diff --git a/.github/workflows/ros2_lyrical.yml b/.github/workflows/ros2_lyrical.yml
new file mode 100644
index 0000000..2291669
--- /dev/null
+++ b/.github/workflows/ros2_lyrical.yml
@@ -0,0 +1,20 @@
+name: ros2_lyrical
+
+on:
+  push:
+    branches:
+      - 'main'
+  pull_request:
+    branches:
+      - 'main'
+  workflow_dispatch:
+    branches:
+      - '*'
+
+jobs:
+  lyrical:
+    name: ros2-lyrical
+    uses: ./.github/workflows/ros2_template.yml
+    with:
+      docker_base_image: rostooling/setup-ros-docker:ubuntu-resolute-latest
+      ros_distro: lyrical
diff --git a/README.md b/README.md
index 5d1383c..2157e20 100644
--- a/README.md
+++ b/README.md
@@ -123,6 +123,7 @@ colcon build
 | ------ | -- | ------------ | ----- | ----- |
 | Humble | Ubuntu 22.04 | x86\_64 | [![ros2-humble build](https://img.shields.io/github/check-runs/uos/rmcl/main?checkName=ros2-humble%20%2F%20build)](https://github.com/uos/rmcl/actions/workflows/ros2_humble.yml) | [![ros2-humble tests](https://img.shields.io/github/check-runs/uos/rmcl/main?checkName=ros2-humble%20%2F%20tests)](https://github.com/uos/rmcl/actions/workflows/ros2_humble.yml) |
 | Jazzy | Ubuntu 24.04 | x86\_64 | [![ros2-jazzy build](https://img.shields.io/github/check-runs/uos/rmcl/main?checkName=ros2-jazzy%20%2F%20build)](https://github.com/uos/rmcl/actions/workflows/ros2_jazzy.yml) | [![ros2-jazzy tests](https://img.shields.io/github/check-runs/uos/rmcl/main?checkName=ros2-jazzy%20%2F%20tests)](https://github.com/uos/rmcl/actions/workflows/ros2_jazzy.yml) |
+| Lyrical | Ubuntu 26.04 | x86\_64 | [![ros2-lyrical build](https://img.shields.io/github/check-runs/uos/rmcl/main?checkName=ros2-lyrical%20%2F%20build)](https://github.com/uos/rmcl/actions/workflows/ros2_lyrical.yml) | [![ros2-lyrical tests](https://img.shields.io/github/check-runs/uos/rmcl/main?checkName=ros2-lyrical%20%2F%20tests)](https://github.com/uos/rmcl/actions/workflows/ros2_lyrical.yml) |
 
 ## Mesh Navigation
 
diff --git a/rmcl_ros/CMakeLists.txt b/rmcl_ros/CMakeLists.txt
index 7730ec5..cfb0064 100644
--- a/rmcl_ros/CMakeLists.txt
+++ b/rmcl_ros/CMakeLists.txt
@@ -41,6 +41,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
+find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(rmcl_msgs REQUIRED)
 find_package(image_transport REQUIRED)
@@ -109,19 +110,18 @@ target_include_directories(rmcl_ros PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>)
 
-target_link_libraries(rmcl_ros
+target_link_libraries(rmcl_ros PUBLIC
     rmcl
     rmagine::core
-)
-
-ament_target_dependencies(rmcl_ros
-    rclcpp
-    sensor_msgs
-    rmcl_msgs
-    geometry_msgs
-    tf2_ros
-    visualization_msgs
-    std_srvs
+    # ROS
+    rclcpp::rclcpp
+    ${sensor_msgs_TARGETS}
+    ${rmcl_msgs_TARGETS}
+    ${geometry_msgs_TARGETS}
+    ${tf2_TARGETS}
+    ${tf2_ros_TARGETS}
+    ${visualization_msgs_TARGETS}
+    ${std_srvs_TARGETS}
 )
 
 install(TARGETS rmcl_ros
@@ -142,20 +142,19 @@ if(TARGET rmcl-embree)
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
         $<INSTALL_INTERFACE:include>)
 
