diff --git a/packages/camera/CMakeLists.txt b/packages/camera/CMakeLists.txt
index 98fec16..21f053b 100644
--- a/packages/camera/CMakeLists.txt
+++ b/packages/camera/CMakeLists.txt
@@ -15,13 +15,13 @@ find_package(yaml_cpp_vendor REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(Boost REQUIRED)
 find_package(camera_srvs REQUIRED)
+find_package(lock_free_queue REQUIRED)
 
 
 add_library(mvsdk SHARED IMPORTED)
 set_target_properties(mvsdk PROPERTIES IMPORTED_LOCATION "/lib/libMVSDK.so")
 
-# add_library(queue_lib SHARED IMPORTED)
-# set_target_properties(queue_lib PROPERTIES IMPORTED_LOCATION "/handy/install/lock_free_queue/lib/libqueue_lib.so")
+add_library(queue_lib INTERFACE)
 
 add_executable(camera src/camera_main.cpp  src/camera.cpp src/params.cpp src/camera_status.cpp)
 add_executable(calibration src/calibration_main.cpp  src/calibration.cpp src/params.cpp)
@@ -40,7 +40,8 @@ ament_target_dependencies(
     cv_bridge
     OpenCV
     sensor_msgs
-    yaml_cpp_vendor)
+    yaml_cpp_vendor
+    lock_free_queue)
 
 ament_target_dependencies(
   calibration
@@ -57,8 +58,7 @@ ament_target_dependencies(
     Boost
     camera_srvs)
 
-target_link_libraries(camera mvsdk)
-# target_link_libraries(camera queue_lib)
+target_link_libraries(camera mvsdk queue_lib)
 
 install(TARGETS camera calibration
    DESTINATION lib/${PROJECT_NAME})
diff --git a/packages/camera/include/camera.h b/packages/camera/include/camera.h
index 3d7e5c0..a1572be 100644
--- a/packages/camera/include/camera.h
+++ b/packages/camera/include/camera.h
@@ -6,7 +6,7 @@
 #include <opencv2/core/core.hpp>
 
 #include "CameraApi.h"
-#include "lock_free_queue_impl.h"
+#include "lock_free_queue.h"
 #include "params.h"
 
 #include <chrono>
diff --git a/packages/camera/package.xml b/packages/camera/package.xml
index 69eb604..02ac16c 100644
--- a/packages/camera/package.xml
+++ b/packages/camera/package.xml
@@ -21,6 +21,7 @@
   <depend>yaml_cpp_vendor</depend>
   <depend>Boost</depend>
   <depend>camera_srvs</depend>
+  <depend>lock_free_queue</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/packages/lock_free_queue/CMakeLists.txt b/packages/lock_free_queue/CMakeLists.txt
index d8128ed..ed06841 100644
--- a/packages/lock_free_queue/CMakeLists.txt
+++ b/packages/lock_free_queue/CMakeLists.txt
@@ -5,14 +5,13 @@ find_package(ament_cmake_gtest REQUIRED)
 
 add_compile_options(-Wall -Wextra -Wpedantic -Wno-dev)
 
-add_library(queue_lib SHARED src/lock_free_queue.cpp)
-target_include_directories(queue_lib PUBLIC
+add_library(queue_lib INTERFACE)
+target_include_directories(queue_lib INTERFACE
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>")
 
-install(TARGETS queue_lib LIBRARY DESTINATION lib)
-
-ament_add_gtest(queue_test tests/src/test.cpp src/lock_free_queue.cpp)
+ament_add_gtest(queue_test tests/src/test.cpp)
 target_include_directories(queue_test PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>")
+target_link_libraries(queue_test queue_lib)
 
 ament_package()
diff --git a/packages/lock_free_queue/include/lock_free_queue_impl.h b/packages/lock_free_queue/include/lock_free_queue.h
similarity index 100%
rename from packages/lock_free_queue/include/lock_free_queue_impl.h
rename to packages/lock_free_queue/include/lock_free_queue.h
diff --git a/packages/lock_free_queue/include/lock_free_queue_decl.h b/packages/lock_free_queue/include/lock_free_queue_decl.h
deleted file mode 100644
index 1f64aec..0000000
--- a/packages/lock_free_queue/include/lock_free_queue_decl.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#pragma once
-
-#include <atomic>
-#include <vector>
-
-namespace handy {
-
-/*
-    Node consists of the value itself and index of the vector where it was added
-    this index is required to solve ABA problem
-*/
-template<typename T>
-struct Node {
-    T value;
-    // generation is changed on each assignment and then used to determine
-    // whether this Node was changed by different thread or not
-    std::atomic<int> generation{0};
-};
-
-template<typename T>
-class LockFreeQueue {
-  public:
-    explicit LockFreeQueue(int size);
-
-    LockFreeQueue(LockFreeQueue&& other) = delete;
-    LockFreeQueue(const LockFreeQueue& other) = delete;
-
-    bool push(const T& value);
-    bool pop(T& data);
-
-  private:
-    std::vector<Node<T>> data_;
-    std::atomic<int> head_ = 0;
-    std::atomic<int> tail_ = 0;
-};
-}  // namespace handy
diff --git a/packages/lock_free_queue/src/lock_free_queue.cpp b/packages/lock_free_queue/src/lock_free_queue.cpp
deleted file mode 100644
index abd9454..0000000
--- a/packages/lock_free_queue/src/lock_free_queue.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "lock_free_queue_impl.h"
diff --git a/packages/lock_free_queue/tests/src/test.cpp b/packages/lock_free_queue/tests/src/test.cpp
index 5ea8d31..357042f 100644
--- a/packages/lock_free_queue/tests/src/test.cpp
+++ b/packages/lock_free_queue/tests/src/test.cpp
@@ -1,4 +1,4 @@
-#include "lock_free_queue_impl.h"
+#include "lock_free_queue.h"
 
 #include <gtest/gtest.h>