diff --git a/dependency.repos b/dependency.repos
index 756ec91..7eb8eb9 100644
--- a/dependency.repos
+++ b/dependency.repos
@@ -17,4 +17,8 @@ repositories:
   color_names:
     type: git
     url: https://github.com/OUXT-Polaris/color_names.git
-    version: master
\ No newline at end of file
+    version: master
+  pcl_type_adapter:
+    type: git
+    url: https://github.com/OUXT-Polaris/pcl_type_adapter.git
+    version: master
diff --git a/pcl_apps/CMakeLists.txt b/pcl_apps/CMakeLists.txt
index d747781..668d5c6 100644
--- a/pcl_apps/CMakeLists.txt
+++ b/pcl_apps/CMakeLists.txt
@@ -25,43 +25,13 @@ else()
 endif()
 
 # find dependencies
-find_package(ament_cmake REQUIRED)
-find_package(color_names REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(image_geometry REQUIRED)
-find_package(message_filters REQUIRED)
-find_package(message_synchronizer REQUIRED)
-find_package(ndt_omp REQUIRED)
-find_package(pcl_apps_msgs REQUIRED)
-find_package(pcl_conversions REQUIRED)
-find_package(perception_msgs REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_components REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(tf2_eigen REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
-find_package(tf2_ros REQUIRED)
-find_package(tf2_sensor_msgs REQUIRED)
-find_package(visualization_msgs REQUIRED)
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
 
 find_package(PCL REQUIRED)
 find_package(Boost REQUIRED system)
 
-if(${tf2_eigen_VERSION} VERSION_LESS 0.18.0)
-  add_compile_definitions(USE_TF2_EIGEN_DEPRECATED_HEADER)
-endif()
-
-if(${tf2_sensor_msgs_VERSION} VERSION_LESS 0.18.0)
-  add_compile_definitions(USE_TF2_SENSOR_MSGS_DEPRECATED_HEADER)
-endif()
-
-if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
-  add_compile_definitions(USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER)
-endif()
-
-if ($ENV{ROS_DISTRO} STREQUAL "humble")
-  add_compile_definitions(HUMBLE)
-endif()
+add_compile_definitions(HUMBLE)
 
 include_directories(
   include
@@ -74,88 +44,66 @@ link_directories(
 )
 add_definitions(${PCL_DEFINITIONS})
 
+function(add_pcl_apps_component module component_name component_name_in_macro)
+  ament_auto_add_library(${component_name}_component SHARED
+  src/${module}/${component_name}/${component_name}_component.cpp
+  )
+  target_compile_definitions(${component_name}_component PRIVATE "PCL_APPS_${component_name_in_macro}_BUILDING_DLL")
+  target_link_libraries(${component_name}_component
+    boost_system ${PCL_LIBRARIES})
+
+  ament_auto_add_executable(${component_name}_node
+    src/${module}/${component_name}/${component_name}_node.cpp)
+  target_link_libraries(${component_name}_node
+    ${component_name}_component ${PCL_LIBRARIES})
+
+  install(TARGETS ${component_name}_component
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin)
+  install(TARGETS ${component_name}_node DESTINATION lib/pcl_apps)
+endfunction(add_pcl_apps_component)
+
+
 # Filter Modules
-add_subdirectory(src/filter)
+add_pcl_apps_component(filter points_concatenate POINTS_CONCATENATE)
+rclcpp_components_register_nodes(points_concatenate_component "pcl_apps::PointsConcatenateComponent")
+add_pcl_apps_component(filter points_transform POINTS_TRANSFORM)
+rclcpp_components_register_nodes(points_transform_component "pcl_apps::PointsTransformComponent")
+add_pcl_apps_component(filter radius_outlier_removal RADIUS_OUTLIER_REMOVAL RadiusOutlierRemovalComponent)
+rclcpp_components_register_nodes(radius_outlier_removal_component "pcl_apps::RadiusOutlierRemovalComponent")
+add_pcl_apps_component(filter crop_hull_filter CROP_HULL_FILTER)
+rclcpp_components_register_nodes(crop_hull_filter_component "pcl_apps::CropHullFilterComponent")
+add_pcl_apps_component(filter crop_box_filter CROP_BOX_FILTER)
+rclcpp_components_register_nodes(crop_box_filter_component "pcl_apps::CropBoxFilterComponent")
+add_pcl_apps_component(filter pointcloud_to_laserscan POINTCLOUD_TO_LASERSCAN PointCloudToLaserScanComponent)
+rclcpp_components_register_nodes(pointcloud_to_laserscan_component "pcl_apps::PointCloudToLaserScanComponent")
+add_pcl_apps_component(filter voxelgrid_filter VOEXLGRID_FILTER VoxelgridFilterComponent)
+rclcpp_components_register_nodes(voxelgrid_filter_component "pcl_apps::VoxelgridFilterComponent")
 
 # Matching Modules
-add_subdirectory(src/matching)
+add_pcl_apps_component(matching ndt_matching NDT_MATCHING)
+rclcpp_components_register_nodes(ndt_matching_component "pcl_apps::NdtMatchingComponent")
+add_pcl_apps_component(matching ndt_matching_twist_estimator NDT_MATCHING_TWIST_ESTIMATOR)
+rclcpp_components_register_nodes(ndt_matching_twist_estimator_component "pcl_apps::NdtMatchingTwistEstimatorComponent")
 
 # IO Module
-add_subdirectory(src/io)
+add_pcl_apps_component(io pcd_writer PCD_WRITER)
+rclcpp_components_register_nodes(pcd_writer_component "pcl_apps::PcdWriterComponent")
+add_pcl_apps_component(io pcd_loader PCD_LOADER PcdLoader)
+rclcpp_components_register_nodes(pcd_loader_component "pcl_apps::PcdLoaderComponent")
 
 # Clustering Module
-add_subdirectory(src/clustering)
+add_pcl_apps_component(clustering euclidean_clustering EUCLIDEAN_CLUSTERING)
+rclcpp_components_register_nodes(pcd_loader_component "pcl_apps::EuclideanClusteringComponent")
 
 # Projection Module
-add_subdirectory(src/projection)
-
-rclcpp_components_register_nodes(points_concatenate_component
-  "pcl_apps::PointsConcatenateComponent")
-
-rclcpp_components_register_nodes(points_transform_component
-  "pcl_apps::PointsTransformComponent")
-
-rclcpp_components_register_nodes(voxelgrid_filter_component
-  "pcl_apps::VoxelgridFilterComponent")
-
-rclcpp_components_register_nodes(ndt_matching_component
-  "pcl_apps::NdtMatchingComponent")
-
-rclcpp_components_register_nodes(ndt_matching_twist_estimator_component
-  "pcl_apps::NdtMatchingTwistEstimatorComponent")
-
-rclcpp_components_register_nodes(pcd_writer_component
-  "pcl_apps::PcdWriterComponent")
-
-rclcpp_components_register_nodes(pcd_loader_component
-  "pcl_apps::PcdLoaderComponent")
-
-rclcpp_components_register_nodes(radius_outlier_removal_component
-  "pcl_apps::RadiusOutlierRemovalComponent")
-
-rclcpp_components_register_nodes(crop_hull_filter_component
-  "pcl_apps::CropHullFilterComponent")
-
-rclcpp_components_register_nodes(crop_box_filter_component
-  "pcl_apps::CropBoxFilterComponent")
-
-rclcpp_components_register_nodes(euclidean_clustering_component
-  "pcl_apps::EuclideanClusteringComponent")
-
-rclcpp_components_register_nodes(pointcloud_to_laserscan_component
-  "pcl_apps::PointCloudToLaserScanComponent")
-
-rclcpp_components_register_nodes(pointcloud_projection_component
-  "pcl_apps::PointCloudProjectionComponent")
-
-# Install header files
-install(
-  DIRECTORY "include/"
-  DESTINATION include
-)
+add_pcl_apps_component(projection pointcloud_projection POINTCLOUD_PROJECTION)
+rclcpp_components_register_nodes(pointcloud_projection_component "pcl_apps::PointCloudProjectionComponent")
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # uncomment the line when a copyright and license is not present in all source files
-  #set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # uncomment the line when this package is not in a git repo
-  #set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-# export
-ament_export_dependencies(ament_cmake)
-ament_export_dependencies(rclcpp)
-ament_export_dependencies(rclcpp_components)
-ament_export_dependencies(pcl_conversions)
-ament_export_dependencies(tf2_ros)
-ament_export_dependencies(sensor_msgs)
-ament_export_dependencies(geometry_msgs)
-ament_export_dependencies(pcl_apps_msgs)
-ament_export_dependencies(rosidl_default_runtime)
-ament_export_dependencies(ndt_omp)
-ament_export_include_directories(include)
-
-ament_package()
+ament_auto_package()
diff --git a/pcl_apps/include/pcl_apps/adapter.hpp b/pcl_apps/include/pcl_apps/adapter.hpp
new file mode 100644
index 0000000..e68a608
--- /dev/null
+++ b/pcl_apps/include/pcl_apps/adapter.hpp
@@ -0,0 +1,26 @@
+// Copyright (c) 2019 OUXT Polaris
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <pcl_type_adapter/pcl_type_adapter.hpp>
+
+namespace pcl_apps
+{
+using PCLPointType = pcl::PointXYZI;
+using PCLPointCloudType = pcl::PointCloud<PCLPointType>;
+using PCLPointCloudTypePtr = std::shared_ptr<PCLPointCloudType>;
+using PointCloudAdapterType =
+  rclcpp::TypeAdapter<PCLPointCloudTypePtr, sensor_msgs::msg::PointCloud2>;
+using PointCloudPublisher = std::shared_ptr<rclcpp::Publisher<PointCloudAdapterType>>;
+using PointCloudSubscriber = std::shared_ptr<rclcpp::Subscription<PointCloudAdapterType>>;
+}  // namespace pcl_apps
diff --git a/pcl_apps/include/pcl_apps/clustering/euclidean_clustering/euclidean_clustering_component.hpp b/pcl_apps/include/pcl_apps/clustering/euclidean_clustering/euclidean_clustering_component.hpp
index d41bd32..cb970fd 100644
--- a/pcl_apps/include/pcl_apps/clustering/euclidean_clustering/euclidean_clustering_component.hpp
+++ b/pcl_apps/include/pcl_apps/clustering/euclidean_clustering/euclidean_clustering_component.hpp
@@ -54,8 +54,7 @@ extern "C" {
 #endif
 
 // Headers in ROS2
-#include <pcl_conversions/pcl_conversions.h>
-
+#include <pcl_apps/adapter.hpp>
 #include <pcl_apps_msgs/msg/point_cloud_array.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -80,7 +79,7 @@ class EuclideanClusteringComponent : public rclcpp::Node
   explicit EuclideanClusteringComponent(const rclcpp::NodeOptions & options);
 
 private:
-  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_;
+  PointCloudSubscriber sub_;
   rclcpp::Publisher<pcl_apps_msgs::msg::PointCloudArray>::SharedPtr pub_;
   std::string input_topic_;
   double cluster_tolerance_;
diff --git a/pcl_apps/include/pcl_apps/filter/crop_box_filter/crop_box_filter_component.hpp b/pcl_apps/include/pcl_apps/filter/crop_box_filter/crop_box_filter_component.hpp
index 1d8cb82..b0638d2 100644
--- a/pcl_apps/include/pcl_apps/filter/crop_box_filter/crop_box_filter_component.hpp
+++ b/pcl_apps/include/pcl_apps/filter/crop_box_filter/crop_box_filter_component.hpp
@@ -54,6 +54,7 @@ extern "C" {
 #endif
 
