diff --git a/CMakeLists.txt b/CMakeLists.txt
index d72cbc2..21c9717 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,7 +10,7 @@ find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 
 find_package(OpenCV REQUIRED)
-find_package(Boost REQUIRED COMPONENTS thread)
+find_package(Boost REQUIRED COMPONENTS system)
 
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(avcodec libavcodec REQUIRED)
@@ -36,7 +36,6 @@ endif()
 
 ## Specify additional locations of header files
 include_directories(include
-  ${Boost_INCLUDE_DIRS}
   ${avcodec_INCLUDE_DIRS}
   ${avformat_INCLUDE_DIRS}
   ${avutil_INCLUDE_DIRS}
@@ -68,7 +67,8 @@ target_link_libraries(${PROJECT_NAME}
   cv_bridge::cv_bridge
   image_transport::image_transport
   rclcpp::rclcpp
-  ${Boost_LIBRARIES}
+  Boost::boost
+  Boost::system
   ${OpenCV_LIBS}
   ${avcodec_LIBRARIES}
   ${avformat_LIBRARIES}
diff --git a/include/web_video_server/h264_streamer.hpp b/include/web_video_server/h264_streamer.hpp
index 6539ffc..3df01b4 100644
--- a/include/web_video_server/h264_streamer.hpp
+++ b/include/web_video_server/h264_streamer.hpp
@@ -29,6 +29,7 @@
 
 #pragma once
 
+#include <memory>
 #include <string>
 
 #include "image_transport/image_transport.hpp"
@@ -57,7 +58,7 @@ class H264StreamerType : public LibavStreamerType
 {
 public:
   H264StreamerType();
-  virtual boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);
diff --git a/include/web_video_server/image_streamer.hpp b/include/web_video_server/image_streamer.hpp
index 974b9ee..74c75f9 100644
--- a/include/web_video_server/image_streamer.hpp
+++ b/include/web_video_server/image_streamer.hpp
@@ -30,6 +30,7 @@
 
 #pragma once
 
+#include <memory>
 #include <string>
 
 #include <opencv2/opencv.hpp>
@@ -106,7 +107,7 @@ class ImageTransportImageStreamer : public ImageStreamer
 
   rclcpp::Time last_frame;
   cv::Mat output_size_image;
-  boost::mutex send_mutex_;
+  std::mutex send_mutex_;
 
 private:
   image_transport::ImageTransport it_;
@@ -118,7 +119,7 @@ class ImageTransportImageStreamer : public ImageStreamer
 class ImageStreamerType
 {
 public:
-  virtual boost::shared_ptr<ImageStreamer> create_streamer(
+  virtual std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node) = 0;
diff --git a/include/web_video_server/jpeg_streamers.hpp b/include/web_video_server/jpeg_streamers.hpp
index 47ab944..6946215 100644
--- a/include/web_video_server/jpeg_streamers.hpp
+++ b/include/web_video_server/jpeg_streamers.hpp
@@ -30,6 +30,7 @@
 
 #pragma once
 
+#include <memory>
 #include <string>
 
 #include "image_transport/image_transport.hpp"
@@ -61,7 +62,7 @@ class MjpegStreamer : public ImageTransportImageStreamer
 class MjpegStreamerType : public ImageStreamerType
 {
 public:
-  boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);
diff --git a/include/web_video_server/libav_streamer.hpp b/include/web_video_server/libav_streamer.hpp
index aeed2b2..2f4db10 100644
--- a/include/web_video_server/libav_streamer.hpp
+++ b/include/web_video_server/libav_streamer.hpp
@@ -42,6 +42,7 @@ extern "C"
 #include <libavutil/imgutils.h>
 }
 
+#include <memory>
 #include <string>
 
 #include "image_transport/image_transport.hpp"
@@ -78,7 +79,7 @@ class LibavStreamer : public ImageTransportImageStreamer
   AVFrame * frame_;
   struct SwsContext * sws_context_;
   rclcpp::Time first_image_timestamp_;
-  boost::mutex encode_mutex_;
+  std::mutex encode_mutex_;
 
   std::string format_name_;
   std::string codec_name_;
@@ -98,7 +99,7 @@ class LibavStreamerType : public ImageStreamerType
     const std::string & format_name, const std::string & codec_name,
     const std::string & content_type);
 
