diff --git a/.gitignore b/.gitignore
index 5de18ad9..ba25189e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,10 +4,15 @@
 # SPDX-License-Identifier: MIT
 #
 
+logs/
+build/
+install/
+
 .vscode
 *.code-workspace
 
 tags
+
 # Swap
 [._]*.s[a-v][a-z]
 !*.svg  # comment out if you don't need vector files
@@ -32,4 +37,7 @@ tags
 
 
 # to ignore generated code
-driver_sim/include/protobuf/*
\ No newline at end of file
+driver_sim/include/protobuf/*
+
+# COLCON custom files
+COLCON_IGNORE
\ No newline at end of file
diff --git a/Dockerfile b/Dockerfile
index 78a5b301..9524a041 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,7 +1,7 @@
 FROM ubuntu:18.04
 
 ENV HOSTNAME sim-device
-ENV ROS_DISTRO=dashing
+ENV ROS_DISTRO=foxy
 
 RUN apt update && apt upgrade -q -y && \
 	apt install -q -y locales curl gnupg2 lsb-release && \
@@ -17,8 +17,8 @@ RUN sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org
 
 RUN export DEBIAN_FRONTEND=noninteractive && \
 	apt update && \
-	apt install -y ros-${ROS_DISTRO}-ros-base git python3-colcon-common-extensions && \
-	apt install -y python3-websocket libzmq3-dev libprotobuf-dev protobuf-compiler ros-${ROS_DISTRO}-camera-info-manager && \
+	apt install -y ros-${ROS_DISTRO}-ros-base git python3-colcon-common-extensions g++ && \
+	apt install -y python3-websocket libzmq3-dev libprotobuf-dev protobuf-compiler ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-camera-info-manager && \
 	apt autoclean && rm -rf /var/lib/apt/lists/*
 
 RUN mkdir -p /opt/lge-ros2/src
diff --git a/camera_driver_sim/CMakeLists.txt b/camera_driver_sim/CMakeLists.txt
index 3d0317ee..a586c0cf 100644
--- a/camera_driver_sim/CMakeLists.txt
+++ b/camera_driver_sim/CMakeLists.txt
@@ -20,62 +20,49 @@ find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(camera_info_manager REQUIRED)
 find_package(image_transport REQUIRED)
-find_package(sim_bridge REQUIRED)
 find_package(driver_sim REQUIRED)
 
-################################################################################
-# Build
-################################################################################
-include_directories(include)
-
-add_library(${PROJECT_NAME} SHARED
-  src/CameraDriverSim.cpp
-)
-
-ament_target_dependencies(${PROJECT_NAME}
+set(dependencies
   rclcpp
   sensor_msgs
   camera_info_manager
   image_transport
-  sim_bridge
-  driver_sim)
-
-
-add_executable(${PROJECT_NAME}-bin
-  src/main.cpp
+  driver_sim
 )
 
-target_link_libraries(${PROJECT_NAME}-bin ${PROJECT_NAME})
-
-ament_target_dependencies(${PROJECT_NAME}-bin
-  rclcpp
-  sim_bridge
-  driver_sim)
-
 ################################################################################
-# Install (Execution)
+# Build
 ################################################################################
-install(TARGETS ${PROJECT_NAME}-bin DESTINATION lib/${PROJECT_NAME})
-set_target_properties(${PROJECT_NAME}-bin PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
+add_library(${PROJECT_NAME} SHARED
+  src/main.cpp
+  src/CameraDriverSim.cpp
+)
 
-################################################################################
-# Install (Library)
-################################################################################
-ament_export_interfaces(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-ament_export_include_directories(include)
-ament_export_libraries(${PROJECT_NAME} ${dependencies})
+target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
 
-install(
-  DIRECTORY include/
-  DESTINATION include
+ament_target_dependencies(${PROJECT_NAME}
+  ${dependencies}
 )
 
-install(
-  TARGETS ${PROJECT_NAME}
-  EXPORT export_${PROJECT_NAME}
+################################################################################
+# Install
+################################################################################
+install(TARGETS ${PROJECT_NAME}
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
   INCLUDES DESTINATION include
 )
 
