diff --git a/button_rviz_plugin/CMakeLists.txt b/button_rviz_plugin/CMakeLists.txt
index a4ff67b..9e5fa40 100644
--- a/button_rviz_plugin/CMakeLists.txt
+++ b/button_rviz_plugin/CMakeLists.txt
@@ -5,28 +5,14 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# find dependencies
-find_package(ament_cmake REQUIRED)
-find_package(rviz_common REQUIRED)
-find_package(rviz_rendering REQUIRED)
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
 
 set(CMAKE_AUTOMOC ON)
 
-add_library(${PROJECT_NAME} SHARED
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/button_panel.cpp
 )
-ament_target_dependencies(${PROJECT_NAME}
-  rviz_common
-  rviz_rendering
-)
-install(TARGETS
-  ${PROJECT_NAME}
-  EXPORT ${PROJECT_NAME}
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-  INCLUDES DESTINATION include
-)
 
 pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
 
@@ -37,4 +23,4 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_package()
+ament_auto_package()
diff --git a/button_rviz_plugin/src/button_handler.hpp b/button_rviz_plugin/include/button_rviz_plugin/button_handler.hpp
similarity index 100%
rename from button_rviz_plugin/src/button_handler.hpp
rename to button_rviz_plugin/include/button_rviz_plugin/button_handler.hpp
diff --git a/button_rviz_plugin/package.xml b/button_rviz_plugin/package.xml
index 20b584c..bd2ccb9 100644
--- a/button_rviz_plugin/package.xml
+++ b/button_rviz_plugin/package.xml
@@ -7,10 +7,11 @@
   <maintainer email="ray255ar@gmail.com">Ar-Ray-code</maintainer>
   <license>MIT</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>rviz_common</depend>
   <depend>rviz_rendering</depend>
+  <depend>std_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/button_rviz_plugin/src/button_panel.cpp b/button_rviz_plugin/src/button_panel.cpp
index 9bdef5b..c664d56 100644
--- a/button_rviz_plugin/src/button_panel.cpp
+++ b/button_rviz_plugin/src/button_panel.cpp
@@ -14,13 +14,6 @@
 
 #include "button_panel.hpp"
 
-#include <rviz_common/config.hpp>
-#include <rviz_common/display_context.hpp>
-
-#include <QPainter>
-#include <QMouseEvent>
-#include <QSizePolicy>
-
 namespace button_rviz_plugin
 {
 EmptyButton::EmptyButton(QWidget * parent)
@@ -34,22 +27,13 @@ EmptyButton::EmptyButton(QWidget * parent)
   topic_combo_ = new QComboBox();
   topic_combo_->setEditable(true);
   layout_1st->addWidget(topic_combo_);
-  // layout->addLayout(layout_1st);
 
-  // QHBoxLayout * layout_3rd = new QHBoxLayout;
   a_button_ = new QPushButton("click");
   layout_1st->addWidget(a_button_);
   layout->addLayout(layout_1st);
-
   setLayout(layout);
 
   interval_timer_ = new QTimer(this);
-
-  connect(interval_timer_, &QTimer::timeout, this, &EmptyButton::onTick);
-  connect(enable_check_, &QCheckBox::stateChanged, this, &EmptyButton::onCheckChange);
-  connect(a_button_, &QPushButton::clicked, this, &EmptyButton::onClickA);
-
-  interval_timer_->start(100);
 }
 
 void EmptyButton::onInitialize()
@@ -57,6 +41,12 @@ void EmptyButton::onInitialize()
   button_handler_.setRosNodePtr(
     this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node());
   updateTopicList();
+
+  connect(interval_timer_, &QTimer::timeout, this, &EmptyButton::onTick);
+  connect(enable_check_, &QCheckBox::stateChanged, this, &EmptyButton::onCheckChange);
+  connect(a_button_, &QPushButton::clicked, this, &EmptyButton::onClickA);
+
+  interval_timer_->start(100);
 }
 
 void EmptyButton::onCheckChange(int state)
diff --git a/button_rviz_plugin/src/button_panel.hpp b/button_rviz_plugin/src/button_panel.hpp
index e3f6e04..72d9cf4 100644
--- a/button_rviz_plugin/src/button_panel.hpp
+++ b/button_rviz_plugin/src/button_panel.hpp
@@ -14,12 +14,20 @@
 
 #pragma once
 
-#include <QtWidgets>
 #include <QComboBox>
+#include <QMouseEvent>
+#include <QPainter>
+#include <QSizePolicy>
+
+#include <QtWidgets>
 
+// Q_MOC_RUN is defined when this file is processed by moc
 #ifndef Q_MOC_RUN
-#include "button_handler.hpp"
+#include "button_rviz_plugin/button_handler.hpp"
 #include <rviz_common/panel.hpp>
+
+#include <rviz_common/config.hpp>
+#include <rviz_common/display_context.hpp>
 #endif
 
 namespace button_rviz_plugin