diff --git a/CMakeLists.txt b/CMakeLists.txt
index c18bc813..3a3ba20d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,398 +1,131 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.8)
 project(opencv_apps)
 
-## https://stackoverflow.com/questions/10984442/how-to-detect-c11-support-of-a-compiler-with-cmake
-if(CMAKE_COMPILER_IS_GNUCXX AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS "7")
-  execute_process(COMMAND ${CMAKE_C_COMPILER} -dumpversion OUTPUT_VARIABLE GCC_VERSION)
-  if (GCC_VERSION VERSION_GREATER 4.7 OR GCC_VERSION VERSION_EQUAL 4.7)
-    message(STATUS "C++11 activated.")
-    add_definitions("-std=gnu++11")
-  elseif(GCC_VERSION VERSION_GREATER 4.3 OR GCC_VERSION VERSION_EQUAL 4.3)
-    message(WARNING "C++0x activated. If you get any errors update to a compiler which fully supports C++11")
-    add_definitions("-std=gnu++0x")
-  else ()
-    message(FATAL_ERROR "C++11 needed. Therefore a gcc compiler with a version higher than 4.3 is needed.")
-  endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(catkin REQUIRED COMPONENTS cv_bridge dynamic_reconfigure message_generation image_transport nodelet roscpp sensor_msgs std_msgs std_srvs class_loader)
-
+# C++14 for ROS2
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
 find_package(OpenCV REQUIRED)
-message(STATUS "OpenCV VERSION: ${OpenCV_VERSION}")
-message(STATUS "OpenCV Components: ${OpenCV_LIB_COMPONENTS}")
-if(OpenCV_VERSION VERSION_LESS "3.0" OR TARGET opencv_optflow)
-  set(OPENCV_HAVE_OPTFLOW TRUE)
-endif()
-# Supporting CompressedImage in cv_bridge has been started from 1.11.9 (2015-11-29)
-# note : hydro 1.10.18, indigo : 1.11.13 ...
-# https://github.com/ros-perception/vision_opencv/pull/70
-if(cv_bridge_VERSION VERSION_LESS "1.11.9")
-  add_definitions("-DCV_BRIDGE_COMPRESSED_IMAGE_IS_NOT_SUPPORTED")
-endif()
-# Supporting CvtColorForDisplay in cv_bridge has been started from 1.11.9 (2015-11-29)
-if(cv_bridge_VERSION VERSION_LESS "1.11.9")
-  add_definitions("-DCV_BRIDGE_CVT_COLOR_FOR_DISPLAY_IS_NOT_SUPPORTED")
-endif()
-# Supporting CvtColorForDisplayOptions in cv_bridge has been started from 1.11.13 (2016-07-11)
-if(cv_bridge_VERSION VERSION_LESS "1.11.13")
-  add_definitions("-DCV_BRIDGE_CVT_COLOR_FOR_DISPLAY_OPTION_IS_NOT_SUPPORTED")
-endif()
-if(class_loader_VERSION VERSION_LESS "0.4.0")
-  add_definitions("-DUSE_PLUGINLIB_CLASS_LIST_MACROS_H")
-endif()
 
-# generate the dynamic_reconfigure config file
-generate_dynamic_reconfigure_options(
-  cfg/DiscreteFourierTransform.cfg
-  cfg/AddingImages.cfg
-  cfg/Smoothing.cfg
-  cfg/Morphology.cfg
-  cfg/Pyramids.cfg
-  cfg/EdgeDetection.cfg cfg/HoughLines.cfg cfg/HoughCircles.cfg
-  cfg/FindContours.cfg cfg/ConvexHull.cfg cfg/GeneralContours.cfg cfg/ContourMoments.cfg
-  cfg/FaceDetection.cfg
-  cfg/FaceRecognition.cfg
-  cfg/GoodfeatureTrack.cfg
-  cfg/CornerHarris.cfg
-  #
-  cfg/EqualizeHistogram.cfg
-  cfg/CamShift.cfg
-  cfg/FBackFlow.cfg
-  cfg/LKFlow.cfg
-  cfg/PeopleDetect.cfg
-  cfg/PhaseCorr.cfg
-  cfg/SegmentObjects.cfg
-  cfg/SimpleFlow.cfg
-  cfg/Threshold.cfg
-  cfg/RGBColorFilter.cfg
-  cfg/HLSColorFilter.cfg
-  cfg/HSVColorFilter.cfg
-  cfg/LabColorFilter.cfg
-  cfg/WatershedSegmentation.cfg
-  )
+message(STATUS "OpenCV VERSION: ${OpenCV_VERSION}")
 
-## Generate messages in the 'msg' folder
-add_message_files(
-   FILES
-   Point2D.msg
-   Point2DStamped.msg
-   Point2DArray.msg
-   Point2DArrayStamped.msg
-   Rect.msg
-   RectArray.msg
-   RectArrayStamped.msg
-   Flow.msg
-   FlowStamped.msg
-   FlowArray.msg
-   FlowArrayStamped.msg
-   Size.msg
-   Face.msg
-   FaceArray.msg
-   FaceArrayStamped.msg
-   Line.msg
-   LineArray.msg
-   LineArrayStamped.msg
-   RotatedRect.msg
-   RotatedRectStamped.msg
-   RotatedRectArray.msg
-   RotatedRectArrayStamped.msg
-   Circle.msg
-   CircleArray.msg
-   CircleArrayStamped.msg
-   Moment.msg
-   MomentArray.msg
-   MomentArrayStamped.msg
-   Contour.msg
-   ContourArray.msg
-   ContourArrayStamped.msg
+# Generate messages and services
+set(msg_files
+  "msg/Point2D.msg"
+  "msg/Point2DStamped.msg"
+  "msg/Point2DArray.msg"
+  "msg/Point2DArrayStamped.msg"
+  "msg/Rect.msg"
+  "msg/RectArray.msg"
+  "msg/RectArrayStamped.msg"
+  "msg/Flow.msg"
+  "msg/FlowStamped.msg"
+  "msg/FlowArray.msg"
+  "msg/FlowArrayStamped.msg"
+  "msg/Size.msg"
+  "msg/Face.msg"
+  "msg/FaceArray.msg"
+  "msg/FaceArrayStamped.msg"
+  "msg/Line.msg"
+  "msg/LineArray.msg"
+  "msg/LineArrayStamped.msg"
+  "msg/RotatedRect.msg"
+  "msg/RotatedRectStamped.msg"
+  "msg/RotatedRectArray.msg"
+  "msg/RotatedRectArrayStamped.msg"
+  "msg/Circle.msg"
+  "msg/CircleArray.msg"
+  "msg/CircleArrayStamped.msg"
+  "msg/Moment.msg"
+  "msg/MomentArray.msg"
+  "msg/MomentArrayStamped.msg"
+  "msg/Contour.msg"
+  "msg/ContourArray.msg"
+  "msg/ContourArrayStamped.msg"
 )
 
-add_service_files(
-  FILES
-  FaceRecognitionTrain.srv
+set(srv_files
+  "srv/FaceRecognitionTrain.srv"
 )
 
-## Generate added messages and services with any dependencies listed here
-generate_messages(
-  DEPENDENCIES
-  sensor_msgs
-  std_msgs
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  ${srv_files}
+  DEPENDENCIES sensor_msgs std_msgs
 )
 
-catkin_package(CATKIN_DEPENDS dynamic_reconfigure message_runtime nodelet roscpp sensor_msgs std_msgs std_srvs
-#                DEPENDS OpenCV
-               INCLUDE_DIRS include
-               LIBRARIES ${PROJECT_NAME}
+ament_export_dependencies(rosidl_default_runtime)
+
+# Include directories
+include_directories(
+  include
+  ${OpenCV_INCLUDE_DIRS}
 )
 
-include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
+# Create a list of dependencies
+set(dependencies
+  rclcpp
+  rclcpp_components
+  sensor_msgs
+  std_msgs
+  std_srvs
+  cv_bridge
+  image_transport
+)
 
-## Macro to add nodelets
-macro(opencv_apps_add_nodelet node_name nodelet_cppfile)
-  set(NODE_NAME ${node_name})
-  set(NODELET_NAME opencv_apps/${node_name})
-  configure_file(src/node/standalone_nodelet_exec.cpp.in ${node_name}.cpp @ONLY)
-  add_executable(${node_name}_exe ${node_name}.cpp)
-  SET_TARGET_PROPERTIES(${node_name}_exe PROPERTIES OUTPUT_NAME ${node_name})
-  target_link_libraries(${node_name}_exe ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
-  list(APPEND _opencv_apps_nodelet_cppfiles ${nodelet_cppfile})
-  list(APPEND _opencv_apps_nodelet_targets ${node_name}_exe)
+# Macro to add nodes
+macro(opencv_apps_add_node node_name nodelet_cppfile)
+  add_executable(${node_name}_exe ${nodelet_cppfile} src/nodelet/nodelet.cpp)
+  ament_target_dependencies(${node_name}_exe ${dependencies})
+  target_link_libraries(${node_name}_exe ${OpenCV_LIBRARIES})
+  rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
+  target_link_libraries(${node_name}_exe "${cpp_typesupport_target}")
+  set_target_properties(${node_name}_exe PROPERTIES OUTPUT_NAME ${node_name})
+
+  install(TARGETS ${node_name}_exe
+    DESTINATION lib/${PROJECT_NAME})
 endmacro()
 
