diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3bfbb9a..697b836 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,6 +28,7 @@ find_package(catkin REQUIRED COMPONENTS
     sensor_msgs
     message_generation
     zetton_common
+    zetton_stream
     )
 catkin_python_setup()
 catkin_package(
diff --git a/example/ros_mot_tracker.cc b/example/ros_mot_tracker.cc
index dfcd0e9..99705b5 100644
--- a/example/ros_mot_tracker.cc
+++ b/example/ros_mot_tracker.cc
@@ -16,7 +16,7 @@
 #include "zetton_inference/tracker/sort_tracker.h"
 
 void signalHandler(int sig) {
-  ROS_WARN("Trying to exit!");
+  AWARN_F("Trying to exit!");
   ros::shutdown();
 }
 
@@ -28,7 +28,7 @@ class RosMotTracker {
     try {
       cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
     } catch (cv_bridge::Exception& e) {
-      ROS_ERROR("cv_bridge exception: %s", e.what());
+      AERROR_F("cv_bridge exception: {}", e.what());
       return;
     }
 
@@ -40,15 +40,15 @@ class RosMotTracker {
     tracker_.Track(cv_ptr->image, ros::Time::now(), detections);
 
     // print detections and tracks
-    ROS_INFO("Detections:");
+    AINFO_F("Detections:");
     for (auto& detection : detections) {
-      ROS_INFO_STREAM(detection);
+      AINFO << detection;
       detection.Draw(cv_ptr->image);
     }
-    ROS_INFO("Trackings:");
+    AINFO_F("Trackings:");
     for (auto& track : tracker_.tracks()) {
       // if (track.tracking_fail_count <= 3) {
-      ROS_INFO_STREAM(track);
+      AINFO << track;
       track.Draw(cv_ptr->image);
       // }
     }
@@ -57,7 +57,7 @@ class RosMotTracker {
     image_pub_.publish(
         cv_bridge::CvImage(std_msgs::Header(), "bgr8", cv_ptr->image)
             .toImageMsg());
-    ROS_INFO("---");
+    AINFO_F("---");
   }
 
   ros::NodeHandle* nh_;
@@ -74,7 +74,8 @@ class RosMotTracker {
   RosMotTracker(ros::NodeHandle* nh) : nh_(nh), it_(*nh_) {
     // load params
     // hardcoded or using GPARAM
-    // std::string image_topic_sub = "/uvds_communication/image_streaming/mavic_0";
+    // std::string image_topic_sub =
+    // "/uvds_communication/image_streaming/mavic_0";
     std::string image_topic_sub = "/camera/image";
 
     // subscribe to input video feed
diff --git a/example/ros_yolo_object_detector.cc b/example/ros_yolo_object_detector.cc
index 7287f97..7e4c173 100644
--- a/example/ros_yolo_object_detector.cc
+++ b/example/ros_yolo_object_detector.cc
@@ -11,7 +11,7 @@
 #include "zetton_inference/detector/yolo_object_detector.h"
 
 void signalHandler(int sig) {
-  ROS_WARN("Trying to exit!");
+  AWARN_F("Trying to exit!");
   ros::shutdown();
 }
 
@@ -23,7 +23,7 @@ class RosYoloObjectDetector {
     try {
       cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
     } catch (cv_bridge::Exception& e) {
-      ROS_ERROR("cv_bridge exception: %s", e.what());
+      AERROR_F("cv_bridge exception: {}", e.what());
       return;
     }
 
@@ -33,7 +33,7 @@ class RosYoloObjectDetector {
 
     // print results
     for (const auto& result : results) {
-      ROS_INFO_STREAM(result);
+      AINFO << result;
     }
   }
 
diff --git a/example/rtsp_yolo_object_detector.cc b/example/rtsp_yolo_object_detector.cc
index b110b67..65c2115 100644
--- a/example/rtsp_yolo_object_detector.cc
+++ b/example/rtsp_yolo_object_detector.cc
@@ -8,8 +8,8 @@
 #include "opencv2/opencv.hpp"
 #include "ros/package.h"
 #include "ros/ros.h"
-#include "zetton_common/stream/cv_gst_stream_source.h"
 #include "zetton_inference/detector/yolo_object_detector.h"
+#include "zetton_stream/stream/cv_gst_stream_source.h"
 
