diff --git a/ROS2/src/VzenseROS/CMakeLists.txt b/ROS2/src/VzenseROS/CMakeLists.txt
index 767efef..29d5250 100644
--- a/ROS2/src/VzenseROS/CMakeLists.txt
+++ b/ROS2/src/VzenseROS/CMakeLists.txt
@@ -25,8 +25,10 @@ find_package(std_msgs REQUIRED)
 find_package(cv_bridge REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
 find_package(pcl_conversions REQUIRED) 
 find_package(PCL REQUIRED COMPONENTS common io)
+find_package(image_transport REQUIRED)
 #find_package(boost REQUIRED)
 
 add_definitions(${PCL_DEFINITIONS})
@@ -64,7 +66,7 @@ add_executable(vzense_camera src/vzense_driver.cpp
 file(GLOB PCL_LIBRARIES /usr/lib/x86_64-linux-gnu/libpcl_*)
                                  
 target_link_libraries(vzense_camera  ${libNebula_api} ${OpenCV_LIBRARIES} ${PCL_LIBRARIES} ${Boost_LIBRARIES})
-ament_target_dependencies(vzense_camera rclcpp sensor_msgs std_msgs cv_bridge tf2 tf2_ros pcl_conversions)
+ament_target_dependencies(vzense_camera rclcpp sensor_msgs std_msgs cv_bridge tf2 tf2_ros pcl_conversions image_transport tf2_geometry_msgs)
 
 install(
   DIRECTORY dependencies/Lib/ 
diff --git a/ROS2/src/VzenseROS/include/vzense_manager.hpp b/ROS2/src/VzenseROS/include/vzense_manager.hpp
index d6dc35d..024d47f 100644
--- a/ROS2/src/VzenseROS/include/vzense_manager.hpp
+++ b/ROS2/src/VzenseROS/include/vzense_manager.hpp
@@ -1,35 +1,21 @@
 #ifndef VZENSE_MANAGER_H
 #define VZENSE_MANAGER_H
 
-
-#include <csignal>
-#include <iostream>
-// 包含头文件ros/ros.h,ROS提供的C++客户端库，在后面的编译配置中要添加相应的依赖库roscpp
-
 #include "rclcpp/rclcpp.hpp"
-#include "rclcpp/logger.hpp"
 // 使用std_msgs的内置消息或者自定义数据来传递图像数据
 #include <sensor_msgs/image_encodings.hpp>
 #include <sensor_msgs/msg/image.hpp>
 
 // opencv读取的图像数据传给sensor_msgs的图像消息
-#include <cv_bridge/cv_bridge.h>
+#include <cv_bridge/cv_bridge.hpp>
 
 // 用来发布和订阅图像信息
-#include <image_transport/image_transport.h>
-#include "std_msgs/msg/string.hpp"
+#include <image_transport/image_transport.hpp>
 #include <rcl_interfaces/msg/parameter_event.hpp>
 #include "pcl_conversions/pcl_conversions.h"
 
- 
-#include <pcl/point_types.h>
 #include <pcl/io/pcd_io.h>
-#include <pcl/io/ply_io.h>
-#include <pcl/point_types.h>
-#include <pcl/console/print.h>
-#include <pcl/console/parse.h>
-#include <pcl/console/time.h>
- 
+
 #include <opencv2/opencv.hpp>
 #include "VzenseNebula_api.h"
 using namespace std;
diff --git a/ROS2/src/VzenseROS/package.xml b/ROS2/src/VzenseROS/package.xml
index deb2ff1..004ba15 100644
--- a/ROS2/src/VzenseROS/package.xml
+++ b/ROS2/src/VzenseROS/package.xml
@@ -16,7 +16,9 @@
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>pcl_conversions</depend>
-  
+  <depend>image_transport</depend>
+  <depend>tf2_geometry_msgs</depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
diff --git a/ROS2/src/VzenseROS/src/vzense_manager.cpp b/ROS2/src/VzenseROS/src/vzense_manager.cpp
index 80ff13e..f789306 100644
--- a/ROS2/src/VzenseROS/src/vzense_manager.cpp
+++ b/ROS2/src/VzenseROS/src/vzense_manager.cpp
@@ -2,7 +2,7 @@
 #include <thread>
 #include "tf2/LinearMath/Matrix3x3.h"
 #include "tf2/LinearMath/Quaternion.h"
-#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #include <tf2_ros/static_transform_broadcaster.h>
 
 using namespace std::chrono_literals;