From be4629d6e5018c1791c85c583f5846fca6ea7336 Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Mon, 23 Feb 2026 21:08:13 -0500
Subject: [PATCH 01/23] initial port to ros2

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 CMakeLists.txt                                | 231 ++++++++++--------
 include/sensor_filters/FilterChainBase.h      | 108 ++++----
 include/sensor_filters/FilterChainNode.h      |  25 +-
 include/sensor_filters/FilterChainNodelet.h   |  58 -----
 include/sensor_filters/ImageFilterChainBase.h |  17 +-
 .../PointCloud2FilterChainBase.h              |  23 +-
 nodelets.xml                                  |  95 -------
 src/CompressedImageFilterChainNode.cc         |   7 +-
 src/CompressedImageFilterChainNodelet.cc      |   9 -
 src/ImageFilterChainBase.cc                   |  27 +-
 src/ImageFilterChainNode.cc                   |   7 +-
 src/ImageFilterChainNodelet.cc                |  10 -
 src/ImuFilterChainNode.cc                     |   7 +-
 src/ImuFilterChainNodelet.cc                  |   9 -
 src/JoyFilterChainNode.cc                     |   7 +-
 src/JoyFilterChainNodelet.cc                  |   9 -
 src/LaserScanFilterChainNode.cc               |   7 +-
 src/LaserScanFilterChainNodelet.cc            |   9 -
 src/MagneticFieldFilterChainNode.cc           |   7 +-
 src/MagneticFieldFilterChainNodelet.cc        |   9 -
 src/MultiEchoLaserScanFilterChainNode.cc      |   7 +-
 src/MultiEchoLaserScanFilterChainNodelet.cc   |   9 -
 src/NavSatFixFilterChainNode.cc               |   7 +-
 src/NavSatFixFilterChainNodelet.cc            |   9 -
 src/PointCloud2FilterChainBase.cc             |  27 +-
 src/PointCloud2FilterChainNode.cc             |   7 +-
 src/PointCloud2FilterChainNodelet.cc          |  10 -
 src/PointCloudFilterChainNode.cc              |   7 +-
 src/PointCloudFilterChainNodelet.cc           |   9 -
 src/RangeFilterChainNode.cc                   |   7 +-
 src/RangeFilterChainNodelet.cc                |   9 -
 src/RelativeHumidityFilterChainNode.cc        |   7 +-
 src/RelativeHumidityFilterChainNodelet.cc     |   9 -
 src/TemperatureFilterChainNode.cc             |   7 +-
 src/TemperatureFilterChainNodelet.cc          |   9 -
 35 files changed, 269 insertions(+), 552 deletions(-)
 delete mode 100644 include/sensor_filters/FilterChainNodelet.h
 delete mode 100644 nodelets.xml
 delete mode 100644 src/CompressedImageFilterChainNodelet.cc
 delete mode 100644 src/ImageFilterChainNodelet.cc
 delete mode 100644 src/ImuFilterChainNodelet.cc
 delete mode 100644 src/JoyFilterChainNodelet.cc
 delete mode 100644 src/LaserScanFilterChainNodelet.cc
 delete mode 100644 src/MagneticFieldFilterChainNodelet.cc
 delete mode 100644 src/MultiEchoLaserScanFilterChainNodelet.cc
 delete mode 100644 src/NavSatFixFilterChainNodelet.cc
 delete mode 100644 src/PointCloud2FilterChainNodelet.cc
 delete mode 100644 src/PointCloudFilterChainNodelet.cc
 delete mode 100644 src/RangeFilterChainNodelet.cc
 delete mode 100644 src/RelativeHumidityFilterChainNodelet.cc
 delete mode 100644 src/TemperatureFilterChainNodelet.cc

diff --git a/CMakeLists.txt b/CMakeLists.txt
index adf4200..bd34bb1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,130 +4,149 @@
 cmake_minimum_required(VERSION 3.10.2)
 project(sensor_filters)
 
+# TODO 2026-02-23 (solonovamax): clean all this up
+
 set(CMAKE_CXX_STANDARD 17)
 
-find_package(catkin REQUIRED COMPONENTS
-  filters
-  image_transport
-  nodelet
-  point_cloud_transport
-  roscpp
-  sensor_msgs
+if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif ()
+
+set(DEPENDENCIES robot_body_filter_msgs
+        backward_ros
+        filters
+        image_transport
+        point_cloud_transport
+        rclcpp
+        sensor_msgs
 )
 
-#catkin_lint: ignore missing_export_lib
-catkin_package(
-  INCLUDE_DIRS include
-  CATKIN_DEPENDS filters nodelet roscpp sensor_msgs
-)
+find_package(ament_cmake REQUIRED)
 
-include_directories(include ${catkin_INCLUDE_DIRS})
+foreach (dependency IN ITEMS ${DEPENDENCIES})
+    find_package(${dependency} REQUIRED)
+endforeach ()
+
+include_directories(include include/${PROJECT_NAME})
 
 set(types
-  CompressedImage
-  Image
-  Imu
-  Joy
-  LaserScan
-  MultiEchoLaserScan
-  MagneticField
-  NavSatFix
-  PointCloud
-  PointCloud2
-  Range
-  RelativeHumidity
-  Temperature
+        CompressedImage
+        Image
+        Imu
+        Joy
+        LaserScan
+        MultiEchoLaserScan
+        MagneticField
+        NavSatFix
+        PointCloud
+        PointCloud2
+        Range
+        RelativeHumidity
+        Temperature
 )
 