 #include <memory>
+#include <pcl_apps/adapter.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
@@ -66,12 +67,12 @@ class CropBoxFilterComponent : public rclcpp::Node
   explicit CropBoxFilterComponent(const rclcpp::NodeOptions & options);
 
 private:
-  void pointsCallback(const sensor_msgs::msg::PointCloud2::SharedPtr msg);
+  void pointsCallback(const PCLPointCloudTypePtr & msg);
   double max_x_, max_y_, max_z_;
   double min_x_, min_y_, min_z_;
   bool keep_organized_, negative_;
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub_;
-  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_;
+  PointCloudPublisher pub_;
+  PointCloudSubscriber sub_;
 };
 }  // namespace pcl_apps
 
diff --git a/pcl_apps/include/pcl_apps/filter/crop_hull_filter/crop_hull_filter_component.hpp b/pcl_apps/include/pcl_apps/filter/crop_hull_filter/crop_hull_filter_component.hpp
index 5b52fb8..0f9b76a 100644
--- a/pcl_apps/include/pcl_apps/filter/crop_hull_filter/crop_hull_filter_component.hpp
+++ b/pcl_apps/include/pcl_apps/filter/crop_hull_filter/crop_hull_filter_component.hpp
@@ -59,6 +59,7 @@ extern "C" {
 #include <pcl/filters/crop_hull.h>
 
 #include <memory>
+#include <pcl_apps/adapter.hpp>
 #include <pcl_apps_msgs/msg/point_cloud_array.hpp>
 #include <pcl_apps_msgs/msg/polygon_array.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -66,7 +67,7 @@ extern "C" {
 namespace pcl_apps
 {
 typedef message_filters::Subscriber<pcl_apps_msgs::msg::PolygonArray> PolygonSubscriber;
-typedef message_filters::Subscriber<sensor_msgs::msg::PointCloud2> PointCloudSubscriber;
+typedef message_filters::Subscriber<sensor_msgs::msg::PointCloud2> ROS2PointCloudSubscriber;
 class CropHullFilterComponent : public rclcpp::Node
 {
 public:
@@ -82,7 +83,7 @@ class CropHullFilterComponent : public rclcpp::Node
     const sensor_msgs::msg::PointCloud2::ConstSharedPtr point_cloud,
     const pcl_apps_msgs::msg::PolygonArray::ConstSharedPtr polygon);
   std::shared_ptr<PolygonSubscriber> polygon_sub_;
-  std::shared_ptr<PointCloudSubscriber> pointcloud_sub_;
+  std::shared_ptr<ROS2PointCloudSubscriber> pointcloud_sub_;
 };
 }  // namespace pcl_apps
 
diff --git a/pcl_apps/include/pcl_apps/filter/pointcloud_to_laserscan/pointcloud_to_laserscan_component.hpp b/pcl_apps/include/pcl_apps/filter/pointcloud_to_laserscan/pointcloud_to_laserscan_component.hpp
index 8e5e5c5..2505876 100644
--- a/pcl_apps/include/pcl_apps/filter/pointcloud_to_laserscan/pointcloud_to_laserscan_component.hpp
+++ b/pcl_apps/include/pcl_apps/filter/pointcloud_to_laserscan/pointcloud_to_laserscan_component.hpp
@@ -53,6 +53,7 @@ extern "C" {
 }  // extern "C"
 #endif
 
+#include <pcl_apps/adapter.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/laser_scan.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -66,8 +67,8 @@ class PointCloudToLaserScanComponent : public rclcpp::Node
   explicit PointCloudToLaserScanComponent(const rclcpp::NodeOptions & options);
 
 private:
-  void callback(const sensor_msgs::msg::PointCloud2::SharedPtr msg);
-  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_;
+  void pointsCallback(const PCLPointCloudTypePtr & msg);
+  PointCloudSubscriber sub_;
   rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr pub_;
   double min_height_;
   double max_height_;
diff --git a/pcl_apps/include/pcl_apps/filter/points_concatenate/points_concatenate_component.hpp b/pcl_apps/include/pcl_apps/filter/points_concatenate/points_concatenate_component.hpp
index 118a902..93a7c10 100644
--- a/pcl_apps/include/pcl_apps/filter/points_concatenate/points_concatenate_component.hpp
+++ b/pcl_apps/include/pcl_apps/filter/points_concatenate/points_concatenate_component.hpp
@@ -54,9 +54,8 @@ extern "C" {
 #endif
 
 // Headers in ROS2
-#include <pcl_conversions/pcl_conversions.h>
-
 #include <message_synchronizer/message_synchronizer.hpp>
+#include <pcl_apps/adapter.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
@@ -103,7 +102,7 @@ class PointsConcatenateComponent : public rclcpp::Node
   std::array<boost::shared_ptr<PointCloudSubsciber>, 8> sub_ptrs_;
   message_filters::PassThrough<PointCloud2> nf_;
   */
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub_;
+  PointCloudPublisher pub_;
   Sync2PtrT sync2_;
   Sync3PtrT sync3_;
   Sync4PtrT sync4_;
@@ -112,4 +111,4 @@ class PointsConcatenateComponent : public rclcpp::Node
 };
 }  // namespace pcl_apps
 
-#endif  // PCL_APPS__FILTER__POINTS_CONCATENATE__POINTS_CONCATENATE_COMPONENT_HPP_
+#endif  // PCL_APPS__FILTER__POINTS_CONCATENATE__POINTS_CONCATENATE_COMPONENT_HPP_
\ No newline at end of file
diff --git a/pcl_apps/include/pcl_apps/filter/points_transform/points_transform_component.hpp b/pcl_apps/include/pcl_apps/filter/points_transform/points_transform_component.hpp
index 2778703..025c926 100644
--- a/pcl_apps/include/pcl_apps/filter/points_transform/points_transform_component.hpp
+++ b/pcl_apps/include/pcl_apps/filter/points_transform/points_transform_component.hpp
@@ -54,7 +54,7 @@ extern "C" {
 #endif
 
 // Headers in ROS2
-#include <pcl_conversions/pcl_conversions.h>
+#include <pcl_apps/adapter.hpp>
 
 #ifdef USE_TF2_EIGEN_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
@@ -89,8 +89,8 @@ class PointsTransformComponent : public rclcpp::Node
   rclcpp::Clock ros_clock_;
   tf2_ros::Buffer buffer_;
   tf2_ros::TransformListener listener_;
-  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_;
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub_;
+  PointCloudSubscriber sub_;
+  PointCloudPublisher pub_;
   std::string input_topic_;
 };
 }  // namespace pcl_apps
diff --git a/pcl_apps/include/pcl_apps/filter/radius_outlier_removal/radius_outlier_removal_component.hpp b/pcl_apps/include/pcl_apps/filter/radius_outlier_removal/radius_outlier_removal_component.hpp
index ed2a3bd..7cf6622 100644
--- a/pcl_apps/include/pcl_apps/filter/radius_outlier_removal/radius_outlier_removal_component.hpp
+++ b/pcl_apps/include/pcl_apps/filter/radius_outlier_removal/radius_outlier_removal_component.hpp
@@ -53,9 +53,7 @@ extern "C" {
 }  // extern "C"
 #endif
 
-// Headers in ROS2
-#include <pcl_conversions/pcl_conversions.h>
-
+#include <pcl_apps/adapter.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
@@ -76,9 +74,9 @@ class RadiusOutlierRemovalComponent : public rclcpp::Node
 
 private:
   std::string input_topic_;
-  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_;
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub_;
-  pcl::RadiusOutlierRemoval<pcl::PointXYZI> filter_;
+  PointCloudSubscriber sub_;
+  PointCloudPublisher pub_;
+  pcl::RadiusOutlierRemoval<PCLPointType> filter_;
   double search_radius_;
   int min_neighbors_in_search_radius_;
   rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr param_handler_ptr_;
diff --git a/pcl_apps/include/pcl_apps/filter/voxelgrid_filter/voxelgrid_filter_component.hpp b/pcl_apps/include/pcl_apps/filter/voxelgrid_filter/voxelgrid_filter_component.hpp
index a15de88..60f489b 100644
--- a/pcl_apps/include/pcl_apps/filter/voxelgrid_filter/voxelgrid_filter_component.hpp
+++ b/pcl_apps/include/pcl_apps/filter/voxelgrid_filter/voxelgrid_filter_component.hpp
@@ -54,8 +54,7 @@ extern "C" {
 #endif
 
 // Headers in ROS2
-#include <pcl_conversions/pcl_conversions.h>
-
+#include <pcl_apps/adapter.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
@@ -74,9 +73,9 @@ class VoxelgridFilterComponent : public rclcpp::Node
   explicit VoxelgridFilterComponent(const rclcpp::NodeOptions & options);
 
 private:
-  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_;
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub_;
-  pcl::VoxelGrid<pcl::PCLPointCloud2> filter_;
+  PointCloudSubscriber sub_;
+  PointCloudPublisher pub_;
+  pcl::VoxelGrid<PCLPointType> filter_;
   double leaf_size_;
   std::string input_topic_;
   rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr param_handler_ptr_;
diff --git a/pcl_apps/include/pcl_apps/io/pcd_loader/pcd_loader_component.hpp b/pcl_apps/include/pcl_apps/io/pcd_loader/pcd_loader_component.hpp
index 44d3d1c..c07724e 100644
--- a/pcl_apps/include/pcl_apps/io/pcd_loader/pcd_loader_component.hpp
+++ b/pcl_apps/include/pcl_apps/io/pcd_loader/pcd_loader_component.hpp
@@ -54,8 +54,7 @@ extern "C" {
 #endif
 
 // Headers in ROS2
-#include <pcl_conversions/pcl_conversions.h>
-
+#include <pcl_apps/adapter.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
@@ -75,7 +74,7 @@ class PcdLoaderComponent : public rclcpp::Node
   explicit PcdLoaderComponent(const rclcpp::NodeOptions & options);
 
 private:
-  std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::PointCloud2>> pub_;
+  PointCloudPublisher pub_;
 };
 }  // namespace pcl_apps
 
diff --git a/pcl_apps/include/pcl_apps/io/pcd_writer/pcd_writer_component.hpp b/pcl_apps/include/pcl_apps/io/pcd_writer/pcd_writer_component.hpp
index 8c8abaf..3ad4205 100644
--- a/pcl_apps/include/pcl_apps/io/pcd_writer/pcd_writer_component.hpp
+++ b/pcl_apps/include/pcl_apps/io/pcd_writer/pcd_writer_component.hpp
@@ -54,8 +54,7 @@ extern "C" {
 #endif
 
