diff --git a/CMakeLists.txt b/CMakeLists.txt
index 005b8cd..173b94f 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,17 +3,17 @@ project(point_lio)
 
 SET(CMAKE_BUILD_TYPE "Debug")
 
-ADD_COMPILE_OPTIONS(-std=c++14 )
-ADD_COMPILE_OPTIONS(-std=c++14 )
-set( CMAKE_CXX_FLAGS "-std=c++14 -O3" ) 
+ADD_COMPILE_OPTIONS(-std=c++17 )
+ADD_COMPILE_OPTIONS(-std=c++17 )
+set( CMAKE_CXX_FLAGS "-std=c++17 -O3" ) 
 
 add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")
 
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions" )
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -std=c++0x -std=c++14 -fexceptions")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -pthread -std=c++0x -std=c++17 -fexceptions")
 
 #add_compile_definitions(BOOST_BIND_GLOBAL_PLACEHOLDERS)
 
diff --git a/include/IKFoM/IKFoM_toolkit/esekfom/esekfom.hpp b/include/IKFoM/IKFoM_toolkit/esekfom/esekfom.hpp
index 75e2f02..2ec4363 100755
--- a/include/IKFoM/IKFoM_toolkit/esekfom/esekfom.hpp
+++ b/include/IKFoM/IKFoM_toolkit/esekfom/esekfom.hpp
@@ -38,8 +38,7 @@
 
 #include <vector>
 #include <cstdlib>
-
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 #include <Eigen/Dense>
@@ -57,6 +56,7 @@
 namespace esekfom {
 
 using namespace Eigen;
+using namespace boost::placeholders;
 
 template<typename T>
 struct dyn_share_modified
diff --git a/src/IMU_Processing.cpp b/src/IMU_Processing.cpp
index dcfef1a..7131b73 100755
--- a/src/IMU_Processing.cpp
+++ b/src/IMU_Processing.cpp
@@ -1,4 +1,5 @@
 #include "IMU_Processing.h"
+#include "parameters.h"
 
 const bool time_list(PointType &x, PointType &y) {return (x.curvature < y.curvature);};
 
@@ -116,7 +117,7 @@ void ImuProcess::Process(const MeasureGroup &meas, PointCloudXYZI::Ptr cur_pcl_u
 
         if (init_iter_num > MAX_INI_COUNT)
         {
-          ROS_INFO("IMU Initializing: %.1f %%", 100.0);
+          RCLCPP_WARN(logger, "IMU Initializing: %.1f %%", 100.0);
           imu_need_init_ = false;
           *cur_pcl_un_ = *(meas.lidar);
         }
diff --git a/src/IMU_Processing.h b/src/IMU_Processing.h
index 280c774..5e62737 100755
--- a/src/IMU_Processing.h
+++ b/src/IMU_Processing.h
@@ -10,6 +10,8 @@
 #include <Eigen/Eigen>
 // #include "Estimator.h"
 #include <common_lib.h>
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/logging.hpp>
 #include <pcl/common/io.h>
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
diff --git a/src/laserMapping.cpp b/src/laserMapping.cpp
index fc02e26..dda3596 100755
--- a/src/laserMapping.cpp
+++ b/src/laserMapping.cpp
@@ -46,6 +46,8 @@ nav_msgs::msg::Path path;
 nav_msgs::msg::Odometry odomAftMapped;
 geometry_msgs::msg::PoseStamped msg_body_pose;
 
+rclcpp::Logger logger = rclcpp::get_logger("laserMapping");
+
 void SigHandle(int sig)
 {
     flg_exit = true;
@@ -268,7 +270,7 @@ void set_posestamp(T & out)
     }
 }
 
