Topological crystalline superconductors are known to have possible higher-order topology, which results in Majorana modes on $d-2$ or lower dimensional boundaries. Given the rich possibilities of boundary signatures, it is desirable to have topological invariants that can predict the type of Majorana modes from band structures. Although symmetry indicators, a type of invariants that depends only on the band data at high-symmetry points, have been proposed for certain crystalline superconductors, there exist symmetry classes in which symmetry indicators fail to distinguish superconductors with different Majorana boundaries. Here, we systematically obtain topological invariants for an example of this kind, the two-dimensional time-reversal symmetric superconductors with two-fold rotational symmetry $C_2$. First, we show that the non-trivial topology is independent of band data on the high-symmetry points by conducting a momentum-space classification study. Then from the resulting K groups, we derive calculable expressions for four $mathbb{Z}_2$ invariants defined on the high-symmetry lines or general points in the Brillouin zone. Finally, together with a real-space classification study, we establish the bulk-boundary correspondence and show that the four $mathbb{Z}_2$ invariants can predict Majorana boundary types from band structures. Our proposed invariants can fuel practical material searches for $C_2$-symmetric topological superconductors featuring Majorana edge and corner modes.
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