 // Headers in ROS2
-#include <pcl_conversions/pcl_conversions.h>
-
+#include <pcl_apps/adapter.hpp>
 #include <pcl_apps_msgs/srv/write_pcd.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -76,12 +75,12 @@ class PcdWriterComponent : public rclcpp::Node
   explicit PcdWriterComponent(const rclcpp::NodeOptions & options);
 
 private:
-  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_;
+  PointCloudSubscriber sub_;
   std::string input_topic_;
   bool pointcloud_recieved_;
   bool save_every_pointcloud_;
   rclcpp::Service<pcl_apps_msgs::srv::WritePcd>::SharedPtr server_;
-  pcl::PointCloud<pcl::PointXYZI> cloud_;
+  PCLPointCloudTypePtr cloud_;
 };
 }  // namespace pcl_apps
 
diff --git a/pcl_apps/include/pcl_apps/matching/ndt_matching/ndt_matching_component.hpp b/pcl_apps/include/pcl_apps/matching/ndt_matching/ndt_matching_component.hpp
index ec14921..a9c1cfc 100644
--- a/pcl_apps/include/pcl_apps/matching/ndt_matching/ndt_matching_component.hpp
+++ b/pcl_apps/include/pcl_apps/matching/ndt_matching/ndt_matching_component.hpp
@@ -54,9 +54,10 @@ extern "C" {
 #endif
 
 // Headers in ROS2
-#include <pcl_conversions/pcl_conversions.h>
 #include <tf2/LinearMath/Matrix3x3.h>
 #include <tf2/transform_datatypes.h>
+
+#include <pcl_apps/adapter.hpp>
 #ifdef USE_TF2_EIGEN_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
 #else
@@ -110,7 +111,7 @@ class NdtMatchingComponent : public rclcpp::Node
   double step_size_;
   double resolution_;
   int max_iterations_;
-  pcl::PointCloud<pcl::PointXYZ>::Ptr reference_cloud_;
+  PCLPointCloudTypePtr reference_cloud_;
   std::shared_ptr<tf2_ros::TransformBroadcaster> broadcaster_;
   bool reference_cloud_recieved_;
   bool initial_pose_recieved_;
@@ -120,14 +121,14 @@ class NdtMatchingComponent : public rclcpp::Node
   tf2_ros::Buffer tf_buffer_{get_clock()};
   tf2_ros::TransformListener tf_listener_{tf_buffer_};
   void publishTF(
-    const std::string frame_id, const std::string child_frame_id,
-    const geometry_msgs::msg::PoseStamped pose);
-  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::ConstSharedPtr sub_reference_cloud_;
-  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_input_cloud_;
+    const std::string & frame_id, const std::string & child_frame_id,
+    const geometry_msgs::msg::PoseStamped & pose);
+  PointCloudSubscriber sub_reference_cloud_;
+  PointCloudSubscriber sub_input_cloud_;
   rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr sub_initial_pose_;
   rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr current_relative_pose_pub_;
-  void updateRelativePose(pcl::PointCloud<pcl::PointXYZ>::Ptr input_cloud, rclcpp::Time stamp);
-  std::shared_ptr<pclomp::NormalDistributionsTransform<pcl::PointXYZ, pcl::PointXYZ>> ndt_;
+  void updateRelativePose(PCLPointCloudTypePtr input_cloud, rclcpp::Time stamp);
+  std::shared_ptr<pclomp::NormalDistributionsTransform<PCLPointType, PCLPointType>> ndt_;
   geometry_msgs::msg::PoseStamped current_relative_pose_;
   rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr param_handler_ptr_;
 };
diff --git a/pcl_apps/include/pcl_apps/matching/ndt_matching/ndt_matching_twist_estimator_component.hpp b/pcl_apps/include/pcl_apps/matching/ndt_matching_twist_estimator/ndt_matching_twist_estimator_component.hpp
similarity index 92%
rename from pcl_apps/include/pcl_apps/matching/ndt_matching/ndt_matching_twist_estimator_component.hpp
rename to pcl_apps/include/pcl_apps/matching/ndt_matching_twist_estimator/ndt_matching_twist_estimator_component.hpp
index 65e9e88..7c014e1 100644
--- a/pcl_apps/include/pcl_apps/matching/ndt_matching/ndt_matching_twist_estimator_component.hpp
+++ b/pcl_apps/include/pcl_apps/matching/ndt_matching_twist_estimator/ndt_matching_twist_estimator_component.hpp
@@ -66,6 +66,7 @@ extern "C" {
 
 #include <geometry_msgs/msg/transform.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
+#include <pcl_apps/adapter.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
@@ -75,7 +76,6 @@ extern "C" {
 
 // Headers in Boost
 #include <boost/circular_buffer.hpp>
-#include <boost/optional.hpp>
 
 // Headers in STL
 #include <string>
@@ -90,17 +90,17 @@ class NdtMatchingTwistEstimatorComponent : public rclcpp::Node
 
 private:
   std::string input_cloud_topic_;
-  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_input_cloud_;
+  PointCloudSubscriber sub_input_cloud_;
   rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr current_twist_pub_;
-  boost::circular_buffer<pcl::PointCloud<pcl::PointXYZ>::Ptr> buffer_;
+  boost::circular_buffer<pcl::PointCloud<PCLPointType>::Ptr> buffer_;
   boost::circular_buffer<rclcpp::Time> timestamps_;
   double transform_epsilon_;
   double step_size_;
   double resolution_;
   int max_iterations_;
   std::string input_cloud_frame_id_;
-  boost::optional<geometry_msgs::msg::TwistStamped> estimateCurrentTwist();
-  pcl::NormalDistributionsTransform<pcl::PointXYZ, pcl::PointXYZ> ndt_;
+  std::optional<geometry_msgs::msg::TwistStamped> estimateCurrentTwist();
+  pcl::NormalDistributionsTransform<PCLPointType, PCLPointType> ndt_;
   double toSec(rclcpp::Duration duration)
   {
     double ret;
diff --git a/pcl_apps/include/pcl_apps/projection/pointcloud_projection/pointcloud_projection_component.hpp b/pcl_apps/include/pcl_apps/projection/pointcloud_projection/pointcloud_projection_component.hpp
index eae6d2b..35fd37e 100644
--- a/pcl_apps/include/pcl_apps/projection/pointcloud_projection/pointcloud_projection_component.hpp
+++ b/pcl_apps/include/pcl_apps/projection/pointcloud_projection/pointcloud_projection_component.hpp
@@ -102,4 +102,4 @@ class PointCloudProjectionComponent : public rclcpp::Node
 };
 }  // namespace pcl_apps
 
-#endif  // PCL_APPS__PROJECTION__POINTCLOUD_PROJECTION__POINTCLOUD_PROJECTION_COMPONENT_HPP_
+#endif  // PCL_APPS__PROJECTION__POINTCLOUD_PROJECTION__POINTCLOUD_PROJECTION_COMPONENT_HPP_
\ No newline at end of file
diff --git a/pcl_apps/package.xml b/pcl_apps/package.xml
index 6948e66..d75e8d5 100644
--- a/pcl_apps/package.xml
+++ b/pcl_apps/package.xml
@@ -9,25 +9,28 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>rclcpp</depend>
-  <depend>rclcpp_components</depend>
-  <depend>pcl_conversions</depend>
-  <depend>message_filters</depend>
-  <depend>tf2_ros</depend>
-  <depend>tf2_eigen</depend>
-  <depend>tf2_geometry_msgs</depend>
-  <depend>std_msgs</depend>
+  <depend>ament_cmake_auto</depend>
+  <depend>color_names</depend>
   <depend>geometry_msgs</depend>
-  <depend>message_synchronizer</depend>
-  <depend>sensor_msgs</depend>
-  <depend>pcl_apps_msgs</depend>
-  <depend>libpcl-all-dev</depend>
+  <depend>image_geometry</depend>
   <depend>libboost-system-dev</depend>
+  <depend>libpcl-all-dev</depend>
+  <depend>message_filters</depend>
+  <depend>message_synchronizer</depend>
   <depend>ndt_omp</depend>
+  <depend>pcl_apps_msgs</depend>
+  <depend>pcl_conversions</depend>
+  <depend>pcl_type_adapter</depend>
   <depend>perception_msgs</depend>
-  <depend>image_geometry</depend>
+  <depend>rclcpp_components</depend>
+  <depend>rclcpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>tf2_eigen</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>tf2_ros</depend>
   <depend>visualization_msgs</depend>
-  <depend>color_names</depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ouxt_lint_common</test_depend>
 