-  boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);
diff --git a/include/web_video_server/png_streamers.hpp b/include/web_video_server/png_streamers.hpp
index f871f4f..14f370e 100644
--- a/include/web_video_server/png_streamers.hpp
+++ b/include/web_video_server/png_streamers.hpp
@@ -29,6 +29,7 @@
 
 #pragma once
 
+#include <memory>
 #include <string>
 
 #include "image_transport/image_transport.hpp"
@@ -61,7 +62,7 @@ class PngStreamer : public ImageTransportImageStreamer
 class PngStreamerType : public ImageStreamerType
 {
 public:
-  boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);
diff --git a/include/web_video_server/ros_compressed_streamer.hpp b/include/web_video_server/ros_compressed_streamer.hpp
index 6b3af51..aceb076 100644
--- a/include/web_video_server/ros_compressed_streamer.hpp
+++ b/include/web_video_server/ros_compressed_streamer.hpp
@@ -30,6 +30,7 @@
 
 #pragma once
 
+#include <memory>
 #include <string>
 
 #include "sensor_msgs/msg/compressed_image.hpp"
@@ -63,14 +64,14 @@ class RosCompressedStreamer : public ImageStreamer
   rclcpp::Subscription<sensor_msgs::msg::CompressedImage>::SharedPtr image_sub_;
   rclcpp::Time last_frame;
   sensor_msgs::msg::CompressedImage::ConstSharedPtr last_msg;
-  boost::mutex send_mutex_;
+  std::mutex send_mutex_;
   std::string qos_profile_name_;
 };
 
 class RosCompressedStreamerType : public ImageStreamerType
 {
 public:
-  boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);
diff --git a/include/web_video_server/vp8_streamer.hpp b/include/web_video_server/vp8_streamer.hpp
index 97b1bdd..ad6fd2f 100644
--- a/include/web_video_server/vp8_streamer.hpp
+++ b/include/web_video_server/vp8_streamer.hpp
@@ -30,6 +30,7 @@
 
 #pragma once
 
+#include <memory>
 #include <string>
 
 #include "image_transport/image_transport.hpp"
@@ -60,7 +61,7 @@ class Vp8StreamerType : public LibavStreamerType
 {
 public:
   Vp8StreamerType();
-  virtual boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);
diff --git a/include/web_video_server/vp9_streamer.hpp b/include/web_video_server/vp9_streamer.hpp
index ca94df6..5491db7 100644
--- a/include/web_video_server/vp9_streamer.hpp
+++ b/include/web_video_server/vp9_streamer.hpp
@@ -29,6 +29,8 @@
 
 #pragma once
 
+#include <memory>
+
 #include "image_transport/image_transport.hpp"
 #include "web_video_server/libav_streamer.hpp"
 #include "async_web_server_cpp/http_request.hpp"
@@ -54,7 +56,7 @@ class Vp9StreamerType : public LibavStreamerType
 {
 public:
   Vp9StreamerType();
-  virtual boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);
diff --git a/include/web_video_server/web_video_server.hpp b/include/web_video_server/web_video_server.hpp
index e78273d..bbaf33c 100644
--- a/include/web_video_server/web_video_server.hpp
+++ b/include/web_video_server/web_video_server.hpp
@@ -31,6 +31,7 @@
 #pragma once
 
 #include <map>
+#include <memory>
 #include <string>
 #include <vector>
 
@@ -114,12 +115,12 @@ class WebVideoServer
   bool verbose_;
   std::string default_stream_type_;
 
-  boost::shared_ptr<async_web_server_cpp::HttpServer> server_;
+  std::shared_ptr<async_web_server_cpp::HttpServer> server_;
   async_web_server_cpp::HttpRequestHandlerGroup handler_group_;
 