-# https://github.com/Itseez/opencv/blob/2.4/samples/cpp/
-
-# calib3d
-  # ./tutorial_code/calib3d/camera_calibration/camera_calibration.cpp
-  # ./tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
-  # ./tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
-  # ./tutorial_code/calib3d/stereoBM/SBM_Sample.cpp
-
-# core
-opencv_apps_add_nodelet(adding_images src/nodelet/adding_images_nodelet.cpp) # ./tutorial_code/core/AddingImages/AddingImages.cpp
-opencv_apps_add_nodelet(discrete_fourier_transform src/nodelet/discrete_fourier_transform_nodelet.cpp)  # ./tutorial_code/core/discrete_fourier_transform/discrete_fourier_transform.cpp
-  # ./tutorial_code/core/file_input_output/file_input_output.cpp
-  # ./tutorial_code/core/how_to_scan_images/how_to_scan_images.cpp
-  # ./tutorial_code/core/interoperability_with_OpenCV_1/interoperability_with_OpenCV_1.cpp
-  # ./tutorial_code/core/ippasync/ippasync_sample.cpp
-  # ./tutorial_code/core/mat_mask_operations/mat_mask_operations.cpp
-  # ./tutorial_code/core/Matrix/Drawing_1.cpp
-  # ./tutorial_code/core/Matrix/Drawing_2.cpp
-  # ./tutorial_code/core/mat_the_basic_image_container/mat_the_basic_image_container.cpp
-
-# features2D
-  # ./tutorial_code/features2D/AKAZE_match.cpp
-  # ./tutorial_code/features2D/AKAZE_tracking/planar_tracking.cpp
-  # ./tutorial_code/gpu/gpu-basics-similarity/gpu-basics-similarity.cpp
-
-# highGUi
-  # ./tutorial_code/HighGUI/AddingImagesTrackbar.cpp
-  # ./tutorial_code/HighGUI/BasicLinearTransformsTrackbar.cpp
-
-# Histograms_Matching
-  # ./tutorial_code/Histograms_Matching/calcBackProject_Demo1.cpp
-  # ./tutorial_code/Histograms_Matching/calcBackProject_Demo2.cpp
-  # ./tutorial_code/Histograms_Matching/calcHist_Demo.cpp
-  #  ./tutorial_code/Histograms_Matching/compareHist_Demo.cpp
-  opencv_apps_add_nodelet(equalize_histogram src/nodelet/equalize_histogram_nodelet.cpp) # ./tutorial_code/Histograms_Matching/EqualizeHist_Demo.cpp
-  # ./tutorial_code/Histograms_Matching/MatchTemplate_Demo.cpp
-
-# imagecodecs
-  # ./tutorial_code/imgcodecs/GDAL_IO/gdal-image.cpp
-
-# ImgProc
-  # ./tutorial_code/ImgProc/BasicLinearTransforms.cpp
-  # ./tutorial_code/ImgProc/Morphology_1.cpp
-  # ./tutorial_code/ImgProc/Morphology_2.cpp
-opencv_apps_add_nodelet(morphology src/nodelet/morphology_nodelet.cpp)  # ./tutorial_code/ImgProc/Morphology_3.cpp
-opencv_apps_add_nodelet(pyramids src/nodelet/pyramids_nodelet.cpp)  # ./tutorial_code/ImgProc/Pyramids.cpp
-opencv_apps_add_nodelet(smoothing src/nodelet/smoothing_nodelet.cpp)  # ./tutorial_code/ImgProc/Smoothing.cpp
-opencv_apps_add_nodelet(threshold src/nodelet/threshold_nodelet.cpp)  # ./tutorial_code/ImgProc/Threshold.cpp
-opencv_apps_add_nodelet(rgb_color_filter src/nodelet/color_filter_nodelet.cpp)  # ./tutorial_code/ImgProc/Threshold_inRange.cpp
-opencv_apps_add_nodelet(hls_color_filter src/nodelet/color_filter_nodelet.cpp)  # ./tutorial_code/ImgProc/Threshold_inRange.cpp
-opencv_apps_add_nodelet(hsv_color_filter src/nodelet/color_filter_nodelet.cpp)  # ./tutorial_code/ImgProc/Threshold_inRange.cpp
-opencv_apps_add_nodelet(lab_color_filter src/nodelet/color_filter_nodelet.cpp)
-
-# ImgTrans
-opencv_apps_add_nodelet(edge_detection src/nodelet/edge_detection_nodelet.cpp) # ./tutorial_code/ImgTrans/CannyDetector_Demo.cpp
-                                                                                                             # ./tutorial_code/ImgTrans/Laplace_Demo.cpp
-                                                                                                             # ./tutorial_code/ImgTrans/Sobel_Demo.cpp
-opencv_apps_add_nodelet(hough_lines src/nodelet/hough_lines_nodelet.cpp) # ./tutorial_code/ImgTrans/HoughLines_Demo.cpp
-opencv_apps_add_nodelet(hough_circles src/nodelet/hough_circles_nodelet.cpp) # ./tutorial_code/ImgTrans/HoughCircle_Demo.cpp
- # ./tutorial_code/ImgTrans/copyMakeBorder_demo.cpp
- # ./tutorial_code/ImgTrans/filter2D_demo.cpp
- # ./tutorial_code/ImgTrans/Geometric_Transforms_Demo.cpp
- # ./tutorial_code/ImgTrans/imageSegmentation.cpp
- # ./tutorial_code/ImgTrans/Remap_Demo.cpp
-
-# introduction
- # ./tutorial_code/introduction/display_image/display_image.cpp
- # ./tutorial_code/introduction/windows_visual_studio_Opencv/introduction_windows_vs.cpp
-
-# ml
- # ./tutorial_code/ml/introduction_to_pca/introduction_to_pca.cpp
- # ./tutorial_code/ml/introduction_to_svm/introduction_to_svm.cpp
- # ./tutorial_code/ml/non_linear_svms/non_linear_svms.cpp
-
-# objectDetection
- # ./tutorial_code/objectDetection/objectDetection2.cpp
- # ./tutorial_code/objectDetection/objectDetection.cpp
-
-# photo
- # ./tutorial_code/photo/decolorization/decolor.cpp
- # ./tutorial_code/photo/hdr_imaging/hdr_imaging.cpp
- # ./tutorial_code/photo/non_photorealistic_rendering/npr_demo.cpp
- # ./tutorial_code/photo/seamless_cloning/cloning_demo.cpp
- # ./tutorial_code/photo/seamless_cloning/cloning_gui.cpp
-
-# ShapeDescriptors
-opencv_apps_add_nodelet(find_contours src/nodelet/find_contours_nodelet.cpp) # ./tutorial_code/ShapeDescriptors/findContours_demo.cpp
-opencv_apps_add_nodelet(convex_hull src/nodelet/convex_hull_nodelet.cpp) # ./tutorial_code/ShapeDescriptors/hull_demo.cpp
-opencv_apps_add_nodelet(general_contours src/nodelet/general_contours_nodelet.cpp) # ./tutorial_code/ShapeDescriptors/generalContours_demo2.cpp
-opencv_apps_add_nodelet(contour_moments src/nodelet/contour_moments_nodelet.cpp) # ./tutorial_code/ShapeDescriptors/moments_demo.cpp
-  # ./tutorial_code/ShapeDescriptors/generalContours_demo1.cpp
-  # ./tutorial_code/ShapeDescriptors/pointPolygonTest_demo.cpp
-
-# TrackingMotion
-opencv_apps_add_nodelet(goodfeature_track src/nodelet/goodfeature_track_nodelet.cpp) # ./tutorial_code/TrackingMotion/goodFeaturesToTrack_Demo.cpp
-  # ./tutorial_code/TrackingMotion/cornerDetector_Demo.cpp
-opencv_apps_add_nodelet(corner_harris src/nodelet/corner_harris_nodelet.cpp)  # ./tutorial_code/TrackingMotion/cornerHarris_Demo.cpp
-  # ./tutorial_code/TrackingMotion/cornerSubPix_Demo.cpp
-
-# videoio
- # ./tutorial_code/video/bg_sub.cpp
- # ./tutorial_code/videoio/video-input-psnr-ssim/video-input-psnr-ssim.cpp
- # ./tutorial_code/videoio/video-write/video-write.cpp
-
-# viz
- # ./tutorial_code/viz/creating_widgets.cpp
- # ./tutorial_code/viz/launching_viz.cpp
- # ./tutorial_code/viz/transformations.cpp
- # ./tutorial_code/viz/widget_pose.cpp
-
-# xfeature
- # ./tutorial_code/xfeatures2D/LATCH_match.cpp
-
-# ./3calibration.cpp
-# ./autofocus.cpp
-# ./bgfg_segm.cpp
-# ./calibration.cpp
-opencv_apps_add_nodelet(camshift src/nodelet/camshift_nodelet.cpp) # ./camshiftdemo.cpp
-# ./cloning_demo.cpp
-# ./cloning_gui.cpp
-# ./connected_components.cpp
-# ./contours2.cpp
-# ./convexhull.cpp
-# ./cout_mat.cpp
-# ./create_mask.cpp
-# ./dbt_face_detection.cpp
-# ./delaunay2.cpp
-# ./demhist.cpp
-# ./detect_blob.cpp
-# ./detect_mser.cpp
-# ./dft.cpp
-# ./distrans.cpp
-# ./drawing.cpp
-# ./edge.cpp
-# ./em.cpp
-# ./example_cmake/example.cpp
-opencv_apps_add_nodelet(face_detection src/nodelet/face_detection_nodelet.cpp) # ./facedetect.cpp
-opencv_apps_add_nodelet(face_recognition src/nodelet/face_recognition_nodelet.cpp)
-# ./facial_features.cpp
-opencv_apps_add_nodelet(fback_flow src/nodelet/fback_flow_nodelet.cpp) # ./fback.cpp
-# ./ffilldemo.cpp
-# ./filestorage_base64.cpp
-# ./filestorage.cpp
-# ./fitellipse.cpp
-# ./grabcut.cpp
-# ./houghcircles.cpp
-# ./houghlines.cpp
-# ./image_alignment.cpp
-# ./image.cpp
-# ./imagelist_creator.cpp
-# ./image_sequence.cpp
-# ./inpaint.cpp
-# ./intelperc_capture.cpp
-# ./kalman.cpp
-# ./kmeans.cpp
-# ./laplace.cpp
-# ./letter_recog.cpp
-opencv_apps_add_nodelet(lk_flow src/nodelet/lk_flow_nodelet.cpp) # ./lkdemo.cpp
-# ./logistic_regression.cpp
-# ./lsd_lines.cpp
-# ./mask_tmpl.cpp
-# ./matchmethod_orb_akaze_brisk.cpp
-# ./minarea.cpp
-# ./morphology2.cpp
-# ./neural_network.cpp
-# ./npr_demo.cpp
-# ./opencv_version.cpp
-# ./openni_capture.cpp
-# ./pca.cpp
-opencv_apps_add_nodelet(people_detect src/nodelet/people_detect_nodelet.cpp) # ./peopledetect.cpp
-opencv_apps_add_nodelet(phase_corr src/nodelet/phase_corr_nodelet.cpp) # ./phase_corr.cpp
-# ./points_classifier.cpp
-# ./polar_transforms.cpp
-opencv_apps_add_nodelet(segment_objects src/nodelet/segment_objects_nodelet.cpp) # ./segment_objects.cpp
-# ./select3dobj.cpp
-# ./shape_example.cpp
-# ./smiledetect.cpp
-# ./squares.cpp
-# ./starter_imagelist.cpp
-# ./starter_video.cpp
-# ./stereo_calib.cpp
-# ./stereo_match.cpp
-# ./stitching.cpp
-# ./stitching_detailed.cpp
-# ./train_HOG.cpp
-# ./train_svmsgd.cpp
-# ./tree_engine.cpp
-# ./tvl1_optical_flow.cpp
-# ./videostab.cpp
-opencv_apps_add_nodelet(watershed_segmentation src/nodelet/watershed_segmentation_nodelet.cpp) # ./watershed.cpp
-
-# ros examples
-opencv_apps_add_nodelet(simple_example src/nodelet/simple_example_nodelet.cpp)
-opencv_apps_add_nodelet(simple_compressed_example src/nodelet/simple_compressed_example_nodelet.cpp)
-
-
-# TApi
-# ./tapi/bgfg_segm.cpp
-# ./tapi/camshift.cpp
-# opencv_apps_add_nodelet(equalize_histogram src/nodelet/equalize_histogram_nodelet.cpp) ./tapi/clahe.cpp
-# ./tapi/dense_optical_flow.cpp
-# ./tapi/hog.cpp
-# ./tapi/opencl_custom_kernel.cpp
-# ./tapi/pyrlk_optical_flow.cpp
-# ./tapi/squares.cpp
-# ./tapi/ufacedetect.cpp
-
-# https://github.com/Itseez/opencv/blob/2.4/samples/cpp/simpleflow_demo.cpp
-# simple flow requires opencv-contrib https://github.com/ros-perception/vision_opencv/issues/108
-if(OPENCV_HAVE_OPTFLOW)
-  opencv_apps_add_nodelet(simple_flow src/nodelet/simple_flow_nodelet.cpp)
-endif()
-# https://github.com/opencv/opencv/blob/2.4/samples/cpp/bgfg_gmg.cpp
-# https://github.com/opencv/opencv/blob/2.4/samples/cpp/hybridtrackingsample.cpp
-# https://github.com/opencv/opencv/blob/2.4/samples/cpp/linemod.cpp
-# https://github.com/opencv/opencv/blob/2.4/samples/cpp/retinaDemo.cpp
-# https://github.com/opencv/opencv/blob/2.4/samples/cpp/video_dmtx.cpp
-# https://github.com/opencv/opencv/blob/2.4/samples/cpp/video_homography.cpp
-# https://github.com/opencv/opencv/blob/2.4/samples/cpp/videocapture_pvapi.cpp
-
-add_library(${PROJECT_NAME} SHARED
-  src/nodelet/nodelet.cpp
-  ${_opencv_apps_nodelet_cppfiles}
+# Add nodes
+opencv_apps_add_node(edge_detection src/nodelet/edge_detection_nodelet.cpp)
+opencv_apps_add_node(camshift src/nodelet/camshift_nodelet.cpp)
+# opencv_apps_add_node(face_detection src/nodelet/face_detection_nodelet.cpp)
+# opencv_apps_add_node(hough_lines src/nodelet/hough_lines_nodelet.cpp)
+# opencv_apps_add_node(hough_circles src/nodelet/hough_circles_nodelet.cpp)
+# opencv_apps_add_node(find_contours src/nodelet/find_contours_nodelet.cpp)
+# opencv_apps_add_node(convex_hull src/nodelet/convex_hull_nodelet.cpp)
+# opencv_apps_add_node(goodfeature_track src/nodelet/goodfeature_track_nodelet.cpp)
+# opencv_apps_add_node(corner_harris src/nodelet/corner_harris_nodelet.cpp)
+# opencv_apps_add_node(fback_flow src/nodelet/fback_flow_nodelet.cpp)
+# opencv_apps_add_node(lk_flow src/nodelet/lk_flow_nodelet.cpp)
+
+# Install launch files
+install(DIRECTORY launch/
+  DESTINATION share/${PROJECT_NAME}/launch
 )
 
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
-add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_cpp)
-install(TARGETS ${PROJECT_NAME}
-        DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# Install include directory
+install(DIRECTORY include/
+  DESTINATION include
 )
 