-foreach(type IN LISTS types)
-  string(TOLOWER "${type}" type_lower)
+foreach (type IN LISTS types)
+    string(TOLOWER "${type}" type_lower)
+
+    set(node_name "${type_lower}_filter_chain")
 
-  set(nodelet_name "${type_lower}_filter_chain_nodelet")
-  set(node_name "${type_lower}_filter_chain")
+    list(APPEND NODE_TARGETS ${node_name})
 
-  add_library(${nodelet_name} src/${type}FilterChainNodelet.cc)
-  add_dependencies(${nodelet_name} ${catkin_EXPORTED_TARGETS})
-  target_link_libraries(${nodelet_name} ${catkin_LIBRARIES})
+    #    add_library(${node_name} src/${type}FilterChainNodelet.cc)
+    #    #target_link_libraries(${nodelet_name} ${DEPENDENCIES})
+    #    ament_target_dependencies(${node_name} ${DEPENDENCIES})
 
-  add_executable(${node_name} src/${type}FilterChainNode.cc)
-  add_dependencies(${node_name} ${catkin_EXPORTED_TARGETS})
-  target_link_libraries(${node_name} ${catkin_LIBRARIES})
+    add_executable(${node_name} src/${type}FilterChainNode.cc)
+    #target_link_libraries(${node_name} ${DEPENDENCIES})
+    ament_target_dependencies(${node_name} ${DEPENDENCIES})
 
-  install(TARGETS ${node_name}
-    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  )
+    #    install(TARGETS ${node_name}
+    #            RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+    #    )
 
-  install(TARGETS ${nodelet_name}
-    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-  )
-endforeach()
+    install(TARGETS ${node_name}
+            ARCHIVE DESTINATION lib
+            LIBRARY DESTINATION lib
+            RUNTIME DESTINATION lib
+    )
+endforeach ()
 
 # Additional sources for the targets that use custom transport
-target_sources(image_filter_chain_nodelet PRIVATE src/ImageFilterChainBase.cc)
+#target_sources(image_filter_chain_nodelet PRIVATE src/ImageFilterChainBase.cc)
 target_sources(image_filter_chain PRIVATE src/ImageFilterChainBase.cc)
-target_sources(pointcloud2_filter_chain_nodelet PRIVATE src/PointCloud2FilterChainBase.cc)
+#target_sources(pointcloud2_filter_chain_nodelet PRIVATE src/PointCloud2FilterChainBase.cc)
 target_sources(pointcloud2_filter_chain PRIVATE src/PointCloud2FilterChainBase.cc)
 
-set(filters
-  ChangeHeaderFilter
-)
-
-foreach(filter IN LISTS filters)
-  add_library(${filter} src/filters/${filter}.cc)
-  add_dependencies(${filter} ${catkin_EXPORTED_TARGETS})
-  target_link_libraries(${filter} ${catkin_LIBRARIES})
-  install(TARGETS ${filter}
-    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-  )
-  install(FILES
-    ${filter}.xml
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-  )
-endforeach()
-
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  FILES_MATCHING PATTERN "*.h"
-)
-
-install(FILES
-  nodelets.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# TODO 2026-02-23 (solonovamax): finish this
+#
+#set(filters
+#        ChangeHeaderFilter
+#)
+#
+#foreach (filter IN LISTS filters)
+#    add_library(${filter} src/filters/${filter}.cc)
+#    add_dependencies(${filter} ${catkin_EXPORTED_TARGETS})
+#    target_link_libraries(${filter} ${catkin_LIBRARIES})
+#    install(TARGETS ${filter}
+#            ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#            LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#            RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+#    )
+#    install(FILES
+#            ${filter}.xml
+#            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+#    )
+#endforeach ()
+
+install(
+        DIRECTORY include/
+        DESTINATION include
 )
 