-  std::vector<boost::shared_ptr<ImageStreamer>> image_subscribers_;
-  std::map<std::string, boost::shared_ptr<ImageStreamerType>> stream_types_;
-  boost::mutex subscriber_mutex_;
+  std::vector<std::shared_ptr<ImageStreamer>> image_subscribers_;
+  std::map<std::string, std::shared_ptr<ImageStreamerType>> stream_types_;
+  std::mutex subscriber_mutex_;
 };
 
 }  // namespace web_video_server
diff --git a/src/h264_streamer.cpp b/src/h264_streamer.cpp
index 6e195de..05e487f 100644
--- a/src/h264_streamer.cpp
+++ b/src/h264_streamer.cpp
@@ -69,12 +69,12 @@ H264StreamerType::H264StreamerType()
 {
 }
 
-boost::shared_ptr<ImageStreamer> H264StreamerType::create_streamer(
+std::shared_ptr<ImageStreamer> H264StreamerType::create_streamer(
   const async_web_server_cpp::HttpRequest & request,
   async_web_server_cpp::HttpConnectionPtr connection,
   rclcpp::Node::SharedPtr node)
 {
-  return boost::shared_ptr<ImageStreamer>(new H264Streamer(request, connection, node));
+  return std::make_shared<H264Streamer>(request, connection, node);
 }
 
 }  // namespace web_video_server
diff --git a/src/image_streamer.cpp b/src/image_streamer.cpp
index a698754..5867db6 100644
--- a/src/image_streamer.cpp
+++ b/src/image_streamer.cpp
@@ -117,7 +117,7 @@ void ImageTransportImageStreamer::restreamFrame(double max_age)
   }
   try {
     if (last_frame + rclcpp::Duration::from_seconds(max_age) < node_->now() ) {
-      boost::mutex::scoped_lock lock(send_mutex_);
+      std::scoped_lock lock(send_mutex_);
       // don't update last_frame, it may remain an old value.
       sendImage(output_size_image, node_->now());
     }
@@ -184,7 +184,7 @@ void ImageTransportImageStreamer::imageCallback(const sensor_msgs::msg::Image::C
       cv::flip(img, img, true);
     }
 
-    boost::mutex::scoped_lock lock(send_mutex_);  // protects output_size_image
+    std::scoped_lock lock(send_mutex_);  // protects output_size_image
     if (output_width_ != input_width || output_height_ != input_height) {
       cv::Mat img_resized;
       cv::Size new_size(output_width_, output_height_);
diff --git a/src/jpeg_streamers.cpp b/src/jpeg_streamers.cpp
index 55c0f17..9123e36 100644
--- a/src/jpeg_streamers.cpp
+++ b/src/jpeg_streamers.cpp
@@ -47,7 +47,7 @@ MjpegStreamer::MjpegStreamer(
 MjpegStreamer::~MjpegStreamer()
 {
   this->inactive_ = true;
-  boost::mutex::scoped_lock lock(send_mutex_);  // protects sendImage.
+  std::scoped_lock lock(send_mutex_);  // protects sendImage.
 }
 
 void MjpegStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & time)
@@ -62,12 +62,12 @@ void MjpegStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & time)
   stream_.sendPartAndClear(time, "image/jpeg", encoded_buffer);
 }
 
-boost::shared_ptr<ImageStreamer> MjpegStreamerType::create_streamer(
+std::shared_ptr<ImageStreamer> MjpegStreamerType::create_streamer(
   const async_web_server_cpp::HttpRequest & request,
   async_web_server_cpp::HttpConnectionPtr connection,
   rclcpp::Node::SharedPtr node)
 {
-  return boost::shared_ptr<ImageStreamer>(new MjpegStreamer(request, connection, node));
+  return std::make_shared<MjpegStreamer>(request, connection, node);
 }
 
