diff --git a/perception/compare_map_segmentation/include/compare_map_segmentation/compare_elevation_map_filter_node.hpp b/perception/compare_map_segmentation/include/compare_map_segmentation/compare_elevation_map_filter_node.hpp
index ca7b0c598a37e..63aad08fe7611 100644
--- a/perception/compare_map_segmentation/include/compare_map_segmentation/compare_elevation_map_filter_node.hpp
+++ b/perception/compare_map_segmentation/include/compare_map_segmentation/compare_elevation_map_filter_node.hpp
@@ -53,7 +53,7 @@ class CompareElevationMapFilterComponent : public pointcloud_preprocessor::Filte
   void elevationMapCallback(const grid_map_msgs::msg::GridMap::ConstSharedPtr elevation_map);
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit CompareElevationMapFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace compare_map_segmentation
diff --git a/perception/compare_map_segmentation/include/compare_map_segmentation/distance_based_compare_map_filter_nodelet.hpp b/perception/compare_map_segmentation/include/compare_map_segmentation/distance_based_compare_map_filter_nodelet.hpp
index 42ac59f4e62b8..613cfd2b177e1 100644
--- a/perception/compare_map_segmentation/include/compare_map_segmentation/distance_based_compare_map_filter_nodelet.hpp
+++ b/perception/compare_map_segmentation/include/compare_map_segmentation/distance_based_compare_map_filter_nodelet.hpp
@@ -45,7 +45,7 @@ class DistanceBasedCompareMapFilterComponent : public pointcloud_preprocessor::F
   rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit DistanceBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace compare_map_segmentation
diff --git a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_approximate_compare_map_filter_nodelet.hpp b/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_approximate_compare_map_filter_nodelet.hpp
index 67c7b9cd28ea2..53edda0852cf6 100644
--- a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_approximate_compare_map_filter_nodelet.hpp
+++ b/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_approximate_compare_map_filter_nodelet.hpp
@@ -47,7 +47,7 @@ class VoxelBasedApproximateCompareMapFilterComponent : public pointcloud_preproc
   rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit VoxelBasedApproximateCompareMapFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace compare_map_segmentation
diff --git a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_compare_map_filter_nodelet.hpp b/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_compare_map_filter_nodelet.hpp
index e272fc6d4c9d8..6f2b2f90ab1e1 100644
--- a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_compare_map_filter_nodelet.hpp
+++ b/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_compare_map_filter_nodelet.hpp
@@ -51,7 +51,7 @@ class VoxelBasedCompareMapFilterComponent : public pointcloud_preprocessor::Filt
   rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit VoxelBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace compare_map_segmentation
diff --git a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_distance_based_compare_map_filter_nodelet.hpp b/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_distance_based_compare_map_filter_nodelet.hpp
index a86a07cd73958..e16f1230a9608 100644
--- a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_distance_based_compare_map_filter_nodelet.hpp
+++ b/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_distance_based_compare_map_filter_nodelet.hpp
@@ -49,7 +49,7 @@ class VoxelDistanceBasedCompareMapFilterComponent : public pointcloud_preprocess
   rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit VoxelDistanceBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace compare_map_segmentation
diff --git a/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp
index a3f216fef5952..ab51a71627567 100644
--- a/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp
+++ b/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp
@@ -63,7 +63,7 @@ void DistanceBasedCompareMapFilterComponent::input_target_callback(const PointCl
 {
   pcl::PointCloud<pcl::PointXYZ> map_pcl;
   pcl::fromROSMsg<pcl::PointXYZ>(*map, map_pcl);
-  const auto map_pcl_ptr = boost::make_shared<const pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
+  const auto map_pcl_ptr = pcl::make_shared<pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
 
   boost::mutex::scoped_lock lock(mutex_);
   map_ptr_ = map_pcl_ptr;
diff --git a/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp
index 9ab4d0f898468..90e2c1170053b 100644
--- a/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp
+++ b/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp
@@ -84,7 +84,7 @@ void VoxelBasedApproximateCompareMapFilterComponent::input_target_callback(
   stop_watch_ptr_->toc("processing_time", true);
   pcl::PointCloud<pcl::PointXYZ> map_pcl;
   pcl::fromROSMsg<pcl::PointXYZ>(*map, map_pcl);
-  const auto map_pcl_ptr = boost::make_shared<const pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
+  const auto map_pcl_ptr = pcl::make_shared<pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
 
