diff --git a/orbbec_camera/CMakeLists.txt b/orbbec_camera/CMakeLists.txt
index c219b27e..ed01f976 100644
--- a/orbbec_camera/CMakeLists.txt
+++ b/orbbec_camera/CMakeLists.txt
@@ -15,12 +15,6 @@ option(USE_NV_HW_DECODER "Use Nvidia hardware decoder" OFF)
 if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Werror -Wno-pedantic -Wno-array-bounds)
 endif ()
-# Check if ROS Jazzy or iron is installed
-if ("$ENV{ROS_DISTRO}" STREQUAL "jazzy")
-  add_compile_definitions(ROS_JAZZY)
-elseif ("$ENV{ROS_DISTRO}" STREQUAL "iron")
-  add_compile_definitions(ROS_IRON)
-endif ()
 
 # find dependencies
 set(dependencies
diff --git a/orbbec_camera/include/orbbec_camera/ob_camera_node.h b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
index b98d0b7f..30b38645 100644
--- a/orbbec_camera/include/orbbec_camera/ob_camera_node.h
+++ b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
@@ -64,9 +64,9 @@
 #include "jpeg_decoder.h"
 #include <std_msgs/msg/string.hpp>
 
-#if defined(ROS_JAZZY) || defined(ROS_IRON)
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
 #include <cv_bridge/cv_bridge.hpp>
-#else
+#elif __has_include(<cv_bridge/cv_bridge.h>)
 #include <cv_bridge/cv_bridge.h>
 #endif
 
diff --git a/orbbec_camera/include/orbbec_camera/ros_param_backend.h b/orbbec_camera/include/orbbec_camera/ros_param_backend.h
index ecb4d3e3..b1f7154f 100644
--- a/orbbec_camera/include/orbbec_camera/ros_param_backend.h
+++ b/orbbec_camera/include/orbbec_camera/ros_param_backend.h
@@ -22,13 +22,11 @@ class ParametersBackend {
  public:
   explicit ParametersBackend(rclcpp::Node* node);
   ~ParametersBackend();
-#if defined(ROS_JAZZY) || defined(ROS_IRON)
-  void addOnSetParametersCallback(
-      rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType callback);
-#else
-  void addOnSetParametersCallback(
-      rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback);
-#endif
+
+  template <typename T>
+  void addOnSetParametersCallback(T callback) {
+    ros_callback_ = node_->add_on_set_parameters_callback(callback);
+  }
 
  private:
   rclcpp::Node* node_;
diff --git a/orbbec_camera/package.xml b/orbbec_camera/package.xml
index c5f4301d..246b9bf0 100644
--- a/orbbec_camera/package.xml
+++ b/orbbec_camera/package.xml
@@ -25,6 +25,7 @@
   <depend>std_srvs</depend>
   <depend>statistics_msgs</depend>
   <depend>tf2</depend>
+  <depend>tf2_eigen</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_sensor_msgs</depend>
   <depend>tf2_msgs</depend>
@@ -34,6 +35,7 @@
   <depend>nlohmann-json-dev</depend>
   <depend>libgoogle-glog-dev</depend>
   <depend>libdw-dev</depend>
+  <depend>opengl</depend>
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/orbbec_camera/src/d2c_viewer.cpp b/orbbec_camera/src/d2c_viewer.cpp
index 0a833251..d15c1528 100644
--- a/orbbec_camera/src/d2c_viewer.cpp
+++ b/orbbec_camera/src/d2c_viewer.cpp
@@ -14,9 +14,9 @@
  * limitations under the License.
  *******************************************************************************/
 
-#if defined(ROS_JAZZY) || defined(ROS_IRON)
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
 #include <cv_bridge/cv_bridge.hpp>
-#else
+#elif __has_include(<cv_bridge/cv_bridge.h>)
 #include <cv_bridge/cv_bridge.h>
 #endif
 #include <sensor_msgs/image_encodings.hpp>
diff --git a/orbbec_camera/src/ros_param_backend.cpp b/orbbec_camera/src/ros_param_backend.cpp
index 4e67ff3a..0e172df6 100644
--- a/orbbec_camera/src/ros_param_backend.cpp
+++ b/orbbec_camera/src/ros_param_backend.cpp
@@ -26,16 +26,5 @@ ParametersBackend::~ParametersBackend() {
     ros_callback_.reset();
   }
 }
-#if defined(ROS_JAZZY) || defined(ROS_IRON)
-void ParametersBackend::addOnSetParametersCallback(
-    rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType callback) {
-  ros_callback_ = node_->add_on_set_parameters_callback(callback);
-}
-#else
-void ParametersBackend::addOnSetParametersCallback(
-    rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback) {
-  ros_callback_ = node_->add_on_set_parameters_callback(callback);
-}
-#endif
 
 }  // namespace orbbec_camera