-if (CATKIN_ENABLE_TESTING)
-  find_package(roslint REQUIRED)
-
-  # catkin_lint - checks validity of package.xml and CMakeLists.txt
-  # ROS buildfarm calls this without any environment and with empty rosdep cache,
-  # so we have problems reading the list of packages from env
-  # see https://github.com/ros-infrastructure/ros_buildfarm/issues/923
-  if(DEFINED ENV{ROS_HOME})
-    #catkin_lint: ignore_once env_var
-    set(ROS_HOME "$ENV{ROS_HOME}")
-  else()
-    #catkin_lint: ignore_once env_var
-    set(ROS_HOME "$ENV{HOME}/.ros")
-  endif()
-  #catkin_lint: ignore_once env_var
-  if(DEFINED ENV{ROS_ROOT} AND EXISTS "${ROS_HOME}/rosdep/sources.cache")
-    roslint_custom(catkin_lint "-W2" .)
-  endif()
-
-  # Roslint C++ - checks formatting and some other rules for C++ files
-
-  file(GLOB_RECURSE ROSLINT_INCLUDE include/*.h include/*.hpp)
-  file(GLOB_RECURSE ROSLINT_SRC src/*.cc src/filters/*.cc src/filters/*.hh examples/*.cpp)
-  #file(GLOB_RECURSE ROSLINT_TEST test/*.cpp)
-
-  set(ROSLINT_CPP_OPTS "--extensions=h,hpp,hh,c,cpp,cc;--linelength=120;--filter=\
-    -build/header_guard,-readability/namespace,-whitespace/braces,-runtime/references,\
-    -build/c++11,-readability/nolint,-readability/todo,-legal/copyright,-build/namespaces")
-  roslint_cpp(${ROSLINT_INCLUDE} ${ROSLINT_SRC})
-  
-  roslint_add_test()
-endif()
+#install(TARGETS ${NODE_TARGETS}
+#        EXPORT export_${PROJECT_NAME}
+#        RUNTIME DESTINATION bin
+#        ARCHIVE DESTINATION lib
+#        LIBRARY DESTINATION lib
+#)
+
+#if (CATKIN_ENABLE_TESTING)
+#    find_package(roslint REQUIRED)
+#
+#    # catkin_lint - checks validity of package.xml and CMakeLists.txt
+#    # ROS buildfarm calls this without any environment and with empty rosdep cache,
+#    # so we have problems reading the list of packages from env
+#    # see https://github.com/ros-infrastructure/ros_buildfarm/issues/923
+#    if (DEFINED ENV{ROS_HOME})
+#        #catkin_lint: ignore_once env_var
+#        set(ROS_HOME "$ENV{ROS_HOME}")
+#    else ()
+#        #catkin_lint: ignore_once env_var
+#        set(ROS_HOME "$ENV{HOME}/.ros")
+#    endif ()
+#    #catkin_lint: ignore_once env_var
+#    if (DEFINED ENV{ROS_ROOT} AND EXISTS "${ROS_HOME}/rosdep/sources.cache")
+#        roslint_custom(catkin_lint "-W2" .)
+#    endif ()
+#
+#    # Roslint C++ - checks formatting and some other rules for C++ files
+#
+#    file(GLOB_RECURSE ROSLINT_INCLUDE include/*.h include/*.hpp)
+#    file(GLOB_RECURSE ROSLINT_SRC src/*.cc src/filters/*.cc src/filters/*.hh examples/*.cpp)
+#    #file(GLOB_RECURSE ROSLINT_TEST test/*.cpp)
+#
+#    set(ROSLINT_CPP_OPTS "--extensions=h,hpp,hh,c,cpp,cc;--linelength=120;--filter=\
+#    -build/header_guard,-readability/namespace,-whitespace/braces,-runtime/references,\
+#    -build/c++11,-readability/nolint,-readability/todo,-legal/copyright,-build/namespaces")
+#    roslint_cpp(${ROSLINT_INCLUDE} ${ROSLINT_SRC})
+#
+#    roslint_add_test()
+#endif ()
+
+#ament_export_include_directories(include include/${PROJECT_NAME})
+#ament_export_dependencies(${DEPENDENCIES})
+#ament_export_libraries(${PROJECT_NAME} )
+#ament_export_targets(
+#  export_${PROJECT_NAME}
+#)
+ament_package()
diff --git a/include/sensor_filters/FilterChainBase.h b/include/sensor_filters/FilterChainBase.h
index c3eca16..fdde8fc 100644
--- a/include/sensor_filters/FilterChainBase.h
+++ b/include/sensor_filters/FilterChainBase.h
@@ -9,16 +9,8 @@
  */
 
 #include <string>
-
-#include <ros/ros.h>
-
-#if ROS_VERSION_MINIMUM(1, 15, 0)
+#include <rcl/rcl.h>
 #include <filters/filter_chain.hpp>
-#else
-
-#include <filters/filter_chain.h>
-
-#endif
 
 
 namespace sensor_filters
@@ -28,79 +20,86 @@ template<typename T>
 class FilterChainBase
 {
 protected:
-  ros::Subscriber inputSubscriber;
-  ros::Publisher outputPublisher;
-  ros::NodeHandle topicNodeHandle;
+  std::shared_ptr<rclcpp::Subscription<T>> inputSubscriber;
+  std::shared_ptr<rclcpp::Publisher<T>> outputPublisher;
+  rclcpp::Node::SharedPtr node;
   size_t inputQueueSize{10u};
   size_t outputQueueSize{10u};
-  bool useSharedPtrMessages{true};
+  bool usePtrMessages{true};
 
   filters::FilterChain<T> filterChain;
   T msg;
 
-  typedef ros::message_traits::DataType<T> DataType;
-
 public:
   FilterChainBase() :
-    filterChain(std::string(DataType::value()).replace(std::string(DataType::value()).find('/'), 1, "::"))
+      filterChain(std::string(typeid(T).name()))
   {
   }
 
   virtual ~FilterChainBase() = default;
 
