diff --git a/common/object_recognition_utils/include/object_recognition_utils/predicted_path_utils.hpp b/common/object_recognition_utils/include/object_recognition_utils/predicted_path_utils.hpp
index 73cdce6c6444e..7aa4decbb1a30 100644
--- a/common/object_recognition_utils/include/object_recognition_utils/predicted_path_utils.hpp
+++ b/common/object_recognition_utils/include/object_recognition_utils/predicted_path_utils.hpp
@@ -21,6 +21,7 @@
 #include <geometry_msgs/msg/pose.hpp>
 
 #include <boost/optional.hpp>
+#include <boost/optional/optional_io.hpp>
 
 #include <vector>
 
diff --git a/common/signal_processing/include/signal_processing/lowpass_filter.hpp b/common/signal_processing/include/signal_processing/lowpass_filter.hpp
index 89b7a6da263f7..99ea7e64d6a94 100644
--- a/common/signal_processing/include/signal_processing/lowpass_filter.hpp
+++ b/common/signal_processing/include/signal_processing/lowpass_filter.hpp
@@ -27,7 +27,7 @@ template <typename T>
 class LowpassFilterInterface
 {
 protected:
-  boost::optional<T> x_;  //!< @brief current filtered value
+  std::optional<T> x_;  //!< @brief current filtered value
   double gain_;           //!< @brief gain value of first-order low-pass filter
 
 public:
@@ -36,7 +36,7 @@ class LowpassFilterInterface
   void reset() { x_ = {}; }
   void reset(const T & x) { x_ = x; }
 
-  boost::optional<T> getValue() const { return x_; }
+  std::optional<T> getValue() const { return x_; }
 
   virtual T filter(const T & u) = 0;
 };
diff --git a/common/signal_processing/include/signal_processing/lowpass_filter_1d.hpp b/common/signal_processing/include/signal_processing/lowpass_filter_1d.hpp
index bef0a99f38403..2e38738288ab2 100644
--- a/common/signal_processing/include/signal_processing/lowpass_filter_1d.hpp
+++ b/common/signal_processing/include/signal_processing/lowpass_filter_1d.hpp
@@ -15,7 +15,8 @@
 #ifndef SIGNAL_PROCESSING__LOWPASS_FILTER_1D_HPP_
 #define SIGNAL_PROCESSING__LOWPASS_FILTER_1D_HPP_
 
-#include <boost/optional.hpp>
+// #include <boost/optional/optional_io.hpp>
+#include <optional>
 
 namespace signal_processing
 {
@@ -29,7 +30,7 @@ double lowpassFilter(const double current_val, const double prev_val, const doub
 class LowpassFilter1d
 {
 private:
-  boost::optional<double> x_;  //!< @brief current filtered value
+  std::optional<double> x_;  //!< @brief current filtered value
   double gain_;                //!< @brief gain value of first-order low-pass filter
 
 public:
@@ -38,7 +39,7 @@ class LowpassFilter1d
   void reset();
   void reset(const double x);
 
-  boost::optional<double> getValue() const;
+  std::optional<double> getValue() const;
   double filter(const double u);
 };
 
diff --git a/common/signal_processing/src/lowpass_filter.cpp b/common/signal_processing/src/lowpass_filter.cpp
index c5119828f4c52..2e89358726f17 100644
--- a/common/signal_processing/src/lowpass_filter.cpp
+++ b/common/signal_processing/src/lowpass_filter.cpp
@@ -25,9 +25,9 @@ geometry_msgs::msg::Twist LowpassFilterTwist::filter(const geometry_msgs::msg::T
     x_->angular.y = gain_ * x_->angular.y + (1.0 - gain_) * u.angular.y;
     x_->angular.z = gain_ * x_->angular.z + (1.0 - gain_) * u.angular.z;
 
-    return x_.get();
+    return x_.value();
   }
 
   x_ = u;
-  return x_.get();
+  return x_.value();
 }
diff --git a/common/signal_processing/src/lowpass_filter_1d.cpp b/common/signal_processing/src/lowpass_filter_1d.cpp
index ce85d276d4a70..2a0deb503bba1 100644
--- a/common/signal_processing/src/lowpass_filter_1d.cpp
+++ b/common/signal_processing/src/lowpass_filter_1d.cpp
@@ -28,7 +28,7 @@ LowpassFilter1d::LowpassFilter1d(const double gain) : gain_(gain)
 
 void LowpassFilter1d::reset()
 {
-  x_ = {};
+  x_ = std::nullopt;
 }
 
 void LowpassFilter1d::reset(const double x)
@@ -36,7 +36,7 @@ void LowpassFilter1d::reset(const double x)
   x_ = x;
 }
 