-void publish_odometry(const rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr & pubOdomAftMapped)
+void publish_odometry(const rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr & pubOdomAftMapped,  const std::shared_ptr<tf2_ros::TransformBroadcaster> &tf_br)
 {
     odomAftMapped.header.frame_id = "camera_init";
     odomAftMapped.child_frame_id = "body";
@@ -384,12 +386,11 @@ int main(int argc, char** argv)
     rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pubLaserCloudMap = nh->create_publisher<sensor_msgs::msg::PointCloud2>("/Laser_map", 1000);
     rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr pubOdomAftMapped = nh->create_publisher<nav_msgs::msg::Odometry>("/aft_mapped_to_init", 1000);
     rclcpp::Publisher<nav_msgs::msg::Path>::SharedPtr pubPath = nh->create_publisher<nav_msgs::msg::Path>("/path", 1000);
-            ("/path", 1000);
     rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr plane_pub = nh->create_publisher<visualization_msgs::msg::Marker>("/planner_normal", 1000);
-    tf2_ros::TransformBroadcaster::SharedPtr tf_broadcaster = std::make_shared<tf2_ros::TransformBroadcaster>(nh);
+    std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster = std::make_shared<tf2_ros::TransformBroadcaster>(nh);
 //------------------------------------------------------------------------------------------------------
     signal(SIGINT, SigHandle);
-    rclcpp::Rate loop_rate(500);
+    rclcpp::Rate rate(500);
 
     while (rclcpp::ok())
     {
@@ -1055,8 +1056,7 @@ int main(int argc, char** argv)
                 dump_lio_state_to_log(fp);
             }
         }
-        status = ros::ok();
-        loop_rate.sleep();
+        rate.sleep();
     }
     //--------------------------save map-----------------------------------
     /* 1. make sure you have enough memories
diff --git a/src/li_initialization.cpp b/src/li_initialization.cpp
index 187dc2c..2f9ba8a 100755
--- a/src/li_initialization.cpp
+++ b/src/li_initialization.cpp
@@ -189,9 +189,10 @@ void imu_cbk(const sensor_msgs::msg::Imu::ConstSharedPtr &msg_in)
     // publish_count ++;
     sensor_msgs::msg::Imu::SharedPtr msg(new sensor_msgs::msg::Imu(*msg_in));
 
+    double timestamp = get_time_sec(msg->header.stamp);
+
     msg->header.stamp = get_ros_time(timestamp - timediff_imu_wrt_lidar - time_lag_IMU_wtr_lidar);
 
-    double timestamp = get_time_sec(msg->header.stamp);
     // printf("time_diff%f, %f, %f\n", last_timestamp_imu - timestamp, last_timestamp_imu, timestamp);
 
     if (timestamp < last_timestamp_imu)
@@ -309,7 +310,7 @@ bool sync_packages(MeasureGroup &meas)
         /*** push imu data, and pop from imu buffer ***/
         if (p_imu->imu_need_init_)
         {
-            double imu_time = imu_deque.front()->header.stamp.toSec();
+            double imu_time = get_time_sec(imu_deque.front()->header.stamp);
             imu_next = *(imu_deque.front());
             meas.imu.shrink_to_fit();
             while (imu_time < lidar_end_time)
@@ -318,7 +319,7 @@ bool sync_packages(MeasureGroup &meas)
                 imu_last = imu_next;
                 imu_deque.pop_front();
                 if(imu_deque.empty()) break;
-                imu_time = imu_deque.front()->header.stamp.toSec(); // can be changed
+                imu_time = get_time_sec(imu_deque.front()->header.stamp);
                 imu_next = *(imu_deque.front());
             }
         }
@@ -330,7 +331,7 @@ bool sync_packages(MeasureGroup &meas)
         /*** push imu data, and pop from imu buffer ***/
         if (p_imu->imu_need_init_)
         {
-            double imu_time = imu_deque.front()->header.stamp.toSec();
+            double imu_time = get_time_sec(imu_deque.front()->header.stamp);
             meas.imu.shrink_to_fit();
 
             imu_next = *(imu_deque.front());
@@ -340,7 +341,7 @@ bool sync_packages(MeasureGroup &meas)
                 imu_last = imu_next;
                 imu_deque.pop_front();
                 if(imu_deque.empty()) break;
-                imu_time = imu_deque.front()->header.stamp.toSec(); // can be changed
+                imu_time = get_time_sec(imu_deque.front()->header.stamp);
                 imu_next = *(imu_deque.front());
             }
         }
diff --git a/src/parameters.h b/src/parameters.h
index 2f400a1..604e6a9 100755
--- a/src/parameters.h
+++ b/src/parameters.h
@@ -75,6 +75,8 @@ extern double time_update_last, time_current, time_predict_last_const, t_last;
 
 extern MeasureGroup Measures;
 