-protected:
   virtual void initFilters(
-    const std::string& filterChainNamespace, ros::NodeHandle filterNodeHandle, ros::NodeHandle topicNodeHandle,
-    const bool useSharedPtrMessages, const size_t inputQueueSize, const size_t outputQueueSize)
-  {
-    if (!this->filterChain.configure(filterChainNamespace, filterNodeHandle))
-    {
-      ROS_ERROR_STREAM("Configuration of filter chain for "
-                         << DataType::value() << " is invalid, the chain will not be run.");
+    const std::string& filterChainNamespace, rclcpp::Node::SharedPtr node,
+    const bool usePtrMessages, long inputQueueSize, long outputQueueSize) {
+    if (!this->filterChain.configure(filterChainNamespace, node->get_node_logging_interface(), node->get_node_parameters_interface())) {
+      RCLCPP_ERROR_STREAM(node->get_logger(), "Configuration of filter chain for "
+                          << typeid(T).name() << " is invalid, the chain will not be run.");
       throw std::runtime_error("Filter configuration error");
     }
 
-    ROS_INFO_STREAM("Configured filter chain of type " << DataType::value() << " from namespace "
-                                                       << filterNodeHandle.getNamespace() << "/"
-                                                       << filterChainNamespace);
+    RCLCPP_INFO_STREAM(node->get_logger(), "Configured filter chain of type " << typeid(T).name() << " from namespace "
+                       << node->get_namespace() << "/"
+                       << filterChainNamespace);
 
-    this->topicNodeHandle = topicNodeHandle;
+    this->node = node;
     this->outputQueueSize = outputQueueSize;
     this->inputQueueSize = inputQueueSize;
-    this->useSharedPtrMessages = useSharedPtrMessages;
+    this->usePtrMessages = usePtrMessages;
 
     this->advertise();
     this->subscribe();
   }
 
+protected:
+
   virtual void advertise()
   {
-    this->outputPublisher = this->topicNodeHandle.template advertise<T>("output", this->outputQueueSize);
+    this->outputPublisher = this->node->create_publisher<T>("output", this->outputQueueSize);
   }
 
-  virtual void subscribe()
-  {
-    if (this->useSharedPtrMessages)
-      this->inputSubscriber = this->topicNodeHandle.subscribe(
-        "input", this->inputQueueSize, &FilterChainBase::callbackShared, this);
-    else
-      this->inputSubscriber = this->topicNodeHandle.subscribe(
-        "input", this->inputQueueSize, &FilterChainBase::callbackReference, this);
+  virtual void subscribe() {
+  if (this->usePtrMessages)
+    this->inputSubscriber = this->node->template create_subscription<T>(
+      "input", this->inputQueueSize, [this](const typename T::UniquePtr& msg) {
+      FilterChainBase::callbackUnique(msg);
+      });
+  else
+    this->inputSubscriber = this->node->template create_subscription<T>(
+      "input", this->inputQueueSize, [this](const T& msg) {
+      FilterChainBase::callbackReference(msg);
+      });
   }
 
-  virtual void publishShared(const typename T::ConstPtr& msg)
-  {
-    this->outputPublisher.publish(msg);
+  virtual void publishUnique(typename T::UniquePtr& msg) {
+    this->outputPublisher->publish(std::move(msg));
   }
 
-  virtual void publishReference(const T& msg)
-  {
-    this->outputPublisher.publish(msg);
+  virtual void publishShared(const typename T::ConstSharedPtr& msg) {
+    RCLCPP_ERROR_THROTTLE(node->get_logger(), *node->get_clock(), 1000, "must be overriden by child class");
   }
 
-  virtual void callbackShared(const typename T::ConstPtr& msgIn)
-  {
-    typename T::Ptr msgOut(new T);
+  virtual void publishReference(const T& msg) {
+    this->outputPublisher->publish(msg);
+  }
+
+  virtual void callbackUnique(const typename T::UniquePtr& msgIn) {
+    typename T::UniquePtr msgOut = std::make_unique<T>();
+    if (this->filter(*msgIn, *msgOut))
+    this->publishUnique(msgOut);
+  }
+
+  virtual void callbackShared(const typename T::ConstSharedPtr& msgIn) {
+    typename T::SharedPtr msgOut = std::make_shared<T>();
     if (this->filter(*msgIn, *msgOut))
       this->publishShared(msgOut);
   }
@@ -111,16 +110,15 @@ class FilterChainBase
       this->publishReference(this->msg);
   }
 
-  virtual bool filter(const T& msgIn, T& msgOut)
-  {
-    ros::WallTime start = ros::WallTime::now();
-    if (!this->filterChain.update(msgIn, msgOut))
-    {
-      ROS_ERROR_THROTTLE(1, "Filtering data from time %i.%i failed.",
-                         msgIn.header.stamp.sec, msgIn.header.stamp.nsec);
+  virtual bool filter(const T& msgIn, T& msgOut) {
+    const auto clock = node->get_clock();
+    const auto start = clock->now();
+    if (!this->filterChain.update(msgIn, msgOut)) {
+      RCLCPP_ERROR_THROTTLE(node->get_logger(), *clock, 1000, "Filtering data from time %i.%i failed.",
+                            msgIn.header.stamp.sec, msgIn.header.stamp.nanosec);
       return false;
     }
-    ROS_DEBUG_STREAM("Filtering took " << (ros::WallTime::now() - start).toSec() << " s.");
+    RCLCPP_DEBUG_STREAM(node->get_logger(), "Filtering took " << (clock->now() - start).seconds() << " s.");
     return true;
   }
 };
diff --git a/include/sensor_filters/FilterChainNode.h b/include/sensor_filters/FilterChainNode.h
index 2b90067..610a4c8 100644
--- a/include/sensor_filters/FilterChainNode.h
+++ b/include/sensor_filters/FilterChainNode.h
@@ -16,27 +16,22 @@ namespace sensor_filters
 {
 