-    target_link_libraries(rmcl_embree_ros
+    target_link_libraries(rmcl_embree_ros PUBLIC
         rmcl-embree
         rmagine::core
         rmagine::embree
-    )
-
-    ament_target_dependencies(rmcl_embree_ros
-        rclcpp
-        sensor_msgs
-        rmcl_msgs
-        geometry_msgs
-        tf2_ros
-        visualization_msgs
-        std_srvs
+        # ROS
+        rclcpp::rclcpp
+        ${sensor_msgs_TARGETS}
+        ${rmcl_msgs_TARGETS}
+        ${geometry_msgs_TARGETS}
+        ${tf2_TARGETS}
+        ${tf2_ros_TARGETS}
+        ${visualization_msgs_TARGETS}
+        ${std_srvs_TARGETS}
     )
 
     install(TARGETS rmcl_embree_ros
@@ -215,19 +214,18 @@ if(RMCL_CUDA)
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
         $<INSTALL_INTERFACE:include>
     )
-    target_link_libraries(rmcl_ros_cuda
+    target_link_libraries(rmcl_ros_cuda PUBLIC
         rmcl_ros
         rmcl-cuda
         rmagine::cuda
-    )
-
-    ament_target_dependencies(rmcl_ros_cuda
-        rclcpp
-        sensor_msgs
-        rmcl_msgs
-        geometry_msgs
-        tf2_ros
-        std_srvs
+        # ROS
+        rclcpp::rclcpp
+        ${sensor_msgs_TARGETS}
+        ${rmcl_msgs_TARGETS}
+        ${geometry_msgs_TARGETS}
+        ${tf2_TARGETS}
+        ${tf2_ros_TARGETS}
+        ${std_srvs_TARGETS}
     )
 
     install(TARGETS rmcl_ros_cuda
@@ -380,22 +378,21 @@ if(RMCL_CUDA)
             $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
             $<INSTALL_INTERFACE:include>)
 
-        target_link_libraries(rmcl_ros_optix
+        target_link_libraries(rmcl_ros_optix PUBLIC
             rmcl
             rmcl_ros
             rmcl-cuda
             rmcl_ros_cuda
             rmcl-optix
             rmagine::optix
-        )
-
-        ament_target_dependencies(rmcl_ros_optix
-            rclcpp
-            sensor_msgs
-            rmcl_msgs
-            geometry_msgs
-            tf2_ros
-            std_srvs
+            # ROS
+            rclcpp::rclcpp
+            ${sensor_msgs_TARGETS}
+            ${rmcl_msgs_TARGETS}
+            ${geometry_msgs_TARGETS}
+            ${tf2_TARGETS}
+            ${tf2_ros_TARGETS}
+            ${std_srvs_TARGETS}
         )
 
         install(TARGETS rmcl_ros_optix
@@ -421,47 +418,46 @@ target_include_directories(micp_localization
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>)
 
-target_link_libraries(micp_localization
+target_link_libraries(micp_localization PUBLIC
     rmcl_ros
     rmagine::core
+    # ROS
+    rclcpp::rclcpp
+    ${rclcpp_components_TARGETS}
+    ${geometry_msgs_TARGETS}
+    ${sensor_msgs_TARGETS}
+    ${tf2_TARGETS}
+    ${tf2_ros_TARGETS}
+    ${rmcl_msgs_TARGETS}
+    ${image_transport_TARGETS}
+    ${visualization_msgs_TARGETS}
+    ${std_srvs_TARGETS}
 )
 
 if(RMCL_EMBREE)
-    target_link_libraries(micp_localization
+    target_link_libraries(micp_localization PUBLIC
         rmcl-embree
     )
 endif(RMCL_EMBREE)
     
 if(RMCL_CUDA)
-    target_link_libraries(micp_localization
+    target_link_libraries(micp_localization PUBLIC
         rmcl_ros_cuda
     )
 endif(RMCL_CUDA)
 
 if(RMCL_OPTIX)
-    target_link_libraries(micp_localization
+    target_link_libraries(micp_localization PUBLIC
         rmcl-optix
     )
 endif(RMCL_OPTIX)
 
 if(RMCL_VULKAN)
-    target_link_libraries(micp_localization
+    target_link_libraries(micp_localization PUBLIC
         rmcl-vulkan
     )
 endif(RMCL_VULKAN)
 