   boost::mutex::scoped_lock lock(mutex_);
   set_map_in_voxel_grid_ = true;
diff --git a/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp
index 502b4a878965b..447e39d015b1e 100644
--- a/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp
+++ b/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp
@@ -250,7 +250,7 @@ void VoxelBasedCompareMapFilterComponent::input_target_callback(const PointCloud
   stop_watch_ptr_->toc("processing_time", true);
   pcl::PointCloud<pcl::PointXYZ> map_pcl;
   pcl::fromROSMsg<pcl::PointXYZ>(*map, map_pcl);
-  const auto map_pcl_ptr = boost::make_shared<const pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
+  const auto map_pcl_ptr = pcl::make_shared<pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
 
   boost::mutex::scoped_lock lock(mutex_);
   set_map_in_voxel_grid_ = true;
diff --git a/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp
index b9d001b5dc439..d7997e03f03b8 100644
--- a/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp
+++ b/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp
@@ -74,7 +74,7 @@ void VoxelDistanceBasedCompareMapFilterComponent::input_target_callback(
 {
   pcl::PointCloud<pcl::PointXYZ> map_pcl;
   pcl::fromROSMsg<pcl::PointXYZ>(*map, map_pcl);
-  const auto map_pcl_ptr = boost::make_shared<const pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
+  const auto map_pcl_ptr = pcl::make_shared<pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
 
   boost::mutex::scoped_lock lock(mutex_);
   tf_input_frame_ = map_pcl_ptr->header.frame_id;
diff --git a/perception/detection_by_tracker/CMakeLists.txt b/perception/detection_by_tracker/CMakeLists.txt
index 3baa4f07af928..37478b5aa8d6b 100644
--- a/perception/detection_by_tracker/CMakeLists.txt
+++ b/perception/detection_by_tracker/CMakeLists.txt
@@ -20,7 +20,7 @@ endif()
 find_package(ament_cmake_auto REQUIRED)
 
 ### Find PCL Dependencies
-find_package(PCL REQUIRED QUIET COMPONENTS common search filters segmentation)
+find_package(PCL REQUIRED)
 
 ### Find Eigen Dependencies
 find_package(eigen3_cmake_module REQUIRED)
diff --git a/perception/detection_by_tracker/include/detection_by_tracker/debugger.hpp b/perception/detection_by_tracker/include/detection_by_tracker/debugger.hpp
index c0289a4ffde6f..76001ff1a2d81 100644
--- a/perception/detection_by_tracker/include/detection_by_tracker/debugger.hpp
+++ b/perception/detection_by_tracker/include/detection_by_tracker/debugger.hpp
@@ -31,7 +31,13 @@
 #include <tf2/LinearMath/Transform.h>
 #include <tf2/convert.h>
 #include <tf2/transform_datatypes.h>
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
+
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 
diff --git a/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp b/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp
index 299829a41dd52..4a1728ff4a26d 100644
--- a/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp
+++ b/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp
@@ -33,7 +33,13 @@
 #include <tf2/LinearMath/Transform.h>
 #include <tf2/convert.h>
 #include <tf2/transform_datatypes.h>
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
+
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 
diff --git a/perception/euclidean_cluster/CMakeLists.txt b/perception/euclidean_cluster/CMakeLists.txt
index cbf4630e201e4..99cc683cc3815 100644
--- a/perception/euclidean_cluster/CMakeLists.txt
+++ b/perception/euclidean_cluster/CMakeLists.txt
@@ -9,7 +9,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake_auto REQUIRED)
-find_package(PCL REQUIRED QUIET COMPONENTS common search filters segmentation)
+find_package(PCL REQUIRED)
 ament_auto_find_build_dependencies()
 
