diff --git a/zbar_ros/src/barcode_reader_node.cpp b/zbar_ros/src/barcode_reader_node.cpp
index 8ef023e..d2d4b16 100644
--- a/zbar_ros/src/barcode_reader_node.cpp
+++ b/zbar_ros/src/barcode_reader_node.cpp
@@ -85,7 +85,7 @@ void BarcodeReaderNode::imageCb(sensor_msgs::msg::Image::ConstSharedPtr image)
         point_it != symbol_it->point_end();
         ++point_it)
       {
-        geometry_msgs::msg::Point point;
+        vision_msgs::msg::Point2D point;
         point.x = (*point_it).x;
         point.y = (*point_it).y;
         RCLCPP_DEBUG(get_logger(), "  Point: %f, %f", point.x, point.y);
diff --git a/zbar_ros_interfaces/CMakeLists.txt b/zbar_ros_interfaces/CMakeLists.txt
index c282aa5..58ded16 100644
--- a/zbar_ros_interfaces/CMakeLists.txt
+++ b/zbar_ros_interfaces/CMakeLists.txt
@@ -18,12 +18,12 @@ endif()
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
-find_package(geometry_msgs REQUIRED)
+find_package(vision_msgs REQUIRED)
 
 # generate interfaces
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Symbol.msg"
-  DEPENDENCIES geometry_msgs
+  DEPENDENCIES vision_msgs
 )
 
 ament_export_dependencies(rosidl_default_runtime)
diff --git a/zbar_ros_interfaces/msg/Symbol.msg b/zbar_ros_interfaces/msg/Symbol.msg
index 11dae92..2245e4b 100644
--- a/zbar_ros_interfaces/msg/Symbol.msg
+++ b/zbar_ros_interfaces/msg/Symbol.msg
@@ -1,2 +1,2 @@
 string data
-geometry_msgs/Point[] points
+vision_msgs/Point2D[] points
diff --git a/zbar_ros_interfaces/package.xml b/zbar_ros_interfaces/package.xml
index 1b8216f..1884d92 100644
--- a/zbar_ros_interfaces/package.xml
+++ b/zbar_ros_interfaces/package.xml
@@ -9,6 +9,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>vision_msgs</depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>