diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml
index 73e0dbea0866e..c8caaefaafa5a 100644
--- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml
@@ -5,12 +5,13 @@
   <version>0.0.1</version>
   <description>
     RViz2 plugin for 2D overlays in the 3D view. Mainly a port of the JSK overlay plugin
-        (https://github.com/jsk-ros-pkg/jsk_visualization).
+    (https://github.com/jsk-ros-pkg/jsk_visualization).
   </description>
   <maintainer email="khalil@leodrive.ai">Khalil Selyan</maintainer>
 
   <license>BSD-3-Clause</license>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>boost</depend>
diff --git a/common/autoware_test_utils/package.xml b/common/autoware_test_utils/package.xml
index 778b9a42ca207..361eb291db10a 100644
--- a/common/autoware_test_utils/package.xml
+++ b/common/autoware_test_utils/package.xml
@@ -15,6 +15,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>
diff --git a/common/object_recognition_utils/test/src/test_predicted_path_utils.cpp b/common/object_recognition_utils/test/src/test_predicted_path_utils.cpp
index 305a1173acf12..228a0d097fde6 100644
--- a/common/object_recognition_utils/test/src/test_predicted_path_utils.cpp
+++ b/common/object_recognition_utils/test/src/test_predicted_path_utils.cpp
@@ -16,6 +16,8 @@
 #include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "object_recognition_utils/predicted_path_utils.hpp"
 
+#include <boost/optional/optional_io.hpp>
+
 #include <gtest/gtest.h>
 
 using autoware::universe_utils::Point2d;
@@ -75,7 +77,7 @@ TEST(predicted_path_utils, testCalcInterpolatedPose)
     for (double t = 0.0; t < 9.0 + 1e-6; t += 1.0) {
       const auto p = calcInterpolatedPose(path, t);
 
-      EXPECT_NE(p, boost::none);
+      EXPECT_TRUE(p);
       EXPECT_NEAR(p->position.x, t * 1.0, epsilon);
       EXPECT_NEAR(p->position.y, 0.0, epsilon);
       EXPECT_NEAR(p->position.z, 0.0, epsilon);
@@ -92,7 +94,7 @@ TEST(predicted_path_utils, testCalcInterpolatedPose)
     for (double t = 0.0; t < 9.0; t += 0.3) {
       const auto p = calcInterpolatedPose(path, t);
 
-      EXPECT_NE(p, boost::none);
+      EXPECT_TRUE(p);
       EXPECT_NEAR(p->position.x, t * 1.0, epsilon);
       EXPECT_NEAR(p->position.y, 0.0, epsilon);
       EXPECT_NEAR(p->position.z, 0.0, epsilon);
@@ -108,20 +110,20 @@ TEST(predicted_path_utils, testCalcInterpolatedPose)
     // Negative time
     {
       const auto p = calcInterpolatedPose(path, -1.0);
-      EXPECT_EQ(p, boost::none);
+      EXPECT_FALSE(p);
     }
 
     // Over the time horizon
     {
       const auto p = calcInterpolatedPose(path, 11.0);
-      EXPECT_EQ(p, boost::none);
+      EXPECT_FALSE(p);
     }
 
     // Empty Path
     {
       PredictedPath empty_path;
       const auto p = calcInterpolatedPose(empty_path, 5.0);
-      EXPECT_EQ(p, boost::none);
+      EXPECT_FALSE(p);
     }
   }
 }
diff --git a/common/signal_processing/test/src/lowpass_filter_1d_test.cpp b/common/signal_processing/test/src/lowpass_filter_1d_test.cpp
index 5cce36884588e..49b452a30e3fd 100644
--- a/common/signal_processing/test/src/lowpass_filter_1d_test.cpp
+++ b/common/signal_processing/test/src/lowpass_filter_1d_test.cpp
@@ -14,6 +14,8 @@
 
 #include "signal_processing/lowpass_filter_1d.hpp"
 
+#include <boost/optional/optional_io.hpp>
+
 #include <gtest/gtest.h>
 
 constexpr double epsilon = 1e-6;
@@ -23,7 +25,7 @@ TEST(lowpass_filter_1d, filter)
   LowpassFilter1d lowpass_filter_1d(0.1);
 