-boost::optional<double> LowpassFilter1d::getValue() const
+std::optional<double> LowpassFilter1d::getValue() const
 {
   return x_;
 }
@@ -44,11 +44,11 @@ boost::optional<double> LowpassFilter1d::getValue() const
 double LowpassFilter1d::filter(const double u)
 {
   if (x_) {
-    const double ret = gain_ * x_.get() + (1.0 - gain_) * u;
+    const double ret = gain_ * x_.value() + (1.0 - gain_) * u;
     x_ = ret;
-    return x_.get();
+    return x_.value();
   }
 
   x_ = u;
-  return x_.get();
+  return x_.value();
 }
diff --git a/common/signal_processing/test/src/lowpass_filter_1d_test.cpp b/common/signal_processing/test/src/lowpass_filter_1d_test.cpp
index 5cce36884588e..283d407184c6c 100644
--- a/common/signal_processing/test/src/lowpass_filter_1d_test.cpp
+++ b/common/signal_processing/test/src/lowpass_filter_1d_test.cpp
@@ -23,7 +23,7 @@ TEST(lowpass_filter_1d, filter)
   LowpassFilter1d lowpass_filter_1d(0.1);
 
   // initial state
-  EXPECT_EQ(lowpass_filter_1d.getValue(), boost::none);
+  EXPECT_EQ(lowpass_filter_1d.getValue(), std::nullopt);
 
   // random filter
   EXPECT_NEAR(lowpass_filter_1d.filter(0.0), 0.0, epsilon);
@@ -33,7 +33,7 @@ TEST(lowpass_filter_1d, filter)
 
   // reset without value
   lowpass_filter_1d.reset();
-  EXPECT_EQ(lowpass_filter_1d.getValue(), boost::none);
+  EXPECT_EQ(lowpass_filter_1d.getValue(), std::nullopt);
 
   // reset with value
   lowpass_filter_1d.reset(-1.1);
diff --git a/common/signal_processing/test/src/lowpass_filter_test.cpp b/common/signal_processing/test/src/lowpass_filter_test.cpp
index 8dfea4dcae02e..992a7ed98e3ea 100644
--- a/common/signal_processing/test/src/lowpass_filter_test.cpp
+++ b/common/signal_processing/test/src/lowpass_filter_test.cpp
@@ -39,7 +39,7 @@ TEST(lowpass_filter_twist, filter)
   LowpassFilterTwist lowpass_filter_(0.1);
 
   {  // initial state
-    EXPECT_EQ(lowpass_filter_.getValue(), boost::none);
+    EXPECT_EQ(lowpass_filter_.getValue(), std::nullopt);
   }
 
   {  // random filter
@@ -56,7 +56,7 @@ TEST(lowpass_filter_twist, filter)
 
   {  // reset without value
     lowpass_filter_.reset();
-    EXPECT_EQ(lowpass_filter_.getValue(), boost::none);
+    EXPECT_EQ(lowpass_filter_.getValue(), std::nullopt);
   }
 
   {  // reset with value
diff --git a/localization/yabloc/yabloc_common/src/cv_decompress.cpp b/localization/yabloc/yabloc_common/src/cv_decompress.cpp
index dc232488e147c..451ba2cc53944 100644
--- a/localization/yabloc/yabloc_common/src/cv_decompress.cpp
+++ b/localization/yabloc/yabloc_common/src/cv_decompress.cpp
@@ -17,7 +17,7 @@
 #include <opencv4/opencv2/imgcodecs.hpp>
 #include <opencv4/opencv2/imgproc.hpp>
 
-#include <cv_bridge/cv_bridge.h>
+#include <cv_bridge/cv_bridge.hpp>
 
 #include <iostream>
 
diff --git a/localization/yabloc/yabloc_common/src/pub_sub.cpp b/localization/yabloc/yabloc_common/src/pub_sub.cpp
index 102a9012033fe..36d8812b1273b 100644
--- a/localization/yabloc/yabloc_common/src/pub_sub.cpp
+++ b/localization/yabloc/yabloc_common/src/pub_sub.cpp
@@ -14,7 +14,7 @@
 
 #include "yabloc_common/pub_sub.hpp"
 
-#include <cv_bridge/cv_bridge.h>
+#include <cv_bridge/cv_bridge.hpp>
 #include <pcl_conversions/pcl_conversions.h>
 
 namespace yabloc::common
diff --git a/planning/rtc_interface/src/rtc_interface.cpp b/planning/rtc_interface/src/rtc_interface.cpp
index a7661f4c419a5..3130097745414 100644
--- a/planning/rtc_interface/src/rtc_interface.cpp
+++ b/planning/rtc_interface/src/rtc_interface.cpp
@@ -105,10 +105,10 @@ RTCInterface::RTCInterface(rclcpp::Node * node, const std::string & name, const
   srv_commands_ = node->create_service<CooperateCommands>(
     cooperate_commands_namespace_ + "/" + name,
     std::bind(&RTCInterface::onCooperateCommandService, this, _1, _2),
-    rmw_qos_profile_services_default, callback_group_);
+    rclcpp::QoS(rclcpp::ServicesQoS()), callback_group_);
   srv_auto_mode_ = node->create_service<AutoMode>(
     enable_auto_mode_namespace_ + "/" + name,
-    std::bind(&RTCInterface::onAutoModeService, this, _1, _2), rmw_qos_profile_services_default,
+    std::bind(&RTCInterface::onAutoModeService, this, _1, _2), rclcpp::QoS(rclcpp::ServicesQoS()),
     callback_group_);
 
   // Module