 template <typename T, typename Base = sensor_filters::FilterChainBase<T>>
-class FilterChainNode : public Base
-{
+class FilterChainNode : public rclcpp::Node, public Base {
 public:
-  explicit FilterChainNode(const std::string& filterChainNamespace, ros::NodeHandle filterNodeHandle,
-    ros::NodeHandle topicNodeHandle) : Base()
-  {
-    this->initFilters(
-      filterChainNamespace, filterNodeHandle, topicNodeHandle, false,
-      filterNodeHandle.param("input_queue_size", 10),
-      filterNodeHandle.param("output_queue_size", 10));
+  explicit FilterChainNode() : Base(), Node("") {
   }
 };
 
 
 template <typename T, typename Base = sensor_filters::FilterChainBase<T>>
-void spinFilterChain(const std::string& filterChainNamespace, int argc, char** argv)
-{
-  ros::init(argc, argv, "filter_chain");
-  ros::NodeHandle nh("~");
-  const FilterChainNode<T, Base> node(filterChainNamespace, nh, nh);
-  ros::spin();
+void spinFilterChain(const std::string& filterChainNamespace, int argc, char** argv) {
+  rclcpp::init(argc, argv);
+  const auto node = std::make_shared<FilterChainNode<T, Base>>();
+  node->initFilters(
+    filterChainNamespace, node, false,
+    node->declare_parameter("input_queue_size", 10),
+    node->declare_parameter("output_queue_size", 10));
+  rclcpp::spin(node);
 }
 
 }
diff --git a/include/sensor_filters/FilterChainNodelet.h b/include/sensor_filters/FilterChainNodelet.h
deleted file mode 100644
index 7655042..0000000
--- a/include/sensor_filters/FilterChainNodelet.h
+++ /dev/null
@@ -1,58 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#pragma once
-
-/**
- * \file
- * \brief Base for all sensor filter chain nodelets.
- */
-
-#include <string>
-#include <utility>
-
-#include <nodelet/nodelet.h>
-
-#include <sensor_filters/FilterChainBase.h>
-
-namespace sensor_filters
-{
-
-template<typename T, typename Base = sensor_filters::FilterChainBase<T>>
-class FilterChainNodelet : public nodelet::Nodelet, public Base
-{
-protected:
-  std::string filterChainNamespace;
-
-public:
-  explicit FilterChainNodelet(std::string filterChainNamespace) :
-      nodelet::Nodelet(), Base(), filterChainNamespace(std::move(filterChainNamespace))
-  {
-  }
-
-  ~FilterChainNodelet() override = default;
-
-protected:
-  void onInit() override
-  {
-    this->initFilters(
-        this->filterChainNamespace, this->getPrivateNodeHandle(), this->getPrivateNodeHandle(), true,
-        this->getPrivateNodeHandle().param("input_queue_size", 10),
-        this->getPrivateNodeHandle().param("output_queue_size", 10));
-  }
-};
-
-}
-
-#define DECLARE_SENSOR_FILTER_BASE(TYPE, BASE, CONFIG) \
-namespace sensor_filters \
-{ \
-class TYPE ## FilterChainNodelet : public FilterChainNodelet<sensor_msgs::TYPE, BASE> \
-{ \
-  public: TYPE ## FilterChainNodelet() : FilterChainNodelet(CONFIG "_filter_chain") {} \
-}; \
-}\
-PLUGINLIB_EXPORT_CLASS(sensor_filters::TYPE ## FilterChainNodelet, nodelet::Nodelet)
-
-#define DECLARE_SENSOR_FILTER(TYPE, CONFIG) \
-DECLARE_SENSOR_FILTER_BASE(TYPE, sensor_filters::FilterChainBase<sensor_msgs::TYPE>, CONFIG)
diff --git a/include/sensor_filters/ImageFilterChainBase.h b/include/sensor_filters/ImageFilterChainBase.h
index 8f2228c..c1db265 100644
--- a/include/sensor_filters/ImageFilterChainBase.h
+++ b/include/sensor_filters/ImageFilterChainBase.h
@@ -14,33 +14,30 @@
 #include <image_transport/image_transport.h>
 #include <image_transport/publisher.h>
 #include <image_transport/subscriber.h>
-#include <sensor_msgs/Image.h>
+#include <sensor_msgs/msg/image.hpp>
 
 #include <sensor_filters/FilterChainBase.h>
 
 namespace sensor_filters
 {
-class ImageFilterChainBase : public FilterChainBase<sensor_msgs::Image>
-{
+class ImageFilterChainBase : public FilterChainBase<sensor_msgs::msg::Image> {
 public:
-  ImageFilterChainBase() : FilterChainBase<sensor_msgs::Image>()
-  {
+  ImageFilterChainBase() : FilterChainBase<sensor_msgs::msg::Image>() {
   }
 
+  void initFilters(const std::string& filterChainNamespace, rclcpp::Node::SharedPtr node,
+                   bool useSharedPtrMessages, long inputQueueSize, long outputQueueSize) override;
+
 protected:
   std::unique_ptr<image_transport::ImageTransport> it;
   image_transport::Publisher itPublisher;
   image_transport::Subscriber itSubscriber;
 