   // initial state
-  EXPECT_EQ(lowpass_filter_1d.getValue(), boost::none);
+  EXPECT_FALSE(lowpass_filter_1d.getValue());
 
   // random filter
   EXPECT_NEAR(lowpass_filter_1d.filter(0.0), 0.0, epsilon);
@@ -33,7 +35,7 @@ TEST(lowpass_filter_1d, filter)
 
   // reset without value
   lowpass_filter_1d.reset();
-  EXPECT_EQ(lowpass_filter_1d.getValue(), boost::none);
+  EXPECT_FALSE(lowpass_filter_1d.getValue());
 
   // reset with value
   lowpass_filter_1d.reset(-1.1);
diff --git a/common/signal_processing/test/src/lowpass_filter_test.cpp b/common/signal_processing/test/src/lowpass_filter_test.cpp
index 8dfea4dcae02e..e8f233b9ce736 100644
--- a/common/signal_processing/test/src/lowpass_filter_test.cpp
+++ b/common/signal_processing/test/src/lowpass_filter_test.cpp
@@ -14,6 +14,8 @@
 
 #include "signal_processing/lowpass_filter.hpp"
 
+#include <boost/optional/optional_io.hpp>
+
 #include <gtest/gtest.h>
 
 constexpr double epsilon = 1e-6;
@@ -39,7 +41,7 @@ TEST(lowpass_filter_twist, filter)
   LowpassFilterTwist lowpass_filter_(0.1);
 
   {  // initial state
-    EXPECT_EQ(lowpass_filter_.getValue(), boost::none);
+    EXPECT_FALSE(lowpass_filter_.getValue());
   }
 
   {  // random filter
@@ -56,7 +58,7 @@ TEST(lowpass_filter_twist, filter)
 
   {  // reset without value
     lowpass_filter_.reset();
-    EXPECT_EQ(lowpass_filter_.getValue(), boost::none);
+    EXPECT_FALSE(lowpass_filter_.getValue());
   }
 
   {  // reset with value
diff --git a/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp b/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp
index bd5c3349d3c35..16c3f4b5def96 100644
--- a/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp
+++ b/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp
@@ -53,7 +53,7 @@
 #include <OgreQuaternion.h>
 #include <OgreSceneManager.h>
 #include <OgreSceneNode.h>
-#include <OgreVector3.h>
+#include <OgreVector.h>
 #include <OgreViewport.h>
 
 namespace tier4_camera_view_rviz_plugin
diff --git a/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.hpp b/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.hpp
index 3c0091740bd59..9440af9862938 100644
--- a/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.hpp
+++ b/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.hpp
@@ -46,7 +46,7 @@
 #include "rviz_common/frame_position_tracking_view_controller.hpp"
 
 #include <OgreQuaternion.h>
-#include <OgreVector3.h>
+#include <OgreVector.h>
 
 namespace rviz_common
 {
diff --git a/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp b/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp
index 9f4306a9d982a..ed47a15270c3a 100644
--- a/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp
+++ b/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp
@@ -56,7 +56,7 @@
 #include <OgreQuaternion.h>
 #include <OgreRay.h>
 #include <OgreSceneNode.h>
-#include <OgreVector3.h>
+#include <OgreVector.h>
 #include <OgreViewport.h>
 #include <stdint.h>
 
diff --git a/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.hpp b/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.hpp
index fef036ceccda3..26cbdc5278bac 100644
--- a/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.hpp
+++ b/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.hpp
@@ -45,7 +45,7 @@
 
 #include "rviz_default_plugins/view_controllers/orbit/orbit_view_controller.hpp"
 
-#include <OgreVector3.h>
+#include <OgreVector.h>
 
 #include <utility>
 
diff --git a/common/tier4_perception_rviz_plugin/src/tools/util.hpp b/common/tier4_perception_rviz_plugin/src/tools/util.hpp
index 2126af001aeb5..bf951aad5006a 100644
--- a/common/tier4_perception_rviz_plugin/src/tools/util.hpp
+++ b/common/tier4_perception_rviz_plugin/src/tools/util.hpp
@@ -17,7 +17,7 @@
 
