diff --git a/localization/ndt/CMakeLists.txt b/localization/ndt/CMakeLists.txt
index ceaa9f6e9c0c1..e7542aee07cfb 100644
--- a/localization/ndt/CMakeLists.txt
+++ b/localization/ndt/CMakeLists.txt
@@ -46,6 +46,11 @@ target_include_directories(ndt
     $<INSTALL_INTERFACE:include>
 )
 
+target_include_directories(ndt
+  SYSTEM PUBLIC
+    ${PCL_INCLUDE_DIRS}
+)
+
 ament_target_dependencies(ndt PUBLIC ndt_omp ndt_pcl_modified)
 # Can't use ament_target_dependencies() here because it doesn't link PCL
 # properly, see ndt_omp for more information.
diff --git a/localization/ndt/include/ndt/base.hpp b/localization/ndt/include/ndt/base.hpp
index f06e5d057f273..b81e7f1c57f6f 100644
--- a/localization/ndt/include/ndt/base.hpp
+++ b/localization/ndt/include/ndt/base.hpp
@@ -15,7 +15,7 @@
 #ifndef NDT__BASE_HPP_
 #define NDT__BASE_HPP_
 
-#include <pcl/io/io.h>
+#include <pcl/common/io.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_types.h>
 #include <pcl/search/kdtree.h>
@@ -30,8 +30,8 @@ class NormalDistributionsTransformBase
   virtual ~NormalDistributionsTransformBase() = default;
 
   virtual void align(pcl::PointCloud<PointSource> & output, const Eigen::Matrix4f & guess) = 0;
-  virtual void setInputTarget(const boost::shared_ptr<pcl::PointCloud<PointTarget>> & map_ptr) = 0;
-  virtual void setInputSource(const boost::shared_ptr<pcl::PointCloud<PointSource>> & scan_ptr) = 0;
+  virtual void setInputTarget(const pcl::shared_ptr<pcl::PointCloud<PointTarget>> & map_ptr) = 0;
+  virtual void setInputSource(const pcl::shared_ptr<pcl::PointCloud<PointSource>> & scan_ptr) = 0;
 
   virtual void setMaximumIterations(int max_iter) = 0;
   virtual void setResolution(float res) = 0;
@@ -46,15 +46,15 @@ class NormalDistributionsTransformBase
   virtual double getTransformationProbability() const = 0;
   virtual double getNearestVoxelTransformationLikelihood() const = 0;
   virtual double getFitnessScore() = 0;
-  virtual boost::shared_ptr<const pcl::PointCloud<PointTarget>> getInputTarget() const = 0;
-  virtual boost::shared_ptr<const pcl::PointCloud<PointSource>> getInputSource() const = 0;
+  virtual pcl::shared_ptr<const pcl::PointCloud<PointTarget>> getInputTarget() const = 0;
+  virtual pcl::shared_ptr<const pcl::PointCloud<PointSource>> getInputSource() const = 0;
   virtual Eigen::Matrix4f getFinalTransformation() const = 0;
   virtual std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f>>
   getFinalTransformationArray() const = 0;
 
   virtual Eigen::Matrix<double, 6, 6> getHessian() const = 0;
 
-  virtual boost::shared_ptr<pcl::search::KdTree<PointTarget>> getSearchMethodTarget() const = 0;
+  virtual pcl::shared_ptr<pcl::search::KdTree<PointTarget>> getSearchMethodTarget() const = 0;
 
   virtual double calculateTransformationProbability(
     const pcl::PointCloud<PointSource> & trans_cloud) const = 0;
diff --git a/localization/ndt/include/ndt/impl/omp.hpp b/localization/ndt/include/ndt/impl/omp.hpp
index 1308ec97d479f..353439332c76f 100644
--- a/localization/ndt/include/ndt/impl/omp.hpp
+++ b/localization/ndt/include/ndt/impl/omp.hpp
@@ -34,14 +34,14 @@ void NormalDistributionsTransformOMP<PointSource, PointTarget>::align(
 