+install(DIRECTORY include/
+  DESTINATION include
+)
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+ament_export_dependencies(${dependencies})
+
 ament_package()
\ No newline at end of file
diff --git a/camera_driver_sim/include/camera_driver_sim/CameraDriverSim.hpp b/camera_driver_sim/include/camera_driver_sim/CameraDriverSim.hpp
index 3293a7c2..7c33b4a2 100644
--- a/camera_driver_sim/include/camera_driver_sim/CameraDriverSim.hpp
+++ b/camera_driver_sim/include/camera_driver_sim/CameraDriverSim.hpp
@@ -15,8 +15,8 @@
 #define _CameraDriverSim_H_
 
 #include <driver_sim/driver_sim.hpp>
-#include <image_transport/image_transport.h>
-#include <camera_info_manager/camera_info_manager.h>
+#include <image_transport/image_transport.hpp>
+#include <camera_info_manager/camera_info_manager.hpp>
 #include <sensor_msgs/msg/camera_info.hpp>
 #include <protobuf/image_stamped.pb.h>
 #include <protobuf/camerasensor.pb.h>
diff --git a/depth_camera_driver_sim/CMakeLists.txt b/depth_camera_driver_sim/CMakeLists.txt
index 5cc54dd7..0e017316 100644
--- a/depth_camera_driver_sim/CMakeLists.txt
+++ b/depth_camera_driver_sim/CMakeLists.txt
@@ -17,13 +17,13 @@ endif()
 ################################################################################
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(camera_info_manager REQUIRED)
-find_package(image_transport REQUIRED)
-find_package(sim_bridge REQUIRED)
-find_package(driver_sim REQUIRED)
 find_package(camera_driver_sim REQUIRED)
 
+set(dependencies
+  rclcpp
+  camera_driver_sim
+)
+
 ################################################################################
 # Build
 ################################################################################
@@ -35,17 +35,14 @@ add_executable(${PROJECT_NAME}
 )
 
 ament_target_dependencies(${PROJECT_NAME}
-  rclcpp
-  sensor_msgs
-  camera_info_manager
-  image_transport
-  sim_bridge
-  driver_sim
-  camera_driver_sim)
+  ${dependencies}
+)
 
 ################################################################################
 # Install
 ################################################################################
-install(TARGETS ${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME})
+install(TARGETS ${PROJECT_NAME}
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
 
 ament_package()
diff --git a/driver_sim/CMakeLists.txt b/driver_sim/CMakeLists.txt
index e48ec84c..e8b49d48 100644
--- a/driver_sim/CMakeLists.txt
+++ b/driver_sim/CMakeLists.txt
@@ -16,47 +16,53 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(geometry_msgs REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(sim_bridge REQUIRED)
 
+file(GLOB protobuf_msg_srcs
+  ./include/protobuf/*.pb.cc
+)
+
+set(dependencies
+  rclcpp
+  tf2_geometry_msgs
+  tf2_ros
+  sim_bridge
+)
+
 ################################################################################
 # Build
 ################################################################################
-include_directories(include)
-
-FILE(GLOB PROTOBUF_MSG_SRCS
-  ./include/protobuf/*.pb.cc)
-
 add_library(${PROJECT_NAME} SHARED
   src/driver_sim.cpp
-  ${PROTOBUF_MSG_SRCS})
+  ${protobuf_msg_srcs}
+)
+
+target_include_directories(${PROJECT_NAME} PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
 
 ament_target_dependencies(${PROJECT_NAME}
-  rclcpp
-  geometry_msgs
-  tf2_ros
-  sim_bridge)
+  ${dependencies}
+)
 
 ################################################################################
 # Install
 ################################################################################
-ament_export_interfaces(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-ament_export_libraries(${PROJECT_NAME} ${dependencies})
-ament_export_include_directories(include)
-
-install(
-  DIRECTORY include/
-  DESTINATION include
-)
-
-install(
-  TARGETS ${PROJECT_NAME}
-  EXPORT export_${PROJECT_NAME}
+install(TARGETS ${PROJECT_NAME}
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
-  RUNTIME DESTINATION bin
   INCLUDES DESTINATION include
 )
 
