diff --git a/CMakeLists.txt b/CMakeLists.txt
index a1e0330e..40fb4a7e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,6 +20,10 @@ find_package(rosidl_default_generators REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
+find_package(pcl_conversions REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(image_transport REQUIRED)
 # install(FILES DESTINATION share/${PROJECT_NAME})
 # ament_export_dependencies(rosidl_default_runtime)
 # ament_export_dependencies(rosidl_default_runtime)
@@ -47,6 +51,7 @@ target_include_directories(PandarGeneral PRIVATE
     src/HesaiLidar_General_SDK/src/PandarGeneralRaw/
     ${Boost_INCLUDE_DIRS}
     ${PCL_INCLUDE_DIRS}
+    ${tf2_ros_INCLUDE_DIRS}
     # ${ament_INCLUDE_DIRS}
 )
 target_link_libraries(PandarGeneral
@@ -55,6 +60,7 @@ target_link_libraries(PandarGeneral
     Boost::thread
     pcap
     # ${ament_LIBRARIES}
+    ${tf2_ros_LIBRARIES}
 )
 
 rosidl_target_interfaces(PandarGeneral  ${PROJECT_NAME} "rosidl_typesupport_cpp")
@@ -99,6 +105,9 @@ ament_target_dependencies(hesai_lidar_node
   "sensor_msgs"
   "std_msgs"
   "tf2_geometry_msgs"
+  "tf2_ros"
+  "image_transport"
+  "rclcpp_components"
 )
 
 target_include_directories(hesai_lidar_node PRIVATE
diff --git a/src/HesaiLidar_General_SDK/src/PandarGeneralRaw/src/pandarGeneral_internal.h b/src/HesaiLidar_General_SDK/src/PandarGeneralRaw/src/pandarGeneral_internal.h
index cd69a3b0..287e58be 100644
--- a/src/HesaiLidar_General_SDK/src/PandarGeneralRaw/src/pandarGeneral_internal.h
+++ b/src/HesaiLidar_General_SDK/src/PandarGeneralRaw/src/pandarGeneral_internal.h
@@ -26,6 +26,7 @@
 #include <string>
 
 #include <boost/function.hpp>
+#include <boost/bind.hpp>
 
 #include "pandarGeneral/point_types.h"
 #include "src/input.h"
@@ -35,6 +36,7 @@
 #include <hesai_lidar/msg/pandar_scan.hpp>
 #include <hesai_lidar/msg/pandar_packet.hpp>
 #include <tf2_ros/transform_listener.h>
+#include <tf2_ros/buffer.h>
 // #include <geometry_msgs/TransformStamped.h>
 #include <Eigen/Dense>
 
diff --git a/src/cloud_nodelet.cc b/src/cloud_nodelet.cc
index f7921c74..fbe4fcea 100644
--- a/src/cloud_nodelet.cc
+++ b/src/cloud_nodelet.cc
@@ -8,7 +8,7 @@
  */
 
 #include <ros/ros.h>
-#include <image_transport/image_transport.h>
+#include <image_transport/image_transport.hpp>
 #include <sensor_msgs/PointCloud2.h>
 #include <pcl_conversions/pcl_conversions.h>
 #include <pcl/io/pcd_io.h>
diff --git a/src/main.cc b/src/main.cc
index 71ebafc4..17e2cef4 100644
--- a/src/main.cc
+++ b/src/main.cc
@@ -1,5 +1,5 @@
 #include <ros/ros.h>
-#include <image_transport/image_transport.h>
+#include <image_transport/image_transport.hpp>
 #include <sensor_msgs/PointCloud2.h>
 #include <pcl_conversions/pcl_conversions.h>
 #include <pcl/io/pcd_io.h>
diff --git a/src/main_ros2.cc b/src/main_ros2.cc
index 5203eada..62b49535 100644
--- a/src/main_ros2.cc
+++ b/src/main_ros2.cc
@@ -2,10 +2,10 @@
 #include <rclcpp/rclcpp.hpp>
 #include <hesai_lidar/msg/pandar_scan.hpp>
 #include <hesai_lidar/msg/pandar_packet.hpp>
-#include <image_transport/image_transport.h>
+#include <image_transport/image_transport.hpp>
 #include <pcl_conversions/pcl_conversions.h>
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include "pandarGeneral_sdk/pandarGeneral_sdk.h"
 #include <fstream>
 #include <memory>
@@ -13,6 +13,7 @@
 #include <string>
 #include <functional>
 #include "std_msgs/msg/string.hpp"
+#include "boost/bind.hpp"
 // #define PRINT_FLAG 
 
 using namespace std;
@@ -40,7 +41,7 @@ class HesaiLidarClient: public rclcpp::Node
     this->declare_parameter<std::string>("target_frame", "");
     this->declare_parameter<std::string>("fixed_frame", "");
     rclcpp::QoS qos(rclcpp::KeepLast(7));
-    lidarPublisher = this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar");
+    lidarPublisher = this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar", qos);
     packetPublisher = this->create_publisher<hesai_lidar::msg::PandarScan>("pandar_packets", qos);
     this->timer_callback();
   }