 std::string MjpegStreamerType::create_viewer(const async_web_server_cpp::HttpRequest & request)
@@ -91,7 +91,7 @@ JpegSnapshotStreamer::JpegSnapshotStreamer(
 JpegSnapshotStreamer::~JpegSnapshotStreamer()
 {
   this->inactive_ = true;
-  boost::mutex::scoped_lock lock(send_mutex_);  // protects sendImage.
+  std::scoped_lock lock(send_mutex_);  // protects sendImage.
 }
 
 void JpegSnapshotStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & time)
@@ -115,7 +115,7 @@ void JpegSnapshotStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & t
   .header("Pragma", "no-cache")
   .header("Content-type", "image/jpeg")
   .header("Access-Control-Allow-Origin", "*")
-  .header("Content-Length", boost::lexical_cast<std::string>(encoded_buffer.size()))
+  .header("Content-Length", std::to_string(encoded_buffer.size()))
   .write(connection_);
   connection_->write_and_clear(encoded_buffer);
   inactive_ = true;
diff --git a/src/libav_streamer.cpp b/src/libav_streamer.cpp
index 16ea546..126fa6b 100644
--- a/src/libav_streamer.cpp
+++ b/src/libav_streamer.cpp
@@ -217,7 +217,7 @@ void LibavStreamer::initializeEncoder()
 
 void LibavStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & time)
 {
-  boost::mutex::scoped_lock lock(encode_mutex_);
+  std::scoped_lock lock(encode_mutex_);
   if (0 == first_image_timestamp_.nanoseconds()) {
     first_image_timestamp_ = time;
   }
@@ -303,13 +303,14 @@ LibavStreamerType::LibavStreamerType(
 {
 }
 
-boost::shared_ptr<ImageStreamer> LibavStreamerType::create_streamer(
+std::shared_ptr<ImageStreamer> LibavStreamerType::create_streamer(
   const async_web_server_cpp::HttpRequest & request,
   async_web_server_cpp::HttpConnectionPtr connection,
   rclcpp::Node::SharedPtr node)
 {
-  return boost::shared_ptr<ImageStreamer>(
-    new LibavStreamer(request, connection, node, format_name_, codec_name_, content_type_));
+  return std::make_shared<LibavStreamer>(
+    request, connection, node, format_name_, codec_name_,
+    content_type_);
 }
 
 std::string LibavStreamerType::create_viewer(const async_web_server_cpp::HttpRequest & request)
diff --git a/src/multipart_stream.cpp b/src/multipart_stream.cpp
index 86ccbfc..c43de8a 100644
--- a/src/multipart_stream.cpp
+++ b/src/multipart_stream.cpp
@@ -69,8 +69,7 @@ void MultipartStream::sendPartHeader(
   headers->push_back(async_web_server_cpp::HttpHeader("X-Timestamp", stamp));
   headers->push_back(
     async_web_server_cpp::HttpHeader(
-      "Content-Length",
-      boost::lexical_cast<std::string>(payload_size)));
+      "Content-Length", std::to_string(payload_size)));
   connection_->write(async_web_server_cpp::HttpReply::to_buffers(*headers), headers);
 }
 
diff --git a/src/png_streamers.cpp b/src/png_streamers.cpp
index 8c29183..d801097 100644
--- a/src/png_streamers.cpp
+++ b/src/png_streamers.cpp
@@ -52,7 +52,7 @@ PngStreamer::PngStreamer(
 PngStreamer::~PngStreamer()
 {
   this->inactive_ = true;
-  boost::mutex::scoped_lock lock(send_mutex_);  // protects sendImage.
+  std::scoped_lock lock(send_mutex_);  // protects sendImage.
 }
 
 cv::Mat PngStreamer::decodeImage(const sensor_msgs::msg::Image::ConstSharedPtr & msg)
@@ -78,12 +78,12 @@ void PngStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & time)
   stream_.sendPartAndClear(time, "image/png", encoded_buffer);
 }
 