 #include <rviz_common/viewport_mouse_event.hpp>
 
-#include <OgreVector3.h>
+#include <OgreVector.h>
 
 #include <optional>
 
diff --git a/common/tier4_vehicle_rviz_plugin/package.xml b/common/tier4_vehicle_rviz_plugin/package.xml
index 69057701886cb..789c4b951d7af 100644
--- a/common/tier4_vehicle_rviz_plugin/package.xml
+++ b/common/tier4_vehicle_rviz_plugin/package.xml
@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>libqt5-core</depend>
diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/velocity_history.hpp b/common/tier4_vehicle_rviz_plugin/src/tools/velocity_history.hpp
index 96345205289e6..cb191811ddbc3 100644
--- a/common/tier4_vehicle_rviz_plugin/src/tools/velocity_history.hpp
+++ b/common/tier4_vehicle_rviz_plugin/src/tools/velocity_history.hpp
@@ -26,7 +26,7 @@
 
 #include <OgreColourValue.h>
 #include <OgreManualObject.h>
-#include <OgreVector3.h>
+#include <OgreVector.h>
 
 #include <deque>
 #include <memory>
diff --git a/control/autoware_trajectory_follower_node/package.xml b/control/autoware_trajectory_follower_node/package.xml
index 55ac989ad4a58..babed2fe9ce99 100644
--- a/control/autoware_trajectory_follower_node/package.xml
+++ b/control/autoware_trajectory_follower_node/package.xml
@@ -19,6 +19,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_motion_utils</depend>
diff --git a/control/autoware_vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml
index 60bbf23f9d5a8..b073b03174edf 100644
--- a/control/autoware_vehicle_cmd_gate/package.xml
+++ b/control/autoware_vehicle_cmd_gate/package.xml
@@ -15,6 +15,7 @@
 
   <build_depend>rosidl_default_generators</build_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_motion_utils</depend>
diff --git a/evaluator/autoware_planning_evaluator/package.xml b/evaluator/autoware_planning_evaluator/package.xml
index 5bd500f200eac..ac5ad50f98bf1 100644
--- a/evaluator/autoware_planning_evaluator/package.xml
+++ b/evaluator/autoware_planning_evaluator/package.xml
@@ -13,6 +13,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
diff --git a/evaluator/kinematic_evaluator/package.xml b/evaluator/kinematic_evaluator/package.xml
index 3642e0cf94604..f126433955ab2 100644
--- a/evaluator/kinematic_evaluator/package.xml
+++ b/evaluator/kinematic_evaluator/package.xml
@@ -17,6 +17,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>
diff --git a/evaluator/localization_evaluator/package.xml b/evaluator/localization_evaluator/package.xml
index 8d3b788a2b8d9..133ab3d1bf065 100644
--- a/evaluator/localization_evaluator/package.xml
+++ b/evaluator/localization_evaluator/package.xml
@@ -12,6 +12,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>
diff --git a/evaluator/perception_online_evaluator/package.xml b/evaluator/perception_online_evaluator/package.xml
index 082a9bc2d1366..edca42ce33086 100644
--- a/evaluator/perception_online_evaluator/package.xml
+++ b/evaluator/perception_online_evaluator/package.xml
@@ -17,6 +17,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_universe_utils</depend>
diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp
index c39969fb3cc5f..cef3debf22a4f 100644
--- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp
+++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp
@@ -51,7 +51,11 @@
 #include <opencv4/opencv2/calib3d.hpp>
 #include <opencv4/opencv2/core/quaternion.hpp>
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 #include <tf2/LinearMath/Transform.h>
 
