diff --git a/.gitignore b/.gitignore
index 35d74bb..ed9549c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,34 +1,41 @@
-devel/
+#
+# Copyright (c) 2020 LG Electronics Inc.
+#
+# SPDX-License-Identifier: MIT
+#
+
 logs/
 build/
-bin/
-lib/
-msg_gen/
-srv_gen/
-msg/*Action.msg
-msg/*ActionFeedback.msg
-msg/*ActionGoal.msg
-msg/*ActionResult.msg
-msg/*Feedback.msg
-msg/*Goal.msg
-msg/*Result.msg
-msg/_*.py
-build_isolated/
-devel_isolated/
-
-# Generated by dynamic reconfigure
-*.cfgc
-/cfg/cpp/
-/cfg/*.py
-
-# Ignore generated docs
-*.dox
-*.wikidoc
+install/
+tags
+
+# vscide stuff
+.vscode
+*.code-workspace
 
 # eclipse stuff
 .project
 .cproject
 
+# Swap
+[._]*.s[a-v][a-z]
+!*.svg  # comment out if you don't need vector files
+[._]*.sw[a-p]
+[._]s[a-rt-v][a-z]
+[._]ss[a-gi-z]
+[._]sw[a-p]
+
+# Session
+Session.vim
+Sessionx.vim
+
+# Temporary
+.netrwhist
+*~
+
+# Emacs
+.#*
+
 # qcreator stuff
 CMakeLists.txt.user
 
@@ -38,14 +45,11 @@ srv/_*.py
 qtcreator-*
 *.user
 
-/planning/cfg
-/planning/docs
-/planning/src
-
-*~
+# Auto-generated tag files
+tags
 
-# Emacs
-.#*
+# Persistent undo
+[._]*.un~
 
-# Catkin custom files
-CATKIN_IGNORE
+# COLCON custom files
+COLCON_IGNORE
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..a54b330
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,51 @@
+###############################################################################
+# Set minimum required version of cmake, project name and compile options
+################################################################################
+cmake_minimum_required(VERSION 3.5)
+project(realsense_adaptor)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -O2)
+endif()
+
+################################################################################
+# Find colcon packages and libraries for colcon and system dependencies
+################################################################################
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(message_filters REQUIRED)
+find_package(realsense_adaptor_msgs REQUIRED)
+
+
+################################################################################
+# Build
+################################################################################
+include_directories(include)
+
+add_executable(${PROJECT_NAME}
+  src/realsense_adaptor.cpp
+  src/main.cpp)
+
+ament_target_dependencies(${PROJECT_NAME}
+  rclcpp
+  sensor_msgs
+  realsense_adaptor_msgs
+  message_filters)
+
+
+################################################################################
+# Install
+################################################################################
+install(TARGETS ${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME})
+install(DIRECTORY config launch DESTINATION share/${PROJECT_NAME})
+
+################################################################################
+# Test
+################################################################################
+
+ament_package()
\ No newline at end of file
diff --git a/README.md b/README.md
index 0198161..732d29a 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,5 @@
 # realsense_adaptor
+
 synchronize the image data published from realsense node
+
+realsense_adaptor_msgs is required for this package
\ No newline at end of file
diff --git a/config/realsense_adaptor.yaml b/config/realsense_adaptor.yaml
new file mode 100644
index 0000000..2738d9f
--- /dev/null
+++ b/config/realsense_adaptor.yaml
@@ -0,0 +1,12 @@
+/**:
+  ros__parameters:
+    queue_size: 5
+
+    realsense_devices: ["realsense_front", "realsense_ground"]
+
+    realsense_color_info_topic: "color/camera_info"
+    realsense_color_topic: "color/image_raw"
+    realsense_depth_info_topic: "depth/camera_info"
+    realsense_depth_topic: "depth/image_raw"
+
+    realsense_adaptor_ouput_topic: "synced_image"
\ No newline at end of file
diff --git a/include/realsense_adaptor/realsense_adaptor.hpp b/include/realsense_adaptor/realsense_adaptor.hpp
new file mode 100644
index 0000000..65b1b09
--- /dev/null
+++ b/include/realsense_adaptor/realsense_adaptor.hpp
@@ -0,0 +1,66 @@
+/**
+ *  @file   realsense_adaptor.hpp
+ *  @date   2020-09-17
+ *  @author hyunseok Yang
+ *  @brief  ROS2 realsense adaptor utility
+ *  @remark
+ *  @warning
+ *       LGE Advanced Robotics Laboratory
+ *         Copyright(C) 2019 LG Electronics Co., LTD., Seoul, Korea
+ *         All Rights are Reserved.