-boost::shared_ptr<ImageStreamer> PngStreamerType::create_streamer(
+std::shared_ptr<ImageStreamer> PngStreamerType::create_streamer(
   const async_web_server_cpp::HttpRequest & request,
   async_web_server_cpp::HttpConnectionPtr connection,
   rclcpp::Node::SharedPtr node)
 {
-  return boost::shared_ptr<ImageStreamer>(new PngStreamer(request, connection, node));
+  return std::make_shared<PngStreamer>(request, connection, node);
 }
 
 std::string PngStreamerType::create_viewer(const async_web_server_cpp::HttpRequest & request)
@@ -107,7 +107,7 @@ PngSnapshotStreamer::PngSnapshotStreamer(
 PngSnapshotStreamer::~PngSnapshotStreamer()
 {
   this->inactive_ = true;
-  boost::mutex::scoped_lock lock(send_mutex_);  // protects sendImage.
+  std::scoped_lock lock(send_mutex_);  // protects sendImage.
 }
 
 cv::Mat PngSnapshotStreamer::decodeImage(const sensor_msgs::msg::Image::ConstSharedPtr & msg)
@@ -142,7 +142,7 @@ void PngSnapshotStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & ti
   .header("Pragma", "no-cache")
   .header("Content-type", "image/png")
   .header("Access-Control-Allow-Origin", "*")
-  .header("Content-Length", boost::lexical_cast<std::string>(encoded_buffer.size()))
+  .header("Content-Length", std::to_string(encoded_buffer.size()))
   .write(connection_);
   connection_->write_and_clear(encoded_buffer);
   inactive_ = true;
diff --git a/src/ros_compressed_streamer.cpp b/src/ros_compressed_streamer.cpp
index d1f6f3c..8c906bf 100644
--- a/src/ros_compressed_streamer.cpp
+++ b/src/ros_compressed_streamer.cpp
@@ -45,7 +45,7 @@ RosCompressedStreamer::RosCompressedStreamer(
 RosCompressedStreamer::~RosCompressedStreamer()
 {
   this->inactive_ = true;
-  boost::mutex::scoped_lock lock(send_mutex_);  // protects sendImage.
+  std::scoped_lock lock(send_mutex_);  // protects sendImage.
 }
 
 void RosCompressedStreamer::start()
@@ -81,7 +81,7 @@ void RosCompressedStreamer::restreamFrame(double max_age)
   }
 
   if (last_frame + rclcpp::Duration::from_seconds(max_age) < node_->now() ) {
-    boost::mutex::scoped_lock lock(send_mutex_);
+    std::scoped_lock lock(send_mutex_);
     sendImage(last_msg, node_->now() );  // don't update last_frame, it may remain an old value.
   }
 }
@@ -128,19 +128,19 @@ void RosCompressedStreamer::sendImage(
 void RosCompressedStreamer::imageCallback(
   const sensor_msgs::msg::CompressedImage::ConstSharedPtr msg)
 {
-  boost::mutex::scoped_lock lock(send_mutex_);  // protects last_msg and last_frame
+  std::scoped_lock lock(send_mutex_);  // protects last_msg and last_frame
   last_msg = msg;
   last_frame = rclcpp::Time(msg->header.stamp);
   sendImage(last_msg, last_frame);
 }
 
 
-boost::shared_ptr<ImageStreamer> RosCompressedStreamerType::create_streamer(
+std::shared_ptr<ImageStreamer> RosCompressedStreamerType::create_streamer(
   const async_web_server_cpp::HttpRequest & request,
   async_web_server_cpp::HttpConnectionPtr connection,
   rclcpp::Node::SharedPtr node)
 {
-  return boost::shared_ptr<ImageStreamer>(new RosCompressedStreamer(request, connection, node));
+  return std::make_shared<RosCompressedStreamer>(request, connection, node);
 }
 
 std::string RosCompressedStreamerType::create_viewer(
diff --git a/src/vp8_streamer.cpp b/src/vp8_streamer.cpp
index 1ff224c..c4c1d0c 100644
--- a/src/vp8_streamer.cpp
+++ b/src/vp8_streamer.cpp
@@ -56,8 +56,8 @@ void Vp8Streamer::initializeEncoder()
   av_opt_map["drop_frame"] = "1";
   av_opt_map["error-resilient"] = "1";
 
