diff --git a/include/moveit_visual_tools/imarker_end_effector.h b/include/moveit_visual_tools/imarker_end_effector.h
index 39b7e11..cae9243 100644
--- a/include/moveit_visual_tools/imarker_end_effector.h
+++ b/include/moveit_visual_tools/imarker_end_effector.h
@@ -41,7 +41,11 @@
 #include <interactive_markers/menu_handler.hpp>
 
 // MoveIt
+#if __has_include(<moveit/robot_state/robot_state.hpp>)
+#include <moveit/robot_state/robot_state.hpp>
+#else
 #include <moveit/robot_state/robot_state.h>
+#endif
 
 // this package
 #include <moveit_visual_tools/moveit_visual_tools.h>
diff --git a/include/moveit_visual_tools/imarker_robot_state.h b/include/moveit_visual_tools/imarker_robot_state.h
index 01c5c2b..e60c62a 100644
--- a/include/moveit_visual_tools/imarker_robot_state.h
+++ b/include/moveit_visual_tools/imarker_robot_state.h
@@ -39,7 +39,11 @@
 #include <visualization_msgs/msg/interactive_marker_feedback.hpp>
 
 // MoveIt
+#if __has_include(<moveit/robot_state/robot_state.hpp>)
+#include <moveit/robot_state/robot_state.hpp>
+#else
 #include <moveit/robot_state/robot_state.h>
+#endif
 #include <moveit_visual_tools/moveit_visual_tools.h>
 
 // C++
diff --git a/include/moveit_visual_tools/moveit_visual_tools.h b/include/moveit_visual_tools/moveit_visual_tools.h
index 03a5eb4..e9273d8 100644
--- a/include/moveit_visual_tools/moveit_visual_tools.h
+++ b/include/moveit_visual_tools/moveit_visual_tools.h
@@ -38,7 +38,11 @@
 #include <rviz_visual_tools/rviz_visual_tools.hpp>
 
 // MoveIt
+#if __has_include(<moveit/planning_scene_monitor/planning_scene_monitor.hpp>)
+#include <moveit/planning_scene_monitor/planning_scene_monitor.hpp>
+#else
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
+#endif
 
 // MoveIt Messages
 #include <moveit_msgs/msg/grasp.hpp>
diff --git a/src/imarker_robot_state.cpp b/src/imarker_robot_state.cpp
index f947229..fe777cb 100644
--- a/src/imarker_robot_state.cpp
+++ b/src/imarker_robot_state.cpp
@@ -31,8 +31,17 @@
 */
 
 // MoveIt
+#if __has_include(<moveit/robot_state/conversions.hpp>)
+#include <moveit/robot_state/conversions.hpp>
+#else
 #include <moveit/robot_state/conversions.h>
+#endif
+
+#if __has_include(<moveit/transforms/transforms.hpp>)
+#include <moveit/transforms/transforms.hpp>
+#else
 #include <moveit/transforms/transforms.h>
+#endif
 
 // this package
 #include <moveit_visual_tools/imarker_robot_state.h>
diff --git a/src/moveit_visual_tools.cpp b/src/moveit_visual_tools.cpp
index 4ae6d13..a386efc 100644
--- a/src/moveit_visual_tools.cpp
+++ b/src/moveit_visual_tools.cpp
@@ -35,9 +35,23 @@
 #include <moveit_msgs/msg/collision_object.hpp>
 
 // MoveIt
+#if __has_include(<moveit/robot_state/conversions.hpp>)
+#include <moveit/robot_state/conversions.hpp>
+#else
 #include <moveit/robot_state/conversions.h>
+#endif
+
+#if __has_include(<moveit/collision_detection/collision_tools.hpp>)
+#include <moveit/collision_detection/collision_tools.hpp>
+#else
 #include <moveit/collision_detection/collision_tools.h>
+#endif
+
+#if __has_include(<moveit/macros/console_colors.hpp>)
+#include <moveit/macros/console_colors.hpp>
+#else
 #include <moveit/macros/console_colors.h>
+#endif
 
 // Conversions
 #if __has_include(<tf2_eigen/tf2_eigen.hpp>)
diff --git a/src/moveit_visual_tools_demo.cpp b/src/moveit_visual_tools_demo.cpp
index d34030c..4e4fe28 100644
--- a/src/moveit_visual_tools_demo.cpp
+++ b/src/moveit_visual_tools_demo.cpp
@@ -39,7 +39,11 @@
 #include <moveit_visual_tools/moveit_visual_tools.h>
 
 // MoveIt
+#if __has_include(<moveit/planning_scene_monitor/planning_scene_monitor.hpp>)
+#include <moveit/planning_scene_monitor/planning_scene_monitor.hpp>
+#else
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
+#endif
 
 // C++
 #include <string>