-ament_target_dependencies(micp_localization
-    rclcpp
-    rclcpp_components
-    geometry_msgs
-    sensor_msgs
-    tf2_ros
-    rmcl_msgs
-    image_transport
-    visualization_msgs
-    std_srvs
-)
-
 rclcpp_components_register_node(micp_localization
     PLUGIN "rmcl::MICPLocalizationNode" 
     EXECUTABLE micp_localization_node)
@@ -478,21 +474,19 @@ add_library(conv_pc2_to_scan SHARED
     src/nodes/conversion/pc2_to_scan.cpp)
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(conv_pc2_to_scan
+target_link_libraries(conv_pc2_to_scan PUBLIC
     rmcl_ros
-)
-
-ament_target_dependencies(conv_pc2_to_scan
-    rclcpp
-    rclcpp_components
-    geometry_msgs
-    sensor_msgs
-    tf2
-    tf2_ros
-    rmcl_msgs
-    image_transport
-    visualization_msgs
-    std_srvs
+    # ROS
+    rclcpp::rclcpp
+    ${rclcpp_components_TARGETS}
+    ${geometry_msgs_TARGETS}
+    ${sensor_msgs_TARGETS}
+    ${tf2_TARGETS}
+    ${tf2_ros_TARGETS}
+    ${rmcl_msgs_TARGETS}
+    ${image_transport_TARGETS}
+    ${visualization_msgs_TARGETS}
+    ${std_srvs_TARGETS}
 )
 
 rclcpp_components_register_node(conv_pc2_to_scan 
@@ -512,20 +506,19 @@ add_library(conv_pc2_to_o1dn SHARED
     src/nodes/conversion/pc2_to_o1dn.cpp)
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(conv_pc2_to_o1dn
+target_link_libraries(conv_pc2_to_o1dn PUBLIC
     rmcl_ros
-)
-
-ament_target_dependencies(conv_pc2_to_o1dn
-    rclcpp
-    rclcpp_components
-    geometry_msgs
-    sensor_msgs
-    tf2
-    tf2_ros
-    rmcl_msgs
-    image_transport
-    visualization_msgs
+    # ROS
+    rclcpp::rclcpp
+    ${rclcpp_components_TARGETS}
+    ${geometry_msgs_TARGETS}
+    ${sensor_msgs_TARGETS}
+    ${tf2_TARGETS}
+    ${tf2_ros_TARGETS}
+    ${rmcl_msgs_TARGETS}
+    ${image_transport_TARGETS}
+    ${visualization_msgs_TARGETS}
+    ${std_srvs_TARGETS}
 )
 
 rclcpp_components_register_node(conv_pc2_to_o1dn 
@@ -544,21 +537,19 @@ add_library(conv_scan_to_scan SHARED
     src/nodes/conversion/scan_to_scan.cpp)
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(conv_scan_to_scan
+target_link_libraries(conv_scan_to_scan PUBLIC
     rmcl_ros
-)
-
-ament_target_dependencies(conv_scan_to_scan
-    rclcpp
-    rclcpp_components
-    geometry_msgs
-    sensor_msgs
-    tf2
-    tf2_ros
-    rmcl_msgs
-    image_transport
-    visualization_msgs
-    std_srvs
+    # ROS
+    rclcpp::rclcpp
+    ${rclcpp_components_TARGETS}
+    ${geometry_msgs_TARGETS}
+    ${sensor_msgs_TARGETS}
+    ${tf2_TARGETS}
+    ${tf2_ros_TARGETS}
+    ${rmcl_msgs_TARGETS}
+    ${image_transport_TARGETS}
+    ${visualization_msgs_TARGETS}
+    ${std_srvs_TARGETS}
 )
 
 rclcpp_components_register_node(conv_scan_to_scan 
@@ -617,17 +608,17 @@ add_library(map_segmentation SHARED
     src/nodes/filter/map_segmentation.cpp
 )
 
-ament_target_dependencies(map_segmentation
-    rclcpp
-    rclcpp_components
-    geometry_msgs
-    sensor_msgs
-    tf2
-    tf2_ros
-    rmcl_msgs
-    image_transport
-    visualization_msgs
-    std_srvs
+target_link_libraries(map_segmentation PUBLIC
+    rclcpp::rclcpp
+    ${rclcpp_components_TARGETS}
+    ${geometry_msgs_TARGETS}
+    ${sensor_msgs_TARGETS}
+    ${tf2_TARGETS}
+    ${tf2_ros_TARGETS}
+    ${rmcl_msgs_TARGETS}
+    ${image_transport_TARGETS}
+    ${visualization_msgs_TARGETS}
+    ${std_srvs_TARGETS}
 )
 
 install(TARGETS 
@@ -643,20 +634,19 @@ if(TARGET rmcl-embree)
 add_library(o1dn_map_segmentation_embree SHARED
     src/nodes/filter/o1dn_map_segmentation_embree.cpp)
 