 #include <algorithm>
diff --git a/localization/localization_util/package.xml b/localization/localization_util/package.xml
index bb1ca3123ad27..41e34a9ecc810 100644
--- a/localization/localization_util/package.xml
+++ b/localization/localization_util/package.xml
@@ -17,6 +17,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_universe_utils</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
diff --git a/localization/yabloc/yabloc_common/src/cv_decompress.cpp b/localization/yabloc/yabloc_common/src/cv_decompress.cpp
index bf26908c9f0b0..3401f458f388a 100644
--- a/localization/yabloc/yabloc_common/src/cv_decompress.cpp
+++ b/localization/yabloc/yabloc_common/src/cv_decompress.cpp
@@ -17,7 +17,11 @@
 #include <opencv4/opencv2/imgcodecs.hpp>
 #include <opencv4/opencv2/imgproc.hpp>
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 
 #include <iostream>
 
diff --git a/localization/yabloc/yabloc_common/src/pub_sub.cpp b/localization/yabloc/yabloc_common/src/pub_sub.cpp
index 102a9012033fe..79d48b70ac172 100644
--- a/localization/yabloc/yabloc_common/src/pub_sub.cpp
+++ b/localization/yabloc/yabloc_common/src/pub_sub.cpp
@@ -14,7 +14,11 @@
 
 #include "yabloc_common/pub_sub.hpp"
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 #include <pcl_conversions/pcl_conversions.h>
 
 namespace yabloc::common
diff --git a/localization/yabloc/yabloc_image_processing/src/line_segments_overlay/line_segments_overlay_core.cpp b/localization/yabloc/yabloc_image_processing/src/line_segments_overlay/line_segments_overlay_core.cpp
index 70e1bf2d6e6e2..c7d7aa67fd3ab 100644
--- a/localization/yabloc/yabloc_image_processing/src/line_segments_overlay/line_segments_overlay_core.cpp
+++ b/localization/yabloc/yabloc_image_processing/src/line_segments_overlay/line_segments_overlay_core.cpp
@@ -18,7 +18,11 @@
 #include <yabloc_common/cv_decompress.hpp>
 #include <yabloc_common/pub_sub.hpp>
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 #include <pcl_conversions/pcl_conversions.h>
 
 namespace yabloc::line_segments_overlay
diff --git a/localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp b/localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp
index 5590387e5ba26..46f5165c5f4e2 100644
--- a/localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp
+++ b/localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp
@@ -24,7 +24,11 @@
 #include <sensor_msgs/msg/compressed_image.hpp>
 #include <sensor_msgs/msg/image.hpp>
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 
 #include <optional>
 
diff --git a/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp b/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp
index dd97ea2ad888f..39d5a81f6c109 100644
--- a/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp
+++ b/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp
@@ -20,7 +20,11 @@
 #include <opencv2/highgui.hpp>
 #include <opencv2/imgproc.hpp>
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 
 #include <filesystem>
 
diff --git a/map/map_loader/package.xml b/map/map_loader/package.xml
index a6f4ac7f81275..68cefe5fc8dd3 100644
--- a/map/map_loader/package.xml
+++ b/map/map_loader/package.xml
@@ -20,6 +20,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_map_msgs</depend>
   <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
diff --git a/perception/bytetrack/package.xml b/perception/bytetrack/package.xml
index 231a1845bb0ea..5474a0c7bd490 100644
--- a/perception/bytetrack/package.xml
+++ b/perception/bytetrack/package.xml
@@ -15,6 +15,7 @@
   <buildtool_export_depend>cudnn_cmake_module</buildtool_export_depend>
   <buildtool_export_depend>tensorrt_cmake_module</buildtool_export_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>cuda_utils</depend>
   <depend>cv_bridge</depend>
diff --git a/perception/ground_segmentation/package.xml b/perception/ground_segmentation/package.xml
index 1b807b393b739..3304765f4aac7 100644
--- a/perception/ground_segmentation/package.xml
+++ b/perception/ground_segmentation/package.xml
@@ -19,6 +19,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>libopencv-dev</depend>
   <depend>pcl_conversions</depend>
diff --git a/perception/radar_object_tracker/package.xml b/perception/radar_object_tracker/package.xml
index c3c4b33946b56..cec028af53672 100644
--- a/perception/radar_object_tracker/package.xml
+++ b/perception/radar_object_tracker/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>
diff --git a/perception/traffic_light_classifier/package.xml b/perception/traffic_light_classifier/package.xml
index 9e460e8ad1a1d..857a5a4904819 100644
--- a/perception/traffic_light_classifier/package.xml
+++ b/perception/traffic_light_classifier/package.xml
@@ -14,6 +14,7 @@
 