+ */
+
+#ifndef _REALSENSE_ADAPTOR_H_
+#define _REALSENSE_ADAPTOR_H_
+
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/image.hpp>
+#include <sensor_msgs/msg/camera_info.hpp>
+#include <message_filters/subscriber.h>
+#include <message_filters/time_synchronizer.h>
+#include <realsense_adaptor_msgs/msg/synced_image.hpp>
+
+#include <vector>
+
+class RealsenseAdaptor : public rclcpp::Node
+{
+public:
+  explicit RealsenseAdaptor(const std::string node_name);
+  ~RealsenseAdaptor();
+
+private:
+  struct CameraSet
+  {
+    void create(rclcpp::Node::SharedPtr node, std::string infoTopic, std::string dataTopic);
+
+    rclcpp::Subscription<sensor_msgs::msg::CameraInfo>::SharedPtr infoSub;
+
+    sensor_msgs::msg::CameraInfo infoMessage;
+    message_filters::Subscriber<sensor_msgs::msg::Image> imageSub;
+  };
+
+  struct AdaptorSet
+  {
+    std::string moduleName;
+
+    CameraSet color;
+    CameraSet depth;
+
+    // TODO: To be removed(?)
+    // message_filters::Subscriber<realsense_camera_msgs::msg::DeviceInfo> deviceSub;
+
+    std::unique_ptr<message_filters::TimeSynchronizer<sensor_msgs::msg::Image, sensor_msgs::msg::Image>> sync;
+
+    realsense_adaptor_msgs::msg::SyncedImage pubMessage;
+    rclcpp::Publisher<realsense_adaptor_msgs::msg::SyncedImage>::SharedPtr pub;
+
+    void callback(sensor_msgs::msg::Image::ConstSharedPtr, sensor_msgs::msg::Image::ConstSharedPtr);
+  };
+
+  std::vector<std::shared_ptr<AdaptorSet>> adaptorSetList_;
+
+private:
+  static void SetCameraInfo2CameraIntrinsic(const sensor_msgs::msg::CameraInfo* const, realsense_adaptor_msgs::msg::CameraIntrinsic&);
+};
+
+#endif
\ No newline at end of file
diff --git a/launch/realsense_adaptor.launch.py b/launch/realsense_adaptor.launch.py
new file mode 100644
index 0000000..be01e3c
--- /dev/null
+++ b/launch/realsense_adaptor.launch.py
@@ -0,0 +1,41 @@
+#
+# LGE Advanced Robotics Laboratory
+# Copyright (c) 2020 LG Electronics Inc., LTD., Seoul, Korea
+# All Rights are Reserved.
+#
+# SPDX-License-Identifier: MIT
+#
+
+import os
+import launch.actions
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
+
+def generate_launch_description():
+
+    # Get the launch directory
+    _package_name = "realsense_adaptor"
+    config_file_path = os.path.join(get_package_share_directory(_package_name), 'config', "realsense_adaptor.yaml")
+
+    _namespace = LaunchConfiguration('robot_name')
+
+    start_node_cmd = Node(
+        package=_package_name,
+        node_executable=_package_name,
+        node_name=_package_name,
+        node_namespace=_namespace,
+        parameters=[config_file_path],
+        output='screen')
+
+    declare_launch_argument = DeclareLaunchArgument('robot_name', default_value='', description='')
+
+    # Create the launch description and populate
+    ld = launch.LaunchDescription()
+
+    ld.add_action(declare_launch_argument)
+    ld.add_action(start_node_cmd)
+
+    return ld
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..cd587a5
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>realsense_adaptor</name>
+  <version>0.1.0</version>
+  <description>synchronize time for each channel's data from realsense module</description>
+  <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>message_filters</depend>
+  <depend>realsense_adaptor_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/main.cpp b/src/main.cpp
new file mode 100644
index 0000000..1392576
--- /dev/null
+++ b/src/main.cpp
@@ -0,0 +1,24 @@
+/**
+ *  @file   main.cpp
+ *  @date   2020-09-17
+ *  @author Hyunseok Yang
+ *  @brief  ROS2 adaptor node that controls realsense data
+ *  @remark
+ *  @copyright
+ *      LGE Advanced Robotics Laboratory
+ *      Copyright (c) 2020 LG Electronics Inc., LTD., Seoul, Korea
+ *      All Rights are Reserved.