diff --git a/pcl_apps/src/clustering/CMakeLists.txt b/pcl_apps/src/clustering/CMakeLists.txt
deleted file mode 100644
index 408db97..0000000
--- a/pcl_apps/src/clustering/CMakeLists.txt
+++ /dev/null
@@ -1,30 +0,0 @@
-# Euclidean Clustering Component/Node
-add_library(euclidean_clustering_component SHARED
-euclidean_clustering/euclidean_clustering_component.cpp
-)
-target_compile_definitions(euclidean_clustering_component PRIVATE "PCL_APPS_EUCLIDEAN_CLUSTERING_BUILDING_DLL")
-target_link_libraries(euclidean_clustering_component
-  boost_system ${PCL_LIBRARIES})
-ament_target_dependencies(euclidean_clustering_component
-  rclcpp rclcpp_components pcl_conversions sensor_msgs pcl_apps_msgs)
-
-add_executable(euclidean_clustering_node
-  euclidean_clustering/euclidean_clustering_node.cpp)
-target_link_libraries(euclidean_clustering_node
-  euclidean_clustering_component ${PCL_LIBRARIES})
-ament_target_dependencies(euclidean_clustering_node
-  rclcpp rclcpp_components pcl_conversions sensor_msgs pcl_apps_msgs)
-
-# install executables/libs
-install(TARGETS
-  euclidean_clustering_node
-  DESTINATION lib/pcl_apps
-)
-
-install(TARGETS
-  euclidean_clustering_component
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin)
-
-ament_export_libraries(euclidean_clustering_component)
\ No newline at end of file
diff --git a/pcl_apps/src/clustering/euclidean_clustering/euclidean_clustering_component.cpp b/pcl_apps/src/clustering/euclidean_clustering/euclidean_clustering_component.cpp
index 37f9f77..a36bfb3 100644
--- a/pcl_apps/src/clustering/euclidean_clustering/euclidean_clustering_component.cpp
+++ b/pcl_apps/src/clustering/euclidean_clustering/euclidean_clustering_component.cpp
@@ -79,14 +79,14 @@ EuclideanClusteringComponent::EuclideanClusteringComponent(const rclcpp::NodeOpt
     });
   std::string output_topic_name = get_name() + std::string("/output");
   pub_ = create_publisher<pcl_apps_msgs::msg::PointCloudArray>(output_topic_name, 10);
-  auto callback = [this](const typename sensor_msgs::msg::PointCloud2::SharedPtr msg) -> void {
+  auto callback = [this](const PCLPointCloudTypePtr cloud) -> void {
     pcl_apps_msgs::msg::PointCloudArray clusters;
-    clusters.header = msg->header;
-    pcl::PointCloud<pcl::PointXYZI>::Ptr cloud;
-    pcl::fromROSMsg(*msg, *cloud);
+    clusters.header = pcl_conversions::fromPCL(cloud->header);
+    // pcl::PointCloud<PCLPointType>::Ptr cloud;
+    // pcl::fromROSMsg(*msg, *cloud);
     std::vector<pcl::PointIndices> cluster_indices;
-    pcl::EuclideanClusterExtraction<pcl::PointXYZI> clustering;
-    pcl::search::KdTree<pcl::PointXYZI>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZI>);
+    pcl::EuclideanClusterExtraction<PCLPointType> clustering;
+    pcl::search::KdTree<PCLPointType>::Ptr tree(new pcl::search::KdTree<PCLPointType>);
     tree->setInputCloud(cloud);
     clustering.setClusterTolerance(cluster_tolerance_);
     clustering.setMinClusterSize(min_cluster_size_);
@@ -96,7 +96,7 @@ EuclideanClusteringComponent::EuclideanClusteringComponent(const rclcpp::NodeOpt
     clustering.extract(cluster_indices);
     for (auto cluster_itr = cluster_indices.begin(); cluster_itr != cluster_indices.end();
          cluster_itr++) {
-      pcl::PointCloud<pcl::PointXYZI> pointcloud;
+      pcl::PointCloud<PCLPointType> pointcloud;
       pointcloud.width = cluster_itr->indices.size();
       pointcloud.height = 1;
       pointcloud.is_dense = false;
@@ -106,7 +106,7 @@ EuclideanClusteringComponent::EuclideanClusteringComponent(const rclcpp::NodeOpt
         double y = cloud->points[cluster_itr->indices[i]].y;
         double z = cloud->points[cluster_itr->indices[i]].z;
         double intensity = cloud->points[cluster_itr->indices[i]].intensity;
-        pcl::PointXYZI p;
+        PCLPointType p;
         p.x = x;
         p.y = y;
         p.z = z;
@@ -115,12 +115,12 @@ EuclideanClusteringComponent::EuclideanClusteringComponent(const rclcpp::NodeOpt
       }
       sensor_msgs::msg::PointCloud2 pointcloud_msg;
       pcl::toROSMsg(pointcloud, pointcloud_msg);
-      pointcloud_msg.header = msg->header;
+      pointcloud_msg.header = pcl_conversions::fromPCL(cloud->header);
       clusters.cloud.push_back(pointcloud_msg);
     }
     pub_->publish(clusters);
   };
-  sub_ = create_subscription<sensor_msgs::msg::PointCloud2>(input_topic_, 10, callback);
+  sub_ = create_subscription<PointCloudAdapterType>(input_topic_, 10, callback);
 }
 }  // namespace pcl_apps
 
diff --git a/pcl_apps/src/filter/CMakeLists.txt b/pcl_apps/src/filter/CMakeLists.txt
deleted file mode 100644
index 2cd6dd3..0000000
--- a/pcl_apps/src/filter/CMakeLists.txt
+++ /dev/null
@@ -1,164 +0,0 @@
-# Points Concatenate Component/Node
-add_library(points_concatenate_component SHARED
-  points_concatenate/points_concatenate_component.cpp
-)
-target_compile_definitions(points_concatenate_component PRIVATE "PCL_APPS_POINTS_CONCATENATE_BUILDING_DLL")
-target_link_libraries(points_concatenate_component
-  boost_system ${PCL_LIBRARIES})
-ament_target_dependencies(points_concatenate_component
-  rclcpp rclcpp_components pcl_conversions sensor_msgs message_synchronizer)
-
-add_executable(points_concatenate_node
-  points_concatenate/points_concatenate_node.cpp)
-target_link_libraries(points_concatenate_node
-  points_concatenate_component ${PCL_LIBRARIES})
-ament_target_dependencies(points_concatenate_node
-  rclcpp rclcpp_components pcl_conversions sensor_msgs message_synchronizer)
-
-# Points Transform Component/Node
-add_library(points_transform_component SHARED
-  points_transform/points_transform_component.cpp
-)
-target_compile_definitions(points_transform_component PRIVATE "PCL_APPS_POINTS_TRANSFORM_BUILDING_DLL")
-target_link_libraries(points_transform_component
-  boost_system ${PCL_LIBRARIES})
-ament_target_dependencies(points_transform_component
-  rclcpp rclcpp_components pcl_conversions tf2_ros sensor_msgs tf2_eigen)
-
-add_executable(points_transform_node
-  points_transform/points_transform_node.cpp)
-target_link_libraries(points_transform_node
-  points_transform_component ${PCL_LIBRARIES})
-ament_target_dependencies(points_transform_node
-  rclcpp rclcpp_components pcl_conversions tf2_ros sensor_msgs tf2_eigen)
-
-# Voxelgrid Filter Component/Node
-add_library(voxelgrid_filter_component SHARED
-  voxelgrid_filter/voxelgrid_filter_component.cpp
-)
-target_compile_definitions(voxelgrid_filter_component PRIVATE "PCL_APPS_VOXELGRID_FILTER_BUILDING_DLL")
-target_link_libraries(voxelgrid_filter_component
-  ${PCL_LIBRARIES})
-ament_target_dependencies(voxelgrid_filter_component
-  rclcpp rclcpp_components pcl_conversions sensor_msgs)
-
-add_executable(voxelgrid_filter_node
-  voxelgrid_filter/voxelgrid_filter_node.cpp
-)
-target_link_libraries(voxelgrid_filter_node
-  voxelgrid_filter_component ${PCL_LIBRARIES})
-ament_target_dependencies(voxelgrid_filter_node
-  rclcpp rclcpp_components pcl_conversions sensor_msgs)
-
-# Radius Outlier Removal Component/Node
-add_library(radius_outlier_removal_component SHARED
-  radius_outlier_removal/radius_outlier_removal_component.cpp
-)
-target_compile_definitions(radius_outlier_removal_component PRIVATE "PCL_APPS_RADIUS_OUTLIER_REMOVAL_BUILDING_DLL")
-target_link_libraries(radius_outlier_removal_component
-  ${PCL_LIBRARIES}
-)
-ament_target_dependencies(radius_outlier_removal_component
-  rclcpp rclcpp_components pcl_conversions sensor_msgs)
-
-add_executable(radius_outlier_removal_node
-  radius_outlier_removal/radius_outlier_removal_node.cpp
-)
-target_link_libraries(radius_outlier_removal_node
-  radius_outlier_removal_component ${PCL_LIBRARIES}
-)
-ament_target_dependencies(radius_outlier_removal_node
-  rclcpp rclcpp_components pcl_conversions sensor_msgs)
-
-# Crop Hull Filter Component/Node
-add_library(crop_hull_filter_component SHARED
-  crop_hull_filter/crop_hull_filter_component.cpp
-)
-target_compile_definitions(crop_hull_filter_component PRIVATE "PCL_APPS_CROP_HULL_FILTER_BUILDING_DLL")
-target_link_libraries(crop_hull_filter_component
-  ${PCL_LIBRARIES}
-)
-ament_target_dependencies(crop_hull_filter_component
-  rclcpp rclcpp_components pcl_conversions sensor_msgs pcl_apps_msgs message_filters)
-
-add_executable(crop_hull_filter_node
-  crop_hull_filter/crop_hull_filter_node.cpp
-)
-target_link_libraries(crop_hull_filter_node
-  crop_hull_filter_component
-  ${PCL_LIBRARIES}
-)
-ament_target_dependencies(crop_hull_filter_node
-  rclcpp rclcpp_components pcl_conversions sensor_msgs pcl_apps_msgs message_filters)
-
-# Crop Box Filter Component/Node
-add_library(crop_box_filter_component SHARED
-  crop_box_filter/crop_box_filter_component.cpp
-)
-target_compile_definitions(crop_box_filter_component PRIVATE "PCL_APPS_CROP_HULL_FILTER_BUILDING_DLL")
-target_link_libraries(crop_box_filter_component
-  ${PCL_LIBRARIES}
-)
-ament_target_dependencies(crop_box_filter_component
-  rclcpp rclcpp_components pcl_conversions sensor_msgs pcl_apps_msgs)
-
-add_executable(crop_box_filter_node
-  crop_box_filter/crop_box_filter_node.cpp
-)
-target_link_libraries(crop_box_filter_node
-  crop_box_filter_component
-  ${PCL_LIBRARIES}
-)
-ament_target_dependencies(crop_box_filter_node
-  rclcpp rclcpp_components pcl_conversions sensor_msgs pcl_apps_msgs)
-
-# Point Cloud To Laser Scan Component/Node
-add_library(pointcloud_to_laserscan_component SHARED
-  pointcloud_to_laserscan/pointcloud_to_laserscan_component.cpp
-)
-target_compile_definitions(pointcloud_to_laserscan_component PRIVATE "PCL_APPS_POINTCLOUD_TO_LASERSCAN_PUBLIC")
-target_link_libraries(pointcloud_to_laserscan_component
-  ${PCL_LIBRARIES}
-)
-ament_target_dependencies(pointcloud_to_laserscan_component
-  rclcpp rclcpp_components pcl_conversions sensor_msgs)
-add_executable(pointcloud_to_laserscan_node
-  pointcloud_to_laserscan/pointcloud_to_laserscan_node.cpp
-)
-target_link_libraries(pointcloud_to_laserscan_node
-  pointcloud_to_laserscan_component
-  ${PCL_LIBRARIES}
-)
-ament_target_dependencies(pointcloud_to_laserscan_node
-  rclcpp rclcpp_components pcl_conversions sensor_msgs pcl_apps_msgs)
-
-# install executables/libs
-install(TARGETS
-  points_transform_node
-  points_concatenate_node
-  voxelgrid_filter_node
-  radius_outlier_removal_node
-  crop_hull_filter_node
-  crop_box_filter_node
-  pointcloud_to_laserscan_node
-  DESTINATION lib/pcl_apps
-)
-
-install(TARGETS
-  points_transform_component
-  points_concatenate_component
-  voxelgrid_filter_component
-  radius_outlier_removal_component
-  crop_hull_filter_component
-  crop_box_filter_component
-  pointcloud_to_laserscan_component
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin)
-
-ament_export_libraries(points_transform_component)
-ament_export_libraries(points_concatenate_component)
-ament_export_libraries(voxelgrid_filter_component)
-ament_export_libraries(radius_outlier_removal_component)
-ament_export_libraries(crop_hull_filter_component)
-ament_export_libraries(crop_box_filter_component)
diff --git a/pcl_apps/src/filter/crop_box_filter/crop_box_filter_component.cpp b/pcl_apps/src/filter/crop_box_filter/crop_box_filter_component.cpp
index f219cd3..7c234aa 100644
--- a/pcl_apps/src/filter/crop_box_filter/crop_box_filter_component.cpp
+++ b/pcl_apps/src/filter/crop_box_filter/crop_box_filter_component.cpp
@@ -42,16 +42,14 @@ CropBoxFilterComponent::CropBoxFilterComponent(const rclcpp::NodeOptions & optio
   get_parameter("keep_organized", keep_organized_);
   declare_parameter("negative", false);
   get_parameter("negative", negative_);
-  pub_ = create_publisher<sensor_msgs::msg::PointCloud2>("~/points_filtered", 1);
-  sub_ = create_subscription<sensor_msgs::msg::PointCloud2>(
-    "~/points", 1, std::bind(&CropBoxFilterComponent::pointsCallback, this, std::placeholders::_1));
+  pub_ = create_publisher<PointCloudAdapterType>("~/points_filtered", 1);
+  sub_ = create_subscription<PointCloudAdapterType>(
+    "~/points", 1, [this](const PCLPointCloudTypePtr & msg) { pointsCallback(msg); });
 }
 