+install(DIRECTORY include/
+  DESTINATION include
+)
+
+ament_export_dependencies(${dependencies})
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+
 ament_package()
\ No newline at end of file
diff --git a/driver_sim/src/driver_sim.cpp b/driver_sim/src/driver_sim.cpp
index eb6615d5..0dc9132d 100644
--- a/driver_sim/src/driver_sim.cpp
+++ b/driver_sim/src/driver_sim.cpp
@@ -108,7 +108,7 @@ SimBridge* DriverSim::GetSimBridge(const uint bridge_index)
 {
   if (bridge_index >= m_simBridgeList.capacity())
   {
-    DBG_SIM_WRN("Wrong bridge index(%d) / total sim bridges(%d)", bridge_index, m_simBridgeList.capacity());
+    DBG_SIM_WRN("Wrong bridge index(%d) / total sim bridges(%lu)", bridge_index, m_simBridgeList.capacity());
     return nullptr;
   }
 
diff --git a/elevator_system_sim/CMakeLists.txt b/elevator_system_sim/CMakeLists.txt
index 577f813b..88c63dbe 100644
--- a/elevator_system_sim/CMakeLists.txt
+++ b/elevator_system_sim/CMakeLists.txt
@@ -16,12 +16,17 @@ endif()
 # Find colcon packages and libraries for colcon and system dependencies
 ################################################################################
 find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(driver_sim REQUIRED)
-find_package(sim_bridge REQUIRED)
 find_package(elevator_system_msgs REQUIRED)
 
+set(dependencies
+  rclcpp_lifecycle
+  rosgraph_msgs
+  elevator_system_msgs
+  driver_sim
+)
+
 ################################################################################
 # Build
 ################################################################################
@@ -32,20 +37,14 @@ add_executable(${PROJECT_NAME}
   src/main.cpp)
 
 ament_target_dependencies(${PROJECT_NAME}
-  rclcpp
-  rclcpp_lifecycle
-  rosgraph_msgs
-  elevator_system_msgs
-  driver_sim
-  sim_bridge)
+  ${dependencies}
+)
 
 ################################################################################
 # Install
 ################################################################################
-install(TARGETS ${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME})
-
-################################################################################
-# Test
-################################################################################
+install(TARGETS ${PROJECT_NAME}
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
 
 ament_package()
diff --git a/gps_driver_sim/CMakeLists.txt b/gps_driver_sim/CMakeLists.txt
index 77a5c155..3194d6bc 100644
--- a/gps_driver_sim/CMakeLists.txt
+++ b/gps_driver_sim/CMakeLists.txt
@@ -22,6 +22,13 @@ find_package(geometry_msgs REQUIRED)
 find_package(sim_bridge REQUIRED)
 find_package(driver_sim REQUIRED)
 
+set(dependencies
+  rclcpp
+  sensor_msgs
+  geometry_msgs
+  driver_sim
+)
+
 ################################################################################
 # Build
 ################################################################################
@@ -32,19 +39,14 @@ add_executable(${PROJECT_NAME}
   src/GPSDriverSim.cpp)
 
 ament_target_dependencies(${PROJECT_NAME}
-  rclcpp
-  sensor_msgs
-  geometry_msgs
-  sim_bridge
-  driver_sim)
+  ${dependencies}
+)
 
 ################################################################################
 # Install
 ################################################################################
-install(TARGETS ${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME})
-
-################################################################################
-# Test
-################################################################################
+install(TARGETS ${PROJECT_NAME}
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
 
 ament_package()
\ No newline at end of file
diff --git a/lidar_driver_sim/CMakeLists.txt b/lidar_driver_sim/CMakeLists.txt
index 1e9afbe7..84197f85 100644
--- a/lidar_driver_sim/CMakeLists.txt
+++ b/lidar_driver_sim/CMakeLists.txt
@@ -19,9 +19,15 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
-find_package(sim_bridge REQUIRED)
 find_package(driver_sim REQUIRED)
 