-  void initFilters(const std::string& filterChainNamespace, ros::NodeHandle filterNodeHandle,
-                   ros::NodeHandle topicNodeHandle, bool useSharedPtrMessages, size_t inputQueueSize,
-                   size_t outputQueueSize) override;
-
   void advertise() override;
 
   void subscribe() override;
 
-  void publishShared(const sensor_msgs::ImageConstPtr& msg) override;
+  void publishShared(const sensor_msgs::msg::Image::ConstSharedPtr& msg) override;
 };
 
 }
diff --git a/include/sensor_filters/PointCloud2FilterChainBase.h b/include/sensor_filters/PointCloud2FilterChainBase.h
index f241c21..a5dfcdc 100644
--- a/include/sensor_filters/PointCloud2FilterChainBase.h
+++ b/include/sensor_filters/PointCloud2FilterChainBase.h
@@ -11,36 +11,33 @@
 #include <memory>
 #include <string>
 
-#include <point_cloud_transport/point_cloud_transport.h>
-#include <point_cloud_transport/publisher.h>
-#include <point_cloud_transport/subscriber.h>
-#include <sensor_msgs/PointCloud2.h>
+#include <point_cloud_transport/point_cloud_transport.hpp>
+#include <point_cloud_transport/publisher.hpp>
+#include <point_cloud_transport/subscriber.hpp>
+#include <sensor_msgs/msg/point_cloud2.hpp>
 
 #include <sensor_filters/FilterChainBase.h>
 
 namespace sensor_filters
 {
-class PointCloud2FilterChainBase : public FilterChainBase<sensor_msgs::PointCloud2>
-{
+class PointCloud2FilterChainBase : public FilterChainBase<sensor_msgs::msg::PointCloud2> {
 public:
-  PointCloud2FilterChainBase() : FilterChainBase<sensor_msgs::PointCloud2>()
-  {
+  PointCloud2FilterChainBase() : FilterChainBase<sensor_msgs::msg::PointCloud2>() {
   }
 
+  void initFilters(const std::string& filterChainNamespace, rclcpp::Node::SharedPtr node,
+                   bool useSharedPtrMessages, long inputQueueSize, long outputQueueSize) override;
+
 protected:
   std::unique_ptr<point_cloud_transport::PointCloudTransport> pct;
   point_cloud_transport::Publisher pctPublisher;
   point_cloud_transport::Subscriber pctSubscriber;
 
-  void initFilters(const std::string& filterChainNamespace, ros::NodeHandle filterNodeHandle,
-                   ros::NodeHandle topicNodeHandle, bool useSharedPtrMessages, size_t inputQueueSize,
-                   size_t outputQueueSize) override;
-
   void advertise() override;
 
   void subscribe() override;
 
-  void publishShared(const sensor_msgs::PointCloud2ConstPtr& msg) override;
+  void publishShared(const sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg) override;
 };
 