-void CropBoxFilterComponent::pointsCallback(const sensor_msgs::msg::PointCloud2::SharedPtr msg)
+void CropBoxFilterComponent::pointsCallback(const PCLPointCloudTypePtr & msg)
 {
-  pcl::CropBox<pcl::PCLPointCloud2> filter;
-  pcl::PCLPointCloud2::Ptr cloud(new pcl::PCLPointCloud2());
-  pcl_conversions::toPCL(*msg, *cloud);
+  pcl::CropBox<PCLPointType> filter;
   Eigen::Vector4f new_min_point, new_max_point;
   new_min_point << min_x_, min_y_, min_z_, 0.0;
   new_max_point << max_x_, max_y_, max_z_, 0.0;
@@ -59,12 +57,10 @@ void CropBoxFilterComponent::pointsCallback(const sensor_msgs::msg::PointCloud2:
   filter.setMax(new_max_point);
   filter.setNegative(negative_);
   filter.setKeepOrganized(keep_organized_);
-  filter.setInputCloud(cloud);
-  pcl::PCLPointCloud2::Ptr filtered_cloud(new pcl::PCLPointCloud2());
+  filter.setInputCloud(msg);
+  PCLPointCloudTypePtr filtered_cloud(new PCLPointCloudType());
   filter.filter(*filtered_cloud);
-  sensor_msgs::msg::PointCloud2 output_cloud_msg;
-  pcl_conversions::fromPCL(*filtered_cloud, output_cloud_msg);
-  pub_->publish(output_cloud_msg);
+  pub_->publish(filtered_cloud);
 }
 }  // namespace pcl_apps
 
diff --git a/pcl_apps/src/filter/crop_hull_filter/crop_hull_filter_component.cpp b/pcl_apps/src/filter/crop_hull_filter/crop_hull_filter_component.cpp
index b5c9253..bea8ca8 100644
--- a/pcl_apps/src/filter/crop_hull_filter/crop_hull_filter_component.cpp
+++ b/pcl_apps/src/filter/crop_hull_filter/crop_hull_filter_component.cpp
@@ -15,7 +15,6 @@
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #include <pcl/surface/convex_hull.h>
-#include <pcl_conversions/pcl_conversions.h>
 
 #include <pcl_apps/filter/crop_hull_filter/crop_hull_filter_component.hpp>
 
@@ -33,7 +32,8 @@ CropHullFilterComponent::CropHullFilterComponent(const rclcpp::NodeOptions & opt
 {
   pointcloud_pub_ = this->create_publisher<pcl_apps_msgs::msg::PointCloudArray>("points_array", 1);
   polygon_sub_ = std::shared_ptr<PolygonSubscriber>(new PolygonSubscriber(this, "polygon"));
-  pointcloud_sub_ = std::shared_ptr<PointCloudSubscriber>(new PointCloudSubscriber(this, "points"));
+  pointcloud_sub_ =
+    std::shared_ptr<ROS2PointCloudSubscriber>(new ROS2PointCloudSubscriber(this, "points"));
   sync_ = std::make_shared<message_filters::TimeSynchronizer<
     sensor_msgs::msg::PointCloud2, pcl_apps_msgs::msg::PolygonArray>>(
     *pointcloud_sub_, *polygon_sub_, 10);
@@ -47,17 +47,17 @@ void CropHullFilterComponent::callback(
 {
   pcl_apps_msgs::msg::PointCloudArray point_clouds;
   point_clouds.header = point_cloud->header;
-  pcl::CropHull<pcl::PointXYZI> filter;
-  pcl::PointCloud<pcl::PointXYZI>::Ptr pcl_cloud(new pcl::PointCloud<pcl::PointXYZI>());
+  pcl::CropHull<PCLPointType> filter;
+  pcl::PointCloud<PCLPointType>::Ptr pcl_cloud(new pcl::PointCloud<PCLPointType>());
   pcl::fromROSMsg(*point_cloud, *pcl_cloud);
   for (auto poly_itr = polygon->polygon.begin(); poly_itr != polygon->polygon.end(); poly_itr++) {
-    pcl::ConvexHull<pcl::PointXYZI> convex_hull;
+    pcl::ConvexHull<PCLPointType> convex_hull;
     std::vector<pcl::Vertices> convex_hull_polygons;
-    pcl::PointCloud<pcl::PointXYZI>::Ptr hull_cloud(new pcl::PointCloud<pcl::PointXYZI>());
-    pcl::PointCloud<pcl::PointXYZI>::Ptr hull_points(new pcl::PointCloud<pcl::PointXYZI>());
+    pcl::PointCloud<PCLPointType>::Ptr hull_cloud(new pcl::PointCloud<PCLPointType>());
+    pcl::PointCloud<PCLPointType>::Ptr hull_points(new pcl::PointCloud<PCLPointType>());
     for (auto point_itr = poly_itr->points.begin(); point_itr != poly_itr->points.end();
          point_itr++) {
-      pcl::PointXYZI p;
+      PCLPointType p;
       p.x = point_itr->x;
       p.y = point_itr->y;
       p.z = point_itr->z;
@@ -69,7 +69,7 @@ void CropHullFilterComponent::callback(
     filter.setHullCloud(hull_points);
     filter.setDim(2);
     filter.setCropOutside(false);
-    pcl::PointCloud<pcl::PointXYZI>::Ptr filtered(new pcl::PointCloud<pcl::PointXYZI>());
+    pcl::PointCloud<PCLPointType>::Ptr filtered(new pcl::PointCloud<PCLPointType>());
     filter.setInputCloud(pcl_cloud);
     filter.filter(*filtered);
     sensor_msgs::msg::PointCloud2 filtered_msg;
diff --git a/pcl_apps/src/filter/pointcloud_to_laserscan/pointcloud_to_laserscan_component.cpp b/pcl_apps/src/filter/pointcloud_to_laserscan/pointcloud_to_laserscan_component.cpp
index 6afbe29..7a1efa7 100644
--- a/pcl_apps/src/filter/pointcloud_to_laserscan/pointcloud_to_laserscan_component.cpp
+++ b/pcl_apps/src/filter/pointcloud_to_laserscan/pointcloud_to_laserscan_component.cpp
@@ -25,9 +25,6 @@ namespace pcl_apps
 PointCloudToLaserScanComponent::PointCloudToLaserScanComponent(const rclcpp::NodeOptions & options)
 : Node("pointcloud_to_laserscan", options)
 {
-  pub_ = create_publisher<sensor_msgs::msg::LaserScan>("output", 1);
-  sub_ = create_subscription<sensor_msgs::msg::PointCloud2>(
-    "input", 1, std::bind(&PointCloudToLaserScanComponent::callback, this, std::placeholders::_1));
   min_height_ = this->declare_parameter("min_height", std::numeric_limits<double>::min());
   max_height_ = this->declare_parameter("max_height", std::numeric_limits<double>::max());
   angle_min_ = this->declare_parameter("angle_min", -M_PI);
@@ -38,12 +35,15 @@ PointCloudToLaserScanComponent::PointCloudToLaserScanComponent(const rclcpp::Nod
   range_max_ = this->declare_parameter("range_max", std::numeric_limits<double>::max());
   inf_epsilon_ = this->declare_parameter("inf_epsilon", 1.0);
   use_inf_ = this->declare_parameter("use_inf", false);
+  pub_ = create_publisher<sensor_msgs::msg::LaserScan>("output", 1);
+  sub_ = create_subscription<PointCloudAdapterType>(
+    "input", 1, [this](const PCLPointCloudTypePtr & msg) { pointsCallback(msg); });
 }
 
-void PointCloudToLaserScanComponent::callback(const sensor_msgs::msg::PointCloud2::SharedPtr msg)
+void PointCloudToLaserScanComponent::pointsCallback(const PCLPointCloudTypePtr & msg)
 {
   sensor_msgs::msg::LaserScan scan_msg;
-  scan_msg.header = msg->header;
+  pcl_conversions::fromPCL(msg->header, scan_msg.header);
   scan_msg.angle_min = angle_min_;
   scan_msg.angle_max = angle_max_;
   scan_msg.angle_increment = angle_increment_;
@@ -58,34 +58,32 @@ void PointCloudToLaserScanComponent::callback(const sensor_msgs::msg::PointCloud
   } else {
     scan_msg.ranges.assign(ranges_size, scan_msg.range_max + inf_epsilon_);
   }
-  for (sensor_msgs::PointCloud2ConstIterator<float> iter_x(*msg, "x"), iter_y(*msg, "y"),
-       iter_z(*msg, "z");
-       iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) {
-    if (std::isnan(*iter_x) || std::isnan(*iter_y) || std::isnan(*iter_z)) {
+  for (auto itr = msg->begin(); itr != msg->end(); itr++) {
+    if (std::isnan(itr->x) || std::isnan(itr->y) || std::isnan(itr->z)) {
       RCLCPP_DEBUG(
-        this->get_logger(), "rejected for nan in point(%f, %f, %f)\n", *iter_x, *iter_y, *iter_z);
+        this->get_logger(), "rejected for nan in point(%f, %f, %f)\n", itr->x, itr->y, itr->z);
       continue;
     }
-    if (*iter_z > max_height_ || *iter_z < min_height_) {
+    if (itr->z > max_height_ || itr->z < min_height_) {
       RCLCPP_DEBUG(
-        this->get_logger(), "rejected for height %f not in range (%f, %f)\n", *iter_z, min_height_,
+        this->get_logger(), "rejected for height %f not in range (%f, %f)\n", itr->z, min_height_,
         max_height_);
       continue;
     }
-    double range = hypot(*iter_x, *iter_y);
+    double range = hypot(itr->x, itr->y);
     if (range < range_min_) {
       RCLCPP_DEBUG(
         this->get_logger(), "rejected for range %f below minimum value %f. Point: (%f, %f, %f)",
-        range, range_min_, *iter_x, *iter_y, *iter_z);
+        range, range_min_, itr->x, itr->y, itr->z);
       continue;
     }
     if (range > range_max_) {
       RCLCPP_DEBUG(
         this->get_logger(), "rejected for range %f above maximum value %f. Point: (%f, %f, %f)",
-        range, range_max_, *iter_x, *iter_y, *iter_z);
+        range, range_max_, itr->x, itr->y, itr->z);
       continue;
     }
-    double angle = atan2(*iter_y, *iter_x);
+    double angle = atan2(itr->y, itr->x);
     if (angle < scan_msg.angle_min || angle > scan_msg.angle_max) {
       RCLCPP_DEBUG(
         this->get_logger(), "rejected for angle %f not in range (%f, %f)\n", angle,
diff --git a/pcl_apps/src/filter/points_concatenate/points_concatenate_component.cpp b/pcl_apps/src/filter/points_concatenate/points_concatenate_component.cpp
index 72625b8..6d10916 100644
--- a/pcl_apps/src/filter/points_concatenate/points_concatenate_component.cpp
+++ b/pcl_apps/src/filter/points_concatenate/points_concatenate_component.cpp
@@ -29,7 +29,7 @@ PointsConcatenateComponent::PointsConcatenateComponent(const rclcpp::NodeOptions
   get_parameter("num_input", num_input_);
   assert(num_input_ >= 2 && num_input_ <= 4);
   std::string output_topic_name = get_name() + std::string("/output");
-  pub_ = create_publisher<sensor_msgs::msg::PointCloud2>(output_topic_name, 10);
+  pub_ = create_publisher<PointCloudAdapterType>(output_topic_name, 10);
   for (int i = 0; i < num_input_; i++) {
     declare_parameter(
       "input_topic" + std::to_string(i), get_name() + std::string("/input") + std::to_string(i));
@@ -80,10 +80,8 @@ void PointsConcatenateComponent::callback2(CallbackT in0, CallbackT in1)
     *cloud = *pc_cloud + *cloud;
   }
   if (!empty) {
-    sensor_msgs::msg::PointCloud2 output_cloud_msg;
-    pcl::toROSMsg(*cloud, output_cloud_msg);
-    output_cloud_msg.header.stamp = sync2_->getPollTimestamp();
-    pub_->publish(output_cloud_msg);
+    cloud->header.stamp = pcl_conversions::toPCL(sync2_->getPollTimestamp());
+    pub_->publish(cloud);
   }
 }
 