 template <class PointSource, class PointTarget>
 void NormalDistributionsTransformOMP<PointSource, PointTarget>::setInputTarget(
-  const boost::shared_ptr<pcl::PointCloud<PointTarget>> & map_ptr)
+  const pcl::shared_ptr<pcl::PointCloud<PointTarget>> & map_ptr)
 {
   ndt_ptr_->setInputTarget(map_ptr);
 }
 
 template <class PointSource, class PointTarget>
 void NormalDistributionsTransformOMP<PointSource, PointTarget>::setInputSource(
-  const boost::shared_ptr<pcl::PointCloud<PointSource>> & scan_ptr)
+  const pcl::shared_ptr<pcl::PointCloud<PointSource>> & scan_ptr)
 {
   ndt_ptr_->setInputSource(scan_ptr);
 }
@@ -122,14 +122,14 @@ double NormalDistributionsTransformOMP<PointSource, PointTarget>::getFitnessScor
 }
 
 template <class PointSource, class PointTarget>
-boost::shared_ptr<const pcl::PointCloud<PointTarget>>
+pcl::shared_ptr<const pcl::PointCloud<PointTarget>>
 NormalDistributionsTransformOMP<PointSource, PointTarget>::getInputTarget() const
 {
   return ndt_ptr_->getInputTarget();
 }
 
 template <class PointSource, class PointTarget>
-boost::shared_ptr<const pcl::PointCloud<PointSource>>
+pcl::shared_ptr<const pcl::PointCloud<PointSource>>
 NormalDistributionsTransformOMP<PointSource, PointTarget>::getInputSource() const
 {
   return ndt_ptr_->getInputSource();
@@ -158,7 +158,7 @@ Eigen::Matrix<double, 6, 6> NormalDistributionsTransformOMP<PointSource, PointTa
 }
 
 template <class PointSource, class PointTarget>
-boost::shared_ptr<pcl::search::KdTree<PointTarget>>
+pcl::shared_ptr<pcl::search::KdTree<PointTarget>>
 NormalDistributionsTransformOMP<PointSource, PointTarget>::getSearchMethodTarget() const
 {
   return ndt_ptr_->getSearchMethodTarget();
diff --git a/localization/ndt/include/ndt/impl/pcl_generic.hpp b/localization/ndt/include/ndt/impl/pcl_generic.hpp
index d05c946a459a4..329093cd28589 100644
--- a/localization/ndt/include/ndt/impl/pcl_generic.hpp
+++ b/localization/ndt/include/ndt/impl/pcl_generic.hpp
@@ -35,14 +35,14 @@ void NormalDistributionsTransformPCLGeneric<PointSource, PointTarget>::align(
 
 template <class PointSource, class PointTarget>
 void NormalDistributionsTransformPCLGeneric<PointSource, PointTarget>::setInputTarget(
-  const boost::shared_ptr<pcl::PointCloud<PointTarget>> & map_ptr)
+  const pcl::shared_ptr<pcl::PointCloud<PointTarget>> & map_ptr)
 {
   ndt_ptr_->setInputTarget(map_ptr);
 }
 
 template <class PointSource, class PointTarget>
 void NormalDistributionsTransformPCLGeneric<PointSource, PointTarget>::setInputSource(
-  const boost::shared_ptr<pcl::PointCloud<PointSource>> & scan_ptr)
+  const pcl::shared_ptr<pcl::PointCloud<PointSource>> & scan_ptr)
 {
   ndt_ptr_->setInputSource(scan_ptr);
 }
@@ -125,14 +125,14 @@ double NormalDistributionsTransformPCLGeneric<PointSource, PointTarget>::getFitn
 }
 
 template <class PointSource, class PointTarget>
-boost::shared_ptr<const pcl::PointCloud<PointTarget>>
+pcl::shared_ptr<const pcl::PointCloud<PointTarget>>
 NormalDistributionsTransformPCLGeneric<PointSource, PointTarget>::getInputTarget() const
 {
   return ndt_ptr_->getInputTarget();
 }
 
 template <class PointSource, class PointTarget>
-boost::shared_ptr<const pcl::PointCloud<PointSource>>
+pcl::shared_ptr<const pcl::PointCloud<PointSource>>
 NormalDistributionsTransformPCLGeneric<PointSource, PointTarget>::getInputSource() const
 {
   return ndt_ptr_->getInputSource();
@@ -162,7 +162,7 @@ NormalDistributionsTransformPCLGeneric<PointSource, PointTarget>::getHessian() c
 }
 