 }
diff --git a/nodelets.xml b/nodelets.xml
deleted file mode 100644
index a0e08a3..0000000
--- a/nodelets.xml
+++ /dev/null
@@ -1,95 +0,0 @@
-<!--
-SPDX-License-Identifier: BSD-3-Clause
-SPDX-FileCopyrightText: Czech Technical University in Prague
--->
-<library path="lib/libcompressed_image_filter_chain_nodelet">
-  <class name="sensor_filters/compressed_image_filter_chain" type="sensor_filters::CompressedImageFilterChainNodelet" base_class_type="nodelet::Nodelet">
-    <description>
-      Nodelet running a CompressedImage filter chain.
-    </description>
-  </class>
-</library>
-<library path="lib/libimage_filter_chain_nodelet">
-  <class name="sensor_filters/image_filter_chain" type="sensor_filters::ImageFilterChainNodelet" base_class_type="nodelet::Nodelet">
-    <description>
-      Nodelet running a Image filter chain.
-    </description>
-  </class>
-</library>
-<library path="lib/libimu_filter_chain_nodelet">
-  <class name="sensor_filters/imu_filter_chain" type="sensor_filters::ImuFilterChainNodelet" base_class_type="nodelet::Nodelet">
-    <description>
-      Nodelet running a Imu filter chain.
-    </description>
-  </class>
-</library>
-<library path="lib/libjoy_filter_chain_nodelet">
-  <class name="sensor_filters/joy_filter_chain" type="sensor_filters::JoyFilterChainNodelet" base_class_type="nodelet::Nodelet">
-  <description>
-    Nodelet running a Joy filter chain.
-  </description>
-  </class>
-</library>
-<library path="lib/liblaserscan_filter_chain_nodelet">
-  <class name="sensor_filters/laserscan_filter_chain" type="sensor_filters::LaserScanFilterChainNodelet" base_class_type="nodelet::Nodelet">
-  <description>
-    Nodelet running a LaserScan filter chain.
-  </description>
-  </class>
-</library>
-<library path="lib/libmagneticfield_filter_chain_nodelet">
-  <class name="sensor_filters/magneticfield_filter_chain" type="sensor_filters::MagneticFieldFilterChainNodelet" base_class_type="nodelet::Nodelet">
-    <description>
-      Nodelet running a MagneticField filter chain.
-    </description>
-  </class>
-</library>
-<library path="lib/libmultiecholaserscan_filter_chain_nodelet">
-  <class name="sensor_filters/multiecholaserscan_filter_chain" type="sensor_filters::MultiEchoLaserScanFilterChainNodelet" base_class_type="nodelet::Nodelet">
-    <description>
-      Nodelet running a MultiEchoLaserScan filter chain.
-    </description>
-  </class>
-</library>
-<library path="lib/libnavsatfix_filter_chain_nodelet">
-  <class name="sensor_filters/navsatfix_filter_chain" type="sensor_filters::NavSatFixFilterChainNodelet" base_class_type="nodelet::Nodelet">
-    <description>
-      Nodelet running a NavSatFix filter chain.
-    </description>
-  </class>
-</library>
-<library path="lib/libpointcloud_filter_chain_nodelet">
-  <class name="sensor_filters/pointcloud_filter_chain" type="sensor_filters::PointCloudFilterChainNodelet" base_class_type="nodelet::Nodelet">
-    <description>
-      Nodelet running a PointCloud filter chain.
-    </description>
-  </class>
-</library>
-<library path="lib/libpointcloud2_filter_chain_nodelet">
-  <class name="sensor_filters/pointcloud2_filter_chain" type="sensor_filters::PointCloud2FilterChainNodelet" base_class_type="nodelet::Nodelet">
-    <description>
-      Nodelet running a PointCloud2 filter chain.
-    </description>
-  </class>
-</library>
-<library path="lib/librange_filter_chain_nodelet">
-  <class name="sensor_filters/range_filter_chain" type="sensor_filters::RangeFilterChainNodelet" base_class_type="nodelet::Nodelet">
-    <description>
-      Nodelet running a Range filter chain.
-    </description>
-  </class>
-</library>
-<library path="lib/librelativehumidity_filter_chain_nodelet">
-  <class name="sensor_filters/relativehumidity_filter_chain" type="sensor_filters::RelativeHumidityFilterChainNodelet" base_class_type="nodelet::Nodelet">
-    <description>
-      Nodelet running a RelativeHumidity filter chain.
-    </description>
-  </class>
-</library>
-<library path="lib/libtemperature_filter_chain_nodelet">
-  <class name="sensor_filters/temperature_filter_chain" type="sensor_filters::TemperatureFilterChainNodelet" base_class_type="nodelet::Nodelet">
-    <description>
-      Nodelet running a Temperature filter chain.
-    </description>
-  </class>
-</library>
diff --git a/src/CompressedImageFilterChainNode.cc b/src/CompressedImageFilterChainNode.cc
index 69074d8..5ab8848 100644
--- a/src/CompressedImageFilterChainNode.cc
+++ b/src/CompressedImageFilterChainNode.cc
@@ -1,11 +1,10 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/CompressedImage.h>
+#include <sensor_msgs/msg/compressed_image.hpp>
 
 #include <sensor_filters/FilterChainNode.h>
 
-int main(int argc, char** argv)
-{
-  sensor_filters::spinFilterChain<sensor_msgs::CompressedImage>("image_filter_chain", argc, argv);
+int main(const int argc, char** argv) {
+ sensor_filters::spinFilterChain<sensor_msgs::msg::CompressedImage>("image_filter_chain", argc, argv);
 }
diff --git a/src/CompressedImageFilterChainNodelet.cc b/src/CompressedImageFilterChainNodelet.cc
deleted file mode 100644
index f5b2dc4..0000000
--- a/src/CompressedImageFilterChainNodelet.cc
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <pluginlib/class_list_macros.h>
-#include <sensor_msgs/CompressedImage.h>
-
-#include <sensor_filters/FilterChainNodelet.h>
-
-DECLARE_SENSOR_FILTER(CompressedImage, "image")  // NOLINT(cert-err58-cpp)
diff --git a/src/ImageFilterChainBase.cc b/src/ImageFilterChainBase.cc
index bff01df..a21de4b 100644
--- a/src/ImageFilterChainBase.cc
+++ b/src/ImageFilterChainBase.cc
@@ -4,9 +4,8 @@
 #include <memory>
 #include <string>
 
-#include <image_transport/image_transport.h>
-#include <ros/node_handle.h>
-#include <sensor_msgs/Image.h>
+#include <image_transport/image_transport.hpp>
+#include <sensor_msgs/msg/image.hpp>
 
 #include <sensor_filters/FilterChainBase.h>
 #include <sensor_filters/ImageFilterChainBase.h>
@@ -14,29 +13,29 @@
 namespace sensor_filters
 {
 
