diff --git a/point_cloud_transport/CMakeLists.txt b/point_cloud_transport/CMakeLists.txt
index f2444bf..415c236 100644
--- a/point_cloud_transport/CMakeLists.txt
+++ b/point_cloud_transport/CMakeLists.txt
@@ -18,8 +18,9 @@ find_package(message_filters REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
-find_package(sensor_msgs REQUIRED)
 find_package(rcpputils REQUIRED)
+find_package(rmw REQUIRED)
+find_package(sensor_msgs REQUIRED)
 
 # Build libpoint_cloud_transport
 add_library(${PROJECT_NAME}
@@ -40,12 +41,12 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 target_link_libraries(${PROJECT_NAME} PUBLIC
   message_filters::message_filters
+  pluginlib::pluginlib
   rclcpp::rclcpp
+  rcpputils::rcpputils
+  rmw::rmw
   ${sensor_msgs_TARGETS}
-  rcpputils::rcpputils)
-target_link_libraries(${PROJECT_NAME} PRIVATE
-  pluginlib::pluginlib)
-
+)
 target_compile_definitions(${PROJECT_NAME} PRIVATE "POINT_CLOUD_TRANSPORT_BUILDING_DLL")
 
 # Build libpoint_cloud_transport_plugins
@@ -53,10 +54,11 @@ add_library(${PROJECT_NAME}_plugins
   src/manifest.cpp
 )
 add_library(${PROJECT_NAME}::${PROJECT_NAME}_plugins ALIAS ${PROJECT_NAME}_plugins)
-
 target_link_libraries(${PROJECT_NAME}_plugins PRIVATE
   ${PROJECT_NAME}
-  pluginlib::pluginlib)
+  pluginlib::pluginlib
+  ${sensor_msgs_TARGETS}
+)
 
 add_library(pc_republish_node SHARED src/republish.cpp)
 target_link_libraries(pc_republish_node PRIVATE
@@ -106,7 +108,7 @@ ament_export_include_directories("include/${PROJECT_NAME}")
 
 ament_export_targets(export_${PROJECT_NAME})
 
-ament_export_dependencies(message_filters rclcpp sensor_msgs pluginlib rcpputils)
+ament_export_dependencies(message_filters rclcpp sensor_msgs pluginlib rcpputils rmw)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -121,67 +123,43 @@ if(BUILD_TESTING)
 
   ament_add_gtest(${PROJECT_NAME}-publisher test/test_publisher.cpp)
   if(TARGET ${PROJECT_NAME}-publisher)
-    target_link_libraries(${PROJECT_NAME}-publisher ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-publisher
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-publisher ${PROJECT_NAME} rclcpp::rclcpp)
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-codec test/test_point_cloud_codec.cpp)
   if(TARGET ${PROJECT_NAME}-codec)
-    target_link_libraries(${PROJECT_NAME}-codec ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-codec
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-codec ${PROJECT_NAME} rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-subscriber test/test_subscriber.cpp)
   if(TARGET ${PROJECT_NAME}-subscriber)
-    target_link_libraries(${PROJECT_NAME}-subscriber ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-subscriber
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-subscriber ${PROJECT_NAME} rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-message_passing test/test_message_passing.cpp)
   if(TARGET ${PROJECT_NAME}-message_passing)
-    target_link_libraries(${PROJECT_NAME}-message_passing ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-message_passing
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-message_passing ${PROJECT_NAME} rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-qos_override test/test_qos_override.cpp)
   if(TARGET ${PROJECT_NAME}-qos_override)
-    target_link_libraries(${PROJECT_NAME}-qos_override ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-qos_override
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-qos_override ${PROJECT_NAME} rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-remapping test/test_remapping.cpp)
   if(TARGET ${PROJECT_NAME}-remapping)
-    target_link_libraries(${PROJECT_NAME}-remapping ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-remapping
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-remapping ${PROJECT_NAME} rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-message-filter test/test_message_filter.cpp)
   if(TARGET ${PROJECT_NAME}-message-filter)
-    target_link_libraries(${PROJECT_NAME}-message-filter ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-message-filter
-      message_filters
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-message-filter
+      ${PROJECT_NAME} message_filters::message_filters rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-single_subscriber_publisher test/test_single_subscriber_publisher.cpp)
   if(TARGET ${PROJECT_NAME}-single_subscriber_publisher)
-    target_link_libraries(${PROJECT_NAME}-single_subscriber_publisher ${PROJECT_NAME})
-    ament_target_dependencies(${PROJECT_NAME}-single_subscriber_publisher
-      pluginlib
-    )
+    target_link_libraries(${PROJECT_NAME}-single_subscriber_publisher ${PROJECT_NAME} rclcpp::rclcpp ${sensor_msgs_TARGETS})
   endif()
 endif()
 
diff --git a/point_cloud_transport/include/point_cloud_transport/loader_fwds.hpp b/point_cloud_transport/include/point_cloud_transport/loader_fwds.hpp
index b84f536..1e33460 100644
--- a/point_cloud_transport/include/point_cloud_transport/loader_fwds.hpp
+++ b/point_cloud_transport/include/point_cloud_transport/loader_fwds.hpp
@@ -32,18 +32,9 @@
 #ifndef POINT_CLOUD_TRANSPORT__LOADER_FWDS_HPP_
 #define POINT_CLOUD_TRANSPORT__LOADER_FWDS_HPP_
 