 #define SHOW_GUI false
 
@@ -35,7 +35,7 @@ class RtspYoloObjectDetector {
   std::string url_;
 
   std::shared_ptr<zetton::inference::YoloObjectDetector> detector_;
-  std::shared_ptr<zetton::common::CvGstStreamSource> streamer_;
+  std::shared_ptr<zetton::stream::CvGstStreamSource> streamer_;
 
   std::atomic<bool> stop_flag_{false};
   std::shared_ptr<std::thread> thread_;
@@ -68,11 +68,11 @@ bool RtspYoloObjectDetector::Open() {
   detector_ = std::make_shared<zetton::inference::YoloObjectDetector>();
   detector_->Init(config_);
   // init streamer
-  zetton::common::StreamOptions options;
+  zetton::stream::StreamOptions options;
   options.resource = url_;
-  options.codec = zetton::common::StreamCodec::CODEC_H264;
-  options.platform = zetton::common::StreamPlatformType::PLATFORM_CPU;
-  streamer_ = std::make_shared<zetton::common::CvGstStreamSource>();
+  options.codec = zetton::stream::StreamCodec::CODEC_H264;
+  options.platform = zetton::stream::StreamPlatformType::PLATFORM_CPU;
+  streamer_ = std::make_shared<zetton::stream::CvGstStreamSource>();
   streamer_->Init(options);
 
   thread_ = std::make_shared<std::thread>([&]() { Process(); });
@@ -135,7 +135,7 @@ int main(int argc, char** argv) {
   detector.SetHeightLimitation(50, 1920);
 
   // start
-  ROS_INFO("Starting detection");
+  AINFO_F("Starting detection");
   while (detector.IsOpened()) {
     cv::Mat frame;
     zetton::inference::ObjectDetectionResults results;
@@ -144,7 +144,7 @@ int main(int argc, char** argv) {
       detector.Capture(frame, results);
       // print results
       for (const auto& result : results) {
-        ROS_INFO_STREAM(result);
+        AINFO << result;
       }
       // show results in GUI
       if (SHOW_GUI) {
@@ -154,7 +154,7 @@ int main(int argc, char** argv) {
         cv::imshow("Results", frame);
         char key = cv::waitKey(10);
         if (key == 27) {
-          ROS_INFO("Stopping detection");
+          AINFO_F("Stopping detection");
           break;
         }
       }
diff --git a/include/zetton_inference/tracker/mot/association_type.h b/include/zetton_inference/tracker/mot/association_type.h
index 21e1349..852fca5 100644
--- a/include/zetton_inference/tracker/mot/association_type.h
+++ b/include/zetton_inference/tracker/mot/association_type.h
@@ -2,6 +2,8 @@
 
 #include <ros/ros.h>
 
+#include "zetton_common/util/log.h"
+
 namespace zetton {
 namespace inference {
 namespace tracker {
@@ -50,10 +52,11 @@ class AssociationVector {
   }
 
   void report() {
-    ROS_INFO("Data Association Report:");
-    for (auto ass : ass_vector)
-      ROS_INFO_STREAM("id: " << ass.id << " | score: " << ass.score);
-    ROS_INFO(" ");
+    AINFO_F("Data Association Report:");
+    for (auto ass : ass_vector) {
+      AINFO_F("id: {} | score: {}", ass.id, ass.score);
+    }
+    AINFO_F(" ");
   }
 
   std::vector<AssociationType> ass_vector;
diff --git a/include/zetton_inference/tracker/mot/util.h b/include/zetton_inference/tracker/mot/util.h
index 2ed24e5..eba75db 100644
--- a/include/zetton_inference/tracker/mot/util.h
+++ b/include/zetton_inference/tracker/mot/util.h
@@ -7,6 +7,8 @@
 #include <Eigen/Dense>
 #include <string>
 
+#include "zetton_common/util/log.h"
+
 namespace zetton {
 namespace inference {
 namespace tracker {
@@ -50,8 +52,7 @@ inline std::vector<Eigen::VectorXf> feature_vector_to_eigen(
 }
 
 inline void print_bbox(cv::Rect2d bbox) {
-  ROS_INFO_STREAM("Bbox Info: " << bbox.x << ", " << bbox.y << ", "
-                                << bbox.width << ", " << bbox.height);
+  AINFO_F("Bbox Info: {},{},{},{}", bbox.x, bbox.y, bbox.width, bbox.height);
 }
 
 inline double cal_bbox_overlap_ratio(cv::Rect2d track_bbox,
diff --git a/include/zetton_inference/tracker/mot_tracker.h b/include/zetton_inference/tracker/mot_tracker.h
index fd1edb2..9e44449 100644
--- a/include/zetton_inference/tracker/mot_tracker.h
+++ b/include/zetton_inference/tracker/mot_tracker.h
@@ -2,6 +2,7 @@
 