-target_link_libraries(o1dn_map_segmentation_embree
+target_link_libraries(o1dn_map_segmentation_embree PUBLIC
     rmcl_ros
     rmcl-embree
     map_segmentation
-)
-
-ament_target_dependencies(o1dn_map_segmentation_embree
-    rclcpp
-    rclcpp_components
-    geometry_msgs
-    sensor_msgs
-    tf2_ros
-    rmcl_msgs
-    std_srvs
+    # ROS
+    rclcpp::rclcpp
+    ${rclcpp_components_TARGETS}
+    ${geometry_msgs_TARGETS}
+    ${sensor_msgs_TARGETS}
+    ${tf2_TARGETS}
+    ${tf2_ros_TARGETS}
+    ${rmcl_msgs_TARGETS}
+    ${std_srvs_TARGETS}
 )
 
 rclcpp_components_register_node(o1dn_map_segmentation_embree 
@@ -673,20 +663,19 @@ install(TARGETS
 add_library(scan_map_segmentation_embree SHARED
     src/nodes/filter/scan_map_segmentation_embree.cpp)
 
-target_link_libraries(scan_map_segmentation_embree
+target_link_libraries(scan_map_segmentation_embree PUBLIC
     rmcl_ros
     rmcl-embree
     map_segmentation
-)
-
-ament_target_dependencies(scan_map_segmentation_embree
-    rclcpp
-    rclcpp_components
-    geometry_msgs
-    sensor_msgs
-    tf2_ros
-    rmcl_msgs
-    std_srvs
+    # ROS
+    rclcpp::rclcpp
+    ${rclcpp_components_TARGETS}
+    ${geometry_msgs_TARGETS}
+    ${sensor_msgs_TARGETS}
+    ${tf2_TARGETS}
+    ${tf2_ros_TARGETS}
+    ${rmcl_msgs_TARGETS}
+    ${std_srvs_TARGETS}
 )
 
 rclcpp_components_register_node(scan_map_segmentation_embree 
@@ -720,28 +709,38 @@ target_include_directories(rmcl_localization
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>)
 
-target_link_libraries(rmcl_localization
+target_link_libraries(rmcl_localization PUBLIC
     rmcl_ros
     Eigen3::Eigen
     rmagine::core
     rmagine::embree
+    # ROS
+    rclcpp::rclcpp
+    ${rclcpp_components_TARGETS}
+    ${geometry_msgs_TARGETS}
+    ${sensor_msgs_TARGETS}
+    ${tf2_TARGETS}
+    ${tf2_ros_TARGETS}
+    ${visualization_msgs_TARGETS}
+    ${rmcl_msgs_TARGETS}
+    ${std_srvs_TARGETS}
 )
 
 if(RMCL_EMBREE)
-    target_link_libraries(rmcl_localization
+    target_link_libraries(rmcl_localization PUBLIC
         rmcl-embree
         rmcl_embree_ros
     )
 endif(RMCL_EMBREE)
     
 if(RMCL_CUDA)
-    target_link_libraries(rmcl_localization
+    target_link_libraries(rmcl_localization PUBLIC
         rmcl-cuda
     )
 endif(RMCL_CUDA)
 
 if(RMCL_OPTIX)
-    target_link_libraries(rmcl_localization
+    target_link_libraries(rmcl_localization PUBLIC
         rmcl_ros_cuda
         rmcl-cuda
         rmcl_ros_optix
@@ -749,15 +748,6 @@ if(RMCL_OPTIX)
     )
 endif(RMCL_OPTIX)
 
-ament_target_dependencies(rmcl_localization 
-    rclcpp
-    rclcpp_components
-    geometry_msgs
-    sensor_msgs
-    tf2_ros
-    visualization_msgs
-)
-
 rclcpp_components_register_node(rmcl_localization PLUGIN "rmcl::RmclNode" EXECUTABLE rmcl_localization_node)
 
 install(TARGETS 
@@ -792,4 +782,4 @@ ament_export_dependencies(rclcpp
   visualization_msgs
   std_srvs)
 