@@ -113,10 +111,8 @@ void PointsConcatenateComponent::callback3(CallbackT in0, CallbackT in1, Callbac
     *cloud = *pc_cloud + *cloud;
   }
   if (!empty) {
-    sensor_msgs::msg::PointCloud2 output_cloud_msg;
-    pcl::toROSMsg(*cloud, output_cloud_msg);
-    output_cloud_msg.header.stamp = sync3_->getPollTimestamp();
-    pub_->publish(output_cloud_msg);
+    cloud->header.stamp = pcl_conversions::toPCL(sync3_->getPollTimestamp());
+    pub_->publish(cloud);
   }
 }
 
@@ -154,10 +150,8 @@ void PointsConcatenateComponent::callback4(
     *cloud = *pc_cloud + *cloud;
   }
   if (!empty) {
-    sensor_msgs::msg::PointCloud2 output_cloud_msg;
-    pcl::toROSMsg(*cloud, output_cloud_msg);
-    output_cloud_msg.header.stamp = sync4_->getPollTimestamp();
-    pub_->publish(output_cloud_msg);
+    cloud->header.stamp = pcl_conversions::toPCL(sync4_->getPollTimestamp());
+    pub_->publish(cloud);
   }
 }
 }  // namespace pcl_apps
diff --git a/pcl_apps/src/filter/points_transform/points_transform_component.cpp b/pcl_apps/src/filter/points_transform/points_transform_component.cpp
index 9aad267..e0d4fb6 100644
--- a/pcl_apps/src/filter/points_transform/points_transform_component.cpp
+++ b/pcl_apps/src/filter/points_transform/points_transform_component.cpp
@@ -40,25 +40,35 @@ PointsTransformComponent::PointsTransformComponent(const rclcpp::NodeOptions & o
   std::string output_topic_name;
   declare_parameter("output_topic", get_name() + std::string("/output"));
   get_parameter("output_topic", output_topic_name);
-  pub_ = create_publisher<sensor_msgs::msg::PointCloud2>(output_topic_name, 10);
-  auto callback = [this](const typename sensor_msgs::msg::PointCloud2::SharedPtr msg) -> void {
-    if (msg->header.frame_id == output_frame_id_) {
-      pub_->publish(*msg);
+  pub_ = create_publisher<PointCloudAdapterType>(output_topic_name, 10);
+  auto callback = [this](const PCLPointCloudTypePtr msg) -> void {
+    std_msgs::msg::Header header;
+    pcl_conversions::fromPCL(msg->header, header);
+    if (header.frame_id == output_frame_id_) {
+      pub_->publish(msg);
     } else {
-      tf2::TimePoint time_point = tf2::TimePoint(
-        std::chrono::seconds(msg->header.stamp.sec) +
-        std::chrono::nanoseconds(msg->header.stamp.nanosec));
-      geometry_msgs::msg::TransformStamped transform_stamped = buffer_.lookupTransform(
-        output_frame_id_, msg->header.frame_id, time_point, tf2::durationFromSec(1.0));
-      sensor_msgs::msg::PointCloud2 output_msg;
-      sensor_msgs::msg::PointCloud2 input_msg = *msg;
-      tf2::doTransform(input_msg, output_msg, transform_stamped);
-      pub_->publish(output_msg);
+      try {
+        tf2::TimePoint time_point = tf2::TimePoint(
+          std::chrono::seconds(header.stamp.sec) + std::chrono::nanoseconds(header.stamp.nanosec));
+        geometry_msgs::msg::TransformStamped transform_stamped = buffer_.lookupTransform(
+          output_frame_id_, header.frame_id, time_point, tf2::durationFromSec(1.0));
+        Eigen::Matrix4f mat =
+          tf2::transformToEigen(transform_stamped.transform).matrix().cast<float>();
+        pcl::transformPointCloud(*msg, *msg, mat);
+        msg->header.frame_id = output_frame_id_;
+        pub_->publish(msg);
+      } catch (tf2::ExtrapolationException & ex) {
+        RCLCPP_ERROR(get_logger(), ex.what());
+        return;
+      } catch (tf2::LookupException & ex) {
+        RCLCPP_ERROR(get_logger(), ex.what());
+        return;
+      }
     }
   };
   declare_parameter("input_topic", get_name() + std::string("/input"));
   get_parameter("input_topic", input_topic_);
-  sub_ = create_subscription<sensor_msgs::msg::PointCloud2>(input_topic_, 10, callback);
+  sub_ = create_subscription<PointCloudAdapterType>(input_topic_, 10, callback);
 }
 }  // namespace pcl_apps
 
diff --git a/pcl_apps/src/filter/radius_outlier_removal/radius_outlier_removal_component.cpp b/pcl_apps/src/filter/radius_outlier_removal/radius_outlier_removal_component.cpp
index 8dd444f..8c2d5dc 100644
--- a/pcl_apps/src/filter/radius_outlier_removal/radius_outlier_removal_component.cpp
+++ b/pcl_apps/src/filter/radius_outlier_removal/radius_outlier_removal_component.cpp
@@ -67,23 +67,19 @@ RadiusOutlierRemovalComponent::RadiusOutlierRemovalComponent(const rclcpp::NodeO
       return *results;
     });
   std::string output_topic_name = get_name() + std::string("/output");
-  pub_ = create_publisher<sensor_msgs::msg::PointCloud2>(output_topic_name, 10);
-  auto callback = [this](const typename sensor_msgs::msg::PointCloud2::SharedPtr msg) -> void {
-    pcl::PointCloud<pcl::PointXYZI>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZI>);
-    pcl::fromROSMsg(*msg, *cloud);
+  pub_ = create_publisher<PointCloudAdapterType>(output_topic_name, 10);
+  auto callback = [this](const PCLPointCloudTypePtr msg) -> void {
     std::vector<int> nan_index;
-    pcl::removeNaNFromPointCloud(*cloud, *cloud, nan_index);
-    if (cloud->size() != 0) {
-      filter_.setInputCloud(cloud);
+    pcl::removeNaNFromPointCloud(*msg, *msg, nan_index);
+    if (msg->size() != 0) {
+      filter_.setInputCloud(msg);
       filter_.setRadiusSearch(search_radius_);
       filter_.setMinNeighborsInRadius(min_neighbors_in_search_radius_);
-      pcl::PointCloud<pcl::PointXYZI>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZI>);
-      filter_.filter(*cloud_filtered);
-      pcl::toROSMsg(*cloud_filtered, *msg);
+      filter_.filter(*msg);
     }
-    pub_->publish(*msg);
+    pub_->publish(msg);
   };
-  sub_ = create_subscription<sensor_msgs::msg::PointCloud2>(input_topic_, 10, callback);
+  sub_ = create_subscription<PointCloudAdapterType>(input_topic_, 10, callback);
 }
 }  // namespace pcl_apps
 
diff --git a/pcl_apps/src/filter/voxelgrid_filter/voxelgrid_filter_component.cpp b/pcl_apps/src/filter/voxelgrid_filter/voxelgrid_filter_component.cpp
index bead956..4b922de 100644
--- a/pcl_apps/src/filter/voxelgrid_filter/voxelgrid_filter_component.cpp
+++ b/pcl_apps/src/filter/voxelgrid_filter/voxelgrid_filter_component.cpp
@@ -54,20 +54,16 @@ VoxelgridFilterComponent::VoxelgridFilterComponent(const rclcpp::NodeOptions & o
       return *results;
     });
   std::string output_topic_name = get_name() + std::string("/output");
-  pub_ = create_publisher<sensor_msgs::msg::PointCloud2>(output_topic_name, 10);
-  auto callback = [this](const typename sensor_msgs::msg::PointCloud2::SharedPtr msg) -> void {
-    pcl::PCLPointCloud2::Ptr cloud(new pcl::PCLPointCloud2());
-    pcl_conversions::toPCL(*msg, *cloud);
+  pub_ = create_publisher<PointCloudAdapterType>(output_topic_name, 10);
+  auto callback = [this](const PCLPointCloudTypePtr cloud) -> void {
     filter_.setInputCloud(cloud);
     assert(leaf_size_ > 0.0);
     filter_.setLeafSize(leaf_size_, leaf_size_, leaf_size_);
     pcl::PCLPointCloud2::Ptr cloud_filtered(new pcl::PCLPointCloud2());
-    filter_.filter(*cloud_filtered);
-    sensor_msgs::msg::PointCloud2 output_cloud_msg;
-    pcl_conversions::fromPCL(*cloud_filtered, output_cloud_msg);
-    pub_->publish(output_cloud_msg);
+    filter_.filter(*cloud);
+    pub_->publish(cloud);
   };
-  sub_ = create_subscription<sensor_msgs::msg::PointCloud2>(input_topic_, 10, callback);
+  sub_ = create_subscription<PointCloudAdapterType>(input_topic_, 10, callback);
 }
 }  // namespace pcl_apps
 