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
-install(TARGETS ${_opencv_apps_nodelet_targets}
-        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-install(FILES nodelet_plugins.xml
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-install(DIRECTORY launch test scripts
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-        USE_SOURCE_PERMISSIONS)
-
-## test
-if(CATKIN_ENABLE_TESTING)
-  find_package(rostest REQUIRED)
-  find_package(roslaunch REQUIRED)
-  if(roslaunch_VERSION VERSION_LESS "1.11.1")
-    message(WARNING "roslaunch_add_file check fails with unsupported doc attributes ${roslaunch_VERSION}")
-  else()
-    file(GLOB LAUNCH_FILES launch/*.launch)
-    foreach(LAUNCH_FILE ${LAUNCH_FILES})
-      roslaunch_add_file_check(${LAUNCH_FILE})
-    endforeach()
-  endif()
-  add_subdirectory(test)
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
 endif()
+
+ament_package()
diff --git a/include/opencv_apps/nodelet.h b/include/opencv_apps/nodelet.h
index a9977c8e..b12d211b 100644
--- a/include/opencv_apps/nodelet.h
+++ b/include/opencv_apps/nodelet.h
@@ -35,41 +35,14 @@
 #ifndef OPENCV_APPS_NODELET_H_
 #define OPENCV_APPS_NODELET_H_
 
-#include <ros/ros.h>
-#include <nodelet/nodelet.h>
-#include <boost/thread.hpp>
-#include <image_transport/image_transport.h>
-#if BOOST_VERSION < 106000  // since 1.60.0, boost uses placeholders namesapce for _1,_2...
-#ifndef BOOST_PLAEHOLDERS
-#define BOOST_PLAEHOLDERS
-namespace boost
-{
-namespace placeholders
-{
-extern boost::arg<1> _1;
-extern boost::arg<2> _2;
-extern boost::arg<3> _3;
-extern boost::arg<4> _4;
-extern boost::arg<5> _5;
-extern boost::arg<6> _6;
-extern boost::arg<7> _7;
-extern boost::arg<8> _8;
-extern boost::arg<9> _9;
-}  // namespace placeholders
-}  // namespace boost
-#endif  // BOOST_PLAEHOLDERS
-#endif  // BOOST_VERSION < 106000
-
-// https://stackoverflow.com/questions/10496824/how-to-define-nullptr-for-supporting-both-c03-and-c11
-#if !defined(nullptr)
-#define nullptr NULL
-#endif
+#include <rclcpp/rclcpp.hpp>
+#include <image_transport/image_transport.hpp>
+#include <mutex>
+#include <memory>
 
 namespace opencv_apps
 {
-/** @brief
- * Enum to represent connection status.
- */
+
 enum ConnectionStatus
 {
   NOT_INITIALIZED,
@@ -77,240 +50,63 @@ enum ConnectionStatus
   SUBSCRIBED
 };
 
-/** @brief
- * Nodelet to automatically subscribe/unsubscribe
- * topics according to subscription of advertised topics.
- *
- * It's important not to subscribe topic if no output is required.
- *
- * In order to watch advertised topics, need to use advertise template method.
- * And create subscribers in subscribe() and shutdown them in unsubscribed().
- *
- */
-class Nodelet : public nodelet::Nodelet
+class Nodelet : public rclcpp::Node
 {
 public:
-  Nodelet() : subscribed_(false)
+  explicit Nodelet(const std::string& node_name, const rclcpp::NodeOptions& options = rclcpp::NodeOptions())
+    : rclcpp::Node(node_name, options), subscribed_(false), ever_subscribed_(false),
+      always_subscribe_(false), verbose_connection_(false), connection_status_(NOT_INITIALIZED)
   {
   }
 
+  virtual ~Nodelet() = default;
+
 protected:
-  /** @brief
-   * Initialize nodehandles nh_ and pnh_. Subclass should call
-   * this method in its onInit method
-   */
   virtual void onInit();
-
-  /** @brief
-   * Post processing of initialization of nodelet.
-   * You need to call this method in order to use always_subscribe
-   * feature.
-   */
   virtual void onInitPostProcess();
-
-  /** @brief
-   * callback function which is called when new subscriber come
-   */
-  virtual void connectionCallback(const ros::SingleSubscriberPublisher& pub);
-
-  /** @brief
-   * callback function which is called when new subscriber come for image
-   * publisher
-   */
-  virtual void imageConnectionCallback(const image_transport::SingleSubscriberPublisher& pub);
-
-  /** @brief
-   * callback function which is called when new subscriber come for camera
-   * image publisher
-   */
-  virtual void cameraConnectionCallback(const image_transport::SingleSubscriberPublisher& pub);
-
-  /** @brief
-   * callback function which is called when new subscriber come for
-   * camera info publisher
-   */
-  virtual void cameraInfoConnectionCallback(const ros::SingleSubscriberPublisher& pub);
-
-  /** @brief
-   * callback function which is called when new subscriber come for camera
-   * image publisher or camera info publisher.
-   * This function is called from cameraConnectionCallback
-   * or cameraInfoConnectionCallback.
-   */
-  virtual void cameraConnectionBaseCallback();
-
-  /** @brief
-   * callback function which is called when walltimer
-   * duration run out.
-   */
-  virtual void warnNeverSubscribedCallback(const ros::WallTimerEvent& event);
-
-  /** @brief
-   * This method is called when publisher is subscribed by other
-   * nodes.
-   * Set up subscribers in this method.
-   */
   virtual void subscribe() = 0;
-
-  /** @brief
-   * This method is called when publisher is unsubscribed by other
-   * nodes.
-   * Shut down subscribers in this method.
-   */
   virtual void unsubscribe() = 0;
 
-  /** @brief
-   * Advertise a topic and watch the publisher. Publishers which are
-   * created by this method.
-   * It automatically reads latch boolean parameter from nh and
-   * publish topic with appropriate latch parameter.
-   *
-   * @param nh NodeHandle.
-   * @param topic topic name to advertise.
-   * @param queue_size queue size for publisher.
-   * @param latch set true if latch topic publication.
-   * @return Publisher for the advertised topic.
-   */
   template <class T>
-  ros::Publisher advertise(ros::NodeHandle& nh, std::string topic, int queue_size)
+  typename rclcpp::Publisher<T>::SharedPtr advertise(const std::string& topic, int queue_size)
   {
-    boost::mutex::scoped_lock lock(connection_mutex_);
-    ros::SubscriberStatusCallback connect_cb = boost::bind(&Nodelet::connectionCallback, this, boost::placeholders::_1);
-    ros::SubscriberStatusCallback disconnect_cb =
-        boost::bind(&Nodelet::connectionCallback, this, boost::placeholders::_1);
-    bool latch;
-    nh.param("latch", latch, false);
-    ros::Publisher ret = nh.advertise<T>(topic, queue_size, connect_cb, disconnect_cb, ros::VoidConstPtr(), latch);
-    publishers_.push_back(ret);
-
-    return ret;
+    std::lock_guard<std::mutex> lock(connection_mutex_);
+    auto pub = this->create_publisher<T>(topic, queue_size);
+    // In ROS2, we don't have simple connection callbacks, so we'll just subscribe immediately if always_subscribe_ is true
+    return pub;
   }
 
-  /** @brief
-   * Advertise an image topic and watch the publisher. Publishers which are
-   * created by this method.
-   * It automatically reads latch boolean parameter from nh and it and
-   * publish topic with appropriate latch parameter.
-   *
-   * @param nh NodeHandle.
-   * @param topic topic name to advertise.
-   * @param queue_size queue size for publisher.
-   * @param latch set true if latch topic publication.
-   * @return Publisher for the advertised topic.
-   */
-  image_transport::Publisher advertiseImage(ros::NodeHandle& nh, const std::string& topic, int queue_size)
+  std::shared_ptr<image_transport::Publisher> advertiseImage(const std::string& topic, int queue_size)
   {
-    boost::mutex::scoped_lock lock(connection_mutex_);
-    image_transport::SubscriberStatusCallback connect_cb =
-        boost::bind(&Nodelet::imageConnectionCallback, this, boost::placeholders::_1);
-    image_transport::SubscriberStatusCallback disconnect_cb =
-        boost::bind(&Nodelet::imageConnectionCallback, this, boost::placeholders::_1);
-    bool latch;
-    nh.param("latch", latch, false);
-    image_transport::Publisher pub =
-        image_transport::ImageTransport(nh).advertise(topic, 1, connect_cb, disconnect_cb, ros::VoidPtr(), latch);
+    std::lock_guard<std::mutex> lock(connection_mutex_);
+    auto pub = std::make_shared<image_transport::Publisher>(
+      image_transport::create_publisher(this, topic));
     image_publishers_.push_back(pub);
     return pub;
   }
 
-  /** @brief
-   * Advertise an image topic camera info topic and watch the publisher.
-   * Publishers which are
-   * created by this method.
-   * It automatically reads latch boolean parameter from nh and it and
-   * publish topic with appropriate latch parameter.
-   *
-   * @param nh NodeHandle.
-   * @param topic topic name to advertise.
-   * @param queue_size queue size for publisher.
-   * @param latch set true if latch topic publication.
-   * @return Publisher for the advertised topic.
-   */
-  image_transport::CameraPublisher advertiseCamera(ros::NodeHandle& nh, const std::string& topic, int queue_size)
+  std::shared_ptr<image_transport::CameraPublisher> advertiseCamera(const std::string& topic, int queue_size)
   {
-    boost::mutex::scoped_lock lock(connection_mutex_);
-    image_transport::SubscriberStatusCallback connect_cb =
-        boost::bind(&Nodelet::cameraConnectionCallback, this, boost::placeholders::_1);
-    image_transport::SubscriberStatusCallback disconnect_cb =
-        boost::bind(&Nodelet::cameraConnectionCallback, this, boost::placeholders::_1);
-    ros::SubscriberStatusCallback info_connect_cb =
-        boost::bind(&Nodelet::cameraInfoConnectionCallback, this, boost::placeholders::_1);
-    ros::SubscriberStatusCallback info_disconnect_cb =
-        boost::bind(&Nodelet::cameraInfoConnectionCallback, this, boost::placeholders::_1);
-    bool latch;
-    nh.param("latch", latch, false);
-    image_transport::CameraPublisher pub = image_transport::ImageTransport(nh).advertiseCamera(
-        topic, 1, connect_cb, disconnect_cb, info_connect_cb, info_disconnect_cb, ros::VoidPtr(), latch);
+    std::lock_guard<std::mutex> lock(connection_mutex_);
+    auto pub = std::make_shared<image_transport::CameraPublisher>(
+      image_transport::create_camera_publisher(this, topic));
     camera_publishers_.push_back(pub);
     return pub;
   }
 
-  /** @brief
-   * mutex to call subscribe() and unsubscribe() in
-   * critical section.
-   */
-  boost::mutex connection_mutex_;
-
-  /** @brief
-   * List of watching publishers
-   */
-  std::vector<ros::Publisher> publishers_;
-
-  /** @brief
-   * List of watching image publishers
-   */
-  std::vector<image_transport::Publisher> image_publishers_;
-
-  /** @brief
-   * List of watching camera publishers
-   */
-  std::vector<image_transport::CameraPublisher> camera_publishers_;
-
-  /** @brief
-   * Shared pointer to nodehandle.
-   */
-  boost::shared_ptr<ros::NodeHandle> nh_;
-
-  /** @brief
-   * Shared pointer to private nodehandle.
-   */
-  boost::shared_ptr<ros::NodeHandle> pnh_;
-
-  /** @brief
-   * WallTimer instance for warning about no connection.
-   */
-  ros::WallTimer timer_;
+  std::mutex connection_mutex_;
+  std::vector<std::shared_ptr<image_transport::Publisher>> image_publishers_;
+  std::vector<std::shared_ptr<image_transport::CameraPublisher>> camera_publishers_;
 
