diff --git a/cloisim_ros_base/include/cloisim_ros_base/camera_helper.h b/cloisim_ros_base/include/cloisim_ros_base/camera_helper.h
index a455400a..73d33c75 100644
--- a/cloisim_ros_base/include/cloisim_ros_base/camera_helper.h
+++ b/cloisim_ros_base/include/cloisim_ros_base/camera_helper.h
@@ -34,7 +34,7 @@ static std::string GetImageEncondingType(const uint32_t pixel_format)
   switch (pixel_format)
   {
     case 1:
-      encoding = sensor_msgs::image_encodings::MONO8;
+      encoding = sensor_msgs::image_encodings::TYPE_8UC1;
       break;
 
     case 2:
diff --git a/cloisim_ros_base/src/base.cpp b/cloisim_ros_base/src/base.cpp
index 25e7725d..704a22b7 100644
--- a/cloisim_ros_base/src/base.cpp
+++ b/cloisim_ros_base/src/base.cpp
@@ -192,7 +192,7 @@ string Base::GetModelName()
 
 string Base::GetRobotName()
 {
-  bool is_single_mode;
+  bool is_single_mode = false;
   get_parameter("single_mode", is_single_mode);
 
   string robotName;
@@ -213,9 +213,9 @@ msgs::Pose Base::GetObjectTransform(zmq::Bridge* const bridge_ptr, const string
 
   const auto reply = RequestReplyMessage(bridge_ptr, "request_transform", target_name);
 
-  if (reply.ByteSize() <= 0)
+  if (reply.ByteSizeLong() <= 0)
   {
-    DBG_SIM_ERR("Faild to get object transform, length(%ld)", reply.ByteSize());
+    DBG_SIM_ERR("Faild to get object transform, length(%ld)", reply.ByteSizeLong());
   }
   else
   {
@@ -251,9 +251,9 @@ void Base::GetRos2Parameter(zmq::Bridge* const bridge_ptr)
 
   const auto reply = RequestReplyMessage(bridge_ptr, "request_ros2");
 
-  if (reply.ByteSize() <= 0)
+  if (reply.ByteSizeLong() <= 0)
   {
-    DBG_SIM_ERR("Faild to get ROS2 common info, length(%ld)", reply.ByteSize());
+    DBG_SIM_ERR("Faild to get ROS2 common info, length(%ld)", reply.ByteSizeLong());
   }
   else
   {
@@ -420,4 +420,4 @@ void Base::SetTime(const cloisim::msgs::Time &time)
 void Base::SetTime(const int32_t seconds, const uint32_t nanoseconds)
 {
   m_sim_time = Convert(seconds, nanoseconds);
-}
\ No newline at end of file
+}
diff --git a/cloisim_ros_realsense/src/realsense.cpp b/cloisim_ros_realsense/src/realsense.cpp
index 270007b5..1e1da32e 100644
--- a/cloisim_ros_realsense/src/realsense.cpp
+++ b/cloisim_ros_realsense/src/realsense.cpp
@@ -233,13 +233,6 @@ void RealSense::PublishImgData(const zmq::Bridge* const bridge_ptr, const std::s
   sensor_msgs::fillImage(*msg_img, encoding_arg, rows_arg, cols_arg, step_arg,
                          reinterpret_cast<const void *>(pb_buf_.image().data().data()));
 
-  if ((encoding_arg.compare(sensor_msgs::image_encodings::TYPE_16UC1) == 0) ||
-      (encoding_arg.compare(sensor_msgs::image_encodings::TYPE_16SC1) == 0) ||
-      (encoding_arg.compare(sensor_msgs::image_encodings::TYPE_32FC1) == 0))
-  {
-    msg_img->is_bigendian = true;
-  }
-
   // Publish camera info
   auto camera_info_msg = camera_info_managers_[bridge_ptr]->getCameraInfo();
   camera_info_msg.header.stamp = GetTime();