+set(dependencies
+  rclcpp
+  sensor_msgs
+  geometry_msgs
+  driver_sim
+)
+
 ################################################################################
 # Build
 ################################################################################
@@ -32,19 +38,14 @@ add_executable(${PROJECT_NAME}
   src/LidarDriverSim.cpp)
 
 ament_target_dependencies(${PROJECT_NAME}
-  rclcpp
-  sensor_msgs
-  geometry_msgs
-  sim_bridge
-  driver_sim)
+  ${dependencies}
+)
 
 ################################################################################
 # Install
 ################################################################################
-install(TARGETS ${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME})
-
-################################################################################
-# Test
-################################################################################
+install(TARGETS ${PROJECT_NAME}
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
 
 ament_package()
\ No newline at end of file
diff --git a/micom_driver_sim/CMakeLists.txt b/micom_driver_sim/CMakeLists.txt
index c31806b8..2f072ce3 100644
--- a/micom_driver_sim/CMakeLists.txt
+++ b/micom_driver_sim/CMakeLists.txt
@@ -20,9 +20,16 @@ find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
-find_package(sim_bridge REQUIRED)
 find_package(driver_sim REQUIRED)
 
+set(dependencies
+  rclcpp
+  sensor_msgs
+  geometry_msgs
+  nav_msgs
+  driver_sim
+)
+
 ################################################################################
 # Build
 ################################################################################
@@ -33,21 +40,14 @@ add_executable(${PROJECT_NAME}
   src/MicomDriverSim.cpp)
 
 ament_target_dependencies(${PROJECT_NAME}
-  rclcpp
-  std_msgs/
-  sensor_msgs
-  geometry_msgs
-  nav_msgs
-  sim_bridge
-  driver_sim)
+  ${dependencies}
+)
 
 ################################################################################
 # Install
 ################################################################################
-install(TARGETS ${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME})
-
-################################################################################
-# Test
-################################################################################
+install(TARGETS ${PROJECT_NAME}
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
 
 ament_package()
\ No newline at end of file
diff --git a/multi_camera_driver_sim/CMakeLists.txt b/multi_camera_driver_sim/CMakeLists.txt
index 2b8d8aae..b95f8e9d 100644
--- a/multi_camera_driver_sim/CMakeLists.txt
+++ b/multi_camera_driver_sim/CMakeLists.txt
@@ -21,7 +21,14 @@ find_package(sensor_msgs REQUIRED)
 find_package(camera_info_manager REQUIRED)
 find_package(image_transport REQUIRED)
 find_package(driver_sim REQUIRED)
-find_package(sim_bridge REQUIRED)
+
+set(dependencies
+  rclcpp
+  sensor_msgs
+  camera_info_manager
+  image_transport
+  driver_sim
+)
 
 ################################################################################
 # Build
@@ -34,20 +41,14 @@ add_executable(${PROJECT_NAME}
 )
 
 ament_target_dependencies(${PROJECT_NAME}
-  rclcpp
-  sensor_msgs
-  camera_info_manager
-  image_transport
-  driver_sim
-  sim_bridge)
+  ${dependencies}
+)
 
 ################################################################################
 # Install
 ################################################################################
-install(TARGETS ${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME})
-
-################################################################################
-# Test
-################################################################################
+install(TARGETS ${PROJECT_NAME}
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
 
-ament_package()
+ament_package()
\ No newline at end of file
diff --git a/multi_camera_driver_sim/include/multi_camera_driver_sim/MultiCameraDriverSim.hpp b/multi_camera_driver_sim/include/multi_camera_driver_sim/MultiCameraDriverSim.hpp
index 92851ab6..cc0f8b7e 100644
--- a/multi_camera_driver_sim/include/multi_camera_driver_sim/MultiCameraDriverSim.hpp
+++ b/multi_camera_driver_sim/include/multi_camera_driver_sim/MultiCameraDriverSim.hpp
@@ -15,8 +15,8 @@
 #define _MultiCameraDriverSim_H_
 