 template <class PointSource, class PointTarget>
-boost::shared_ptr<pcl::search::KdTree<PointTarget>>
+pcl::shared_ptr<pcl::search::KdTree<PointTarget>>
 NormalDistributionsTransformPCLGeneric<PointSource, PointTarget>::getSearchMethodTarget() const
 {
   return ndt_ptr_->getSearchMethodTarget();
diff --git a/localization/ndt/include/ndt/impl/pcl_modified.hpp b/localization/ndt/include/ndt/impl/pcl_modified.hpp
index 4715b85ffb4d4..f6c359fcb7158 100644
--- a/localization/ndt/include/ndt/impl/pcl_modified.hpp
+++ b/localization/ndt/include/ndt/impl/pcl_modified.hpp
@@ -35,14 +35,14 @@ void NormalDistributionsTransformPCLModified<PointSource, PointTarget>::align(
 
 template <class PointSource, class PointTarget>
 void NormalDistributionsTransformPCLModified<PointSource, PointTarget>::setInputTarget(
-  const boost::shared_ptr<pcl::PointCloud<PointTarget>> & map_ptr)
+  const pcl::shared_ptr<pcl::PointCloud<PointTarget>> & map_ptr)
 {
   ndt_ptr_->setInputTarget(map_ptr);
 }
 
 template <class PointSource, class PointTarget>
 void NormalDistributionsTransformPCLModified<PointSource, PointTarget>::setInputSource(
-  const boost::shared_ptr<pcl::PointCloud<PointSource>> & scan_ptr)
+  const pcl::shared_ptr<pcl::PointCloud<PointSource>> & scan_ptr)
 {
   ndt_ptr_->setInputSource(scan_ptr);
 }
@@ -126,14 +126,14 @@ double NormalDistributionsTransformPCLModified<PointSource, PointTarget>::getFit
 }
 
 template <class PointSource, class PointTarget>
-boost::shared_ptr<const pcl::PointCloud<PointTarget>>
+pcl::shared_ptr<const pcl::PointCloud<PointTarget>>
 NormalDistributionsTransformPCLModified<PointSource, PointTarget>::getInputTarget() const
 {
   return ndt_ptr_->getInputTarget();
 }
 
 template <class PointSource, class PointTarget>
-boost::shared_ptr<const pcl::PointCloud<PointSource>>
+pcl::shared_ptr<const pcl::PointCloud<PointSource>>
 NormalDistributionsTransformPCLModified<PointSource, PointTarget>::getInputSource() const
 {
   return ndt_ptr_->getInputSource();
@@ -162,7 +162,7 @@ NormalDistributionsTransformPCLModified<PointSource, PointTarget>::getHessian()
 }
 
 template <class PointSource, class PointTarget>
-boost::shared_ptr<pcl::search::KdTree<PointTarget>>
+pcl::shared_ptr<pcl::search::KdTree<PointTarget>>
 NormalDistributionsTransformPCLModified<PointSource, PointTarget>::getSearchMethodTarget() const
 {
   return ndt_ptr_->getSearchMethodTarget();
diff --git a/localization/ndt/include/ndt/omp.hpp b/localization/ndt/include/ndt/omp.hpp
index 95c5f1bd4b2dc..9c323097cc8b6 100644
--- a/localization/ndt/include/ndt/omp.hpp
+++ b/localization/ndt/include/ndt/omp.hpp
@@ -17,7 +17,7 @@
 
 #include "ndt/base.hpp"
 