 
diff --git a/perception/ground_segmentation/CMakeLists.txt b/perception/ground_segmentation/CMakeLists.txt
index 682fc97ef6c51..5326fd95b82b4 100644
--- a/perception/ground_segmentation/CMakeLists.txt
+++ b/perception/ground_segmentation/CMakeLists.txt
@@ -32,11 +32,12 @@ ament_auto_find_build_dependencies()
 
 include_directories(
   include
-  ${Boost_INCLUDE_DIRS}
-  ${PCL_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIRS}
-  ${OpenCV_INCLUDE_DIRS}
-  ${GRID_MAP_INCLUDE_DIR}
+  SYSTEM
+    ${Boost_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIRS}
+    ${OpenCV_INCLUDE_DIRS}
+    ${GRID_MAP_INCLUDE_DIR}
 )
 
 ament_auto_add_library(ground_segmentation SHARED
diff --git a/perception/ground_segmentation/include/ground_segmentation/ransac_ground_filter_nodelet.hpp b/perception/ground_segmentation/include/ground_segmentation/ransac_ground_filter_nodelet.hpp
index 6e46f2a376bf5..382a8155ab5a1 100644
--- a/perception/ground_segmentation/include/ground_segmentation/ransac_ground_filter_nodelet.hpp
+++ b/perception/ground_segmentation/include/ground_segmentation/ransac_ground_filter_nodelet.hpp
@@ -25,7 +25,13 @@
 #include <pcl/segmentation/sac_segmentation.h>
 #include <pcl_conversions/pcl_conversions.h>
 #include <tf2/transform_datatypes.h>
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+#endif
+
 #include <tf2_ros/transform_listener.h>
 
 #include <chrono>
diff --git a/perception/ground_segmentation/include/ground_segmentation/ray_ground_filter_nodelet.hpp b/perception/ground_segmentation/include/ground_segmentation/ray_ground_filter_nodelet.hpp
index cbef2564920ac..1eb1d5cff1968 100644
--- a/perception/ground_segmentation/include/ground_segmentation/ray_ground_filter_nodelet.hpp
+++ b/perception/ground_segmentation/include/ground_segmentation/ray_ground_filter_nodelet.hpp
@@ -51,7 +51,13 @@
 #include <pcl/filters/voxel_grid.h>
 #include <pcl_conversions/pcl_conversions.h>
 #include <tf2/transform_datatypes.h>
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+#endif
+
 #include <tf2_ros/transform_listener.h>
 
 #include <chrono>
diff --git a/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp b/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp
index 8ec423cd9be98..5befbd2b11455 100644
--- a/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp
+++ b/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp
@@ -25,7 +25,13 @@
 #include <pcl/filters/voxel_grid.h>
 #include <pcl_conversions/pcl_conversions.h>
 #include <tf2/transform_datatypes.h>
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+#endif
+
 #include <tf2_ros/transform_listener.h>
 
 #include <string>
diff --git a/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp
index a59d8b8b8bbb5..45aeedabe01cb 100644
--- a/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp
+++ b/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp
@@ -17,7 +17,6 @@
 #include <pcl_ros/transforms.hpp>
 
 #include <pcl/common/centroid.h>
-#include <tf2_eigen/tf2_eigen.h>
 
 #include <limits>
 #include <random>
@@ -187,7 +186,7 @@ void RANSACGroundFilterComponent::extractPointsIndices(
 {
   pcl::ExtractIndices<PointType> extract_ground;
   extract_ground.setInputCloud(in_cloud_ptr);
-  extract_ground.setIndices(boost::make_shared<pcl::PointIndices>(in_indices));
+  extract_ground.setIndices(pcl::make_shared<pcl::PointIndices>(in_indices));
 
   extract_ground.setNegative(false);  // true removes the indices, false leaves only the indices
   extract_ground.filter(*out_only_indices_cloud_ptr);
diff --git a/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp
index a452512e36bdf..51410771edb9f 100644
--- a/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp
+++ b/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp
@@ -297,7 +297,7 @@ void RayGroundFilterComponent::ExtractPointsIndices(
 {
   pcl::ExtractIndices<PointType_> extract_ground;
   extract_ground.setInputCloud(in_cloud_ptr);
-  extract_ground.setIndices(boost::make_shared<pcl::PointIndices>(in_indices));
+  extract_ground.setIndices(pcl::make_shared<pcl::PointIndices>(in_indices));
 
