diff --git a/README.md b/README.md
index 3efadf10..a2db78e4 100644
--- a/README.md
+++ b/README.md
@@ -122,6 +122,13 @@ Install a snapshot from PyPI
 pip install spatialmath-python
 ```
 
+Note that if you are using ROS2, you may run into version conflicts when using `rosdep`, particularly
+concerning `matplotlib`. If this happens, you can enable optional version pinning with
+
+```
+pip install spatialmath-python[ros-humble]
+```
+
 ## From GitHub
 
 Install the current code base from GitHub and pip install a link to that cloned copy
diff --git a/pyproject.toml b/pyproject.toml
index cead2ac3..4295f2f3 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -36,9 +36,9 @@ keywords = [
 ]
 
 dependencies = [
-    "numpy>=1.22,<2", # Cannot use 2.0 due to matplotlib version pinning.
+    "numpy>=1.22",
     "scipy",
-    "matplotlib==3.5.1", # Large user-base has apt-installed python3-matplotlib (ROS2) which is pinned to this version.
+    "matplotlib",
     "ansitable",
     "typing_extensions",
     "pre-commit",
@@ -70,6 +70,11 @@ docs = [
     "sphinx-autodoc-typehints",
 ]
 
+ros-humble = [
+    "matplotlib==3.5.1", # Large user-base has apt-installed python3-matplotlib (ROS2) which is pinned to this version.
+    "numpy<2", # Cannot use 2.0 due to matplotlib version pinning.
+]
+
 [build-system]
 
 requires = ["setuptools", "oldest-supported-numpy"]