-#include <pcl/io/io.h>
+#include <pcl/common/io.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_types.h>
 #include <pclomp/ndt_omp.h>
@@ -33,8 +33,8 @@ class NormalDistributionsTransformOMP
   ~NormalDistributionsTransformOMP() = default;
 
   void align(pcl::PointCloud<PointSource> & output, const Eigen::Matrix4f & guess) override;
-  void setInputTarget(const boost::shared_ptr<pcl::PointCloud<PointTarget>> & map_ptr) override;
-  void setInputSource(const boost::shared_ptr<pcl::PointCloud<PointSource>> & scan_ptr) override;
+  void setInputTarget(const pcl::shared_ptr<pcl::PointCloud<PointTarget>> & map_ptr) override;
+  void setInputSource(const pcl::shared_ptr<pcl::PointCloud<PointSource>> & scan_ptr) override;
 
   void setMaximumIterations(int max_iter) override;
   void setResolution(float res) override;
@@ -49,15 +49,15 @@ class NormalDistributionsTransformOMP
   double getTransformationProbability() const override;
   double getNearestVoxelTransformationLikelihood() const override;
   double getFitnessScore() override;
-  boost::shared_ptr<const pcl::PointCloud<PointTarget>> getInputTarget() const override;
-  boost::shared_ptr<const pcl::PointCloud<PointSource>> getInputSource() const override;
+  pcl::shared_ptr<const pcl::PointCloud<PointTarget>> getInputTarget() const override;
+  pcl::shared_ptr<const pcl::PointCloud<PointSource>> getInputSource() const override;
   Eigen::Matrix4f getFinalTransformation() const override;
   std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f>>
   getFinalTransformationArray() const override;
 
   Eigen::Matrix<double, 6, 6> getHessian() const override;
 
-  boost::shared_ptr<pcl::search::KdTree<PointTarget>> getSearchMethodTarget() const override;
+  pcl::shared_ptr<pcl::search::KdTree<PointTarget>> getSearchMethodTarget() const override;
 
   double calculateTransformationProbability(
     const pcl::PointCloud<PointSource> & trans_cloud) const override;
@@ -72,7 +72,7 @@ class NormalDistributionsTransformOMP
   pclomp::NeighborSearchMethod getNeighborhoodSearchMethod() const;
 
 private:
-  boost::shared_ptr<pclomp::NormalDistributionsTransform<PointSource, PointTarget>> ndt_ptr_;
+  pcl::shared_ptr<pclomp::NormalDistributionsTransform<PointSource, PointTarget>> ndt_ptr_;
 };
 
 #include "ndt/impl/omp.hpp"
diff --git a/localization/ndt/include/ndt/pcl_generic.hpp b/localization/ndt/include/ndt/pcl_generic.hpp
index 8ddb7dcc34006..63928510d54b2 100644
--- a/localization/ndt/include/ndt/pcl_generic.hpp
+++ b/localization/ndt/include/ndt/pcl_generic.hpp
@@ -17,7 +17,7 @@
 
 #include "ndt/base.hpp"
 
-#include <pcl/io/io.h>
+#include <pcl/common/io.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_types.h>
 #include <pcl/registration/ndt.h>
@@ -33,8 +33,8 @@ class NormalDistributionsTransformPCLGeneric
   ~NormalDistributionsTransformPCLGeneric() = default;
 
   void align(pcl::PointCloud<PointSource> & output, const Eigen::Matrix4f & guess) override;
-  void setInputTarget(const boost::shared_ptr<pcl::PointCloud<PointTarget>> & map_ptr) override;
-  void setInputSource(const boost::shared_ptr<pcl::PointCloud<PointSource>> & scan_ptr) override;
+  void setInputTarget(const pcl::shared_ptr<pcl::PointCloud<PointTarget>> & map_ptr) override;
+  void setInputSource(const pcl::shared_ptr<pcl::PointCloud<PointSource>> & scan_ptr) override;
 
   void setMaximumIterations(int max_iter) override;
   void setResolution(float res) override;
@@ -49,15 +49,15 @@ class NormalDistributionsTransformPCLGeneric
   double getTransformationProbability() const override;
   double getNearestVoxelTransformationLikelihood() const override;
   double getFitnessScore() override;
-  boost::shared_ptr<const pcl::PointCloud<PointTarget>> getInputTarget() const override;
-  boost::shared_ptr<const pcl::PointCloud<PointSource>> getInputSource() const override;
+  pcl::shared_ptr<const pcl::PointCloud<PointTarget>> getInputTarget() const override;
+  pcl::shared_ptr<const pcl::PointCloud<PointSource>> getInputSource() const override;
   Eigen::Matrix4f getFinalTransformation() const override;
   std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f>>
   getFinalTransformationArray() const override;
 