diff --git a/pcl_apps/src/io/CMakeLists.txt b/pcl_apps/src/io/CMakeLists.txt
deleted file mode 100644
index 71b1619..0000000
--- a/pcl_apps/src/io/CMakeLists.txt
+++ /dev/null
@@ -1,49 +0,0 @@
-# Pcd Writer Component/Node
-add_library(pcd_writer_component SHARED
-  pcd_writer/pcd_writer_component.cpp
-)
-target_compile_definitions(pcd_writer_component PRIVATE "PCL_APPS_PCD_WRITER_BUILDING_DLL")
-target_link_libraries(pcd_writer_component
-  boost_system ${PCL_LIBRARIES})
-ament_target_dependencies(pcd_writer_component
-  rclcpp rclcpp_components pcl_conversions sensor_msgs pcl_apps_msgs)
-
-add_executable(pcd_writer_node
-  pcd_writer/pcd_writer_node.cpp)
-target_link_libraries(pcd_writer_node
-  pcd_writer_component ${PCL_LIBRARIES})
-ament_target_dependencies(pcd_writer_node
-  rclcpp rclcpp_components pcl_conversions sensor_msgs pcl_apps_msgs)
-
-# Pcd Loader Component/Node
-add_library(pcd_loader_component SHARED
-  pcd_loader/pcd_loader_component.cpp
-)
-target_compile_definitions(pcd_loader_component PRIVATE "PCL_APPS_PCD_LOADER_BUILDING_DLL")
-target_link_libraries(pcd_loader_component
-  boost_system ${PCL_LIBRARIES})
-ament_target_dependencies(pcd_loader_component
-  rclcpp rclcpp_components pcl_conversions sensor_msgs pcl_apps_msgs)
-add_executable(pcd_loader_node
-  pcd_loader/pcd_loader_node.cpp)
-target_link_libraries(pcd_loader_node
-  pcd_loader_component ${PCL_LIBRARIES})
-ament_target_dependencies(pcd_loader_node
-  rclcpp rclcpp_components pcl_conversions sensor_msgs pcl_apps_msgs)
-
-# install executables/libs
-install(TARGETS
-  pcd_writer_node
-  pcd_loader_node
-  DESTINATION lib/pcl_apps
-)
-
-install(TARGETS
-  pcd_writer_component
-  pcd_loader_component
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin)
-
-ament_export_libraries(pcd_writer_component)
-ament_export_libraries(pcd_loader_component)
\ No newline at end of file
diff --git a/pcl_apps/src/io/pcd_loader/pcd_loader_component.cpp b/pcl_apps/src/io/pcd_loader/pcd_loader_component.cpp
index 6f0a777..49865c4 100644
--- a/pcl_apps/src/io/pcd_loader/pcd_loader_component.cpp
+++ b/pcl_apps/src/io/pcd_loader/pcd_loader_component.cpp
@@ -34,15 +34,12 @@ PcdLoaderComponent::PcdLoaderComponent(const rclcpp::NodeOptions & options)
   std::string inference_id;
   declare_parameter("inference_id", std::string("map"));
   get_parameter("inference_id", inference_id);
-  pcl::PCLPointCloud2 cloud;
-  int result = pcl::io::loadPCDFile(file_path, cloud);
+  PCLPointCloudTypePtr cloud = PCLPointCloudTypePtr(new PCLPointCloudType);
+  int result = pcl::io::loadPCDFile(file_path, *cloud);
   if (result == 0) {
-    sensor_msgs::msg::PointCloud2 msg;
-    pcl_conversions::fromPCL(cloud, msg);
-    msg.header.frame_id = inference_id;
-    pub_ = create_publisher<sensor_msgs::msg::PointCloud2>(
-      output_topic, rclcpp::QoS(10).transient_local());
-    pub_->publish(msg);
+    cloud->header.frame_id = inference_id;
+    pub_ = create_publisher<PointCloudAdapterType>(output_topic, rclcpp::QoS(10).transient_local());
+    pub_->publish(cloud);
   } else {
     RCLCPP_ERROR_STREAM(get_logger(), "Failed to load " << file_path);
   }
diff --git a/pcl_apps/src/io/pcd_writer/pcd_writer_component.cpp b/pcl_apps/src/io/pcd_writer/pcd_writer_component.cpp
index 0f07d8a..61ac650 100644
--- a/pcl_apps/src/io/pcd_writer/pcd_writer_component.cpp
+++ b/pcl_apps/src/io/pcd_writer/pcd_writer_component.cpp
@@ -30,11 +30,11 @@ PcdWriterComponent::PcdWriterComponent(const rclcpp::NodeOptions & options)
   declare_parameter("input_topic", get_name() + std::string("/input"));
   get_parameter("input_topic", input_topic_);
   pointcloud_recieved_ = false;
-  auto callback = [this](const typename sensor_msgs::msg::PointCloud2::SharedPtr msg) -> void {
-    pcl::fromROSMsg(*msg, cloud_);
+  auto callback = [this](const PCLPointCloudTypePtr msg) -> void {
+    cloud_ = msg;
     pointcloud_recieved_ = true;
   };
-  sub_ = create_subscription<sensor_msgs::msg::PointCloud2>(input_topic_, 10, callback);
+  sub_ = create_subscription<PointCloudAdapterType>(input_topic_, 10, callback);
   auto write_pcd_callback =
     [this](
       const std::shared_ptr<rmw_request_id_t> request_header,
@@ -44,11 +44,11 @@ PcdWriterComponent::PcdWriterComponent(const rclcpp::NodeOptions & options)
     if (pointcloud_recieved_) {
       int result = 0;
       if (request->format == request->ASCII) {
-        result = pcl::io::savePCDFileASCII(request->path, cloud_);
+        result = pcl::io::savePCDFileASCII(request->path, *cloud_);
       } else if (request->format == request->BINARY) {
-        result = pcl::io::savePCDFileBinary(request->path, cloud_);
+        result = pcl::io::savePCDFileBinary(request->path, *cloud_);
       } else if (request->format == request->BINARY_COMPRESSED) {
-        result = pcl::io::savePCDFileBinaryCompressed(request->path, cloud_);
+        result = pcl::io::savePCDFileBinaryCompressed(request->path, *cloud_);
       } else {
         response->result = response->FAIL;
         response->description = "invalid file format";
diff --git a/pcl_apps/src/matching/CMakeLists.txt b/pcl_apps/src/matching/CMakeLists.txt
deleted file mode 100644
index 9f35a09..0000000
--- a/pcl_apps/src/matching/CMakeLists.txt
+++ /dev/null
@@ -1,52 +0,0 @@
-# Ndt Matching Component/Node
-add_library(ndt_matching_component SHARED
-  ndt_matching/ndt_matching_component.cpp
-)
-target_compile_definitions(ndt_matching_component PRIVATE "PCL_APPS_NDT_MATCHING_BUILDING_DLL")
-target_link_libraries(ndt_matching_component
-  ${PCL_LIBRARIES})
-ament_target_dependencies(ndt_matching_component
-  rclcpp rclcpp_components pcl_conversions sensor_msgs tf2_eigen ndt_omp tf2_geometry_msgs)
-
-add_executable(ndt_matching_node
-  ndt_matching/ndt_matching_node.cpp
-)
-target_link_libraries(ndt_matching_node
-  ndt_matching_component ${PCL_LIBRARIES})
-ament_target_dependencies(ndt_matching_node
-  rclcpp rclcpp_components pcl_conversions sensor_msgs tf2_eigen ndt_omp)
-
-# Ndt Matching Twist Estimator Component/Node
-add_library(ndt_matching_twist_estimator_component SHARED
-  ndt_matching/ndt_matching_twist_estimator_component.cpp
-)
-target_compile_definitions(ndt_matching_twist_estimator_component PRIVATE "PCL_APPS_NDT_MATCHING_TWIST_ESTIMATOR_BUILDING_DLL")
-target_link_libraries(ndt_matching_twist_estimator_component
-  ${PCL_LIBRARIES})
-ament_target_dependencies(ndt_matching_twist_estimator_component
-  rclcpp rclcpp_components pcl_conversions sensor_msgs tf2_eigen)
-
-add_executable(ndt_matching_twist_estimator_node
-  ndt_matching/ndt_matching_twist_estimator_node.cpp
-)
-target_link_libraries(ndt_matching_twist_estimator_node
-ndt_matching_twist_estimator_component ${PCL_LIBRARIES})
-ament_target_dependencies(ndt_matching_twist_estimator_node
-  rclcpp rclcpp_components pcl_conversions sensor_msgs tf2_eigen)
-
-# install executables/libs
-install(TARGETS
-  ndt_matching_node
-  ndt_matching_twist_estimator_node
-  DESTINATION lib/pcl_apps
-)
-
-install(TARGETS
-  ndt_matching_component
-  ndt_matching_twist_estimator_component
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin)
-
-ament_export_libraries(ndt_matching_component)
-ament_export_libraries(ndt_matching_twist_estimator_component)
\ No newline at end of file
diff --git a/pcl_apps/src/matching/ndt_matching/ndt_matching_component.cpp b/pcl_apps/src/matching/ndt_matching/ndt_matching_component.cpp
index dc6a1f0..68e2fea 100644
--- a/pcl_apps/src/matching/ndt_matching/ndt_matching_component.cpp
+++ b/pcl_apps/src/matching/ndt_matching/ndt_matching_component.cpp
@@ -51,7 +51,7 @@ NdtMatchingComponent::NdtMatchingComponent(const rclcpp::NodeOptions & options)
   get_parameter("omp_num_thread", omp_num_thread_);
 
   broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(this);
-  ndt_ = std::make_shared<pclomp::NormalDistributionsTransform<pcl::PointXYZ, pcl::PointXYZ>>();
+  ndt_ = std::make_shared<pclomp::NormalDistributionsTransform<PCLPointType, PCLPointType>>();
   ndt_->setNeighborhoodSearchMethod(pclomp::DIRECT7);
   if (0 < omp_num_thread_) ndt_->setNumThreads(omp_num_thread_);
 
@@ -118,42 +118,33 @@ NdtMatchingComponent::NdtMatchingComponent(const rclcpp::NodeOptions & options)
   reference_cloud_recieved_ = false;
   initial_pose_recieved_ = false;
 