-ament_package()
+ament_package()
\ No newline at end of file
diff --git a/rmcl_ros/include/rmcl_ros/micpl/MICPO1DnSensorCPU.hpp b/rmcl_ros/include/rmcl_ros/micpl/MICPO1DnSensorCPU.hpp
index dcde6fc..bd2c114 100644
--- a/rmcl_ros/include/rmcl_ros/micpl/MICPO1DnSensorCPU.hpp
+++ b/rmcl_ros/include/rmcl_ros/micpl/MICPO1DnSensorCPU.hpp
@@ -11,14 +11,14 @@
 
 #include <rmagine/types/sensor_models.h>
 
-#include <tf2/exceptions.h>
-#include <tf2_ros/transform_listener.h>
-#include "tf2_ros/transform_broadcaster.h"
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/message_filter.h>
-#include <tf2_ros/create_timer_ros.h>
-
-#include <message_filters/subscriber.h>
+#include <tf2/exceptions.hpp>
+#include <tf2_ros/transform_listener.hpp>
+#include <tf2_ros/transform_broadcaster.hpp>
+#include <tf2_ros/buffer.hpp>
+#include <tf2_ros/message_filter.hpp>
+#include <tf2_ros/create_timer_ros.hpp>
+
+#include <message_filters/subscriber.hpp>
 
 #include <rmagine/math/statistics.h>
 #include <rmagine/math/linalg.h>
diff --git a/rmcl_ros/include/rmcl_ros/micpl/MICPO1DnSensorCUDA.hpp b/rmcl_ros/include/rmcl_ros/micpl/MICPO1DnSensorCUDA.hpp
index 94a3459..d09d37e 100644
--- a/rmcl_ros/include/rmcl_ros/micpl/MICPO1DnSensorCUDA.hpp
+++ b/rmcl_ros/include/rmcl_ros/micpl/MICPO1DnSensorCUDA.hpp
@@ -7,14 +7,14 @@
 #include <rmcl_msgs/msg/o1_dn_stamped.hpp>
 #include <rmagine/types/sensor_models.h>
 
-#include <tf2/exceptions.h>
-#include <tf2_ros/transform_listener.h>
-#include "tf2_ros/transform_broadcaster.h"
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/message_filter.h>
-#include <tf2_ros/create_timer_ros.h>
-
-#include <message_filters/subscriber.h>
+#include <tf2/exceptions.hpp>
+#include <tf2_ros/transform_listener.hpp>
+#include <tf2_ros/transform_broadcaster.hpp>
+#include <tf2_ros/buffer.hpp>
+#include <tf2_ros/message_filter.hpp>
+#include <tf2_ros/create_timer_ros.hpp>
+
+#include <message_filters/subscriber.hpp>
 
 #include <rmagine/math/statistics.h>
 #include <rmagine/types/MemoryCuda.hpp>
diff --git a/rmcl_ros/include/rmcl_ros/micpl/MICPOnDnSensorCPU.hpp b/rmcl_ros/include/rmcl_ros/micpl/MICPOnDnSensorCPU.hpp
index f32a078..c08181d 100644
--- a/rmcl_ros/include/rmcl_ros/micpl/MICPOnDnSensorCPU.hpp
+++ b/rmcl_ros/include/rmcl_ros/micpl/MICPOnDnSensorCPU.hpp
@@ -11,14 +11,14 @@
 
 #include <rmagine/types/sensor_models.h>
 
-#include <tf2/exceptions.h>
-#include <tf2_ros/transform_listener.h>
-#include "tf2_ros/transform_broadcaster.h"
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/message_filter.h>
-#include <tf2_ros/create_timer_ros.h>
-
-#include <message_filters/subscriber.h>
+#include <tf2/exceptions.hpp>
+#include <tf2_ros/transform_listener.hpp>
+#include <tf2_ros/transform_broadcaster.hpp>
+#include <tf2_ros/buffer.hpp>
+#include <tf2_ros/message_filter.hpp>
+#include <tf2_ros/create_timer_ros.hpp>
+
+#include <message_filters/subscriber.hpp>
 
 #include <rmagine/math/statistics.h>
 #include <rmagine/math/linalg.h>
diff --git a/rmcl_ros/include/rmcl_ros/micpl/MICPOnDnSensorCUDA.hpp b/rmcl_ros/include/rmcl_ros/micpl/MICPOnDnSensorCUDA.hpp
index 7f2a62b..ed62a39 100644
--- a/rmcl_ros/include/rmcl_ros/micpl/MICPOnDnSensorCUDA.hpp
+++ b/rmcl_ros/include/rmcl_ros/micpl/MICPOnDnSensorCUDA.hpp
@@ -7,14 +7,14 @@
 #include <rmcl_msgs/msg/on_dn_stamped.hpp>
 #include <rmagine/types/sensor_models.h>
 