   Eigen::Matrix<double, 6, 6> getHessian() const override;
 
-  boost::shared_ptr<pcl::search::KdTree<PointTarget>> getSearchMethodTarget() const override;
+  pcl::shared_ptr<pcl::search::KdTree<PointTarget>> getSearchMethodTarget() const override;
 
   double calculateTransformationProbability(
     const pcl::PointCloud<PointSource> & trans_cloud) const override;
@@ -65,7 +65,7 @@ class NormalDistributionsTransformPCLGeneric
     const pcl::PointCloud<PointSource> & trans_cloud) const override;
 
 private:
-  boost::shared_ptr<pcl::NormalDistributionsTransform<PointSource, PointTarget>> ndt_ptr_;
+  pcl::shared_ptr<pcl::NormalDistributionsTransform<PointSource, PointTarget>> ndt_ptr_;
 };
 
 #include "ndt/impl/pcl_generic.hpp"
diff --git a/localization/ndt/include/ndt/pcl_modified.hpp b/localization/ndt/include/ndt/pcl_modified.hpp
index 34f50cd7553ba..df993566481e5 100644
--- a/localization/ndt/include/ndt/pcl_modified.hpp
+++ b/localization/ndt/include/ndt/pcl_modified.hpp
@@ -19,7 +19,7 @@
 
 #include <ndt_pcl_modified/ndt.hpp>
 
-#include <pcl/io/io.h>
+#include <pcl/common/io.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_types.h>
 
@@ -34,8 +34,8 @@ class NormalDistributionsTransformPCLModified
   ~NormalDistributionsTransformPCLModified() = default;
 
   void align(pcl::PointCloud<PointSource> & output, const Eigen::Matrix4f & guess) override;
-  void setInputTarget(const boost::shared_ptr<pcl::PointCloud<PointTarget>> & map_ptr) override;
-  void setInputSource(const boost::shared_ptr<pcl::PointCloud<PointSource>> & scan_ptr) override;
+  void setInputTarget(const pcl::shared_ptr<pcl::PointCloud<PointTarget>> & map_ptr) override;
+  void setInputSource(const pcl::shared_ptr<pcl::PointCloud<PointSource>> & scan_ptr) override;
 
   void setMaximumIterations(int max_iter) override;
   void setResolution(float res) override;
@@ -50,15 +50,15 @@ class NormalDistributionsTransformPCLModified
   double getTransformationProbability() const override;
   double getNearestVoxelTransformationLikelihood() const override;
   double getFitnessScore() override;
-  boost::shared_ptr<const pcl::PointCloud<PointTarget>> getInputTarget() const override;
-  boost::shared_ptr<const pcl::PointCloud<PointSource>> getInputSource() const override;
+  pcl::shared_ptr<const pcl::PointCloud<PointTarget>> getInputTarget() const override;
+  pcl::shared_ptr<const pcl::PointCloud<PointSource>> getInputSource() const override;
   Eigen::Matrix4f getFinalTransformation() const override;
   std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f>>
   getFinalTransformationArray() const override;
 
   Eigen::Matrix<double, 6, 6> getHessian() const override;
 
-  boost::shared_ptr<pcl::search::KdTree<PointTarget>> getSearchMethodTarget() const override;
+  pcl::shared_ptr<pcl::search::KdTree<PointTarget>> getSearchMethodTarget() const override;
 
   double calculateTransformationProbability(
     const pcl::PointCloud<PointSource> & trans_cloud) const override;
@@ -66,7 +66,7 @@ class NormalDistributionsTransformPCLModified
     const pcl::PointCloud<PointSource> & trans_cloud) const override;
 
 private:
-  boost::shared_ptr<pcl::NormalDistributionsTransformModified<PointSource, PointTarget>> ndt_ptr_;
+  pcl::shared_ptr<pcl::NormalDistributionsTransformModified<PointSource, PointTarget>> ndt_ptr_;
 };
 
 #include "ndt/impl/pcl_modified.hpp"