-
 #include <memory>
 
-
-// Forward-declare some classes most users shouldn't care about so that
-// point_cloud_transport.hpp doesn't bring them in.
-
-namespace pluginlib
-{
-template<class T>
-class ClassLoader;
-}  // namespace pluginlib
+#include "pluginlib/class_loader.hpp"
 
 namespace point_cloud_transport
 {
@@ -56,4 +47,5 @@ typedef std::shared_ptr<PubLoader> PubLoaderPtr;
 typedef pluginlib::ClassLoader<SubscriberPlugin> SubLoader;
 typedef std::shared_ptr<SubLoader> SubLoaderPtr;
 }  // namespace point_cloud_transport
+
 #endif  // POINT_CLOUD_TRANSPORT__LOADER_FWDS_HPP_
diff --git a/point_cloud_transport/include/point_cloud_transport/publisher.hpp b/point_cloud_transport/include/point_cloud_transport/publisher.hpp
index 5eeb2e1..af04d13 100644
--- a/point_cloud_transport/include/point_cloud_transport/publisher.hpp
+++ b/point_cloud_transport/include/point_cloud_transport/publisher.hpp
@@ -32,8 +32,8 @@
 #ifndef POINT_CLOUD_TRANSPORT__PUBLISHER_HPP_
 #define POINT_CLOUD_TRANSPORT__PUBLISHER_HPP_
 
-#include <string>
 #include <memory>
+#include <string>
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
diff --git a/point_cloud_transport/include/point_cloud_transport/republish.hpp b/point_cloud_transport/include/point_cloud_transport/republish.hpp
deleted file mode 100644
index 91b6bd6..0000000
--- a/point_cloud_transport/include/point_cloud_transport/republish.hpp
+++ /dev/null
@@ -1,66 +0,0 @@
-// Copyright (c) 2023, Czech Technical University in Prague
-// Copyright (c) 2019, paplhjak
-// Copyright (c) 2009, Willow Garage, Inc.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-//    * Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer.
-//
-//    * Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in the
-//      documentation and/or other materials provided with the distribution.
-//
-//    * Neither the name of the copyright holder nor the names of its
-//      contributors may be used to endorse or promote products derived from
-//      this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-//
-
-#ifndef POINT_CLOUD_TRANSPORT__REPUBLISH_HPP_
-#define POINT_CLOUD_TRANSPORT__REPUBLISH_HPP_
-
-#include <memory>
-
-#include "point_cloud_transport/visibility_control.hpp"
-
-#include <point_cloud_transport/point_cloud_transport.hpp>
-
-#include <rclcpp/node.hpp>
-
-namespace point_cloud_transport
-{
-
-class Republisher : public rclcpp::Node
-{
-public:
-  //! Constructor
-  POINT_CLOUD_TRANSPORT_PUBLIC
-  explicit Republisher(const rclcpp::NodeOptions & options);
-
-private:
-  POINT_CLOUD_TRANSPORT_PUBLIC
-  void initialize();
-
-  std::shared_ptr<point_cloud_transport::PointCloudTransport> pct;
-  rclcpp::TimerBase::SharedPtr timer_;
-  bool initialized_{false};
-  point_cloud_transport::Subscriber sub;
-  std::shared_ptr<point_cloud_transport::PublisherPlugin> pub;
-  std::shared_ptr<point_cloud_transport::Publisher> simple_pub;
-};
-
-}  // namespace point_cloud_transport
-#endif  // POINT_CLOUD_TRANSPORT__REPUBLISH_HPP_
diff --git a/point_cloud_transport/package.xml b/point_cloud_transport/package.xml
index a99fbec..8a9894f 100644
--- a/point_cloud_transport/package.xml
+++ b/point_cloud_transport/package.xml
@@ -24,6 +24,7 @@
   <depend>rclcpp_components</depend>
   <depend>rclcpp</depend>
   <depend>rcpputils</depend>
+  <depend>rmw</depend>
   <depend>sensor_msgs</depend>
 
   <test_depend>ament_lint_common</test_depend>
diff --git a/point_cloud_transport/src/republish.cpp b/point_cloud_transport/src/republish.cpp
index a452d04..01f1c88 100644
--- a/point_cloud_transport/src/republish.cpp
+++ b/point_cloud_transport/src/republish.cpp
@@ -42,13 +42,29 @@
 #include "point_cloud_transport/point_cloud_transport.hpp"
 #include "point_cloud_transport/publisher.hpp"
 #include "point_cloud_transport/publisher_plugin.hpp"
-#include "point_cloud_transport/republish.hpp"
 #include "point_cloud_transport/subscriber.hpp"
 
 using namespace std::chrono_literals;
 
 namespace point_cloud_transport
 {
+class Republisher : public rclcpp::Node
+{
+public:
+  //! Constructor
+  explicit Republisher(const rclcpp::NodeOptions & options);
+
+private:
+  void initialize();
+
+  std::shared_ptr<point_cloud_transport::PointCloudTransport> pct;
+  rclcpp::TimerBase::SharedPtr timer_;
+  bool initialized_{false};
+  point_cloud_transport::Subscriber sub;
+  std::shared_ptr<point_cloud_transport::PublisherPlugin> pub;
+  std::shared_ptr<point_cloud_transport::Publisher> simple_pub;
+};
+
 Republisher::Republisher(const rclcpp::NodeOptions & options)
 : Node("point_cloud_republisher", options)
 {
diff --git a/point_cloud_transport/test/test_subscriber.cpp b/point_cloud_transport/test/test_subscriber.cpp
index d1bcb1e..429cc3f 100644
--- a/point_cloud_transport/test/test_subscriber.cpp
+++ b/point_cloud_transport/test/test_subscriber.cpp
@@ -33,6 +33,8 @@
 
 #include <rclcpp/rclcpp.hpp>
 
+#include <sensor_msgs/msg/point_cloud2.hpp>
+
 #include "point_cloud_transport/point_cloud_transport.hpp"
 
 class TestSubscriber : public ::testing::Test