diff --git a/imu_complementary_filter/include/imu_complementary_filter/complementary_filter_ros.h b/imu_complementary_filter/include/imu_complementary_filter/complementary_filter_ros.h
index 9c9a44f5..34b76f24 100644
--- a/imu_complementary_filter/include/imu_complementary_filter/complementary_filter_ros.h
+++ b/imu_complementary_filter/include/imu_complementary_filter/complementary_filter_ros.h
@@ -36,14 +36,14 @@
 
 #include <sensor_msgs/msg/magnetic_field.hpp>
 #include <geometry_msgs/msg/vector3_stamped.hpp>
-#include <message_filters/subscriber.h>
-#include <message_filters/sync_policies/approximate_time.h>
-#include <message_filters/synchronizer.h>
+#include <message_filters/subscriber.hpp>
+#include <message_filters/sync_policies/approximate_time.hpp>
+#include <message_filters/synchronizer.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/imu.hpp>
 #include <std_msgs/msg/bool.hpp>
-#include <tf2/transform_datatypes.h>
-#include <tf2/LinearMath/Quaternion.h>
+#include <tf2/transform_datatypes.hpp>
+#include <tf2/LinearMath/Quaternion.hpp>
 #include <tf2_ros/transform_broadcaster.h>
 #include <memory>
 
diff --git a/imu_complementary_filter/src/complementary_filter_ros.cpp b/imu_complementary_filter/src/complementary_filter_ros.cpp
index 89397c9d..f3afbcb9 100644
--- a/imu_complementary_filter/src/complementary_filter_ros.cpp
+++ b/imu_complementary_filter/src/complementary_filter_ros.cpp
@@ -33,11 +33,11 @@
 
 #include "imu_complementary_filter/complementary_filter_ros.h"
 
-#include <geometry_msgs/msg/transform_stamped.h>
-#include <tf2/convert.h>
-#include <tf2/LinearMath/Matrix3x3.h>
-#include <tf2/LinearMath/Transform.h>
-#include <tf2/LinearMath/Vector3.h>
+#include <geometry_msgs/msg/transform_stamped.hpp>
+#include <tf2/convert.hpp>
+#include <tf2/LinearMath/Matrix3x3.hpp>
+#include <tf2/LinearMath/Transform.hpp>
+#include <tf2/LinearMath/Vector3.hpp>
 
 namespace imu_tools {
 
@@ -78,13 +78,13 @@ ComplementaryFilterROS::ComplementaryFilterROS()
     }};
 
     imu_subscriber_.reset(new ImuSubscriber(this, "imu/data_raw",
-                                            rmw_qos_profile_default, sub_opts));
+                                            rclcpp::QoS(queue_size), sub_opts));
 
     // Register magnetic data subscriber.
     if (use_mag_)
     {
         mag_subscriber_.reset(new MagSubscriber(
-            this, "imu/mag", rmw_qos_profile_default, sub_opts));
+            this, "imu/mag", rclcpp::QoS(queue_size), sub_opts));
 
         sync_.reset(new Synchronizer(SyncPolicy(queue_size), *imu_subscriber_,
                                      *mag_subscriber_));
diff --git a/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter_ros.h b/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter_ros.h
index 8edc0913..cc5880e9 100644
--- a/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter_ros.h
+++ b/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter_ros.h
@@ -28,12 +28,12 @@
 
 #include "tf2_ros/transform_broadcaster.h"
 #include <geometry_msgs/msg/vector3_stamped.hpp>
-#include <message_filters/subscriber.h>
-#include <message_filters/sync_policies/approximate_time.h>
-#include <message_filters/synchronizer.h>
+#include <message_filters/subscriber.hpp>
+#include <message_filters/sync_policies/approximate_time.hpp>
+#include <message_filters/synchronizer.hpp>
 #include <sensor_msgs/msg/imu.hpp>
 #include <sensor_msgs/msg/magnetic_field.hpp>
-#include <tf2/LinearMath/Quaternion.h>
+#include <tf2/LinearMath/Quaternion.hpp>
 