 #include <driver_sim/driver_sim.hpp>
-#include <image_transport/image_transport.h>
-#include <camera_info_manager/camera_info_manager.h>
+#include <image_transport/image_transport.hpp>
+#include <camera_info_manager/camera_info_manager.hpp>
 #include <sensor_msgs/msg/camera_info.hpp>
 #include <protobuf/images_stamped.pb.h>
 #include <protobuf/camerasensor.pb.h>
diff --git a/realsense_driver_sim/CMakeLists.txt b/realsense_driver_sim/CMakeLists.txt
index 325966c0..6937bd03 100644
--- a/realsense_driver_sim/CMakeLists.txt
+++ b/realsense_driver_sim/CMakeLists.txt
@@ -20,9 +20,16 @@ find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(camera_info_manager REQUIRED)
 find_package(image_transport REQUIRED)
-find_package(sim_bridge REQUIRED)
 find_package(driver_sim REQUIRED)
 
+set(dependencies
+  rclcpp
+  sensor_msgs
+  camera_info_manager
+  image_transport
+  driver_sim
+)
+
 ################################################################################
 # Build
 ################################################################################
@@ -34,16 +41,14 @@ add_executable(${PROJECT_NAME}
 )
 
 ament_target_dependencies(${PROJECT_NAME}
-  rclcpp
-  sensor_msgs
-  camera_info_manager
-  image_transport
-  sim_bridge
-  driver_sim)
+  ${dependencies}
+)
 
 ################################################################################
 # Install
 ################################################################################
-install(TARGETS ${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME})
+install(TARGETS ${PROJECT_NAME}
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
 
-ament_package()
+ament_package()
\ No newline at end of file
diff --git a/realsense_driver_sim/include/realsense_driver_sim/RealSenseDriverSim.hpp b/realsense_driver_sim/include/realsense_driver_sim/RealSenseDriverSim.hpp
index 0689f391..e34d487b 100644
--- a/realsense_driver_sim/include/realsense_driver_sim/RealSenseDriverSim.hpp
+++ b/realsense_driver_sim/include/realsense_driver_sim/RealSenseDriverSim.hpp
@@ -15,8 +15,8 @@
 #define _RealSenseDriverSim_H_
 
 #include <driver_sim/driver_sim.hpp>
-#include <image_transport/image_transport.h>
-#include <camera_info_manager/camera_info_manager.h>
+#include <image_transport/image_transport.hpp>
+#include <camera_info_manager/camera_info_manager.hpp>
 #include <sensor_msgs/msg/camera_info.hpp>
 #include <protobuf/image_stamped.pb.h>
 #include <protobuf/camerasensor.pb.h>
diff --git a/sim_bridge/CMakeLists.txt b/sim_bridge/CMakeLists.txt
index ad1ebdab..94f973c3 100644
--- a/sim_bridge/CMakeLists.txt
+++ b/sim_bridge/CMakeLists.txt
@@ -14,41 +14,41 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 
-################################################################################
-# Build
-################################################################################
-include_directories(include)
-
 set(dependencies
   zmq
-  protobuf)
+  protobuf
+)
 
+################################################################################
+# Build
+################################################################################
 add_library(${PROJECT_NAME} SHARED
-  src/sim_bridge.cpp)
+  src/sim_bridge.cpp
+)
+
+target_include_directories(${PROJECT_NAME} PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
 
 target_link_libraries(${PROJECT_NAME} PUBLIC
-  ${dependencies})
+  ${dependencies}
+)
 
 ################################################################################
 # Install
 ################################################################################
-ament_export_interfaces(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-# ament_export_dependencies(${dependencies})
-ament_export_include_directories(include)
-ament_export_libraries(${PROJECT_NAME} ${dependencies})
-
-install(
-  DIRECTORY include/
-  DESTINATION include
-)
-
-install(
-  TARGETS ${PROJECT_NAME}
-  EXPORT export_${PROJECT_NAME}
+install(TARGETS ${PROJECT_NAME}
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
-  # RUNTIME DESTINATION bin
   INCLUDES DESTINATION include
 )
 
+install(DIRECTORY include/
+  DESTINATION include
+)
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME} ${dependencies})
+
 ament_package()
\ No newline at end of file
diff --git a/sim_bridge/include/sim_bridge/debug_log.h b/sim_bridge/include/sim_bridge/debug_log.h
index 77cc80eb..d0b162c0 100644
--- a/sim_bridge/include/sim_bridge/debug_log.h
+++ b/sim_bridge/include/sim_bridge/debug_log.h
@@ -15,7 +15,7 @@
 #ifndef _DEBUG_LOG_H_
 #define _DEBUG_LOG_H_
 