-  for (AvOptMap::iterator itr = av_opt_map.begin(); itr != av_opt_map.end(); ++itr) {
-    av_opt_set(codec_context_->priv_data, itr->first.c_str(), itr->second.c_str(), 0);
+  for (auto & opt : av_opt_map) {
+    av_opt_set(codec_context_->priv_data, opt.first.c_str(), opt.second.c_str(), 0);
   }
 
   // Buffering settings
@@ -75,12 +75,12 @@ Vp8StreamerType::Vp8StreamerType()
 {
 }
 
-boost::shared_ptr<ImageStreamer> Vp8StreamerType::create_streamer(
+std::shared_ptr<ImageStreamer> Vp8StreamerType::create_streamer(
   const async_web_server_cpp::HttpRequest & request,
   async_web_server_cpp::HttpConnectionPtr connection,
   rclcpp::Node::SharedPtr node)
 {
-  return boost::shared_ptr<ImageStreamer>(new Vp8Streamer(request, connection, node));
+  return std::make_shared<Vp8Streamer>(request, connection, node);
 }
 
 }  // namespace web_video_server
diff --git a/src/vp9_streamer.cpp b/src/vp9_streamer.cpp
index 36d5e59..65511a7 100644
--- a/src/vp9_streamer.cpp
+++ b/src/vp9_streamer.cpp
@@ -57,12 +57,12 @@ Vp9StreamerType::Vp9StreamerType()
 {
 }
 
-boost::shared_ptr<ImageStreamer> Vp9StreamerType::create_streamer(
+std::shared_ptr<ImageStreamer> Vp9StreamerType::create_streamer(
   const async_web_server_cpp::HttpRequest & request,
   async_web_server_cpp::HttpConnectionPtr connection,
   rclcpp::Node::SharedPtr node)
 {
-  return boost::shared_ptr<ImageStreamer>(new Vp9Streamer(request, connection, node));
+  return std::make_shared<Vp9Streamer>(request, connection, node);
 }
 
 }  // namespace web_video_server
diff --git a/src/web_video_server.cpp b/src/web_video_server.cpp
index 27d1515..3bd67b9 100644
--- a/src/web_video_server.cpp
+++ b/src/web_video_server.cpp
@@ -33,8 +33,6 @@
 #include <chrono>
 #include <vector>
 
-#include <boost/foreach.hpp>
-#include <boost/lexical_cast.hpp>
 #include <boost/algorithm/string/predicate.hpp>
 #include <opencv2/opencv.hpp>
 
@@ -74,13 +72,12 @@ WebVideoServer::WebVideoServer(rclcpp::Node::SharedPtr & node)
   node_->get_parameter("publish_rate", publish_rate_);
   node_->get_parameter("default_stream_type", default_stream_type_);
 
-  stream_types_["mjpeg"] = boost::shared_ptr<ImageStreamerType>(new MjpegStreamerType());
-  stream_types_["png"] = boost::shared_ptr<ImageStreamerType>(new PngStreamerType());
-  stream_types_["ros_compressed"] =
-    boost::shared_ptr<ImageStreamerType>(new RosCompressedStreamerType());
-  stream_types_["vp8"] = boost::shared_ptr<ImageStreamerType>(new Vp8StreamerType());
-  stream_types_["h264"] = boost::shared_ptr<ImageStreamerType>(new H264StreamerType());
-  stream_types_["vp9"] = boost::shared_ptr<ImageStreamerType>(new Vp9StreamerType());
+  stream_types_["mjpeg"] = std::make_shared<MjpegStreamerType>();
+  stream_types_["png"] = std::make_shared<PngStreamerType>();
+  stream_types_["ros_compressed"] = std::make_shared<RosCompressedStreamerType>();
+  stream_types_["vp8"] = std::make_shared<Vp8StreamerType>();
+  stream_types_["h264"] = std::make_shared<H264StreamerType>();
+  stream_types_["vp9"] = std::make_shared<Vp9StreamerType>();
 