 #include <std_msgs/UInt16MultiArray.h>
 
+#include "zetton_common/util/log.h"
 #include "zetton_inference/interface/base_object_detector.h"
 #include "zetton_inference/interface/base_object_tracker.h"
 #include "zetton_inference/tracker/mot/association_type.h"
diff --git a/include/zetton_inference/tracker/sort_tracker.h b/include/zetton_inference/tracker/sort_tracker.h
index 7e1b751..dd62693 100644
--- a/include/zetton_inference/tracker/sort_tracker.h
+++ b/include/zetton_inference/tracker/sort_tracker.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include "ros/ros.h"
 #include "zetton_inference/interface/base_object_detector.h"
 #include "zetton_inference/interface/base_object_tracker.h"
 #include "zetton_inference/tracker/sort/hungarian.h"
diff --git a/package.xml b/package.xml
index c92838c..1e05143 100644
--- a/package.xml
+++ b/package.xml
@@ -15,6 +15,7 @@
     <build_depend>sensor_msgs</build_depend>
     <build_depend>message_generation</build_depend>
     <build_depend>zetton_common</build_depend>
+    <build_depend>zetton_stream</build_depend>
     <exec_depend>roscpp</exec_depend>
     <exec_depend>rospy</exec_depend>
     <exec_depend>roslib</exec_depend>
@@ -24,4 +25,5 @@
     <exec_depend>message_generation</exec_depend>
     <exec_depend>message_runtime</exec_depend>
     <exec_depend>zetton_common</exec_depend>
+    <exec_depend>zetton_stream</exec_depend>
 </package>
\ No newline at end of file
diff --git a/src/zetton_inference/detector/yolo_object_detector.cc b/src/zetton_inference/detector/yolo_object_detector.cc
index a3a28da..417475a 100644
--- a/src/zetton_inference/detector/yolo_object_detector.cc
+++ b/src/zetton_inference/detector/yolo_object_detector.cc
@@ -23,7 +23,7 @@ bool YoloObjectDetector::Init(const std::string& param_uri,
   } else if (net_type == "YOLOV4_TINY") {
     config_.net_type = yolo_trt::ModelType::YOLOV4_TINY;
   } else {
-    ROS_ERROR_STREAM("Unsupported net type: " << net_type);
+    AERROR_F("Unsupported net type: {}", net_type);
     return false;
   }
   auto precision = static_cast<std::string>(params["inference_precision"]);
@@ -37,7 +37,7 @@ bool YoloObjectDetector::Init(const std::string& param_uri,
         package_path +
         static_cast<std::string>(params["calibration_image_list_file_txt"]);
   } else {
-    ROS_ERROR_STREAM("Unsupported inference precision: " << precision);
+    AERROR_F("Unsupported inference precision: {}", precision);
     return false;
   }
 
diff --git a/src/zetton_inference/tracker/mot/local_object.cc b/src/zetton_inference/tracker/mot/local_object.cc
index a1fbf68..ca29ef7 100644
--- a/src/zetton_inference/tracker/mot/local_object.cc
+++ b/src/zetton_inference/tracker/mot/local_object.cc
@@ -41,7 +41,7 @@ void LocalObject::track_bbox_by_optical_flow(const ros::Time &time_now) {
     tracking_fail_count = 0;
   } else {
     tracking_fail_count++;
-    ROS_INFO_STREAM("Object " << id << " tracking failure detected!");
+    AINFO_F("Object {} tracking failure detected!", id);
   }
 
   // update the bbox last updated time
diff --git a/src/zetton_inference/tracker/mot_tracker.cc b/src/zetton_inference/tracker/mot_tracker.cc
index f4b3c2d..fdf6307 100644
--- a/src/zetton_inference/tracker/mot_tracker.cc
+++ b/src/zetton_inference/tracker/mot_tracker.cc
@@ -35,7 +35,7 @@ std::vector<tracker::LocalObject> MotTracker::update_bbox_by_tracker(
 void MotTracker::update_bbox_by_detector(
     const cv::Mat &img, const std::vector<cv::Rect2d> &bboxes,
     const std::vector<float> features_detector, const ros::Time &update_time) {
-  ROS_INFO_STREAM("******Update Bbox by Detector******");
+  AINFO_F("******Update Bbox by Detector******");
 
