diff --git a/livox_ros2_driver/livox_ros2_driver/lddc.cpp b/livox_ros2_driver/livox_ros2_driver/lddc.cpp
index c3ee803..9ab25e7 100644
--- a/livox_ros2_driver/livox_ros2_driver/lddc.cpp
+++ b/livox_ros2_driver/livox_ros2_driver/lddc.cpp
@@ -258,7 +258,7 @@ uint32_t Lddc::PublishPointcloudData(LidarDataQueue *queue, uint32_t packet_num,
     return 0;
   }
 
-  PointCloud cloud;
+  livox_ros::PointCloud cloud;
   cloud.header.frame_id.assign(frame_id_);
   cloud.height = 1;
   cloud.width = 0;
@@ -316,11 +316,13 @@ uint32_t Lddc::PublishPointcloudData(LidarDataQueue *queue, uint32_t packet_num,
     last_timestamp = timestamp;
   }
 
-  rclcpp::Publisher<PointCloud>::SharedPtr publisher =
-      std::dynamic_pointer_cast<rclcpp::Publisher<PointCloud>>
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr publisher =
+      std::dynamic_pointer_cast<rclcpp::Publisher<sensor_msgs::msg::PointCloud2>>
       (GetCurrentPublisher(handle));
   if (kOutputToRos == output_type_) {
-    publisher->publish(cloud);
+    sensor_msgs::msg::PointCloud2 msg;
+    pcl::toROSMsg(cloud, msg);
+    publisher->publish(msg);
   } else {
 #if 0    
     if (bag_) {
@@ -586,7 +588,7 @@ std::shared_ptr<rclcpp::PublisherBase> Lddc::CreatePublisher(uint8_t msg_type,
           sensor_msgs::msg::PointCloud2>(topic_name, queue_size);
     } else if (kLivoxCustomMsg == msg_type) {
       RCLCPP_INFO(cur_node_->get_logger(),
-          "%s publish use livox custom format", topic_name);
+          "%s publish use livox custom format", topic_name.c_str());
       return cur_node_->create_publisher<
           livox_interfaces::msg::CustomMsg>(topic_name, queue_size);
     }
diff --git a/livox_ros2_driver/timesync/timesync.cpp b/livox_ros2_driver/timesync/timesync.cpp
index 68e919d..dc4c8b6 100644
--- a/livox_ros2_driver/timesync/timesync.cpp
+++ b/livox_ros2_driver/timesync/timesync.cpp
@@ -29,6 +29,7 @@
 #include <thread>
 #include <chrono>
 #include <functional>
+#include <cstdio>
 
 namespace livox_ros {
 using namespace std;
diff --git a/livox_ros2_driver/timesync/timesync.h b/livox_ros2_driver/timesync/timesync.h
index 8c22917..141bf9e 100644
--- a/livox_ros2_driver/timesync/timesync.h
+++ b/livox_ros2_driver/timesync/timesync.h
@@ -26,6 +26,7 @@
 #define TIMESYNC_TIMESYNC_H_
 
 #include <thread>
+#include <memory>
 #include "comm_protocol.h"
 #include "comm_device.h"
 #include "user_uart.h"