diff --git a/.gitignore b/.gitignore
index 7c18c6b2..7feaafd2 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,2 @@
 .pydevproject
+.settings
diff --git a/docker/humble/latest/Dockerfile b/docker/humble/latest/Dockerfile
index 72b5ce8f..1f9ee158 100644
--- a/docker/humble/latest/Dockerfile
+++ b/docker/humble/latest/Dockerfile
@@ -9,6 +9,7 @@ COPY . ros2_ws/src/rtabmap_ros
 RUN source /ros_entrypoint.sh && \
     cd ros2_ws && \
     export MAKEFLAGS="-j1" && \
+    apt update && apt install -y ros-humble-pcl-ros && \
     colcon build --event-handlers console_direct+ --install-base /opt/ros/humble --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
     cd && \
     rm -rf ros2_ws
diff --git a/rtabmap_conversions/CMakeLists.txt b/rtabmap_conversions/CMakeLists.txt
index 9cbcf070..3b165a1d 100644
--- a/rtabmap_conversions/CMakeLists.txt
+++ b/rtabmap_conversions/CMakeLists.txt
@@ -17,6 +17,7 @@ find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_eigen REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
 
 find_package(RTABMap 0.21.0 REQUIRED)
 
@@ -37,6 +38,7 @@ SET(Libraries
    std_msgs
    tf2
    tf2_eigen
+   tf2_geometry_msgs
    RTABMap
 )
 
diff --git a/rtabmap_conversions/package.xml b/rtabmap_conversions/package.xml
index c35f079a..1c295785 100644
--- a/rtabmap_conversions/package.xml
+++ b/rtabmap_conversions/package.xml
@@ -27,6 +27,7 @@
   <depend>std_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>
+  <depend>tf2_geometry_msgs</depend>
 
   <export>
 	<build_type>ament_cmake</build_type>
diff --git a/rtabmap_ros/package.xml b/rtabmap_ros/package.xml
index c46fa1b1..7a243e98 100644
--- a/rtabmap_ros/package.xml
+++ b/rtabmap_ros/package.xml
@@ -15,14 +15,11 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>rtabmap_conversions</exec_depend>
-  <exec_depend>rtabmap_costmap_plugins</exec_depend>
   <exec_depend>rtabmap_demos</exec_depend>
   <exec_depend>rtabmap_examples</exec_depend>
   <exec_depend>rtabmap_launch</exec_depend>
-  <exec_depend>rtabmap_legacy</exec_depend>
   <exec_depend>rtabmap_msgs</exec_depend>
-  <exec_depend>rtabmap_odometry</exec_depend>
-  <exec_depend>rtabmap_legacy</exec_depend>
+  <exec_depend>rtabmap_odom</exec_depend>
   <exec_depend>rtabmap_python</exec_depend>
   <exec_depend>rtabmap_rviz_plugins</exec_depend>
   <exec_depend>rtabmap_slam</exec_depend>