+ *
+ *      SPDX-License-Identifier: MIT
+ */
+
+#include "realsense_adaptor/realsense_adaptor.hpp"
+
+int main(int argc, char** argv)
+{
+  rclcpp::init(argc, argv);
+  auto node = std::make_shared<RealsenseAdaptor>("realsense_adaptor");
+  rclcpp::spin(node);
+  rclcpp::shutdown();
+  return 0;
+}
diff --git a/src/realsense_adaptor.cpp b/src/realsense_adaptor.cpp
new file mode 100644
index 0000000..d2dc2d4
--- /dev/null
+++ b/src/realsense_adaptor.cpp
@@ -0,0 +1,159 @@
+/**
+ *  @file   realsense_adaptor.cpp
+ *  @date   2020-09-24
+ *  @author hyunseok Yang
+ *  @brief  ROS2 realsense adaptor utility
+ *  @remark
+ *  @warning
+ *       LGE Advanced Robotics Laboratory
+ *         Copyright(C) 2019 LG Electronics Co., LTD., Seoul, Korea
+ *         All Rights are Reserved.
+ */
+
+#include "realsense_adaptor/realsense_adaptor.hpp"
+#include <math.h>
+
+using namespace std;
+using placeholders::_1;
+using placeholders::_2;
+using sensor_msgs::msg::CameraInfo;
+using sensor_msgs::msg::Image;
+using realsense_adaptor_msgs::msg::SyncedImage;
+using realsense_adaptor_msgs::msg::CameraIntrinsic;
+
+RealsenseAdaptor::RealsenseAdaptor(const string node_name)
+    : Node(node_name,
+           rclcpp::NodeOptions()
+               .allow_undeclared_parameters(true)
+               .automatically_declare_parameters_from_overrides(true))
+{
+  // RCLCPP_INFO(this->get_logger(), "name %s namespace %s", get_name(), get_namespace());
+
+  int queueSize;
+  get_parameter_or("queue_size", queueSize, int(10));
+
+  vector<string> deviceList;
+  get_parameter("realsense_devices", deviceList);
+
+  string realsense_color_info_topic, realsense_color_topic;
+  string realsense_depth_info_topic, realsense_depth_topic;
+  string adaptor_ouput_topic;
+
+  get_parameter("realsense_color_info_topic", realsense_color_info_topic);
+  get_parameter("realsense_color_topic", realsense_color_topic);
+  get_parameter("realsense_depth_info_topic", realsense_depth_info_topic);
+  get_parameter("realsense_depth_topic", realsense_depth_topic);
+  get_parameter("realsense_adaptor_ouput_topic", adaptor_ouput_topic);
+
+  RCLCPP_INFO(this->get_logger(), "realsenseList count: %d", deviceList.size());
+  RCLCPP_INFO(this->get_logger(), "queue_size: %d", queueSize);
+  RCLCPP_INFO(this->get_logger(), "realsense_color_topic (info, image): (%s, %s)", realsense_color_info_topic.c_str(), realsense_color_topic.c_str());
+  RCLCPP_INFO(this->get_logger(), "realsense_depth_topic (info, image): (%s, %s)", realsense_depth_info_topic.c_str(), realsense_depth_topic.c_str());
+  RCLCPP_INFO(this->get_logger(), "realsense_adaptor_ouput_topic: %s", adaptor_ouput_topic.c_str());
+
+  auto nodeHandle = shared_ptr<rclcpp::Node>(this, [](auto) {});
+
+  for (auto realsense : deviceList)
+  {
+    RCLCPP_INFO(this->get_logger(), "module: %s", realsense.c_str());
+
+    const auto topicPrefix = realsense + "/";
+    auto adaptor = std::make_shared<AdaptorSet>();
+
+    adaptor->moduleName = realsense;
+
+    using namespace message_filters;
+    {
+      adaptor->color.create(nodeHandle, topicPrefix + realsense_color_info_topic, topicPrefix + realsense_color_topic);
+      adaptor->depth.create(nodeHandle, topicPrefix + realsense_depth_info_topic, topicPrefix + realsense_depth_topic);
+
+      // TODO: To be removed(?)