+extern rclcpp::Logger logger;
+
 extern ofstream fout_out, fout_imu_pbp;
 void readParameters(rclcpp::Node::SharedPtr &nh);
 void open_file();
diff --git a/src/preprocess.cpp b/src/preprocess.cpp
index a8c9715..5f59539 100755
--- a/src/preprocess.cpp
+++ b/src/preprocess.cpp
@@ -1,3 +1,4 @@
+#include "common_lib.h"
 #include "preprocess.h"
 
 #define RETURN0     0x00
@@ -44,13 +45,13 @@ void Preprocess::set(bool feat_en, int lid_type, double bld, int pfilt_num)
   point_filter_num = pfilt_num;
 }
 
-void Preprocess::process(const livox_ros_driver::CustomMsg::ConstPtr &msg, PointCloudXYZI::Ptr &pcl_out)
+void Preprocess::process(const livox_ros_driver2::msg::CustomMsg::ConstSharedPtr &msg, PointCloudXYZI::Ptr &pcl_out)
 {  
   avia_handler(msg);
   *pcl_out = pl_surf;
 }
 
-void Preprocess::process(const sensor_msgs::PointCloud2::ConstPtr &msg, PointCloudXYZI::Ptr &pcl_out)
+void Preprocess::process(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg, PointCloudXYZI::Ptr &pcl_out)
 {
   switch (time_unit)
   {
@@ -93,7 +94,7 @@ void Preprocess::process(const sensor_msgs::PointCloud2::ConstPtr &msg, PointClo
 }
 
 void Preprocess::process_cut_frame_livox(const livox_ros_driver2::msg::CustomMsg::ConstSharedPtr &msg,
-                                         deque<PointCloudXYZI::Ptr> &pcl_out, deque<double> &time_lidar,
+                                         std::deque<PointCloudXYZI::Ptr> &pcl_out, std::deque<double> &time_lidar,
                                          const int required_frame_num, int scan_count) {
     int plsize = msg->point_num;
     pl_surf.clear();
@@ -141,7 +142,7 @@ void Preprocess::process_cut_frame_livox(const livox_ros_driver2::msg::CustomMsg
     for (uint i = 1; i < valid_pcl_size; i++) {
         valid_num++;
         //Compute new opffset time of each point：ms
-        pl_surf[i].curvature += msg->header.stamp.toSec() * 1000 - last_frame_end_time;
+        pl_surf[i].curvature += get_time_sec(msg->header.stamp) * 1000 - last_frame_end_time;
         pcl_cut.push_back(pl_surf[i]);
         if (valid_num == (int((cut_num + 1) * valid_pcl_size / required_cut_num) - 1)) {
             cut_num++;
@@ -158,8 +159,8 @@ void Preprocess::process_cut_frame_livox(const livox_ros_driver2::msg::CustomMsg
 }
 #define MAX_LINE_NUM 128
 void
-Preprocess::process_cut_frame_pcl2(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg, deque<PointCloudXYZI::Ptr> &pcl_out,
-                                   deque<double> &time_lidar, const int required_frame_num, int scan_count) {
+Preprocess::process_cut_frame_pcl2(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg, std::deque<PointCloudXYZI::Ptr> &pcl_out,
+                                   std::deque<double> &time_lidar, const int required_frame_num, int scan_count) {
     pl_surf.clear();
     pl_corn.clear();
     pl_full.clear();
@@ -371,7 +372,7 @@ void Preprocess::oust64_handler(const sensor_msgs::msg::PointCloud2::ConstShared
   pl_surf.reserve(plsize);
   