   handler_group_.addHandlerForPath(
     "/",
@@ -98,7 +95,7 @@ WebVideoServer::WebVideoServer(rclcpp::Node::SharedPtr & node)
   try {
     server_.reset(
       new async_web_server_cpp::HttpServer(
-        address_, boost::lexical_cast<std::string>(port_),
+        address_, std::to_string(port_),
         boost::bind(&WebVideoServer::handle_request, this, _1, _2, _3, _4),
         server_threads
       )
@@ -136,25 +133,22 @@ void WebVideoServer::spin()
 
 void WebVideoServer::restreamFrames(double max_age)
 {
-  boost::mutex::scoped_lock lock(subscriber_mutex_);
+  std::scoped_lock lock(subscriber_mutex_);
 
-  typedef std::vector<boost::shared_ptr<ImageStreamer>>::iterator itr_type;
-
-  for (itr_type itr = image_subscribers_.begin(); itr < image_subscribers_.end(); ++itr) {
-    (*itr)->restreamFrame(max_age);
+  for (auto & subscriber : image_subscribers_) {
+    subscriber->restreamFrame(max_age);
   }
 }
 
 void WebVideoServer::cleanup_inactive_streams()
 {
-  boost::mutex::scoped_lock lock(subscriber_mutex_, boost::try_to_lock);
+  std::unique_lock lock(subscriber_mutex_, std::try_to_lock);
   if (lock) {
-    typedef std::vector<boost::shared_ptr<ImageStreamer>>::iterator itr_type;
-    itr_type new_end = std::partition(
+    auto new_end = std::partition(
       image_subscribers_.begin(), image_subscribers_.end(),
-      !boost::bind(&ImageStreamer::isInactive, _1));
+      [](const std::shared_ptr<ImageStreamer> & streamer) {return !streamer->isInactive();});
     if (verbose_) {
-      for (itr_type itr = new_end; itr < image_subscribers_.end(); ++itr) {
+      for (auto itr = new_end; itr < image_subscribers_.end(); ++itr) {
         RCLCPP_INFO(node_->get_logger(), "Removed Stream: %s", (*itr)->getTopic().c_str());
       }
     }
@@ -212,11 +206,10 @@ bool WebVideoServer::handle_stream(
         type = "mjpeg";
       }
     }
-    boost::shared_ptr<ImageStreamer> streamer = stream_types_[type]->create_streamer(
-      request,
-      connection, node_);
+    std::shared_ptr<ImageStreamer> streamer = stream_types_[type]->create_streamer(
+      request, connection, node_);
     streamer->start();
-    boost::mutex::scoped_lock lock(subscriber_mutex_);
+    std::scoped_lock lock(subscriber_mutex_);
     image_subscribers_.push_back(streamer);
   } else {
     async_web_server_cpp::HttpReply::stock_reply(async_web_server_cpp::HttpReply::not_found)(
@@ -230,10 +223,11 @@ bool WebVideoServer::handle_snapshot(
   async_web_server_cpp::HttpConnectionPtr connection, const char * begin,
   const char * end)
 {
-  boost::shared_ptr<ImageStreamer> streamer(new JpegSnapshotStreamer(request, connection, node_));
+  std::shared_ptr<ImageStreamer> streamer = std::make_shared<JpegSnapshotStreamer>(
+    request, connection, node_);
   streamer->start();
 
-  boost::mutex::scoped_lock lock(subscriber_mutex_);
+  std::scoped_lock lock(subscriber_mutex_);
   image_subscribers_.push_back(streamer);
   return true;
 }
@@ -327,8 +321,7 @@ bool WebVideoServer::handle_list_streams(
     "<head><title>ROS Image Topic List</title></head>"
     "<body><h1>Available ROS Image Topics:</h1>");
   connection->write("<ul>");
-  BOOST_FOREACH(std::string & camera_info_topic, camera_info_topics)
-  {
+  for (std::string & camera_info_topic : camera_info_topics) {
     if (boost::algorithm::ends_with(camera_info_topic, "/camera_info")) {
       std::string base_topic = camera_info_topic.substr(
         0,