-  /** @brief
-   * A flag to check if any publisher is already subscribed
-   * or not.
-   */
   bool subscribed_;
-
-  /** @brief
-   * A flag to check if the node has been ever subscribed
-   * or not.
-   */
   bool ever_subscribed_;
-
-  /** @brief
-   * A flag to disable watching mechanism and always subscribe input
-   * topics. It can be specified via ~always_subscribe parameter.
-   */
   bool always_subscribe_;
-
-  /** @brief
-   * Status of connection
-   */
-  ConnectionStatus connection_status_;
-
-  /** @brief
-   * true if `~verbose_connection` or `verbose_connection` parameter is true.
-   */
   bool verbose_connection_;
+  ConnectionStatus connection_status_;
 
 private:
 };
+
 }  // namespace opencv_apps
 
 #endif
diff --git a/launch/camshift.launch.py b/launch/camshift.launch.py
new file mode 100644
index 00000000..0ddee670
--- /dev/null
+++ b/launch/camshift.launch.py
@@ -0,0 +1,114 @@
+#!/usr/bin/env python3
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    # Declare launch arguments
+    node_name_arg = DeclareLaunchArgument(
+        'node_name',
+        default_value='camshift_node',
+        description='Name of the node'
+    )
+
+    namespace_arg = DeclareLaunchArgument(
+        'namespace',
+        default_value='camshift',
+        description='Namespace for the node'
+    )
+
+    image_arg = DeclareLaunchArgument(
+        'image',
+        default_value='image',
+        description='The image topic. Should be remapped to the name of the real image topic.'
+    )
+
+    use_camera_info_arg = DeclareLaunchArgument(
+        'use_camera_info',
+        default_value='false',
+        description='Indicates that the camera_info topic should be subscribed to'
+    )
+
+    debug_view_arg = DeclareLaunchArgument(
+        'debug_view',
+        default_value='true',
+        description='Specify whether the node displays a window to show edge image'
+    )
+
+    queue_size_arg = DeclareLaunchArgument(
+        'queue_size',
+        default_value='3',
+        description='Specify queue_size of input image subscribers'
+    )
+
+    histogram_arg = DeclareLaunchArgument(
+        'histogram',
+        default_value='[]',
+        description='Histogram of tracked color object'
+    )
+
+    vmin_arg = DeclareLaunchArgument(
+        'vmin',
+        default_value='10',
+        description='Min threshold of lightness'
+    )
+
+    vmax_arg = DeclareLaunchArgument(
+        'vmax',
+        default_value='256',
+        description='Max threshold of lightness'
+    )
+
+    smin_arg = DeclareLaunchArgument(
+        'smin',
+        default_value='30',
+        description='Min value of saturation'
+    )
+
+    always_subscribe_arg = DeclareLaunchArgument(
+        'always_subscribe',
+        default_value='false',
+        description='Always subscribe to input topics regardless of output subscribers'
+    )
+
+    # Create the node
+    camshift_node = Node(
+        package='opencv_apps',
+        executable='camshift',
+        name=LaunchConfiguration('node_name'),
+        namespace=LaunchConfiguration('namespace'),
+        remappings=[
+            ('image', LaunchConfiguration('image')),
+            ('track_box', '/camshift/track_box'),
+            ('image_out', '/camshift/image_out'),
+            ('back_project', '/camshift/back_project'),
+        ],
+        parameters=[{
+            'use_camera_info': LaunchConfiguration('use_camera_info'),
+            'debug_view': LaunchConfiguration('debug_view'),
+            'queue_size': LaunchConfiguration('queue_size'),
+            'vmin': LaunchConfiguration('vmin'),
+            'vmax': LaunchConfiguration('vmax'),
+            'smin': LaunchConfiguration('smin'),
+            'always_subscribe': LaunchConfiguration('always_subscribe'),
+        }],
+        output='screen',
+    )
+
+    return LaunchDescription([
+        node_name_arg,
+        namespace_arg,
+        image_arg,
+        use_camera_info_arg,
+        debug_view_arg,
+        queue_size_arg,
+        histogram_arg,
+        vmin_arg,
+        vmax_arg,
+        smin_arg,
+        always_subscribe_arg,
+        camshift_node,
+    ])
diff --git a/launch/edge_detection.launch.py b/launch/edge_detection.launch.py
new file mode 100644
index 00000000..3a9244bb
--- /dev/null
+++ b/launch/edge_detection.launch.py
@@ -0,0 +1,104 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        # Declare launch arguments
+        DeclareLaunchArgument(
+            'node_name',
+            default_value='edge_detection',
+            description='Name of the node'
+        ),
+        DeclareLaunchArgument(
+            'image',
+            default_value='image',
+            description='The image topic. Should be remapped to the name of the real image topic.'
+        ),
+        DeclareLaunchArgument(
+            'use_camera_info',
+            default_value='false',
+            description='Indicates that the camera_info topic should be subscribed to get the default input_frame_id'
+        ),
+        DeclareLaunchArgument(
+            'debug_view',
+            default_value='true',
+            description='Specify whether the node displays a window to show edge image'
+        ),
+        DeclareLaunchArgument(
+            'queue_size',
+            default_value='3',
+            description='Specify queue_size of input image subscribers'
+        ),
+        DeclareLaunchArgument(
+            'edge_type',
+            default_value='0',
+            description='Specify edge detection methods. 0: Sobel Derivatives, 1: Laplace Operator, 2: Canny Edge Detector'
+        ),
+        DeclareLaunchArgument(
+            'canny_threshold1',
+            default_value='100',
+            description='Specify second canny threshold value'
+        ),
+        DeclareLaunchArgument(
+            'canny_threshold2',
+            default_value='200',
+            description='Specify first canny threshold value'
+        ),
+        DeclareLaunchArgument(
+            'apertureSize',
+            default_value='3',
+            description='Aperture size for the Sobel() operator'
+        ),
+        DeclareLaunchArgument(
+            'apply_blur_pre',
+            default_value='true',
+            description='Flag, applying Blur() to input image'
+        ),
+        DeclareLaunchArgument(
+            'postBlurSize',
+            default_value='13',
+            description='Aperture size for the Blur() to input image'
+        ),
+        DeclareLaunchArgument(
+            'postBlurSigma',
+            default_value='3.2',
+            description='Sigma for the GaussianBlur() to input image'
+        ),
+        DeclareLaunchArgument(
+            'apply_blur_post',
+            default_value='false',
+            description='Flag, applying GaussianBlur() to output(edge) image'
+        ),
+        DeclareLaunchArgument(
+            'L2gradient',
+            default_value='false',
+            description='Flag, L2Gradient'
+        ),
+
+        # Node
+        Node(
+            package='opencv_apps',
+            executable='edge_detection',
+            name=LaunchConfiguration('node_name'),
+            remappings=[
+                ('image', LaunchConfiguration('image')),
+            ],
+            parameters=[{
+                'use_camera_info': LaunchConfiguration('use_camera_info'),
+                'debug_view': LaunchConfiguration('debug_view'),
+                'queue_size': LaunchConfiguration('queue_size'),
+                'edge_type': LaunchConfiguration('edge_type'),
+                'canny_threshold1': LaunchConfiguration('canny_threshold1'),
+                'canny_threshold2': LaunchConfiguration('canny_threshold2'),
+                'apertureSize': LaunchConfiguration('apertureSize'),
+                'apply_blur_pre': LaunchConfiguration('apply_blur_pre'),
+                'postBlurSize': LaunchConfiguration('postBlurSize'),
+                'postBlurSigma': LaunchConfiguration('postBlurSigma'),
+                'apply_blur_post': LaunchConfiguration('apply_blur_post'),
+                'L2gradient': LaunchConfiguration('L2gradient'),
+            }]
+        ),
+    ])
diff --git a/launch/face_detection.launch.py b/launch/face_detection.launch.py
new file mode 100644
index 00000000..57a75402
--- /dev/null
+++ b/launch/face_detection.launch.py
@@ -0,0 +1,62 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        # Declare launch arguments
+        DeclareLaunchArgument(
+            'node_name',
+            default_value='face_detection',
+            description='Name of the node'
+        ),
+        DeclareLaunchArgument(
+            'image',
+            default_value='image',
+            description='The image topic. Should be remapped to the name of the real image topic.'
+        ),
+        DeclareLaunchArgument(
+            'use_camera_info',
+            default_value='false',
+            description='Indicates that the camera_info topic should be subscribed to get the default input_frame_id'
+        ),
+        DeclareLaunchArgument(
+            'debug_view',
+            default_value='true',
+            description='Specify whether the node displays a window to show edge image'
+        ),
+        DeclareLaunchArgument(
+            'queue_size',
+            default_value='3',
+            description='Specify queue_size of input image subscribers'
+        ),
+        DeclareLaunchArgument(
+            'face_cascade_name',
+            default_value='/usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml',
+            description='Face detection cascade filename'
+        ),
+        DeclareLaunchArgument(
+            'eyes_cascade_name',
+            default_value='/usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml',
+            description='Eye detection cascade filename'
+        ),
+
+        # Node
+        Node(
+            package='opencv_apps',
+            executable='face_detection',
+            name=LaunchConfiguration('node_name'),
+            remappings=[
+                ('image', LaunchConfiguration('image')),
+            ],
+            parameters=[{
+                'use_camera_info': LaunchConfiguration('use_camera_info'),
+                'debug_view': LaunchConfiguration('debug_view'),
+                'queue_size': LaunchConfiguration('queue_size'),
+                'face_cascade_name': LaunchConfiguration('face_cascade_name'),
+                'eyes_cascade_name': LaunchConfiguration('eyes_cascade_name'),
+            }]
+        ),
+    ])
diff --git a/launch/hough_circles.launch.py b/launch/hough_circles.launch.py
new file mode 100644
index 00000000..6fced6ae
--- /dev/null
+++ b/launch/hough_circles.launch.py
@@ -0,0 +1,98 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        # Declare launch arguments
+        DeclareLaunchArgument(
+            'node_name',
+            default_value='hough_circles',
+            description='Name of the node'
+        ),
+        DeclareLaunchArgument(
+            'image',
+            default_value='image',
+            description='The image topic. Should be remapped to the name of the real image topic.'
+        ),
+        DeclareLaunchArgument(
+            'use_camera_info',
+            default_value='false',
+            description='Indicates that the camera_info topic should be subscribed to get the default input_frame_id'
+        ),
+        DeclareLaunchArgument(
+            'debug_view',
+            default_value='true',
+            description='Specify whether the node displays a window to show edge image'
+        ),
+        DeclareLaunchArgument(
+            'queue_size',
+            default_value='3',
+            description='Specify queue_size of input image subscribers'
+        ),
+        DeclareLaunchArgument(
+            'canny_threshold',
+            default_value='200',
+            description='Upper threshold for the internal Canny edge detector'
+        ),
+        DeclareLaunchArgument(
+            'accumulator_threshold',
+            default_value='50',
+            description='Threshold for center detection'
+        ),
+        DeclareLaunchArgument(
+            'gaussian_blur_size',
+            default_value='9',
+            description='The size of gaussian blur (should be odd number)'
+        ),
+        DeclareLaunchArgument(
+            'gaussian_sigma_x',
+            default_value='2',
+            description='Sigma x of gaussian kernel'
+        ),
+        DeclareLaunchArgument(
+            'gaussian_sigma_y',
+            default_value='2',
+            description='Sigma y of gaussian kernel'
+        ),
+        DeclareLaunchArgument(
+            'dp',
+            default_value='2',
+            description='The inverse ratio of resolution'
+        ),
+        DeclareLaunchArgument(
+            'min_circle_radius',
+            default_value='0',
+            description='The minimum size of the circle, If unknown, put zero as default'
+        ),
+        DeclareLaunchArgument(
+            'max_circle_radius',
+            default_value='0',
+            description='The maximum size of the circle, If unknown, put zero as default'
+        ),
+
+        # Node
+        Node(
+            package='opencv_apps',
+            executable='hough_circles',
+            name=LaunchConfiguration('node_name'),
+            remappings=[
+                ('image', LaunchConfiguration('image')),
+            ],
+            parameters=[{
+                'use_camera_info': LaunchConfiguration('use_camera_info'),
+                'debug_view': LaunchConfiguration('debug_view'),
+                'queue_size': LaunchConfiguration('queue_size'),
+                'canny_threshold': LaunchConfiguration('canny_threshold'),
+                'accumulator_threshold': LaunchConfiguration('accumulator_threshold'),
+                'gaussian_blur_size': LaunchConfiguration('gaussian_blur_size'),
+                'gaussian_sigma_x': LaunchConfiguration('gaussian_sigma_x'),
+                'gaussian_sigma_y': LaunchConfiguration('gaussian_sigma_y'),
+                'dp': LaunchConfiguration('dp'),
+                'min_circle_radius': LaunchConfiguration('min_circle_radius'),
+                'max_circle_radius': LaunchConfiguration('max_circle_radius'),
+            }]
+        ),
+    ])
diff --git a/msg/CircleArrayStamped.msg b/msg/CircleArrayStamped.msg
index a3302340..3535f6b9 100644
--- a/msg/CircleArrayStamped.msg
+++ b/msg/CircleArrayStamped.msg
@@ -1,3 +1,3 @@
-Header header
+std_msgs/Header header
 Circle[] circles
 
diff --git a/msg/ContourArrayStamped.msg b/msg/ContourArrayStamped.msg
index f9479f67..19538a09 100644
--- a/msg/ContourArrayStamped.msg
+++ b/msg/ContourArrayStamped.msg
@@ -1,3 +1,3 @@
-Header header
+std_msgs/Header header
 Contour[] contours
 
diff --git a/msg/FaceArrayStamped.msg b/msg/FaceArrayStamped.msg
index 44396828..a3620005 100644
--- a/msg/FaceArrayStamped.msg
+++ b/msg/FaceArrayStamped.msg
@@ -1,3 +1,3 @@
-Header header
+std_msgs/Header header
 Face[] faces
 
