde53073f2..47a0e1204ccba 100644
--- a/control/trajectory_follower/test/test_mpc.cpp
+++ b/control/trajectory_follower/test/test_mpc.cpp
@@ -25,7 +25,12 @@
 #include "autoware_auto_system_msgs/msg/float32_multi_array_diagnostic.hpp"
 #include "autoware_auto_vehicle_msgs/msg/steering_report.hpp"
 #include "geometry_msgs/msg/pose.hpp"
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include "tf2_geometry_msgs/tf2_geometry_msgs.h"
+#else
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#endif
 
 #include <memory>
 #include <string>