   extract_ground.setNegative(false);  // true removes the indices, false leaves only the indices
   extract_ground.filter(*out_only_indices_cloud_ptr);
diff --git a/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp b/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp
index c471f0ab71510..df79596b9212f 100644
--- a/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp
+++ b/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp
@@ -31,6 +31,7 @@
 #include <message_filters/synchronizer.h>
 #include <pcl/filters/extract_indices.h>
 #include <pcl/filters/radius_outlier_removal.h>
+#include <pcl/search/kdtree.h>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/message_filter.h>
 #include <tf2_ros/transform_listener.h>
diff --git a/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp b/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp
index 50650254028e5..afeec5881b503 100644
--- a/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp
+++ b/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp
@@ -21,7 +21,12 @@
 
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+#endif
 
 #include <algorithm>
 #include <memory>
@@ -103,7 +108,7 @@ RadiusSearch2dfilter::RadiusSearch2dfilter(rclcpp::Node & node)
     node.declare_parameter("radius_search_2d_filter.min_points_and_distance_ratio", 400.0f);
   min_points_ = node.declare_parameter("radius_search_2d_filter.min_points", 4);
   max_points_ = node.declare_parameter("radius_search_2d_filter.max_points", 70);
-  kd_tree_ = boost::make_shared<pcl::search::KdTree<pcl::PointXY>>(false);
+  kd_tree_ = pcl::make_shared<pcl::search::KdTree<pcl::PointXY>>(false);
 }
 
 void RadiusSearch2dfilter::filter(
diff --git a/sensing/pointcloud_preprocessor/CMakeLists.txt b/sensing/pointcloud_preprocessor/CMakeLists.txt
index b3888ace507e7..2d2dc632fcf79 100644
--- a/sensing/pointcloud_preprocessor/CMakeLists.txt
+++ b/sensing/pointcloud_preprocessor/CMakeLists.txt
@@ -73,6 +73,13 @@ if(OPENMP_FOUND)
   )
 endif()
 
+# workaround to allow deprecated header to build on both galactic and rolling
+if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
+  target_compile_definitions(pointcloud_preprocessor_filter PRIVATE
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
 # ========== Concatenate data ==========
 rclcpp_components_register_node(pointcloud_preprocessor_filter
   PLUGIN "pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent"
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/blockage_diag/blockage_diag_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/blockage_diag/blockage_diag_nodelet.hpp
index 1222f138c5b62..6e7a9b3454e74 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/blockage_diag/blockage_diag_nodelet.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/blockage_diag/blockage_diag_nodelet.hpp
@@ -71,7 +71,7 @@ class BlockageDiagComponent : public pointcloud_preprocessor::Filter
   std::string lidar_model_;
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit BlockageDiagComponent(const rclcpp::NodeOptions & options);
 };
 
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_data_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_data_nodelet.hpp
index fac15a18e2962..77cfbe4610bf1 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_data_nodelet.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_data_nodelet.hpp
@@ -161,7 +161,8 @@ class PointCloudConcatenateDataSynchronizerComponent : public rclcpp::Node
     sensor_msgs::msg::PointCloud2::SharedPtr & output_ptr);
   void setPeriod(const int64_t new_period);
   void cloud_callback(
-    const sensor_msgs::msg::PointCloud2::SharedPtr & input_ptr, const std::string & topic_name);
+    const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_ptr,
+    const std::string & topic_name);
   void twist_callback(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr input);
   void timer_callback();
 
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp
index 66e2c089a934f..942d632a01447 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp
@@ -92,7 +92,7 @@ class CropBoxFilterComponent : public pointcloud_preprocessor::Filter
   rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit CropBoxFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace pointcloud_preprocessor
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp
index b8513d5b040b7..3176edec034ae 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp
@@ -23,7 +23,13 @@
 