+      // adaptor->deviceSub = make_unique<Subscriber<realsense_camera_msgs::msg::DeviceInfo>>(this, "/camera/device_info");
+
+      adaptor->sync = std::make_unique<TimeSynchronizer<Image, Image>>(adaptor->color.imageSub, adaptor->depth.imageSub, queueSize);
+      adaptor->sync->registerCallback(bind(&AdaptorSet::callback, adaptor.get(), _1, _2));
+    }
+
+    adaptor->pub = create_publisher<SyncedImage>(topicPrefix + adaptor_ouput_topic, rclcpp::SensorDataQoS());
+    // RCLCPP_INFO(this->get_logger(), "-> Create publihser: %s ", realsense.c_str());
+
+    adaptorSetList_.push_back(adaptor);
+  }
+}
+
+RealsenseAdaptor::~RealsenseAdaptor()
+{
+  for (auto adaptor : adaptorSetList_)
+  {
+    adaptor->color.imageSub.unsubscribe();
+    adaptor->depth.imageSub.unsubscribe();
+
+    adaptor->sync.release();
+  }
+}
+
+void RealsenseAdaptor::CameraSet::create(rclcpp::Node::SharedPtr node, string infoTopic, string dataTopic)
+{
+  auto depthInfoMessage = &infoMessage;
+  auto callback_depth_info = [infoMessage = depthInfoMessage](CameraInfo::ConstSharedPtr msg) -> void {
+    if (infoMessage != nullptr)
+      *infoMessage = *msg;
+  };
+
+  infoSub = node->create_subscription<CameraInfo>(infoTopic, rclcpp::QoS(1), callback_depth_info);
+  imageSub.subscribe(node, dataTopic);
+}
+
+void RealsenseAdaptor::SetCameraInfo2CameraIntrinsic(const CameraInfo* const src, CameraIntrinsic &dst)
+{
+  const auto fx = src->k[0];
+  const auto fy = src->k[4];
+  const auto hfov = 2 * atan((src->width/2) / fx);
+  const auto vfov = hfov * ((float)src->height/(float)src->width);
+
+  dst.width = src->width;
+  dst.height = src->height;
+  dst.cx = src->k[2];
+  dst.cy = src->k[5];
+  dst.fx = fx;
+  dst.fy = fy;
+  dst.hfov = hfov;
+  dst.vfov = vfov;
+  dst.baseline = -src->p[3]/fx;
+  dst.coeff[0] = src->d[0];
+  dst.coeff[1] = src->d[1];
+  dst.coeff[2] = src->d[2];
+  dst.coeff[3] = src->d[3];
+  dst.coeff[4] = src->d[4];
+  dst.depthscale = 1.0f; // ?
+}
+
+void RealsenseAdaptor::AdaptorSet::callback(
+  Image::ConstSharedPtr colorData,
+  Image::ConstSharedPtr depthData)
+{
+  auto message_time = colorData->header.stamp;
+
+  this->pubMessage.header.stamp = message_time;
+
+  RealsenseAdaptor::SetCameraInfo2CameraIntrinsic(&this->color.infoMessage, this->pubMessage.color.intrinsic);
+
+  this->pubMessage.color.data_name = "color";
+  this->pubMessage.color.channels = 3;
+  this->pubMessage.color.data_unit_size = 1;
+  this->pubMessage.color.data.assign(colorData->data.size(), 0);
+  memcpy(&this->pubMessage.color.data[0], &colorData->data[0], colorData->data.size());
+
+  RealsenseAdaptor::SetCameraInfo2CameraIntrinsic(&this->depth.infoMessage, this->pubMessage.depth.intrinsic);
+
+  this->pubMessage.depth.data_name = "depth";
+  this->pubMessage.depth.channels = 1;
+  this->pubMessage.depth.data_unit_size = 2;
+  this->pubMessage.depth.data.assign(depthData->data.size(), 0);
+  memcpy(&this->pubMessage.depth.data[0], &depthData->data[0], depthData->data.size());
+
+  // printf("[%s] callback \n", this->moduleName.c_str());
+  // printf("[%s] color width: %d height: %d\n", this->moduleName.c_str(), this->pubMessage.color.intrinsic.nwidth, this->pubMessage.color.intrinsic.nheight);
+
+  this->pub->publish(this->pubMessage);
+}
\ No newline at end of file