   <build_depend>autoware_cmake</build_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>cuda_utils</depend>
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>
diff --git a/perception/traffic_light_map_based_detector/include/traffic_light_map_based_detector/node.hpp b/perception/traffic_light_map_based_detector/include/traffic_light_map_based_detector/node.hpp
index e6e60cd97272b..05b47723d6a0c 100644
--- a/perception/traffic_light_map_based_detector/include/traffic_light_map_based_detector/node.hpp
+++ b/perception/traffic_light_map_based_detector/include/traffic_light_map_based_detector/node.hpp
@@ -25,7 +25,12 @@
 #include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
-#include <image_geometry/pinhole_camera_model.h>
+#if __has_include(<image_geometry/pinhole_camera_model.hpp>)
+#include <image_geometry/pinhole_camera_model.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <image_geometry/pinhole_camera_model.h>  // for ROS 2 Humble or older
+#endif
+
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_routing/RoutingGraph.h>
 #include <lanelet2_traffic_rules/TrafficRulesFactory.h>
diff --git a/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp b/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp
index 638e2797f0a6e..3cd270adf9383 100644
--- a/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp
+++ b/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp
@@ -27,7 +27,12 @@
 #include <tier4_perception_msgs/msg/traffic_light_array.hpp>
 #include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
 
-#include <image_geometry/pinhole_camera_model.h>
+#if __has_include(<image_geometry/pinhole_camera_model.hpp>)
+#include <image_geometry/pinhole_camera_model.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <image_geometry/pinhole_camera_model.h>  // for ROS 2 Humble or older
+#endif
+
 #include <message_filters/subscriber.h>
 #include <message_filters/synchronizer.h>
 #include <message_filters/time_synchronizer.h>
diff --git a/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/occlusion_predictor.hpp b/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/occlusion_predictor.hpp
index c14a5d56dc5d4..066f438a9544f 100644
--- a/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/occlusion_predictor.hpp
+++ b/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/occlusion_predictor.hpp
@@ -24,7 +24,12 @@
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
 
-#include <image_geometry/pinhole_camera_model.h>
+#if __has_include(<image_geometry/pinhole_camera_model.hpp>)
+#include <image_geometry/pinhole_camera_model.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <image_geometry/pinhole_camera_model.h>  // for ROS 2 Humble or older
+#endif
+
 #include <lanelet2_core/Forward.h>
 #include <pcl/common/transforms.h>
 #include <pcl/point_cloud.h>
diff --git a/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp b/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp
index a4d916d968071..f89b8efa35892 100644
--- a/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp
+++ b/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp
@@ -23,7 +23,11 @@
 #include <tier4_perception_msgs/msg/traffic_light_array.hpp>
 #include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
 