   // maximum block size, to perform augumentation and rectification of the
   // tracker block
@@ -156,7 +156,7 @@ bool MotTracker::update_local_database(tracker::LocalObject &local_object,
       local_object.database_update_timer.toc() > record_interval) {
     local_object.img_blocks.push_back(img_block);
     local_object.database_update_timer.tic();
-    ROS_INFO_STREAM("Adding an image to the datebase id: " << local_object.id);
+    AINFO_F("Adding an image to the datebase id: ", local_object.id);
     return true;
   } else {
     return false;
@@ -236,14 +236,13 @@ std::vector<tracker::LocalObject> MotTracker::remove_dead_trackers() {
 
 void MotTracker::report_local_object() {
   // lock_guard<mutex> lk(mtx); //lock the thread
-  ROS_INFO("------Local Object List Summary------");
-  ROS_INFO_STREAM("Local Object Num: " << local_objects_list.size());
+  AINFO_F("------Local Object List Summary------");
+  AINFO_F("Local Object Num: {}", local_objects_list.size());
   for (auto lo : local_objects_list) {
-    ROS_INFO_STREAM(
-        "id: " << lo.id << "| database images num: " << lo.img_blocks.size());
+    AINFO_F("id: {} | database images num: {}", lo.id, lo.img_blocks.size());
     std::cout << lo.bbox << std::endl;
   }
-  ROS_INFO("------Summary End------");
+  AINFO_F("------Summary End------");
 }
 
 void MotTracker::visualize_tracking(cv::Mat &img) {
@@ -271,13 +270,13 @@ void MotTracker::detector_and_tracker_association(
     std::vector<tracker::AssociationVector> &all_detected_bbox_ass_vec) {
   // lock_guard<mutex> lk(mtx); //lock
   if (!local_objects_list.empty()) {
-    ROS_INFO_STREAM("SUMMARY:" << bboxes.size() << " bboxes detected!");
+    AINFO_F("SUMMARY: {} bboxes detected!", bboxes.size());
     // perform matching from detector to tracker
     for (int i = 0; i < bboxes.size(); i++) {
       tracker::AssociationVector one_detected_object_ass_vec;
       cv::Rect2d detector_bbox =
           tracker::BboxPadding(bboxes[i], block_max, detector_bbox_padding);
-      std::cout << "Detector" << i << " bbox: " << bboxes[i] << std::endl;
+      AINFO << "Detector" << i << " bbox: " << bboxes[i] << std::endl;
       /*Data Association part:
         - two critertion:
           - augemented bboxes(bbox with padding) have enough overlap
@@ -286,9 +285,9 @@ void MotTracker::detector_and_tracker_association(
       for (int j = 0; j < local_objects_list.size(); j++) {
         double bbox_overlap_ratio = tracker::cal_bbox_overlap_ratio(
             local_objects_list[j].bbox, detector_bbox);
-        ROS_INFO_STREAM("Bbox overlap ratio: " << bbox_overlap_ratio);
-        std::cout << "Tracker " << local_objects_list[j].id
-                  << " bbox: " << local_objects_list[j].bbox << std::endl;
+        AINFO_F("Bbox overlap ratio: {}", bbox_overlap_ratio);
+        AINFO << "Tracker " << local_objects_list[j].id
+              << " bbox: " << local_objects_list[j].bbox;
         if (bbox_overlap_ratio > bbox_overlap_ratio_threshold) {
           // TODO might speed up in here
           float min_query_score =
@@ -306,17 +305,17 @@ void MotTracker::detector_and_tracker_association(
       if (one_detected_object_ass_vec.ass_vector.size() > 1)
         one_detected_object_ass_vec.reranking();
       one_detected_object_ass_vec.report();
-      ROS_INFO("---------------------------------");
+      AINFO_F("---------------------------------");
       all_detected_bbox_ass_vec.push_back(one_detected_object_ass_vec);
     }
     uniquify_detector_association_vectors(all_detected_bbox_ass_vec,
                                           local_objects_list.size());
 
-    ROS_INFO("---Report after uniquification---");
+    AINFO_F("---Report after uniquification---");
     for (auto ass : all_detected_bbox_ass_vec) {
       ass.report();
     }
-    ROS_INFO("---Report finished---");
+    AINFO_F("---Report finished---");
   } else {
     // create empty association vectors to indicate all the detected objects are
     // new
@@ -333,8 +332,7 @@ void MotTracker::manage_local_objects_list_by_detector(
   for (int i = 0; i < all_detected_bbox_ass_vec.size(); i++) {
     if (all_detected_bbox_ass_vec[i].ass_vector.empty()) {
       // this detected object is a new object
-      ROS_INFO_STREAM(
-          "Adding Tracking Object with ID:" << local_id_not_assigned);
+      AINFO_F("Adding Tracking Object with ID: {}", local_id_not_assigned);
       cv::Mat example_img;
       cv::resize(img(bboxes[i]), example_img,
                  cv::Size(128, 256));  // hard code in here
@@ -349,8 +347,7 @@ void MotTracker::manage_local_objects_list_by_detector(
     } else {
       // re-detect a previous tracking object
       int matched_id = all_detected_bbox_ass_vec[i].ass_vector[0].id;
-      ROS_INFO_STREAM("Object " << local_objects_list[matched_id].id
-                                << " re-detected!");
+      AINFO_F("Object {} re-detected!", local_objects_list[matched_id].id);
 
