diff --git a/test_tf2/CMakeLists.txt b/test_tf2/CMakeLists.txt
index b99e10e21..9b9fa8440 100644
--- a/test_tf2/CMakeLists.txt
+++ b/test_tf2/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.0.2)
 
 project(test_tf2)
 
-find_package(catkin REQUIRED COMPONENTS rosconsole roscpp rostest tf tf2 tf2_bullet tf2_ros tf2_geometry_msgs tf2_kdl tf2_msgs)
+find_package(catkin REQUIRED COMPONENTS rosconsole roscpp rostest tf tf2 tf2_bullet tf2_ros tf2_geometry_msgs tf2_kdl tf2_msgs tf2_eigen)
 find_package(Boost REQUIRED COMPONENTS thread)
 find_package(orocos_kdl REQUIRED)
 
diff --git a/test_tf2/package.xml b/test_tf2/package.xml
index 8e1f017fe..1c79475bc 100644
--- a/test_tf2/package.xml
+++ b/test_tf2/package.xml
@@ -23,6 +23,7 @@
   <build_depend>tf2_geometry_msgs</build_depend>
   <build_depend>tf2_kdl</build_depend>
   <build_depend>tf2_msgs</build_depend>
+  <build_depend>tf2_eigen</build_depend>
 
   <run_depend>rosconsole</run_depend>
   <run_depend>roscpp</run_depend>
@@ -34,6 +35,7 @@
   <run_depend>tf2_geometry_msgs</run_depend>
   <run_depend>tf2_kdl</run_depend>
   <run_depend>tf2_msgs</run_depend>
+  <run_depend>tf2_eigen</run_depend>
 
   <test_depend>rosunit</test_depend>
   <test_depend>rosbash</test_depend>
diff --git a/test_tf2/test/test_convert.cpp b/test_tf2/test/test_convert.cpp
index d5fb2629e..a8b0dfe71 100644
--- a/test_tf2/test/test_convert.cpp
+++ b/test_tf2/test/test_convert.cpp
@@ -39,6 +39,7 @@
 #include <tf2_kdl/tf2_kdl.h>
 #include <tf2_bullet/tf2_bullet.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_eigen/tf2_eigen.h>
 #include <ros/time.h>
 
 TEST(tf2Convert, kdlToBullet)
@@ -97,6 +98,18 @@ TEST(tf2Convert, kdlBulletROSConversions)
   EXPECT_NEAR(b1.z(), b4.z(), epsilon);
 } 
 
+TEST(tf2Convert, ConvertTf2Quaternion)
+{
+  tf2::Quaternion tq(1,2,3,4);
+  Eigen::Quaterniond eq;
+  tf2::convert(tq, eq);
+
+  EXPECT_EQ(tq.w(), eq.w());
+  EXPECT_EQ(tq.x(), eq.x());
+  EXPECT_EQ(tq.y(), eq.y());
+  EXPECT_EQ(tq.z(), eq.z());
+}
+
 int main(int argc, char** argv)
 {
   testing::InitGoogleTest(&argc, argv);
diff --git a/tf2/include/tf2/impl/convert.h b/tf2/include/tf2/impl/convert.h
index 6ccca3128..6b68ccdd4 100644
--- a/tf2/include/tf2/impl/convert.h
+++ b/tf2/include/tf2/impl/convert.h
@@ -55,21 +55,33 @@ template <>
 template <typename A, typename B>
 inline void Converter<true, false>::convert(const A& a, B& b)
 {
+#ifdef _MSC_VER
+  tf2::fromMsg(a, b);
+#else
   fromMsg(a, b);
+#endif
 }
 
 template <>
 template <typename A, typename B>
 inline void Converter<false, true>::convert(const A& a, B& b)
 {
+#ifdef _MSC_VER
+  b = tf2::toMsg(a);
+#else
   b = toMsg(a);
+#endif
 }
 
 template <>
 template <typename A, typename B>
 inline void Converter<false, false>::convert(const A& a, B& b)
 {
+#ifdef _MSC_VER
+  tf2::fromMsg(tf2::toMsg(a), b);
+#else
   fromMsg(toMsg(a), b);
+#endif
 }
 
 }