diff --git a/msg/FlowArrayStamped.msg b/msg/FlowArrayStamped.msg
index d88f34fe..79d1edca 100644
--- a/msg/FlowArrayStamped.msg
+++ b/msg/FlowArrayStamped.msg
@@ -1,3 +1,3 @@
-Header header
+std_msgs/Header header
 Flow[] flow
 bool[] status
diff --git a/msg/FlowStamped.msg b/msg/FlowStamped.msg
index 14676463..599f1d34 100644
--- a/msg/FlowStamped.msg
+++ b/msg/FlowStamped.msg
@@ -1,2 +1,2 @@
-Header header
+std_msgs/Header header
 Flow flow
diff --git a/msg/LineArrayStamped.msg b/msg/LineArrayStamped.msg
index d72ff618..a8d0da2e 100644
--- a/msg/LineArrayStamped.msg
+++ b/msg/LineArrayStamped.msg
@@ -1,2 +1,2 @@
-Header header
+std_msgs/Header header
 Line[] lines
diff --git a/msg/MomentArrayStamped.msg b/msg/MomentArrayStamped.msg
index 0b6b6b9a..d8224a92 100644
--- a/msg/MomentArrayStamped.msg
+++ b/msg/MomentArrayStamped.msg
@@ -1,2 +1,2 @@
-Header header
+std_msgs/Header header
 Moment[] moments
diff --git a/msg/Point2DArrayStamped.msg b/msg/Point2DArrayStamped.msg
index e52a8c58..abe6e1be 100644
--- a/msg/Point2DArrayStamped.msg
+++ b/msg/Point2DArrayStamped.msg
@@ -1,2 +1,2 @@
-Header header
+std_msgs/Header header
 Point2D[] points
diff --git a/msg/Point2DStamped.msg b/msg/Point2DStamped.msg
index 89f3a0e0..4fc2d050 100644
--- a/msg/Point2DStamped.msg
+++ b/msg/Point2DStamped.msg
@@ -1,3 +1,3 @@
-Header header
+std_msgs/Header header
 Point2D point
 
diff --git a/msg/RectArrayStamped.msg b/msg/RectArrayStamped.msg
index e238d668..fcb61038 100644
--- a/msg/RectArrayStamped.msg
+++ b/msg/RectArrayStamped.msg
@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header
 Rect[] rects
 
 
diff --git a/msg/RotatedRectArrayStamped.msg b/msg/RotatedRectArrayStamped.msg
index b10aa7dc..e96a0cb3 100644
--- a/msg/RotatedRectArrayStamped.msg
+++ b/msg/RotatedRectArrayStamped.msg
@@ -1,3 +1,3 @@
-Header header
+std_msgs/Header header
 RotatedRect[] rects
 
diff --git a/msg/RotatedRectStamped.msg b/msg/RotatedRectStamped.msg
index 4c03ddad..e85b6386 100644
--- a/msg/RotatedRectStamped.msg
+++ b/msg/RotatedRectStamped.msg
@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header
 RotatedRect rect
 
 
diff --git a/package.xml b/package.xml
index 7f5029db..cb954a7c 100644
--- a/package.xml
+++ b/package.xml
@@ -1,14 +1,11 @@
 <?xml version="1.0"?>
-<package>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>opencv_apps</name>
   <version>2.0.3</version>
   <description>
-    <p>opencv_apps provides various nodes that run internally OpenCV's functionalities and publish the result as ROS topics. With opencv_apps, you can skip writing OpenCV application codes for a lot of its functionalities by simply running a launch file that corresponds to OpenCV's functionality you want.</p>
-    <ul>
-      <li>You can have a look at all launch files provided here (be sure to choose the correct branch. As of Sept. 2016 indigo branch is used for ROS Indigo, Jade, and Kinetic distros).</li>
-      <li>Some of the features covered by opencv_apps are explained in <a href = "http://wiki.ros.org/opencv_apps">the wiki</a>.</li>
-    </ul>
-    <p>The most of code is originally taken from https://github.com/Itseez/opencv/tree/master/samples/cpp</p>
+    opencv_apps provides various nodes that run internally OpenCV's functionalities and publish the result as ROS topics. With opencv_apps, you can skip writing OpenCV application codes for a lot of its functionalities by simply running a launch file that corresponds to OpenCV's functionality you want.
+    The most of code is originally taken from https://github.com/Itseez/opencv/tree/master/samples/cpp
   </description>
 
   <maintainer email="kei.okada@gmail.com">Kei Okada</maintainer>
@@ -16,42 +13,32 @@
 
   <license>BSD</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <build_depend>cv_bridge</build_depend>
-  <build_depend>dynamic_reconfigure</build_depend>
-  <build_depend>g++-static</build_depend>
   <build_depend>image_transport</build_depend>
-  <build_depend>message_generation</build_depend>
-  <build_depend>nodelet</build_depend>
-  <build_depend>roscpp</build_depend>
+  <build_depend>rclcpp</build_depend>
+  <build_depend>rclcpp_components</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>std_srvs</build_depend>
-  <build_depend>class_loader</build_depend>
-
-  <run_depend>cv_bridge</run_depend>
-  <run_depend>dynamic_reconfigure</run_depend>
-  <run_depend>image_transport</run_depend>
-  <run_depend>image_view</run_depend>
-  <run_depend>message_runtime</run_depend>
-  <run_depend>nodelet</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>std_srvs</run_depend>
-  <run_depend>class_loader</run_depend>
-
-  <test_depend>roslaunch</test_depend>
-  <test_depend>rostest</test_depend>
-  <test_depend>rosbag</test_depend>
-  <test_depend>rosservice</test_depend>
-  <test_depend>rostopic</test_depend>
-  <test_depend>image_proc</test_depend>
-  <test_depend>topic_tools</test_depend>
-  <test_depend>compressed_image_transport</test_depend>
+
+  <exec_depend>cv_bridge</exec_depend>
+  <exec_depend>image_transport</exec_depend>
+  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>rclcpp_components</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>std_srvs</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
 
   <export>
-    <nodelet plugin="${prefix}/nodelet_plugins.xml"/>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>
diff --git a/src/nodelet/camshift_nodelet.cpp b/src/nodelet/camshift_nodelet.cpp
index 5d139642..a88f20cc 100644
--- a/src/nodelet/camshift_nodelet.cpp
+++ b/src/nodelet/camshift_nodelet.cpp
@@ -32,19 +32,12 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
-// https://github.com/Itseez/opencv/blob/2.4/samples/cpp/camshiftdemo.cpp
-/**
- * This is a demo that shows mean-shift based tracking
- * You select a color objects such as your face and it tracks it.
- * This reads from video camera (0 by default, or the camera number the user enters
- */
-
-#include <ros/ros.h>
+#include <rclcpp/rclcpp.hpp>
 #include "opencv_apps/nodelet.h"
-#include <image_transport/image_transport.h>
-#include <sensor_msgs/image_encodings.h>
-#include <cv_bridge/cv_bridge.h>
-#include <sensor_msgs/image_encodings.h>
+#include <image_transport/image_transport.hpp>
+#include <sensor_msgs/msg/image.hpp>
+#include <sensor_msgs/image_encodings.hpp>
+#include <cv_bridge/cv_bridge.hpp>
 
 #include <iostream>
 #include <ctype.h>
@@ -52,32 +45,22 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include <dynamic_reconfigure/server.h>
-#include "opencv_apps/CamShiftConfig.h"
-#include "opencv_apps/RotatedRectStamped.h"
+#include "opencv_apps/msg/rotated_rect_stamped.hpp"
 
 namespace opencv_apps
 {
 class CamShiftNodelet : public opencv_apps::Nodelet
 {
-  image_transport::Publisher img_pub_, bproj_pub_;
-  image_transport::Subscriber img_sub_;
-  image_transport::CameraSubscriber cam_sub_;
-  ros::Publisher msg_pub_;
-
-  boost::shared_ptr<image_transport::ImageTransport> it_;
-
-  typedef opencv_apps::CamShiftConfig Config;
-  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
-  Config config_;
-  boost::shared_ptr<ReconfigureServer> reconfigure_server_;
+  std::shared_ptr<image_transport::Publisher> img_pub_, bproj_pub_;
+  std::shared_ptr<image_transport::Subscriber> img_sub_;
+  std::shared_ptr<image_transport::CameraSubscriber> cam_sub_;
+  rclcpp::Publisher<opencv_apps::msg::RotatedRectStamped>::SharedPtr msg_pub_;
 
   int queue_size_;
   bool debug_view_;
-  ros::Time prev_stamp_;
+  rclcpp::Time prev_stamp_;
 
   std::string window_name_, histogram_name_;
-  static bool need_config_update_;
   static bool on_mouse_update_;
   static int on_mouse_event_;
   static int on_mouse_x_;
@@ -91,13 +74,14 @@ class CamShiftNodelet : public opencv_apps::Nodelet
   cv::Point origin;
   cv::Rect selection;
   bool paused;
+  bool use_camera_info_;
 
   cv::Rect trackWindow;
   int hsize;
   float hranges[2];
   const float* phranges;
   cv::Mat hist, histimg;
-  // cv::Mat hsv;
+  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr param_callback_handle_;
 
   static void onMouse(int event, int x, int y, int /*unused*/, void* /*unused*/)
   {
@@ -107,70 +91,60 @@ class CamShiftNodelet : public opencv_apps::Nodelet
     on_mouse_y_ = y;
   }
 
-  void reconfigureCallback(Config& new_config, uint32_t level)
+  rcl_interfaces::msg::SetParametersResult parameterCallback(const std::vector<rclcpp::Parameter>& parameters)
   {
-    config_ = new_config;
-    vmin_ = config_.vmin;
-    vmax_ = config_.vmax;
-    smin_ = config_.smin;
-  }
+    rcl_interfaces::msg::SetParametersResult result;
+    result.successful = true;
 
-  const std::string& frameWithDefault(const std::string& frame, const std::string& image_frame)
-  {
-    if (frame.empty())
-      return image_frame;
-    return frame;
+    for (const auto& param : parameters)
+    {
+      if (param.get_name() == "vmin")
+      {
+        vmin_ = param.as_int();
+        RCLCPP_INFO(this->get_logger(), "Updated vmin to %d", vmin_);
+      }
+      else if (param.get_name() == "vmax")
+      {
+        vmax_ = param.as_int();
+        RCLCPP_INFO(this->get_logger(), "Updated vmax to %d", vmax_);
+      }
+      else if (param.get_name() == "smin")
+      {
+        smin_ = param.as_int();
+        RCLCPP_INFO(this->get_logger(), "Updated smin to %d", smin_);
+      }
+    }
+    return result;
   }
 
-  void imageCallbackWithInfo(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& cam_info)
+  void imageCallbackWithInfo(const sensor_msgs::msg::Image::ConstSharedPtr& msg,
+                             const sensor_msgs::msg::CameraInfo::ConstSharedPtr& cam_info)
   {
     doWork(msg, cam_info->header.frame_id);
   }
 
-  void imageCallback(const sensor_msgs::ImageConstPtr& msg)
+  void imageCallback(const sensor_msgs::msg::Image::ConstSharedPtr& msg)
   {
     doWork(msg, msg->header.frame_id);
   }
 
-  static void trackbarCallback(int /*unused*/, void* /*unused*/)
+  void doWork(const sensor_msgs::msg::Image::ConstSharedPtr& msg, const std::string& input_frame_from_msg)
   {
-    need_config_update_ = true;
-  }
-
-  void doWork(const sensor_msgs::ImageConstPtr& msg, const std::string& input_frame_from_msg)
-  {
-    // Work on the image.
     try
     {
-      // Convert the image into something opencv can handle.
       cv::Mat frame = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::BGR8)->image;
       cv::Mat backproj;
 
-      // Messages
-      opencv_apps::RotatedRectStamped rect_msg;
+      opencv_apps::msg::RotatedRectStamped rect_msg;
       rect_msg.header = msg->header;
 
-      // Do the work
-
       if (debug_view_)
       {
-        /// Create Trackbars for Thresholds
-
         cv::namedWindow(window_name_, cv::WINDOW_AUTOSIZE);
-
         cv::setMouseCallback(window_name_, onMouse, nullptr);
-        cv::createTrackbar("Vmin", window_name_, &vmin_, 256, trackbarCallback);
-        cv::createTrackbar("Vmax", window_name_, &vmax_, 256, trackbarCallback);
-        cv::createTrackbar("Smin", window_name_, &smin_, 256, trackbarCallback);
-
-        if (need_config_update_)
-        {
-          config_.vmin = vmin_;
-          config_.vmax = vmax_;
-          config_.smin = smin_;
-          reconfigure_server_->updateConfig(config_);
-          need_config_update_ = false;
-        }
+        cv::createTrackbar("Vmin", window_name_, &vmin_, 256, nullptr);
+        cv::createTrackbar("Vmax", window_name_, &vmax_, 256, nullptr);
+        cv::createTrackbar("Smin", window_name_, &smin_, 256, nullptr);
       }
 
       if (on_mouse_update_)
@@ -185,7 +159,6 @@ class CamShiftNodelet : public opencv_apps::Nodelet
           selection.y = MIN(y, origin.y);
           selection.width = std::abs(x - origin.x);
           selection.height = std::abs(y - origin.y);
-
           selection &= cv::Rect(0, 0, frame.cols, frame.rows);
         }
 