-#include <tf2/exceptions.h>
-#include <tf2_ros/transform_listener.h>
-#include "tf2_ros/transform_broadcaster.h"
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/message_filter.h>
-#include <tf2_ros/create_timer_ros.h>
-
-#include <message_filters/subscriber.h>
+#include <tf2/exceptions.hpp>
+#include <tf2_ros/transform_listener.hpp>
+#include <tf2_ros/transform_broadcaster.hpp>
+#include <tf2_ros/buffer.hpp>
+#include <tf2_ros/message_filter.hpp>
+#include <tf2_ros/create_timer_ros.hpp>
+
+#include <message_filters/subscriber.hpp>
 
 #include <rmagine/math/statistics.h>
 #include <rmagine/types/MemoryCuda.hpp>
diff --git a/rmcl_ros/include/rmcl_ros/micpl/MICPPinholeSensorCPU.hpp b/rmcl_ros/include/rmcl_ros/micpl/MICPPinholeSensorCPU.hpp
index 931fc52..f8895d9 100644
--- a/rmcl_ros/include/rmcl_ros/micpl/MICPPinholeSensorCPU.hpp
+++ b/rmcl_ros/include/rmcl_ros/micpl/MICPPinholeSensorCPU.hpp
@@ -11,14 +11,14 @@
 
 #include <rmagine/types/sensor_models.h>
 
-#include <tf2/exceptions.h>
-#include <tf2_ros/transform_listener.h>
-#include "tf2_ros/transform_broadcaster.h"
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/message_filter.h>
-#include <tf2_ros/create_timer_ros.h>
-
-#include <message_filters/subscriber.h>
+#include <tf2/exceptions.hpp>
+#include <tf2_ros/transform_listener.hpp>
+#include <tf2_ros/transform_broadcaster.hpp>
+#include <tf2_ros/buffer.hpp>
+#include <tf2_ros/message_filter.hpp>
+#include <tf2_ros/create_timer_ros.hpp>
+
+#include <message_filters/subscriber.hpp>
 
 #include <rmagine/math/statistics.h>
 #include <rmagine/math/linalg.h>
diff --git a/rmcl_ros/include/rmcl_ros/micpl/MICPPinholeSensorCUDA.hpp b/rmcl_ros/include/rmcl_ros/micpl/MICPPinholeSensorCUDA.hpp
index 652913f..f2751d8 100644
--- a/rmcl_ros/include/rmcl_ros/micpl/MICPPinholeSensorCUDA.hpp
+++ b/rmcl_ros/include/rmcl_ros/micpl/MICPPinholeSensorCUDA.hpp
@@ -7,14 +7,14 @@
 #include <rmcl_msgs/msg/depth_stamped.hpp>
 #include <rmagine/types/sensor_models.h>
 
-#include <tf2/exceptions.h>
-#include <tf2_ros/transform_listener.h>
-#include "tf2_ros/transform_broadcaster.h"
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/message_filter.h>
-#include <tf2_ros/create_timer_ros.h>
-
-#include <message_filters/subscriber.h>
+#include <tf2/exceptions.hpp>
+#include <tf2_ros/transform_listener.hpp>
+#include <tf2_ros/transform_broadcaster.hpp>
+#include <tf2_ros/buffer.hpp>
+#include <tf2_ros/message_filter.hpp>
+#include <tf2_ros/create_timer_ros.hpp>
+
+#include <message_filters/subscriber.hpp>
 
 #include <rmagine/math/statistics.h>
 #include <rmagine/types/MemoryCuda.hpp>
diff --git a/rmcl_ros/include/rmcl_ros/micpl/MICPSensor.hpp b/rmcl_ros/include/rmcl_ros/micpl/MICPSensor.hpp
index 4ec6dde..f37ac3d 100644
--- a/rmcl_ros/include/rmcl_ros/micpl/MICPSensor.hpp
+++ b/rmcl_ros/include/rmcl_ros/micpl/MICPSensor.hpp
@@ -2,12 +2,12 @@
 #define RMCL_CORRECTION_MICP_SENSOR_HPP
 