-#include "sim_bridge/term_color.h"
+#include "term_color.h"
 
 #pragma GCC system_header
 
diff --git a/sim_bridge/include/sim_bridge/sim_bridge.hpp b/sim_bridge/include/sim_bridge/sim_bridge.hpp
index 78fa99ff..41c4dbcb 100644
--- a/sim_bridge/include/sim_bridge/sim_bridge.hpp
+++ b/sim_bridge/include/sim_bridge/sim_bridge.hpp
@@ -16,7 +16,7 @@
 #ifndef _SIM_BRIDGE_H_
 #define _SIM_BRIDGE_H_
 
-#include "sim_bridge/debug_log.h"
+#include "debug_log.h"
 #include <string>
 #include <zmq.h>
 
diff --git a/sim_bridge/src/sim_bridge.cpp b/sim_bridge/src/sim_bridge.cpp
index 96c338ec..b0232ad5 100644
--- a/sim_bridge/src/sim_bridge.cpp
+++ b/sim_bridge/src/sim_bridge.cpp
@@ -13,7 +13,7 @@
  *      SPDX-License-Identifier: MIT
  */
 
-#include <sim_bridge/sim_bridge.hpp>
+#include "sim_bridge/sim_bridge.hpp"
 #include <cstring>
 #include <thread>
 
@@ -433,7 +433,7 @@ bool SimBridge::Receive(void** buffer, int& bufferLength, bool isNonBlockingMode
 {
   if (&m_msgRx == nullptr || pSockRx_ == nullptr)
   {
-    DBG_SIM_ERR("Cannot Receive data due to uninitialized pointer m_msgRx(%p) or pSockRx_(%p)", &m_msgRx, pSockRx_);
+    DBG_SIM_ERR("Cannot Receive data due to uninitialized pointer m_msgRx(%p) or pSockRx_(%p)", (void*)&m_msgRx, pSockRx_);
     return false;
   }
 
@@ -461,7 +461,7 @@ bool SimBridge::Send(const void* buffer, const int bufferLength, bool isNonBlock
   zmq_msg_t msg;
   if (pSockTx_ == nullptr || zmq_msg_init_size(&msg, tagSize + bufferLength) < 0)
   {
-    DBG_SIM_ERR("Cannot Send data due to uninitialized pointer msg(%p) or pSockTx_(%p)", &msg, pSockTx_);
+    DBG_SIM_ERR("Cannot Send data due to uninitialized pointer msg(%p) or pSockTx_(%p)", (void*)&msg, pSockTx_);
     return false;
   }
 
diff --git a/unity_ros/CMakeLists.txt b/unity_ros/CMakeLists.txt
index 25274d88..f98598c0 100644
--- a/unity_ros/CMakeLists.txt
+++ b/unity_ros/CMakeLists.txt
@@ -12,7 +12,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -fstack-protector -O2)
 endif()
 
-
 ################################################################################
 # Find colcon packages and libraries for colcon and system dependencies
 ################################################################################
@@ -20,7 +19,12 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rosgraph_msgs REQUIRED)
 find_package(driver_sim REQUIRED)
-find_package(sim_bridge REQUIRED)
+
+set(dependencies
+  rclcpp
+  rosgraph_msgs
+  driver_sim
+)
 
 ################################################################################
 # Build
@@ -29,21 +33,18 @@ include_directories(include)
 
 add_executable(${PROJECT_NAME}
   src/main.cpp
-  src/unity_ros_init.cpp)
+  src/unity_ros_init.cpp
+)
 
 ament_target_dependencies(${PROJECT_NAME}
-  rclcpp
-  rosgraph_msgs
-  driver_sim
-  sim_bridge)
+  ${dependencies}
+)
 
 ################################################################################
 # Install
 ################################################################################
-install(TARGETS ${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME})
-
-################################################################################
-# Test
-################################################################################
+install(TARGETS ${PROJECT_NAME}
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
 
 ament_package()
\ No newline at end of file