       local_objects_list[matched_id].track_bbox_by_detector(bboxes[i],
                                                             update_time);
@@ -381,8 +378,7 @@ void MotTracker::manage_local_objects_list_by_reid_detector(
   for (int i = 0; i < all_detected_bbox_ass_vec.size(); i++) {
     if (all_detected_bbox_ass_vec[i].ass_vector.empty()) {
       // this detected object is a new object
-      ROS_INFO_STREAM(
-          "Adding Tracking Object with ID:" << local_id_not_assigned);
+      AINFO_F("Adding Tracking Object with ID: {}", local_id_not_assigned);
       cv::Mat example_img;
       cv::resize(img(bboxes[i]), example_img,
                  cv::Size(128, 256));  // hard code in here
@@ -399,8 +395,7 @@ void MotTracker::manage_local_objects_list_by_reid_detector(
     } else {
       // re-detect a previous tracking object
       int matched_id = all_detected_bbox_ass_vec[i].ass_vector[0].id;
-      ROS_INFO_STREAM("Object " << local_objects_list[matched_id].id
-                                << " re-detected!");
+      AINFO_F("Object {} re-detected!", local_objects_list[matched_id].id);
 
       local_objects_list[matched_id].track_bbox_by_detector(bboxes[i],
                                                             update_time);
@@ -477,7 +472,7 @@ bool MotTracker::Track(const cv::Mat &frame, const ros::Time &timestamp,
       if (one_detected_object_ass_vec.ass_vector.size() > 1)
         one_detected_object_ass_vec.reranking();
       // one_detected_object_ass_vec.report();
-      // ROS_INFO("---------------------------------");
+      // AINFO_F("---------------------------------");
       all_detected_bbox_ass_vec.push_back(one_detected_object_ass_vec);
     }
     uniquify_detector_association_vectors(all_detected_bbox_ass_vec,
@@ -493,8 +488,7 @@ bool MotTracker::Track(const cv::Mat &frame, const ros::Time &timestamp,
   for (size_t i = 0; i < all_detected_bbox_ass_vec.size(); i++) {
     if (all_detected_bbox_ass_vec[i].ass_vector.empty()) {
       // this detected object is a new object
-      ROS_INFO_STREAM(
-          "Adding Tracking Object with ID:" << local_id_not_assigned);
+      AINFO_F("Adding Tracking Object with ID: {}", local_id_not_assigned);
       tracker::LocalObject new_object(local_id_not_assigned, detections[i].bbox,
                                       kf_param, timestamp);
       local_id_not_assigned++;
@@ -502,8 +496,7 @@ bool MotTracker::Track(const cv::Mat &frame, const ros::Time &timestamp,
     } else {
       // re-detect a previous tracking object
       int matched_id = all_detected_bbox_ass_vec[i].ass_vector[0].id;
-      ROS_INFO_STREAM("Object " << local_objects_list[matched_id].id
-                                << " re-detected!");
+      AINFO_F("Object {} re-detected!", local_objects_list[matched_id].id);
       local_objects_list[matched_id].track_bbox_by_detector(detections[i].bbox,
                                                             timestamp);
     }
diff --git a/src/zetton_inference/tracker/sort_tracker.cc b/src/zetton_inference/tracker/sort_tracker.cc
index f57cf66..463b09f 100644
--- a/src/zetton_inference/tracker/sort_tracker.cc
+++ b/src/zetton_inference/tracker/sort_tracker.cc
@@ -135,7 +135,7 @@ bool SortTracker::Track(const cv::Mat &frame, const ros::Time &timestamp,
   std::sort(duplicated_tracks.begin(), duplicated_tracks.end());
   for (auto it = duplicated_tracks.rbegin(); it != duplicated_tracks.rend();
        ++it) {
-    // ROS_INFO_STREAM("Remove duplicated track " << *it);
+    // AINFO_F("Remove duplicated track {}", *it);
     trackers_.erase(trackers_.begin() + *it);
   }