-  auto reference_cloud_callback =
-    [this](const typename sensor_msgs::msg::PointCloud2::ConstSharedPtr msg) -> void {
+  auto reference_cloud_callback = [this](const PCLPointCloudTypePtr reference_cloud_) -> void {
     ndt_map_mtx_.lock();
     initial_pose_recieved_ = false;
-    assert(msg->header.frame_id == reference_frame_id_);
     reference_cloud_recieved_ = true;
-    pcl::fromROSMsg(*msg, *reference_cloud_);
     ndt_->setInputTarget(reference_cloud_);
     ndt_map_mtx_.unlock();
   };
   auto initial_pose_callback =
     [this](const typename geometry_msgs::msg::PoseStamped::SharedPtr msg) -> void {
     initial_pose_recieved_ = true;
-    assert(msg->header.frame_id == reference_frame_id_);
     current_relative_pose_ = *msg;
   };
-  auto callback = [this](const typename sensor_msgs::msg::PointCloud2::SharedPtr msg) -> void {
-    std::lock_guard<std::mutex> lock(ndt_map_mtx_);
-    pcl::PointCloud<pcl::PointXYZ>::Ptr input_cloud(new pcl::PointCloud<pcl::PointXYZ>);
-    pcl::fromROSMsg(*msg, *input_cloud);
+  auto callback = [this](const PCLPointCloudTypePtr input_cloud) -> void {
     std::vector<int> nan_index;
     pcl::removeNaNFromPointCloud(*input_cloud, *input_cloud, nan_index);
     publishTF(reference_frame_id_, base_frame_id_, current_relative_pose_);
-    updateRelativePose(input_cloud, msg->header.stamp);
+    updateRelativePose(input_cloud, pcl_conversions::fromPCL(input_cloud->header.stamp));
     current_relative_pose_pub_->publish(current_relative_pose_);
   };
-  sub_reference_cloud_ = create_subscription<sensor_msgs::msg::PointCloud2>(
+  sub_reference_cloud_ = create_subscription<PointCloudAdapterType>(
     reference_cloud_topic_, rclcpp::QoS{1}.transient_local(), reference_cloud_callback);
-  sub_input_cloud_ =
-    create_subscription<sensor_msgs::msg::PointCloud2>(input_cloud_topic_, 10, callback);
+  sub_input_cloud_ = create_subscription<PointCloudAdapterType>(input_cloud_topic_, 10, callback);
   sub_initial_pose_ = create_subscription<geometry_msgs::msg::PoseStamped>(
     initial_pose_topic_, 1, initial_pose_callback);
 }
 
-void NdtMatchingComponent::updateRelativePose(
-  pcl::PointCloud<pcl::PointXYZ>::Ptr input_cloud, rclcpp::Time stamp)
+void NdtMatchingComponent::updateRelativePose(PCLPointCloudTypePtr input_cloud, rclcpp::Time stamp)
 {
   ndt_->setTransformationEpsilon(transform_epsilon_);
   ndt_->setStepSize(step_size_);
@@ -166,7 +157,7 @@ void NdtMatchingComponent::updateRelativePose(
   transform.translation.z = current_relative_pose_.pose.position.z;
   transform.rotation = current_relative_pose_.pose.orientation;
   Eigen::Matrix4f mat = tf2::transformToEigen(transform).matrix().cast<float>();
-  auto output_cloud = std::make_shared<pcl::PointCloud<pcl::PointXYZ>>();
+  auto output_cloud = std::make_shared<pcl::PointCloud<PCLPointType>>();
   ndt_->align(*output_cloud, mat);
   Eigen::Matrix4f final_transform = ndt_->getFinalTransformation();
   tf2::Matrix3x3 rotation_mat;
@@ -188,8 +179,10 @@ void NdtMatchingComponent::updateRelativePose(
   current_relative_pose_.pose.orientation.z = quat.z();
   current_relative_pose_.pose.orientation.w = quat.w();
 }
+
 void NdtMatchingComponent::publishTF(
-  std::string frame_id, std::string child_frame_id, geometry_msgs::msg::PoseStamped pose)
+  const std::string & frame_id, const std::string & child_frame_id,
+  const geometry_msgs::msg::PoseStamped & pose)
 {
   geometry_msgs::msg::TransformStamped transform_stamped;
 
diff --git a/pcl_apps/src/matching/ndt_matching/ndt_matching_twist_estimator_component.cpp b/pcl_apps/src/matching/ndt_matching_twist_estimator/ndt_matching_twist_estimator_component.cpp
similarity index 87%
rename from pcl_apps/src/matching/ndt_matching/ndt_matching_twist_estimator_component.cpp
rename to pcl_apps/src/matching/ndt_matching_twist_estimator/ndt_matching_twist_estimator_component.cpp
index db23190..272ecf6 100644
--- a/pcl_apps/src/matching/ndt_matching/ndt_matching_twist_estimator_component.cpp
+++ b/pcl_apps/src/matching/ndt_matching_twist_estimator/ndt_matching_twist_estimator_component.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <pcl_apps/matching/ndt_matching/ndt_matching_twist_estimator_component.hpp>
+#include <pcl_apps/matching/ndt_matching_twist_estimator/ndt_matching_twist_estimator_component.hpp>
 
 // Headers in ROS2
 #include <rclcpp_components/register_node_macro.hpp>
@@ -98,24 +98,20 @@ NdtMatchingTwistEstimatorComponent::NdtMatchingTwistEstimatorComponent(
   std::string output_topic_name = get_name() + std::string("/current_relative_pose");
   current_twist_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>(output_topic_name, 10);
   // Setup Subscriber
-  buffer_ = boost::circular_buffer<pcl::PointCloud<pcl::PointXYZ>::Ptr>(2);
+  buffer_ = boost::circular_buffer<PCLPointCloudTypePtr>(2);
   timestamps_ = boost::circular_buffer<rclcpp::Time>(2);
-  auto callback = [this](const typename sensor_msgs::msg::PointCloud2::SharedPtr msg) -> void {
-    assert(input_cloud_frame_id_ == msg->header.frame_id);
-    timestamps_.push_back(msg->header.stamp);
-    pcl::PointCloud<pcl::PointXYZ>::Ptr input_cloud;
-    pcl::fromROSMsg(*msg, *input_cloud);
+  auto callback = [this](const PCLPointCloudTypePtr input_cloud) -> void {
+    timestamps_.push_back(pcl_conversions::fromPCL(input_cloud->header.stamp));
     buffer_.push_back(input_cloud);
-    boost::optional<geometry_msgs::msg::TwistStamped> twist = estimateCurrentTwist();
+    std::optional<geometry_msgs::msg::TwistStamped> twist = estimateCurrentTwist();
     if (twist) {
-      current_twist_pub_->publish(twist.get());
+      current_twist_pub_->publish(twist.value());
     }
   };
-  sub_input_cloud_ =
-    create_subscription<sensor_msgs::msg::PointCloud2>(input_cloud_topic_, 10, callback);
+  sub_input_cloud_ = create_subscription<PointCloudAdapterType>(input_cloud_topic_, 10, callback);
 }
 
-boost::optional<geometry_msgs::msg::TwistStamped>
+std::optional<geometry_msgs::msg::TwistStamped>
 NdtMatchingTwistEstimatorComponent::estimateCurrentTwist()
 {
   assert(timestamps_.size() == buffer_.size());
@@ -135,7 +131,7 @@ NdtMatchingTwistEstimatorComponent::estimateCurrentTwist()
     transform.rotation.z = 0.0;
     transform.rotation.w = 1.0;
     Eigen::Matrix4f mat = tf2::transformToEigen(transform).matrix().cast<float>();
-    pcl::PointCloud<pcl::PointXYZ>::Ptr output_cloud(new pcl::PointCloud<pcl::PointXYZ>);
+    PCLPointCloudTypePtr output_cloud(new pcl::PointCloud<PCLPointType>);
     ndt_.align(*output_cloud, mat);
     Eigen::Matrix4f final_transform = ndt_.getFinalTransformation();
     tf2::Matrix3x3 rotation_mat;
@@ -161,7 +157,7 @@ NdtMatchingTwistEstimatorComponent::estimateCurrentTwist()
     twist.twist.angular.z = yaw / diff_time;
     return twist;
   }
-  return boost::none;
+  return std::nullopt;
 }
 }  // namespace pcl_apps
 
diff --git a/pcl_apps/src/matching/ndt_matching/ndt_matching_twist_estimator_node.cpp b/pcl_apps/src/matching/ndt_matching_twist_estimator/ndt_matching_twist_estimator_node.cpp
similarity index 90%
rename from pcl_apps/src/matching/ndt_matching/ndt_matching_twist_estimator_node.cpp
rename to pcl_apps/src/matching/ndt_matching_twist_estimator/ndt_matching_twist_estimator_node.cpp
index 5831343..e524965 100644
--- a/pcl_apps/src/matching/ndt_matching/ndt_matching_twist_estimator_node.cpp
+++ b/pcl_apps/src/matching/ndt_matching_twist_estimator/ndt_matching_twist_estimator_node.cpp
@@ -13,7 +13,7 @@
 // limitations under the License.
 
 // Headers in this package
-#include <pcl_apps/matching/ndt_matching/ndt_matching_twist_estimator_component.hpp>
+#include <pcl_apps/matching/ndt_matching_twist_estimator/ndt_matching_twist_estimator_component.hpp>
 
 // Headers in RCLCPP
 #include <rclcpp/rclcpp.hpp>
diff --git a/pcl_apps/src/projection/CMakeLists.txt b/pcl_apps/src/projection/CMakeLists.txt
deleted file mode 100644
index e399635..0000000
--- a/pcl_apps/src/projection/CMakeLists.txt
+++ /dev/null
@@ -1,33 +0,0 @@
-# Pointcloud Projection Component/Node
-add_library(pointcloud_projection_component SHARED
-pointcloud_projection/pointcloud_projection_component.cpp
-)
-target_compile_definitions(pointcloud_projection_component PRIVATE "PCL_APPS_POINTCLOUD_PROJECTION_BUILDING_DLL")
-ament_target_dependencies(pointcloud_projection_component
-  rclcpp rclcpp_components pcl_conversions sensor_msgs
-  perception_msgs image_geometry message_synchronizer pcl_apps_msgs
-  tf2_ros tf2_geometry_msgs visualization_msgs color_names)
-target_link_libraries(pointcloud_projection_component ${PCL_LIBRARIES})
-
-add_executable(pointcloud_projection_node
-  pointcloud_projection/pointcloud_projection_node.cpp
-)
-ament_target_dependencies(pointcloud_projection_node
-  rclcpp rclcpp_components pcl_conversions sensor_msgs
-  perception_msgs image_geometry message_synchronizer pcl_apps_msgs
-  tf2_ros tf2_geometry_msgs visualization_msgs color_names)
-target_link_libraries(pointcloud_projection_node
-  pointcloud_projection_component)
-
-  # install executables/libs
-install(TARGETS
-  pointcloud_projection_node
-  DESTINATION lib/pcl_apps)
-
-install(TARGETS
-  pointcloud_projection_component
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin)
-
-ament_export_libraries(pointcloud_projection_component)
diff --git a/pcl_apps/src/projection/pointcloud_projection/pointcloud_projection_component.cpp b/pcl_apps/src/projection/pointcloud_projection/pointcloud_projection_component.cpp
index a03e407..6f22c54 100644
--- a/pcl_apps/src/projection/pointcloud_projection/pointcloud_projection_component.cpp
+++ b/pcl_apps/src/projection/pointcloud_projection/pointcloud_projection_component.cpp
@@ -188,4 +188,4 @@ void PointCloudProjectionComponent::callback(
 }
 }  // namespace pcl_apps
 
-RCLCPP_COMPONENTS_REGISTER_NODE(pcl_apps::PointCloudProjectionComponent)
+RCLCPP_COMPONENTS_REGISTER_NODE(pcl_apps::PointCloudProjectionComponent)
\ No newline at end of file