 #include <tf2/convert.h>
 #include <tf2/transform_datatypes.h>
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
+
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/approximate_downsample_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/approximate_downsample_filter_nodelet.hpp
index a665f82747d2c..70dcdcab1c2e6 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/approximate_downsample_filter_nodelet.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/approximate_downsample_filter_nodelet.hpp
@@ -77,7 +77,7 @@ class ApproximateDownsampleFilterComponent : public pointcloud_preprocessor::Fil
   double voxel_size_z_;
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit ApproximateDownsampleFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace pointcloud_preprocessor
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/random_downsample_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/random_downsample_filter_nodelet.hpp
index bdb7a0bc705dc..c5a30fba37156 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/random_downsample_filter_nodelet.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/random_downsample_filter_nodelet.hpp
@@ -75,7 +75,7 @@ class RandomDownsampleFilterComponent : public pointcloud_preprocessor::Filter
   rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit RandomDownsampleFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace pointcloud_preprocessor
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp
index 98f4333de3a44..7ebf80c2da958 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp
@@ -78,7 +78,7 @@ class VoxelGridDownsampleFilterComponent : public pointcloud_preprocessor::Filte
   rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit VoxelGridDownsampleFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace pointcloud_preprocessor
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp
index d0d79907eb1dd..93e3cbff7a808 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp
@@ -128,6 +128,7 @@ class Filter : public rclcpp::Node
   using ApproximateTimeSyncPolicy =
     message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, PointIndices>>;
 
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit Filter(
     const std::string & filter_name = "pointcloud_preprocessor_filter",
     const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
@@ -272,9 +273,6 @@ class Filter : public rclcpp::Node
   void input_indices_callback(const PointCloud2ConstPtr cloud, const PointIndicesConstPtr indices);
 
   void setupTF();
-
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 }  // namespace pointcloud_preprocessor
 
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp
index 0c8abb5f7dba9..dbbf60c4442f9 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_nodelet.hpp
@@ -84,7 +84,7 @@ class DualReturnOutlierFilterComponent : public pointcloud_preprocessor::Filter
   float max_distance_;
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit DualReturnOutlierFilterComponent(const rclcpp::NodeOptions & options);
 };
 
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/radius_search_2d_outlier_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/radius_search_2d_outlier_filter_nodelet.hpp
index 53f2bf45e1046..19c36a1bdb1ce 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/radius_search_2d_outlier_filter_nodelet.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/radius_search_2d_outlier_filter_nodelet.hpp
@@ -49,7 +49,7 @@ class RadiusSearch2DOutlierFilterComponent : public pointcloud_preprocessor::Fil
   rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit RadiusSearch2DOutlierFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace pointcloud_preprocessor
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp
index b0697ca106533..f4e688d8b298f 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp
@@ -61,6 +61,7 @@ class RingOutlierFilterComponent : public pointcloud_preprocessor::Filter
   }
 
 public:
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit RingOutlierFilterComponent(const rclcpp::NodeOptions & options);
 };
 
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_nodelet.hpp
index 05f7514c1e408..f312b6c0b8505 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_nodelet.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_nodelet.hpp
@@ -45,7 +45,7 @@ class VoxelGridOutlierFilterComponent : public pointcloud_preprocessor::Filter
   pcl::VoxelGrid<pcl::PointXYZ> voxel_filter;
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit VoxelGridOutlierFilterComponent(const rclcpp::NodeOptions & option);
 };
 }  // namespace pointcloud_preprocessor
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_nodelet.hpp
index e34cdba64b929..5fafa7383b54e 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_nodelet.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_nodelet.hpp
@@ -72,7 +72,7 @@ class PassThroughFilterComponent : public pointcloud_preprocessor::Filter
   rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit PassThroughFilterComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace pointcloud_preprocessor
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_uint16_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_uint16_nodelet.hpp
index 35e8dfdec7d3d..678da0fbe6b86 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_uint16_nodelet.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_filter_uint16_nodelet.hpp
@@ -40,7 +40,7 @@ class PassThroughFilterUInt16Component : public pointcloud_preprocessor::Filter
   pcl::PassThroughUInt16<pcl::PCLPointCloud2> impl_;
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit PassThroughFilterUInt16Component(const rclcpp::NodeOptions & options);
 };
 }  // namespace pointcloud_preprocessor
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_uint16.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_uint16.hpp
index 266aa13b06bbb..5336efb7d81e9 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_uint16.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_uint16.hpp
@@ -100,8 +100,8 @@ class PassThroughUInt16 : public FilterIndices<PointT>
   typedef typename pcl::traits::fieldList<PointT>::type FieldList;
 
 public:
-  typedef boost::shared_ptr<PassThroughUInt16<PointT>> Ptr;
-  typedef boost::shared_ptr<const PassThroughUInt16<PointT>> ConstPtr;
+  typedef pcl::shared_ptr<PassThroughUInt16<PointT>> Ptr;
+  typedef pcl::shared_ptr<const PassThroughUInt16<PointT>> ConstPtr;
 