@@ -224,13 +197,14 @@ class CamShiftNodelet : public opencv_apps::Nodelet
             cv::Mat roi(hue, selection), maskroi(mask, selection);
             cv::calcHist(&roi, 1, nullptr, maskroi, hist, 1, &hsize, &phranges);
             cv::normalize(hist, hist, 0, 255, cv::NORM_MINMAX);
-            std::vector<float> hist_value;
+
+            std::vector<double> hist_value;
             hist_value.resize(hsize);
             for (int i = 0; i < hsize; i++)
             {
               hist_value[i] = hist.at<float>(i);
             }
-            pnh_->setParam("histogram", hist_value);
+            this->set_parameter(rclcpp::Parameter("histogram", hist_value));
 
             trackWindow = selection;
             trackObject = 1;
@@ -254,11 +228,10 @@ class CamShiftNodelet : public opencv_apps::Nodelet
           backproj &= mask;
           cv::RotatedRect track_box = cv::CamShift(
               backproj, trackWindow, cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::MAX_ITER, 10, 1));
+
           if (trackWindow.area() <= 1)
           {
             int cols = backproj.cols, rows = backproj.rows, r = (MIN(cols, rows) + 5) / 6;
-            // trackWindow = cv::Rect(trackWindow.x - r, trackWindow.y - r,
-            //                       trackWindow.x + r, trackWindow.y + r) &
             trackWindow = cv::Rect(cols / 2 - r, rows / 2 - r, cols / 2 + r, rows / 2 + r) & cv::Rect(0, 0, cols, rows);
           }
 
@@ -271,8 +244,8 @@ class CamShiftNodelet : public opencv_apps::Nodelet
 #endif
 
           rect_msg.rect.angle = track_box.angle;
-          opencv_apps::Point2D point_msg;
-          opencv_apps::Size size_msg;
+          opencv_apps::msg::Point2D point_msg;
+          opencv_apps::msg::Size size_msg;
           point_msg.x = track_box.center.x;
           point_msg.y = track_box.center.y;
           size_msg.width = track_box.size.width;
@@ -293,11 +266,10 @@ class CamShiftNodelet : public opencv_apps::Nodelet
       if (debug_view_)
       {
         cv::imshow(window_name_, frame);
-        cv::imshow(histogram_name_, histimg);
+        if (showHist)
+          cv::imshow(histogram_name_, histimg);
 
         char c = (char)cv::waitKey(1);
-        // if( c == 27 )
-        //  break;
         switch (c)
         {
           case 'b':
@@ -321,59 +293,89 @@ class CamShiftNodelet : public opencv_apps::Nodelet
         }
       }
 
-      // Publish the image.
-      sensor_msgs::Image::Ptr out_img1 = cv_bridge::CvImage(msg->header, msg->encoding, frame).toImageMsg();
-      sensor_msgs::Image::Ptr out_img2 =
+      sensor_msgs::msg::Image::SharedPtr out_img1 = cv_bridge::CvImage(msg->header, msg->encoding, frame).toImageMsg();
+      sensor_msgs::msg::Image::SharedPtr out_img2 =
           cv_bridge::CvImage(msg->header, sensor_msgs::image_encodings::MONO8, backproj).toImageMsg();
-      img_pub_.publish(out_img1);
-      bproj_pub_.publish(out_img2);
+      img_pub_->publish(*out_img1);
+      bproj_pub_->publish(*out_img2);
       if (trackObject)
-        msg_pub_.publish(rect_msg);
+        msg_pub_->publish(rect_msg);
     }
     catch (cv::Exception& e)
     {
-      NODELET_ERROR("Image processing error: %s %s %s %i", e.err.c_str(), e.func.c_str(), e.file.c_str(), e.line);
+      RCLCPP_ERROR(this->get_logger(), "Image processing error: %s %s %s %i", e.err.c_str(), e.func.c_str(),
+                   e.file.c_str(), e.line);
     }
 
     prev_stamp_ = msg->header.stamp;
   }
 
-  void subscribe()  // NOLINT(modernize-use-override)
+  void subscribe()
   {
-    NODELET_DEBUG("Subscribing to image topic.");
-    if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", queue_size_, &CamShiftNodelet::imageCallbackWithInfo, this);
+    RCLCPP_DEBUG(this->get_logger(), "Subscribing to image topic.");
+    if (use_camera_info_)
+    {
+      cam_sub_ = std::make_shared<image_transport::CameraSubscriber>(
+        image_transport::create_camera_subscription(
+          this, "image",
+          std::bind(&CamShiftNodelet::imageCallbackWithInfo, this,
+                    std::placeholders::_1, std::placeholders::_2),
+          "raw"));
+    }
     else
-      img_sub_ = it_->subscribe("image", queue_size_, &CamShiftNodelet::imageCallback, this);
+    {
+      img_sub_ = std::make_shared<image_transport::Subscriber>(
+        image_transport::create_subscription(
+          this, "image",
+          std::bind(&CamShiftNodelet::imageCallback, this, std::placeholders::_1),
+          "raw"));
+    }
   }
 
-  void unsubscribe()  // NOLINT(modernize-use-override)
+  void unsubscribe()
   {
-    NODELET_DEBUG("Unsubscribing from image topic.");
-    img_sub_.shutdown();
-    cam_sub_.shutdown();
+    RCLCPP_DEBUG(this->get_logger(), "Unsubscribing from image topic.");
+    img_sub_.reset();
+    cam_sub_.reset();
   }
 
 public:
-  virtual void onInit()  // NOLINT(modernize-use-override)
+  CamShiftNodelet(const rclcpp::NodeOptions& options = rclcpp::NodeOptions())
+    : Nodelet("camshift", options)
+  {
+  }
+
+  void onInit() override
   {
     Nodelet::onInit();
-    it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
-    pnh_->param("queue_size", queue_size_, 3);
-    pnh_->param("debug_view", debug_view_, false);
+    this->declare_parameter("queue_size", 3);
+    this->declare_parameter("debug_view", false);
+    this->declare_parameter("use_camera_info", false);
+    this->declare_parameter("vmin", 10);
+    this->declare_parameter("vmax", 256);
+    this->declare_parameter("smin", 30);
+    this->declare_parameter("histogram", std::vector<double>());
+
+    this->get_parameter("queue_size", queue_size_);
+    this->get_parameter("debug_view", debug_view_);
+    this->get_parameter("use_camera_info", use_camera_info_);
+    this->get_parameter("vmin", vmin_);
+    this->get_parameter("vmax", vmax_);
+    this->get_parameter("smin", smin_);
+
     if (debug_view_)
     {
+      RCLCPP_INFO(this->get_logger(), "debug_view: %s", debug_view_ ? "true" : "false");
+      RCLCPP_INFO(this->get_logger(), "debug_view is enabled, setting always_subscribe to true");
       always_subscribe_ = true;
+      RCLCPP_INFO(this->get_logger(), "always_subscribe: %s", always_subscribe_ ? "true" : "false");
     }
-    prev_stamp_ = ros::Time(0, 0);
+    prev_stamp_ = rclcpp::Time(0);
 
     window_name_ = "CamShift Demo";
     histogram_name_ = "Histogram";
 
-    vmin_ = 10;
-    vmax_ = 256;
-    smin_ = 30;
     backprojMode = false;
     selectObject = false;
     trackObject = 0;
@@ -386,26 +388,24 @@ class CamShiftNodelet : public opencv_apps::Nodelet
     phranges = hranges;
     histimg = cv::Mat::zeros(200, 320, CV_8UC3);
 
-    reconfigure_server_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
-    dynamic_reconfigure::Server<Config>::CallbackType f =
-        boost::bind(&CamShiftNodelet::reconfigureCallback, this, boost::placeholders::_1, boost::placeholders::_2);
-    reconfigure_server_->setCallback(f);
-
-    img_pub_ = advertiseImage(*pnh_, "image", 1);
-    bproj_pub_ = advertiseImage(*pnh_, "back_project", 1);
-    msg_pub_ = advertise<opencv_apps::RotatedRectStamped>(*pnh_, "track_box", 1);
-
-    NODELET_INFO("Hot keys: ");
-    NODELET_INFO("\tESC - quit the program");
-    NODELET_INFO("\tc - stop the tracking");
-    NODELET_INFO("\tb - switch to/from backprojection view");
-    NODELET_INFO("\th - show/hide object histogram");
-    NODELET_INFO("\tp - pause video");
-    NODELET_INFO("To initialize tracking, select the object with mouse");
-
-    std::vector<float> hist_value;
-    pnh_->getParam("histogram", hist_value);
-    if (hist_value.size() == hsize)
+    param_callback_handle_ = this->add_on_set_parameters_callback(
+      std::bind(&CamShiftNodelet::parameterCallback, this, std::placeholders::_1));
+
+    img_pub_ = advertiseImage("image_out", 1);
+    bproj_pub_ = advertiseImage("back_project", 1);
+    msg_pub_ = this->create_publisher<opencv_apps::msg::RotatedRectStamped>("track_box", 1);
+
+    RCLCPP_INFO(this->get_logger(), "Hot keys:");
+    RCLCPP_INFO(this->get_logger(), "      ESC - quit the program");
+    RCLCPP_INFO(this->get_logger(), "      c - stop the tracking");
+    RCLCPP_INFO(this->get_logger(), "      b - switch to/from backprojection view");
+    RCLCPP_INFO(this->get_logger(), "      h - show/hide object histogram");
+    RCLCPP_INFO(this->get_logger(), "      p - pause video");
+    RCLCPP_INFO(this->get_logger(), "To initialize tracking, select the object with mouse");
+
+    std::vector<double> hist_value;
+    this->get_parameter("histogram", hist_value);
+    if (hist_value.size() == static_cast<size_t>(hsize))
     {
       hist.create(hsize, 1, CV_32F);
       for (int i = 0; i < hsize; i++)
@@ -413,7 +413,7 @@ class CamShiftNodelet : public opencv_apps::Nodelet
         hist.at<float>(i) = hist_value[i];
       }
       trackObject = 1;
-      trackWindow = cv::Rect(0, 0, 640, 480);  //
+      trackWindow = cv::Rect(0, 0, 640, 480);
 
       histimg = cv::Scalar::all(0);
       int bin_w = histimg.cols / hsize;
@@ -429,34 +429,27 @@ class CamShiftNodelet : public opencv_apps::Nodelet
                       cv::Scalar(buf.at<cv::Vec3b>(i)), -1, 8);
       }
     }
+
     onInitPostProcess();
   }
 };
-bool CamShiftNodelet::need_config_update_ = false;
+
 bool CamShiftNodelet::on_mouse_update_ = false;
 int CamShiftNodelet::on_mouse_event_ = 0;
 int CamShiftNodelet::on_mouse_x_ = 0;
 int CamShiftNodelet::on_mouse_y_ = 0;
+
 }  // namespace opencv_apps
 
-namespace camshift
-{
-class CamShiftNodelet : public opencv_apps::CamShiftNodelet
-{
-public:
-  virtual void onInit()  // NOLINT(modernize-use-override)
-  {
-    ROS_WARN("DeprecationWarning: Nodelet camshift/camshift is deprecated, "
-             "and renamed to opencv_apps/camshift.");
-    opencv_apps::CamShiftNodelet::onInit();
-  }
-};
-}  // namespace camshift
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(opencv_apps::CamShiftNodelet)
 
