diff --git a/drake_ros/CMakeLists.txt b/drake_ros/CMakeLists.txt
index a40174c5..82b6996f 100644
--- a/drake_ros/CMakeLists.txt
+++ b/drake_ros/CMakeLists.txt
@@ -13,6 +13,7 @@ endif()
 find_package(ament_cmake_ros REQUIRED)
 
 find_package(drake REQUIRED)
+find_package(Python3 COMPONENTS Interpreter Development)
 # Must use Drake's fork of Pybind11
 find_package(pybind11 REQUIRED HINTS "${drake_DIR}/../pybind11" NO_DEFAULT_PATH)
 
diff --git a/drake_ros/drake.bzl b/drake_ros/drake.bzl
index 8f78cf54..482abee2 100644
--- a/drake_ros/drake.bzl
+++ b/drake_ros/drake.bzl
@@ -1,5 +1,5 @@
 DRAKE_SUGGESTED_VERSION = struct(
-    url = "https://github.com/RobotLocomotion/drake/archive/refs/tags/v1.32.0.tar.gz",  # noqa
-    sha256 = "8d8211a1654956891cf43f698d01a3742f3aa2237d03635cb03e6cf3e8631b38",  # noqa,
-    strip_prefix = "drake-1.32.0",
+    url = "https://github.com/RobotLocomotion/drake/archive/refs/tags/v1.34.0.tar.gz",  # noqa
+    sha256 = "0b57df077192a9480b799320c1edee3cc524d5e9b97aaa6861de09681542175f",  # noqa,
+    strip_prefix = "drake-1.34.0",
 )
diff --git a/drake_ros/drake_ros/CMakeLists.txt b/drake_ros/drake_ros/CMakeLists.txt
index fba53e36..05b7a13d 100644
--- a/drake_ros/drake_ros/CMakeLists.txt
+++ b/drake_ros/drake_ros/CMakeLists.txt
@@ -25,7 +25,6 @@ install(
 )
 
 if(BUILD_TESTING)
-  find_package(Python3 COMPONENTS Interpreter)
   find_package(ament_cmake_test REQUIRED)
 
   # TODO(eric.cousineau): I am not sure how to place a test-only Python library
diff --git a/drake_ros/viz/scene_markers_system.cc b/drake_ros/viz/scene_markers_system.cc
index 5248a538..c3a03cda 100644
--- a/drake_ros/viz/scene_markers_system.cc
+++ b/drake_ros/viz/scene_markers_system.cc
@@ -213,7 +213,8 @@ class SceneGeometryToMarkers : public drake::geometry::ShapeReifier {
     marker.scale.y = convex.scale();
     marker.scale.z = convex.scale();
     // Assume it is an absolute path and turn it into a file URL.
-    marker.mesh_resource = "file://" + convex.filename();
+    DRAKE_THROW_UNLESS(convex.source().is_path());
+    marker.mesh_resource = "file://" + convex.source().path().string();
     marker.pose = RigidTransformToRosPose(X_FG_);
   }
 
@@ -226,7 +227,8 @@ class SceneGeometryToMarkers : public drake::geometry::ShapeReifier {
     marker.scale.y = mesh.scale();
     marker.scale.z = mesh.scale();
     // Assume it is an absolute path and turn it into a file URL.
-    marker.mesh_resource = "file://" + mesh.filename();
+    DRAKE_THROW_UNLESS(mesh.source().is_path());
+    marker.mesh_resource = "file://" + mesh.source().path().string();
     marker.pose = RigidTransformToRosPose(X_FG_);
   }
 
diff --git a/ros2_example_bazel_installed/setup/prereq-rosdep-keys.txt b/ros2_example_bazel_installed/setup/prereq-rosdep-keys.txt
index 895c17b0..422f44c3 100644
--- a/ros2_example_bazel_installed/setup/prereq-rosdep-keys.txt
+++ b/ros2_example_bazel_installed/setup/prereq-rosdep-keys.txt
@@ -17,6 +17,8 @@ libfreetype6-dev
 libopencv-dev
 liborocos-kdl-dev
 libpcl-all-dev
+libpcl-common
+libpcl-io
 libqt5-core
 libqt5-gui
 libqt5-opengl