   /** \brief Constructor.
    * \param[in] extract_removed_indices Set to true if you want to be able to extract the indices of
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/pointcloud_accumulator/pointcloud_accumulator_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/pointcloud_accumulator/pointcloud_accumulator_nodelet.hpp
index 94cdc5e2259bf..ca4f0d6ccd2be 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/pointcloud_accumulator/pointcloud_accumulator_nodelet.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/pointcloud_accumulator/pointcloud_accumulator_nodelet.hpp
@@ -40,7 +40,7 @@ class PointcloudAccumulatorComponent : public pointcloud_preprocessor::Filter
   boost::circular_buffer<PointCloud2ConstPtr> pointcloud_buffer_;
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit PointcloudAccumulatorComponent(const rclcpp::NodeOptions & options);
 };
 }  // namespace pointcloud_preprocessor
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp
index 59ce02d8439a0..1b39215bc175f 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp
@@ -25,7 +25,13 @@
 
 #include <pcl/filters/voxel_grid.h>
 #include <pcl_conversions/pcl_conversions.h>
+
+#ifdef USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
 #include <tf2_eigen/tf2_eigen.h>
+#else
+#include <tf2_eigen/tf2_eigen.hpp>
+#endif
+
 #include <tf2_ros/transform_listener.h>
 
 #include <memory>
diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp
index e0f92c159903d..08709c4126d51 100644
--- a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp
+++ b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp
@@ -145,7 +145,7 @@ PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchro
       cloud_stdmap_tmp_ = cloud_stdmap_;
 
       // CAN'T use auto type here.
-      std::function<void(const sensor_msgs::msg::PointCloud2::SharedPtr msg)> cb = std::bind(
+      std::function<void(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg)> cb = std::bind(
         &PointCloudConcatenateDataSynchronizerComponent::cloud_callback, this,
         std::placeholders::_1, input_topics_[d]);
 
@@ -371,11 +371,12 @@ void PointCloudConcatenateDataSynchronizerComponent::setPeriod(const int64_t new
 }
 
 void PointCloudConcatenateDataSynchronizerComponent::cloud_callback(
-  const sensor_msgs::msg::PointCloud2::SharedPtr & input_ptr, const std::string & topic_name)
+  const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_ptr, const std::string & topic_name)
 {
   std::lock_guard<std::mutex> lock(mutex_);
+  auto input = std::make_shared<sensor_msgs::msg::PointCloud2>(*input_ptr);
   sensor_msgs::msg::PointCloud2::SharedPtr xyzi_input_ptr(new sensor_msgs::msg::PointCloud2());
-  convertToXYZICloud(input_ptr, xyzi_input_ptr);
+  convertToXYZICloud(input, xyzi_input_ptr);
 
   const bool is_already_subscribed_this = (cloud_stdmap_[topic_name] != nullptr);
   const bool is_already_subscribed_tmp = std::any_of(
diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp
index 3e31e16309b7c..3a512eb8f83ad 100644
--- a/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp
+++ b/sensing/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp
@@ -32,7 +32,7 @@ RadiusSearch2DOutlierFilterComponent::RadiusSearch2DOutlierFilterComponent(
     search_radius_ = static_cast<double>(declare_parameter("search_radius", 0.2));
   }
 
-  kd_tree_ = boost::make_shared<pcl::search::KdTree<pcl::PointXY>>(false);
+  kd_tree_ = pcl::make_shared<pcl::search::KdTree<pcl::PointXY>>(false);
 
   using std::placeholders::_1;
   set_param_res_ = this->add_on_set_parameters_callback(