-#include <cv_bridge/cv_bridge.h>
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>  // for ROS 2 Jazzy or newer
+#else
+#include <cv_bridge/cv_bridge.h>  // for ROS 2 Humble or older
+#endif
 #include <message_filters/subscriber.h>
 #include <message_filters/sync_policies/approximate_time.h>
 #include <message_filters/synchronizer.h>
diff --git a/planning/autoware_freespace_planner/package.xml b/planning/autoware_freespace_planner/package.xml
index ebc8d9df654f7..5df9147e8b4e8 100644
--- a/planning/autoware_freespace_planner/package.xml
+++ b/planning/autoware_freespace_planner/package.xml
@@ -15,6 +15,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_freespace_planning_algorithms</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml
index 6055327a906e1..8b19eb65a7258 100644
--- a/planning/autoware_obstacle_cruise_planner/package.xml
+++ b/planning/autoware_obstacle_cruise_planner/package.xml
@@ -17,6 +17,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
diff --git a/planning/autoware_path_optimizer/package.xml b/planning/autoware_path_optimizer/package.xml
index 0830d534c7cb0..011e903c90aa9 100644
--- a/planning/autoware_path_optimizer/package.xml
+++ b/planning/autoware_path_optimizer/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
diff --git a/planning/autoware_path_smoother/package.xml b/planning/autoware_path_smoother/package.xml
index 6cecef433fc3e..d57db4ac8d76a 100644
--- a/planning/autoware_path_smoother/package.xml
+++ b/planning/autoware_path_smoother/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
diff --git a/planning/autoware_planning_validator/package.xml b/planning/autoware_planning_validator/package.xml
index f19caabaeb3ff..f6c81f9c7db0c 100644
--- a/planning/autoware_planning_validator/package.xml
+++ b/planning/autoware_planning_validator/package.xml
@@ -15,6 +15,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <build_depend>rosidl_default_generators</build_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
diff --git a/planning/autoware_scenario_selector/package.xml b/planning/autoware_scenario_selector/package.xml
index 4a3c0c5c99eaf..a3f85cecfa748 100644
--- a/planning/autoware_scenario_selector/package.xml
+++ b/planning/autoware_scenario_selector/package.xml
@@ -16,6 +16,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml
index 1362f04e720e3..1527074c2c5f6 100644
--- a/planning/autoware_static_centerline_generator/package.xml
+++ b/planning/autoware_static_centerline_generator/package.xml
@@ -29,6 +29,7 @@
   <depend>geography_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>global_parameter_loader</depend>
+  <depend>grid_map_ros</depend>
   <depend>interpolation</depend>
   <depend>lanelet2_extension</depend>
   <depend>map_loader</depend>
diff --git a/planning/autoware_velocity_smoother/package.xml b/planning/autoware_velocity_smoother/package.xml
index 997f7b16e5652..a0fc4098de620 100644
--- a/planning/autoware_velocity_smoother/package.xml
+++ b/planning/autoware_velocity_smoother/package.xml
@@ -20,6 +20,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml
index e9a4ba5094310..3414cf8169508 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml
@@ -18,6 +18,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_behavior_path_lane_change_module</depend>
   <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml
index 6dd430ce35f44..8b311195f1011 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml
@@ -16,6 +16,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_motion_utils</depend>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml
index 41db5ade58a74..5e4aadfe76c19 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml
@@ -18,6 +18,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_behavior_path_lane_change_module</depend>
   <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml
index 74d11dbcb1e13..f7d3a9eb6f2ac 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml
@@ -20,6 +20,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_motion_utils</depend>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml
index a4eeba6051b61..8a1748f2fead1 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml
@@ -36,6 +36,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_freespace_planning_algorithms</depend>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml
index 96b305a63a454..1815c7064accb 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml
@@ -18,6 +18,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_motion_utils</depend>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
index ea6d405f80f41..48b14ca528b72 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
@@ -21,6 +21,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_motion_utils</depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
index 24d11eb9d08d5..bb7fab517ab24 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
@@ -34,6 +34,7 @@
 
   <build_depend>rosidl_default_generators</build_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_motion_utils</depend>
@@ -45,6 +46,7 @@
   <depend>diagnostic_msgs</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
+  <depend>grid_map_ros</depend>
   <depend>lanelet2_extension</depend>
   <depend>libboost-dev</depend>
   <depend>pcl_conversions</depend>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml
index c42c7efb81577..4117188ba8a45 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml
@@ -11,6 +11,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_grid_map_utils</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_motion_velocity_planner_common</depend>
diff --git a/planning/obstacle_stop_planner/package.xml b/planning/obstacle_stop_planner/package.xml
index 5aca5efb36384..64c842dc86146 100644
--- a/planning/obstacle_stop_planner/package.xml
+++ b/planning/obstacle_stop_planner/package.xml
@@ -20,6 +20,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
diff --git a/system/diagnostic_graph_aggregator/package.xml b/system/diagnostic_graph_aggregator/package.xml
index a89196f25a78d..2289560903eb2 100644
--- a/system/diagnostic_graph_aggregator/package.xml
+++ b/system/diagnostic_graph_aggregator/package.xml
@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>diagnostic_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml
index 973af0dc112fb..ab0130ac2cee3 100644
--- a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml
@@ -18,6 +18,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>