 #include "imu_filter_madgwick/imu_filter.h"
 #include "imu_filter_madgwick/base_node.hpp"
diff --git a/imu_filter_madgwick/src/imu_filter_ros.cpp b/imu_filter_madgwick/src/imu_filter_ros.cpp
index 5828c162..db389bdb 100644
--- a/imu_filter_madgwick/src/imu_filter_ros.cpp
+++ b/imu_filter_madgwick/src/imu_filter_ros.cpp
@@ -27,8 +27,8 @@
 #include "imu_filter_madgwick/stateless_orientation.h"
 #include "rclcpp/rclcpp.hpp"
 #include "std_msgs/msg/string.hpp"
-#include <tf2/LinearMath/Matrix3x3.h>
-#include <tf2/LinearMath/Quaternion.h>
+#include <tf2/LinearMath/Matrix3x3.hpp>
+#include <tf2/LinearMath/Quaternion.hpp>
 
 using namespace std::chrono_literals;
 using namespace rclcpp;
@@ -200,7 +200,7 @@ ImuFilterMadgwickRos::ImuFilterMadgwickRos(const rclcpp::NodeOptions &options)
     // Synchronize inputs. Topic subscriptions happen on demand in the
     // connection callback.
     const int queue_size = 5;
-    rmw_qos_profile_t qos = rmw_qos_profile_sensor_data;
+    auto qos = rclcpp::QoS(rclcpp::SensorDataQoS());
     imu_subscriber_.reset(new ImuSubscriber(this, "imu/data_raw", qos));
 
     if (use_mag_)
diff --git a/imu_filter_madgwick/src/stateless_orientation.cpp b/imu_filter_madgwick/src/stateless_orientation.cpp
index ce7f6b32..d78e2bd2 100644
--- a/imu_filter_madgwick/src/stateless_orientation.cpp
+++ b/imu_filter_madgwick/src/stateless_orientation.cpp
@@ -23,8 +23,8 @@
  */
 
 #include "imu_filter_madgwick/stateless_orientation.h"
-#include <tf2/LinearMath/Matrix3x3.h>
-#include <tf2/convert.h>
+#include <tf2/LinearMath/Matrix3x3.hpp>
+#include <tf2/convert.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 template <typename T>
diff --git a/imu_filter_madgwick/test/test_helpers.h b/imu_filter_madgwick/test/test_helpers.h
index adde3f56..500af507 100644
--- a/imu_filter_madgwick/test/test_helpers.h
+++ b/imu_filter_madgwick/test/test_helpers.h
@@ -3,7 +3,7 @@
 #define TEST_TEST_HELPERS_H_
 
 #include <gtest/gtest.h>
-#include <tf2/LinearMath/Quaternion.h>
+#include <tf2/LinearMath/Quaternion.hpp>
 
 #define MAX_DIFF 0.05
 
diff --git a/rviz_imu_plugin/src/imu_display.h b/rviz_imu_plugin/src/imu_display.h
index b4e05824..472f7f30 100644
--- a/rviz_imu_plugin/src/imu_display.h
+++ b/rviz_imu_plugin/src/imu_display.h
@@ -31,7 +31,7 @@
 #ifndef RVIZ_IMU_PLUGIN_IMU_DISPLAY_H
 #define RVIZ_IMU_PLUGIN_IMU_DISPLAY_H
 
-#include <message_filters/subscriber.h>
+#include <message_filters/subscriber.hpp>
 #include <tf2_ros/message_filter.h>
 #include <sensor_msgs/msg/imu.hpp>
 #include <rviz_common/display.hpp>
diff --git a/rviz_imu_plugin/src/mag_display.h b/rviz_imu_plugin/src/mag_display.h
index b9273e9c..2f45f7d2 100644
--- a/rviz_imu_plugin/src/mag_display.h
+++ b/rviz_imu_plugin/src/mag_display.h
@@ -31,7 +31,7 @@
 #ifndef RVIZ_IMU_PLUGIN_MAG_DISPLAY_H
 #define RVIZ_IMU_PLUGIN_MAG_DISPLAY_H
 
-#include <message_filters/subscriber.h>
+#include <message_filters/subscriber.hpp>
 #include <tf2_ros/message_filter.h>
 #include <sensor_msgs/msg/magnetic_field.hpp>
 #include <rviz_common/display.hpp>