 #include <rclcpp/rclcpp.hpp>
-#include <tf2/exceptions.h>
-#include <tf2_ros/transform_listener.h>
-#include <tf2_ros/transform_broadcaster.h>
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/message_filter.h>
-#include <tf2_ros/create_timer_ros.h>
+#include <tf2/exceptions.hpp>
+#include <tf2_ros/transform_listener.hpp>
+#include <tf2_ros/transform_broadcaster.hpp>
+#include <tf2_ros/buffer.hpp>
+#include <tf2_ros/message_filter.hpp>
+#include <tf2_ros/create_timer_ros.hpp>
 
 #include <memory>
 #include <string>
diff --git a/rmcl_ros/include/rmcl_ros/micpl/MICPSphericalSensorCPU.hpp b/rmcl_ros/include/rmcl_ros/micpl/MICPSphericalSensorCPU.hpp
index 89cb909..1d82f98 100644
--- a/rmcl_ros/include/rmcl_ros/micpl/MICPSphericalSensorCPU.hpp
+++ b/rmcl_ros/include/rmcl_ros/micpl/MICPSphericalSensorCPU.hpp
@@ -11,14 +11,14 @@
 
 #include <rmagine/types/sensor_models.h>
 
-#include <tf2/exceptions.h>
-#include <tf2_ros/transform_listener.h>
-#include "tf2_ros/transform_broadcaster.h"
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/message_filter.h>
-#include <tf2_ros/create_timer_ros.h>
-
-#include <message_filters/subscriber.h>
+#include <tf2/exceptions.hpp>
+#include <tf2_ros/transform_listener.hpp>
+#include <tf2_ros/transform_broadcaster.hpp>
+#include <tf2_ros/buffer.hpp>
+#include <tf2_ros/message_filter.hpp>
+#include <tf2_ros/create_timer_ros.hpp>
+
+#include <message_filters/subscriber.hpp>
 
 #include <rmagine/math/statistics.h>
 #include <rmagine/math/linalg.h>
diff --git a/rmcl_ros/include/rmcl_ros/micpl/MICPSphericalSensorCUDA.hpp b/rmcl_ros/include/rmcl_ros/micpl/MICPSphericalSensorCUDA.hpp
index 3a6ed7c..bc08885 100644
--- a/rmcl_ros/include/rmcl_ros/micpl/MICPSphericalSensorCUDA.hpp
+++ b/rmcl_ros/include/rmcl_ros/micpl/MICPSphericalSensorCUDA.hpp
@@ -7,14 +7,14 @@
 #include <rmcl_msgs/msg/scan_stamped.hpp>
 #include <rmagine/types/sensor_models.h>
 
-#include <tf2/exceptions.h>
-#include <tf2_ros/transform_listener.h>
-#include "tf2_ros/transform_broadcaster.h"
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/message_filter.h>
-#include <tf2_ros/create_timer_ros.h>
-
-#include <message_filters/subscriber.h>
+#include <tf2/exceptions.hpp>
+#include <tf2_ros/transform_listener.hpp>
+#include <tf2_ros/transform_broadcaster.hpp>
+#include <tf2_ros/buffer.hpp>
+#include <tf2_ros/message_filter.hpp>
+#include <tf2_ros/create_timer_ros.hpp>
+
+#include <message_filters/subscriber.hpp>
 
 #include <rmagine/math/statistics.h>
 #include <rmagine/types/MemoryCuda.hpp>
diff --git a/rmcl_ros/include/rmcl_ros/nodes/conversion/pc2_to_o1dn.hpp b/rmcl_ros/include/rmcl_ros/nodes/conversion/pc2_to_o1dn.hpp
index 4c4329d..bb9127a 100644
--- a/rmcl_ros/include/rmcl_ros/nodes/conversion/pc2_to_o1dn.hpp
+++ b/rmcl_ros/include/rmcl_ros/nodes/conversion/pc2_to_o1dn.hpp
@@ -8,10 +8,10 @@
 #include <rmcl_ros/util/scan_operations.h>
 #include <rmcl_ros/util/conversions.h>
 
-#include <tf2_ros/transform_listener.h>
-#include <tf2_ros/buffer.h>
-#include <tf2/exceptions.h>
-#include <tf2/convert.h>
+#include <tf2_ros/transform_listener.hpp>
+#include <tf2_ros/buffer.hpp>
+#include <tf2/exceptions.hpp>
+#include <tf2/convert.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>
 
 
diff --git a/rmcl_ros/include/rmcl_ros/nodes/conversion/pc2_to_scan.hpp b/rmcl_ros/include/rmcl_ros/nodes/conversion/pc2_to_scan.hpp
index 285f260..0628df0 100644
--- a/rmcl_ros/include/rmcl_ros/nodes/conversion/pc2_to_scan.hpp
+++ b/rmcl_ros/include/rmcl_ros/nodes/conversion/pc2_to_scan.hpp
@@ -11,10 +11,10 @@
 #include <rmagine/math/types.h>
 #include <rmagine/util/prints.h>
 