   
-  double time_stamp = msg->header.stamp.toSec();
+  double time_stamp = get_time_sec(msg->header.stamp);
   // cout << "===================================" << endl;
   // printf("Pt size = %d, N_SCANS = %d\r\n", plsize, N_SCANS);
   for (int i = 0; i < pl_orig.points.size(); i++)
@@ -872,10 +873,10 @@ void Preprocess::give_feature(pcl::PointCloud<PointType> &pl, vector<orgtype> &t
   }
 }
 
-void Preprocess::pub_func(PointCloudXYZI &pl, const ros::Time &ct)
+void Preprocess::pub_func(PointCloudXYZI &pl, const rclcpp::Time &ct)
 {
   pl.height = 1; pl.width = pl.size();
-  sensor_msgs::PointCloud2 output;
+  sensor_msgs::msg::PointCloud2 output;
   pcl::toROSMsg(pl, output);
   output.header.frame_id = "livox";
   output.header.stamp = ct;
diff --git a/src/preprocess.h b/src/preprocess.h
index f6fdce3..76feaee 100755
--- a/src/preprocess.h
+++ b/src/preprocess.h
@@ -1,8 +1,15 @@
+#pragma once
+
+#include <common_lib.h>
 #include <rclcpp/rclcpp.hpp>
 #include <pcl_conversions/pcl_conversions.h>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <livox_ros_driver2/msg/custom_msg.hpp>
 
+#include <cmath>
+#include <deque>
+#include <vector>
+
 using namespace std;
 
 #define IS_VALID(a)  ((abs(a)>1e8) ? true : false)
@@ -107,9 +114,9 @@ class Preprocess
   Preprocess();
   ~Preprocess();
   
-  void process_cut_frame_livox(const livox_ros_driver2::msg::CustomMsg::ConstSharedPtr &msg, deque<PointCloudXYZI::Ptr> &pcl_out, deque<double> &time_lidar, const int required_frame_num, int scan_count);
+  void process_cut_frame_livox(const livox_ros_driver2::msg::CustomMsg::ConstSharedPtr &msg, std::deque<PointCloudXYZI::Ptr> &pcl_out, std::deque<double> &time_lidar, const int required_frame_num, int scan_count);
   
-  void process_cut_frame_pcl2(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg, deque<PointCloudXYZI::Ptr> &pcl_out, deque<double> &time_lidar, const int required_frame_num, int scan_count);
+  void process_cut_frame_pcl2(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg, std::deque<PointCloudXYZI::Ptr> &pcl_out, std::deque<double> &time_lidar, const int required_frame_num, int scan_count);
  
   void process(const livox_ros_driver2::msg::CustomMsg::ConstSharedPtr &msg, PointCloudXYZI::Ptr &pcl_out);
   void process(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg, PointCloudXYZI::Ptr &pcl_out);
@@ -123,7 +130,7 @@ class Preprocess
   int lidar_type, point_filter_num, N_SCANS, SCAN_RATE, time_unit;
   double blind, det_range;
   bool given_offset_time;
-  ros::Publisher pub_full, pub_surf, pub_corn;
+  // ros::Publisher pub_full, pub_surf, pub_corn;
     
 
   private:
@@ -132,7 +139,7 @@ class Preprocess
   void velodyne_handler(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg);
   void hesai_handler(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg);
   void give_feature(PointCloudXYZI &pl, vector<orgtype> &types);
-  void pub_func(PointCloudXYZI &pl, const ros::Time &ct);
+  void pub_func(PointCloudXYZI &pl, const rclcpp::Time &ct);
   int  plane_judge(const PointCloudXYZI &pl, vector<orgtype> &types, uint i, uint &i_nex, Eigen::Vector3d &curr_direct);
   bool small_plane(const PointCloudXYZI &pl, vector<orgtype> &types, uint i_cur, uint &i_nex, Eigen::Vector3d &curr_direct);
   bool edge_jump_judge(const PointCloudXYZI &pl, vector<orgtype> &types, uint i, Surround nor_dir);