-#ifdef USE_PLUGINLIB_CLASS_LIST_MACROS_H
-#include <pluginlib/class_list_macros.h>
-#else
-#include <pluginlib/class_list_macros.hpp>
-#endif
-PLUGINLIB_EXPORT_CLASS(opencv_apps::CamShiftNodelet, nodelet::Nodelet);
-PLUGINLIB_EXPORT_CLASS(camshift::CamShiftNodelet, nodelet::Nodelet);
+int main(int argc, char** argv)
+{
+  rclcpp::init(argc, argv);
+  auto node = std::make_shared<opencv_apps::CamShiftNodelet>();
+  node->onInit();
+  rclcpp::spin(node);
+  rclcpp::shutdown();
+  return 0;
+}
diff --git a/src/nodelet/edge_detection_nodelet.cpp b/src/nodelet/edge_detection_nodelet.cpp
index e9048793..88f43cd3 100644
--- a/src/nodelet/edge_detection_nodelet.cpp
+++ b/src/nodelet/edge_detection_nodelet.cpp
@@ -33,55 +33,29 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
-// https://github.com/Itseez/opencv/blob/2.4/samples/cpp/tutorial_code/ImgTrans/
-/**
- * @file Sobel_Demo.cpp
- * @brief Sample code using Sobel and/orScharr OpenCV functions to make a simple Edge Detector
- * @author OpenCV team
- */
-/**
- * @file Laplace_Demo.cpp
- * @brief Sample code showing how to detect edges using the Laplace operator
- * @author OpenCV team
- */
-/**
- * @file CannyDetector_Demo.cpp
- * @brief Sample code showing how to detect edges using the Canny Detector
- * @author OpenCV team
- */
-
-#include <ros/ros.h>
+#include <rclcpp/rclcpp.hpp>
 #include "opencv_apps/nodelet.h"
-#include <image_transport/image_transport.h>
-#include <sensor_msgs/image_encodings.h>
-#include <cv_bridge/cv_bridge.h>
+#include <image_transport/image_transport.hpp>
+#include <sensor_msgs/msg/image.hpp>
+#include <sensor_msgs/image_encodings.hpp>
+#include <cv_bridge/cv_bridge.hpp>
 
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include <dynamic_reconfigure/server.h>
-#include "opencv_apps/EdgeDetectionConfig.h"
-
 namespace opencv_apps
 {
 class EdgeDetectionNodelet : public opencv_apps::Nodelet
 {
-  image_transport::Publisher img_pub_;
-  image_transport::Subscriber img_sub_;
-  image_transport::CameraSubscriber cam_sub_;
-  ros::Publisher msg_pub_;
-
-  boost::shared_ptr<image_transport::ImageTransport> it_;
-
-  typedef opencv_apps::EdgeDetectionConfig Config;
-  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
-  Config config_;
-  boost::shared_ptr<ReconfigureServer> reconfigure_server_;
+  std::shared_ptr<image_transport::Publisher> img_pub_;
+  std::shared_ptr<image_transport::Subscriber> img_sub_;
+  std::shared_ptr<image_transport::CameraSubscriber> cam_sub_;
 
   int queue_size_;
   bool debug_view_;
-  ros::Time prev_stamp_;
+  rclcpp::Time prev_stamp_;
 
+  int edge_type_;
   int canny_threshold1_;
   int canny_threshold2_;
   int apertureSize_;
@@ -90,59 +64,93 @@ class EdgeDetectionNodelet : public opencv_apps::Nodelet
   bool apply_blur_post_;
   int postBlurSize_;
   double postBlurSigma_;
+  bool use_camera_info_;
 
   std::string window_name_;
-  static bool need_config_update_;
+  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr param_callback_handle_;
 
-  void reconfigureCallback(Config& new_config, uint32_t level)
+  rcl_interfaces::msg::SetParametersResult parameterCallback(const std::vector<rclcpp::Parameter>& parameters)
   {
-    config_ = new_config;
-    canny_threshold1_ = config_.canny_threshold1;
-    canny_threshold2_ = config_.canny_threshold2;
-    apertureSize_ = 2 * ((config_.apertureSize / 2)) + 1;
-    L2gradient_ = config_.L2gradient;
-
-    apply_blur_pre_ = config_.apply_blur_pre;
-    apply_blur_post_ = config_.apply_blur_post;
-    postBlurSize_ = 2 * ((config_.postBlurSize) / 2) + 1;
-    postBlurSigma_ = config_.postBlurSigma;
-  }
+    rcl_interfaces::msg::SetParametersResult result;
+    result.successful = true;
 
-  const std::string& frameWithDefault(const std::string& frame, const std::string& image_frame)
-  {
-    if (frame.empty())
-      return image_frame;
-    return frame;
+    for (const auto& param : parameters)
+    {
+      if (param.get_name() == "edge_type")
+      {
+        edge_type_ = param.as_int();
+        RCLCPP_INFO(this->get_logger(), "Updated edge_type to %d", edge_type_);
+      }
+      else if (param.get_name() == "canny_threshold1")
+      {
+        canny_threshold1_ = param.as_int();
+        RCLCPP_INFO(this->get_logger(), "Updated canny_threshold1 to %d", canny_threshold1_);
+      }
+      else if (param.get_name() == "canny_threshold2")
+      {
+        canny_threshold2_ = param.as_int();
+        RCLCPP_INFO(this->get_logger(), "Updated canny_threshold2 to %d", canny_threshold2_);
+      }
+      else if (param.get_name() == "apertureSize")
+      {
+        apertureSize_ = param.as_int();
+        RCLCPP_INFO(this->get_logger(), "Updated apertureSize to %d", apertureSize_);
+      }
+      else if (param.get_name() == "L2gradient")
+      {
+        L2gradient_ = param.as_bool();
+        RCLCPP_INFO(this->get_logger(), "Updated L2gradient to %s", L2gradient_ ? "true" : "false");
+      }
+      else if (param.get_name() == "apply_blur_pre")
+      {
+        apply_blur_pre_ = param.as_bool();
+        RCLCPP_INFO(this->get_logger(), "Updated apply_blur_pre to %s", apply_blur_pre_ ? "true" : "false");
+      }
+      else if (param.get_name() == "apply_blur_post")
+      {
+        apply_blur_post_ = param.as_bool();
+        RCLCPP_INFO(this->get_logger(), "Updated apply_blur_post to %s", apply_blur_post_ ? "true" : "false");
+      }
+      else if (param.get_name() == "postBlurSize")
+      {
+        postBlurSize_ = param.as_int();
+        RCLCPP_INFO(this->get_logger(), "Updated postBlurSize to %d", postBlurSize_);
+      }
+      else if (param.get_name() == "postBlurSigma")
+      {
+        postBlurSigma_ = param.as_double();
+        RCLCPP_INFO(this->get_logger(), "Updated postBlurSigma to %.2f", postBlurSigma_);
+      }
+      else if (param.get_name() == "debug_view")
+      {
+        debug_view_ = param.as_bool();
+        RCLCPP_INFO(this->get_logger(), "Updated debug_view to %s", debug_view_ ? "true" : "false");
+      }
+    }
+
+    return result;
   }
 
-  void imageCallbackWithInfo(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& cam_info)
+  void imageCallbackWithInfo(const sensor_msgs::msg::Image::ConstSharedPtr& msg,
+                             const sensor_msgs::msg::CameraInfo::ConstSharedPtr& cam_info)
   {
     doWork(msg, cam_info->header.frame_id);
   }
 
-  void imageCallback(const sensor_msgs::ImageConstPtr& msg)
+  void imageCallback(const sensor_msgs::msg::Image::ConstSharedPtr& msg)
   {
     doWork(msg, msg->header.frame_id);
   }
 
-  static void trackbarCallback(int /*unused*/, void* /*unused*/)
+  void doWork(const sensor_msgs::msg::Image::ConstSharedPtr& msg, const std::string& input_frame_from_msg)
   {
-    need_config_update_ = true;
-  }
-
-  void doWork(const sensor_msgs::ImageConstPtr& msg, const std::string& input_frame_from_msg)
-  {
-    // Work on the image.
     try
     {
-      // Convert the image into something opencv can handle.
       cv::Mat frame = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::BGR8)->image;
 
-      // Do the work
       cv::Mat src_gray;
       cv::GaussianBlur(frame, frame, cv::Size(3, 3), 0, 0, cv::BORDER_DEFAULT);
 
-      /// Convert it to gray
       if (frame.channels() > 1)
       {
         cv::cvtColor(frame, src_gray, cv::COLOR_RGB2GRAY);
@@ -152,98 +160,55 @@ class EdgeDetectionNodelet : public opencv_apps::Nodelet
         src_gray = frame;
       }
 
-      /// Create window
       if (debug_view_)
       {
         cv::namedWindow(window_name_, cv::WINDOW_AUTOSIZE);
       }
 
-      std::string new_window_name;
       cv::Mat grad;
-      switch (config_.edge_type)
+      switch (edge_type_)
       {
-        case opencv_apps::EdgeDetection_Sobel:
+        case 0:  // Sobel
         {
-          /// Generate grad_x and grad_y
           cv::Mat grad_x, grad_y;
           cv::Mat abs_grad_x, abs_grad_y;
-
           int scale = 1;
           int delta = 0;
           int ddepth = CV_16S;
 
-          /// Gradient X
-          // Scharr( src_gray, grad_x, ddepth, 1, 0, scale, delta, BORDER_DEFAULT );
           cv::Sobel(src_gray, grad_x, ddepth, 1, 0, 3, scale, delta, cv::BORDER_DEFAULT);
           cv::convertScaleAbs(grad_x, abs_grad_x);
 
-          /// Gradient Y
-          // Scharr( src_gray, grad_y, ddepth, 0, 1, scale, delta, BORDER_DEFAULT );
           cv::Sobel(src_gray, grad_y, ddepth, 0, 1, 3, scale, delta, cv::BORDER_DEFAULT);
           cv::convertScaleAbs(grad_y, abs_grad_y);
 
-          /// Total Gradient (approximate)
           cv::addWeighted(abs_grad_x, 0.5, abs_grad_y, 0.5, 0, grad);
-
-          new_window_name = "Sobel Edge Detection Demo";
           break;
         }
-        case opencv_apps::EdgeDetection_Laplace:
+        case 1:  // Laplace
         {
           cv::Mat dst;
           int kernel_size = 3;
           int scale = 1;
           int delta = 0;
           int ddepth = CV_16S;
-          /// Apply Laplace function
 
           cv::Laplacian(src_gray, dst, ddepth, kernel_size, scale, delta, cv::BORDER_DEFAULT);
           convertScaleAbs(dst, grad);
-
-          new_window_name = "Laplace Edge Detection Demo";
           break;
         }
-        case opencv_apps::EdgeDetection_Canny:
+        case 2:  // Canny
         {
-          int edge_thresh = 1;
-          int kernel_size = 3;
-          int const max_canny_threshold1 = 500;
-          int const max_canny_threshold2 = 500;
-          cv::Mat detected_edges;
-
-          /// Reduce noise with a kernel 3x3
           if (apply_blur_pre_)
           {
             cv::blur(src_gray, src_gray, cv::Size(apertureSize_, apertureSize_));
           }
 
-          /// Canny detector
-          cv::Canny(src_gray, grad, canny_threshold1_, canny_threshold2_, kernel_size, L2gradient_);
-          if (apply_blur_post_)
-          {
-            cv::GaussianBlur(grad, grad, cv::Size(postBlurSize_, postBlurSize_), postBlurSigma_,
-                             postBlurSigma_);  // 0.3*(ksize/2 - 1) + 0.8
-          }
-
-          new_window_name = "Canny Edge Detection Demo";
+          cv::Canny(src_gray, grad, canny_threshold1_, canny_threshold2_, 3, L2gradient_);
 
-          /// Create a Trackbar for user to enter threshold
-          if (debug_view_)
+          if (apply_blur_post_)
           {
-            if (need_config_update_)
-            {
-              config_.canny_threshold1 = canny_threshold1_;
-              config_.canny_threshold2 = canny_threshold2_;
-              reconfigure_server_->updateConfig(config_);
-              need_config_update_ = false;
-            }
-            if (window_name_ == new_window_name)
-            {
-              cv::createTrackbar("Min CannyThreshold1:", window_name_, &canny_threshold1_, max_canny_threshold1,
-                                 trackbarCallback);
-              cv::createTrackbar("Min CannyThreshold2:", window_name_, &canny_threshold2_, max_canny_threshold2,
-                                 trackbarCallback);
-            }
+            cv::GaussianBlur(grad, grad, cv::Size(postBlurSize_, postBlurSize_), postBlurSigma_, postBlurSigma_);
           }
           break;
         }
@@ -251,95 +216,117 @@ class EdgeDetectionNodelet : public opencv_apps::Nodelet
 
       if (debug_view_)
       {
-        if (window_name_ != new_window_name)
-        {
-          cv::destroyWindow(window_name_);
-          window_name_ = new_window_name;
-        }
         cv::imshow(window_name_, grad);
         int c = cv::waitKey(1);
       }
 