-#include <tf2_ros/transform_listener.h>
-#include <tf2_ros/buffer.h>
-#include <tf2/exceptions.h>
-#include <tf2/convert.h>
+#include <tf2_ros/transform_listener.hpp>
+#include <tf2_ros/buffer.hpp>
+#include <tf2/exceptions.hpp>
+#include <tf2/convert.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>
 
 namespace rm = rmagine;
diff --git a/rmcl_ros/include/rmcl_ros/nodes/conversion/scan_to_scan.hpp b/rmcl_ros/include/rmcl_ros/nodes/conversion/scan_to_scan.hpp
index f4e16da..181e943 100644
--- a/rmcl_ros/include/rmcl_ros/nodes/conversion/scan_to_scan.hpp
+++ b/rmcl_ros/include/rmcl_ros/nodes/conversion/scan_to_scan.hpp
@@ -13,10 +13,10 @@
 #include <rmagine/math/types.h>
 #include <rmagine/util/prints.h>
 
-#include <tf2_ros/transform_listener.h>
-#include <tf2_ros/buffer.h>
-#include <tf2/exceptions.h>
-#include <tf2/convert.h>
+#include <tf2_ros/transform_listener.hpp>
+#include <tf2_ros/buffer.hpp>
+#include <tf2/exceptions.hpp>
+#include <tf2/convert.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>
 
 
diff --git a/rmcl_ros/include/rmcl_ros/nodes/micp_localization.hpp b/rmcl_ros/include/rmcl_ros/nodes/micp_localization.hpp
index e9cc827..201bd1b 100644
--- a/rmcl_ros/include/rmcl_ros/nodes/micp_localization.hpp
+++ b/rmcl_ros/include/rmcl_ros/nodes/micp_localization.hpp
@@ -14,12 +14,12 @@
 
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 
-#include <tf2_ros/transform_listener.h>
-#include <tf2_ros/transform_broadcaster.h>
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/message_filter.h>
-#include <tf2_ros/create_timer_ros.h>
-#include <message_filters/subscriber.h>
+#include <tf2_ros/transform_listener.hpp>
+#include <tf2_ros/transform_broadcaster.hpp>
+#include <tf2_ros/buffer.hpp>
+#include <tf2_ros/message_filter.hpp>
+#include <tf2_ros/create_timer_ros.hpp>
+#include <message_filters/subscriber.hpp>
 
 
 #include <rmagine/map/MapMap.hpp>
diff --git a/rmcl_ros/include/rmcl_ros/nodes/rmcl_localization.hpp b/rmcl_ros/include/rmcl_ros/nodes/rmcl_localization.hpp
index f45015c..d6430d2 100644
--- a/rmcl_ros/include/rmcl_ros/nodes/rmcl_localization.hpp
+++ b/rmcl_ros/include/rmcl_ros/nodes/rmcl_localization.hpp
@@ -20,11 +20,11 @@
 #include <geometry_msgs/msg/pose_stamped.hpp>
 
 
-#include <tf2/exceptions.h>
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
-#include <tf2_ros/transform_broadcaster.h>
-#include <tf2/convert.h>
+#include <tf2/exceptions.hpp>
+#include <tf2_ros/buffer.hpp>
+#include <tf2_ros/transform_listener.hpp>
+#include <tf2_ros/transform_broadcaster.hpp>
+#include <tf2/convert.hpp>
 
 #include <chrono>
 #include <random>
diff --git a/rmcl_ros/package.xml b/rmcl_ros/package.xml
index 0f6b6e0..c7aa4db 100644
--- a/rmcl_ros/package.xml
+++ b/rmcl_ros/package.xml
@@ -17,6 +17,7 @@
     <depend>rclcpp</depend>
     <depend>geometry_msgs</depend>
     <depend>sensor_msgs</depend>
+    <depend>tf2</depend>
     <depend>tf2_ros</depend>
     <depend>rmcl_msgs</depend>
     <depend>image_transport</depend>