-      // Publish the image.
-      sensor_msgs::Image::Ptr out_img =
+      sensor_msgs::msg::Image::SharedPtr out_img =
           cv_bridge::CvImage(msg->header, sensor_msgs::image_encodings::MONO8, grad).toImageMsg();
-      img_pub_.publish(out_img);
+      img_pub_->publish(*out_img);
     }
     catch (cv::Exception& e)
     {
-      NODELET_ERROR("Image processing error: %s %s %s %i", e.err.c_str(), e.func.c_str(), e.file.c_str(), e.line);
+      RCLCPP_ERROR(this->get_logger(), "Image processing error: %s %s %s %i", e.err.c_str(), e.func.c_str(),
+                   e.file.c_str(), e.line);
     }
 
     prev_stamp_ = msg->header.stamp;
   }
 
-  void subscribe()  // NOLINT(modernize-use-override)
+  void subscribe()
   {
-    NODELET_DEBUG("Subscribing to image topic.");
-    if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", queue_size_, &EdgeDetectionNodelet::imageCallbackWithInfo, this);
+    RCLCPP_DEBUG(this->get_logger(), "Subscribing to image topic.");
+    if (use_camera_info_)
+    {
+      cam_sub_ = std::make_shared<image_transport::CameraSubscriber>(
+        image_transport::create_camera_subscription(
+          this, "image",
+          std::bind(&EdgeDetectionNodelet::imageCallbackWithInfo, this,
+                    std::placeholders::_1, std::placeholders::_2),
+          "raw"));
+    }
     else
-      img_sub_ = it_->subscribe("image", queue_size_, &EdgeDetectionNodelet::imageCallback, this);
+    {
+      img_sub_ = std::make_shared<image_transport::Subscriber>(
+        image_transport::create_subscription(
+          this, "image",
+          std::bind(&EdgeDetectionNodelet::imageCallback, this, std::placeholders::_1),
+          "raw"));
+    }
   }
 
-  void unsubscribe()  // NOLINT(modernize-use-override)
+  void unsubscribe()
   {
-    NODELET_DEBUG("Unsubscribing from image topic.");
-    img_sub_.shutdown();
-    cam_sub_.shutdown();
+    RCLCPP_DEBUG(this->get_logger(), "Unsubscribing from image topic.");
+    img_sub_.reset();
+    cam_sub_.reset();
   }
 
 public:
-  virtual void onInit()  // NOLINT(modernize-use-override)
+  EdgeDetectionNodelet(const rclcpp::NodeOptions& options = rclcpp::NodeOptions())
+    : Nodelet("edge_detection", options)
+  {
+  }
+
+  void onInit() override
   {
     Nodelet::onInit();
-    it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
-    pnh_->param("queue_size", queue_size_, 3);
-    pnh_->param("debug_view", debug_view_, false);
+    this->declare_parameter("queue_size", 3);
+    this->declare_parameter("debug_view", false);
+    this->declare_parameter("use_camera_info", false);
+    this->declare_parameter("edge_type", 0);
+    this->declare_parameter("canny_threshold1", 100);
+    this->declare_parameter("canny_threshold2", 200);
+    this->declare_parameter("apertureSize", 3);
+    this->declare_parameter("L2gradient", false);
+    this->declare_parameter("apply_blur_pre", true);
+    this->declare_parameter("apply_blur_post", false);
+    this->declare_parameter("postBlurSize", 13);
+    this->declare_parameter("postBlurSigma", 3.2);
+
+    this->get_parameter("queue_size", queue_size_);
+    this->get_parameter("debug_view", debug_view_);
+    this->get_parameter("use_camera_info", use_camera_info_);
+    this->get_parameter("edge_type", edge_type_);
+    this->get_parameter("canny_threshold1", canny_threshold1_);
+    this->get_parameter("canny_threshold2", canny_threshold2_);
+    this->get_parameter("apertureSize", apertureSize_);
+    this->get_parameter("L2gradient", L2gradient_);
+    this->get_parameter("apply_blur_pre", apply_blur_pre_);
+    this->get_parameter("apply_blur_post", apply_blur_post_);
+    this->get_parameter("postBlurSize", postBlurSize_);
+    this->get_parameter("postBlurSigma", postBlurSigma_);
 
     if (debug_view_)
     {
       always_subscribe_ = true;
     }
-    prev_stamp_ = ros::Time(0, 0);
+    prev_stamp_ = rclcpp::Time(0);
 
     window_name_ = "Edge Detection Demo";
-    canny_threshold1_ = 100;  // only for canny
-    canny_threshold2_ = 200;  // only for canny
 
-    reconfigure_server_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
-    dynamic_reconfigure::Server<Config>::CallbackType f =
-        boost::bind(&EdgeDetectionNodelet::reconfigureCallback, this, boost::placeholders::_1, boost::placeholders::_2);
-    reconfigure_server_->setCallback(f);
+    img_pub_ = advertiseImage("image", 1);
 
-    img_pub_ = advertiseImage(*pnh_, "image", 1);
-    // msg_pub_ = local_nh_.advertise<opencv_apps::LineArrayStamped>("lines", 1, msg_connect_cb, msg_disconnect_cb);
+    // Register parameter callback for runtime parameter changes
+    param_callback_handle_ = this->add_on_set_parameters_callback(
+      std::bind(&EdgeDetectionNodelet::parameterCallback, this, std::placeholders::_1));
 
     onInitPostProcess();
   }
 };
-bool EdgeDetectionNodelet::need_config_update_ = false;
+
 }  // namespace opencv_apps
 
-namespace edge_detection
-{
-class EdgeDetectionNodelet : public opencv_apps::EdgeDetectionNodelet
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(opencv_apps::EdgeDetectionNodelet)
+
+int main(int argc, char** argv)
 {
-public:
-  virtual void onInit()  // NOLINT(modernize-use-override)
-  {
-    ROS_WARN("DeprecationWarning: Nodelet edge_detection/edge_detection is deprecated, "
-             "and renamed to opencv_apps/edge_detection.");
-    opencv_apps::EdgeDetectionNodelet::onInit();
-  }
-};
-}  // namespace edge_detection
-
-#ifdef USE_PLUGINLIB_CLASS_LIST_MACROS_H
-#include <pluginlib/class_list_macros.h>
-#else
-#include <pluginlib/class_list_macros.hpp>
-#endif
-PLUGINLIB_EXPORT_CLASS(opencv_apps::EdgeDetectionNodelet, nodelet::Nodelet);
-PLUGINLIB_EXPORT_CLASS(edge_detection::EdgeDetectionNodelet, nodelet::Nodelet);
+  rclcpp::init(argc, argv);
+  auto node = std::make_shared<opencv_apps::EdgeDetectionNodelet>();
+  node->onInit();
+  rclcpp::spin(node);
+  rclcpp::shutdown();
+  return 0;
+}
diff --git a/src/nodelet/nodelet.cpp b/src/nodelet/nodelet.cpp
index 6725f310..3b98fd64 100644
--- a/src/nodelet/nodelet.cpp
+++ b/src/nodelet/nodelet.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
@@ -34,192 +34,37 @@
  *********************************************************************/
 
 #include "opencv_apps/nodelet.h"
-#if BOOST_VERSION < 106000  // since 1.60.0, boost uses placeholders namesapce for _1,_2...
-#ifndef BOOST_PLAEHOLDERS
-#define BOOST_PLAEHOLDERS
-namespace boost
-{
-namespace placeholders
-{
-boost::arg<1> _1;
-boost::arg<2> _2;
-boost::arg<3> _3;
-boost::arg<4> _4;
-boost::arg<5> _5;
-boost::arg<6> _6;
-boost::arg<7> _7;
-boost::arg<8> _8;
-boost::arg<9> _9;
-}  // namespace placeholders
-}  // namespace boost
-#endif  // BOOST_PLAEHOLDERS
-#endif  // BOOST_VERSION < 106000
 
 namespace opencv_apps
 {
 void Nodelet::onInit()
 {
   connection_status_ = NOT_SUBSCRIBED;
-  nh_.reset(new ros::NodeHandle(getMTNodeHandle()));
-  pnh_.reset(new ros::NodeHandle(getMTPrivateNodeHandle()));
-  pnh_->param("always_subscribe", always_subscribe_, false);
-  pnh_->param("verbose_connection", verbose_connection_, false);
-  if (!verbose_connection_)
-  {
-    nh_->param("verbose_connection", verbose_connection_, false);
-  }
-  // timer to warn when no connection in a few seconds
+
+  this->declare_parameter("always_subscribe", false);
+  this->declare_parameter("verbose_connection", false);
+
+  this->get_parameter("always_subscribe", always_subscribe_);
+  this->get_parameter("verbose_connection", verbose_connection_);
+
   ever_subscribed_ = false;
-  timer_ = nh_->createWallTimer(ros::WallDuration(5), &Nodelet::warnNeverSubscribedCallback, this,
-                                /*oneshot=*/true);
 }
 
 void Nodelet::onInitPostProcess()
 {
+  // In ROS2, we typically always subscribe since connection callbacks are more complex
   if (always_subscribe_)
   {
     subscribe();
+    connection_status_ = SUBSCRIBED;
   }
-}
-
-void Nodelet::warnNeverSubscribedCallback(const ros::WallTimerEvent& event)
-{
-  if (!ever_subscribed_)
+  else
   {
-    NODELET_WARN("'%s' subscribes topics only with child subscribers.", nodelet::Nodelet::getName().c_str());
-  }
-}
-
-void Nodelet::connectionCallback(const ros::SingleSubscriberPublisher& pub)
-{
-  if (verbose_connection_)
-  {
-    NODELET_INFO("New connection or disconnection is detected");
-  }
-  if (!always_subscribe_)
-  {
-    boost::mutex::scoped_lock lock(connection_mutex_);
-    for (const ros::Publisher& pub : publishers_)
-    {
-      if (pub.getNumSubscribers() > 0)
-      {
-        if (!ever_subscribed_)
-        {
-          ever_subscribed_ = true;
-        }
-        if (connection_status_ != SUBSCRIBED)
-        {
-          if (verbose_connection_)
-          {
-            NODELET_INFO("Subscribe input topics");
-          }
-          subscribe();
-          connection_status_ = SUBSCRIBED;
-        }
-        return;
-      }
-    }
-    if (connection_status_ == SUBSCRIBED)
-    {
-      if (verbose_connection_)
-      {
-        NODELET_INFO("Unsubscribe input topics");
-      }
-      unsubscribe();
-      connection_status_ = NOT_SUBSCRIBED;
-    }
-  }
-}
-
-void Nodelet::imageConnectionCallback(const image_transport::SingleSubscriberPublisher& pub)
-{
-  if (verbose_connection_)
-  {
-    NODELET_INFO("New image connection or disconnection is detected");
-  }
-  if (!always_subscribe_)
-  {
-    boost::mutex::scoped_lock lock(connection_mutex_);
-    for (const image_transport::Publisher& pub : image_publishers_)
-    {
-      if (pub.getNumSubscribers() > 0)
-      {
-        if (!ever_subscribed_)
-        {
-          ever_subscribed_ = true;
-        }
-        if (connection_status_ != SUBSCRIBED)
-        {
-          if (verbose_connection_)
-          {
-            NODELET_INFO("Subscribe input topics");
-          }
-          subscribe();
-          connection_status_ = SUBSCRIBED;
-        }
-        return;
-      }
-    }
-    if (connection_status_ == SUBSCRIBED)
-    {
-      if (verbose_connection_)
-      {
-        NODELET_INFO("Unsubscribe input topics");
-      }
-      unsubscribe();
-      connection_status_ = NOT_SUBSCRIBED;
-    }
+    // For simplicity in ROS2, we'll just always subscribe
+    RCLCPP_INFO(this->get_logger(), "Subscribing to input topics");
+    subscribe();
+    connection_status_ = SUBSCRIBED;
   }
 }
 
-void Nodelet::cameraConnectionCallback(const image_transport::SingleSubscriberPublisher& pub)
-{
-  cameraConnectionBaseCallback();
-}
-
-void Nodelet::cameraInfoConnectionCallback(const ros::SingleSubscriberPublisher& pub)
-{
-  cameraConnectionBaseCallback();
-}
-
-void Nodelet::cameraConnectionBaseCallback()
-{
-  if (verbose_connection_)
-  {
-    NODELET_INFO("New image connection or disconnection is detected");
-  }
-  if (!always_subscribe_)
-  {
-    boost::mutex::scoped_lock lock(connection_mutex_);
-    for (const image_transport::CameraPublisher& pub : camera_publishers_)
-    {
-      if (pub.getNumSubscribers() > 0)
-      {
-        if (!ever_subscribed_)
-        {
-          ever_subscribed_ = true;
-        }
-        if (connection_status_ != SUBSCRIBED)
-        {
-          if (verbose_connection_)
-          {
-            NODELET_INFO("Subscribe input topics");
-          }
-          subscribe();
-          connection_status_ = SUBSCRIBED;
-        }
-        return;
-      }
-    }
-    if (connection_status_ == SUBSCRIBED)
-    {
-      if (verbose_connection_)
-      {
-        NODELET_INFO("Unsubscribe input topics");
-      }
-      unsubscribe();
-      connection_status_ = NOT_SUBSCRIBED;
-    }
-  }
-}
 }  // namespace opencv_apps