-void ImageFilterChainBase::initFilters(const std::string& filterChainNamespace, ros::NodeHandle filterNodeHandle,
-                                       ros::NodeHandle topicNodeHandle, const bool useSharedPtrMessages,
-                                       const size_t inputQueueSize, const size_t outputQueueSize)
+void ImageFilterChainBase::initFilters(const std::string& filterChainNamespace, rclcpp::Node::SharedPtr node,
+                                       const bool useSharedPtrMessages, const long inputQueueSize, const long outputQueueSize)
 {
-  this->it = std::make_unique<image_transport::ImageTransport>(topicNodeHandle);
-  FilterChainBase::initFilters(filterChainNamespace, filterNodeHandle, topicNodeHandle, useSharedPtrMessages,
+  // TODO 2026-02-23 (solonovamax): offer parameter to advertise camera topic?
+  this->it = std::make_unique<image_transport::ImageTransport>(node);
+  FilterChainBase::initFilters(filterChainNamespace, node, useSharedPtrMessages,
                                inputQueueSize, outputQueueSize);
 }
 
 void ImageFilterChainBase::advertise()
 {
-  const auto resolvedOutput = this->topicNodeHandle.resolveName("output");
-  this->itPublisher = this->it->advertise(resolvedOutput, this->outputQueueSize);
+  this->itPublisher = this->it->advertise("output", this->outputQueueSize);
 }
 
 void ImageFilterChainBase::subscribe()
 {
-  const auto resolvedInput = this->topicNodeHandle.resolveName("input");
-  this->itSubscriber = this->it->subscribe<ImageFilterChainBase>(
-      resolvedInput, this->inputQueueSize, &ImageFilterChainBase::callbackShared, this);
+  this->itSubscriber = this->it->subscribe(
+    "input", this->inputQueueSize, [this](const typename sensor_msgs::msg::Image::ConstSharedPtr& msg) {
+      this->callbackShared(msg);
+  });
 }
 
-void ImageFilterChainBase::publishShared(const sensor_msgs::ImageConstPtr& msg)
+void ImageFilterChainBase::publishShared(const sensor_msgs::msg::Image::ConstSharedPtr& msg)
 {
   this->itPublisher.publish(msg);
 }
diff --git a/src/ImageFilterChainNode.cc b/src/ImageFilterChainNode.cc
index ed29322..752b7eb 100644
--- a/src/ImageFilterChainNode.cc
+++ b/src/ImageFilterChainNode.cc
@@ -1,13 +1,12 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/Image.h>
+#include <sensor_msgs/msg/image.hpp>
 
 #include <sensor_filters/FilterChainNode.h>
 #include <sensor_filters/ImageFilterChainBase.h>
 
-int main(int argc, char** argv)
-{
-  sensor_filters::spinFilterChain<sensor_msgs::Image, sensor_filters::ImageFilterChainBase>(
+int main(const int argc, char** argv) {
+  sensor_filters::spinFilterChain<sensor_msgs::msg::Image, sensor_filters::ImageFilterChainBase>(
     "image_filter_chain", argc, argv);
 }
diff --git a/src/ImageFilterChainNodelet.cc b/src/ImageFilterChainNodelet.cc
deleted file mode 100644
index 1269f7c..0000000
--- a/src/ImageFilterChainNodelet.cc
+++ /dev/null
@@ -1,10 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <pluginlib/class_list_macros.h>
-#include <sensor_msgs/Image.h>
-
-#include <sensor_filters/FilterChainNodelet.h>
-#include <sensor_filters/ImageFilterChainBase.h>
-
-DECLARE_SENSOR_FILTER_BASE(Image, ImageFilterChainBase, "image")  // NOLINT(cert-err58-cpp)
diff --git a/src/ImuFilterChainNode.cc b/src/ImuFilterChainNode.cc
index 5839160..7f330f0 100644
--- a/src/ImuFilterChainNode.cc
+++ b/src/ImuFilterChainNode.cc
@@ -1,11 +1,10 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/Imu.h>
+#include <sensor_msgs/msg/imu.hpp>
 
 #include <sensor_filters/FilterChainNode.h>
 
-int main(int argc, char** argv)
-{
-  sensor_filters::spinFilterChain<sensor_msgs::Imu>("imu_filter_chain", argc, argv);
+int main(const int argc, char** argv) {
+  sensor_filters::spinFilterChain<sensor_msgs::msg::Imu>("imu_filter_chain", argc, argv);
 }
diff --git a/src/ImuFilterChainNodelet.cc b/src/ImuFilterChainNodelet.cc
deleted file mode 100644
index 445f6a3..0000000
--- a/src/ImuFilterChainNodelet.cc
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <pluginlib/class_list_macros.h>
-#include <sensor_msgs/Imu.h>
-
-#include <sensor_filters/FilterChainNodelet.h>
-
-DECLARE_SENSOR_FILTER(Imu, "imu")  // NOLINT(cert-err58-cpp)
diff --git a/src/JoyFilterChainNode.cc b/src/JoyFilterChainNode.cc
index 7281657..dd40675 100644
--- a/src/JoyFilterChainNode.cc
+++ b/src/JoyFilterChainNode.cc
@@ -1,11 +1,10 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/Joy.h>
+#include <sensor_msgs/msg/joy.hpp>
 
 #include <sensor_filters/FilterChainNode.h>
 
-int main(int argc, char** argv)
-{
-  sensor_filters::spinFilterChain<sensor_msgs::Joy>("joy_filter_chain", argc, argv);
+int main(const int argc, char** argv) {
+  sensor_filters::spinFilterChain<sensor_msgs::msg::Joy>("joy_filter_chain", argc, argv);
 }
diff --git a/src/JoyFilterChainNodelet.cc b/src/JoyFilterChainNodelet.cc
deleted file mode 100644
index 4e70967..0000000
--- a/src/JoyFilterChainNodelet.cc
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <pluginlib/class_list_macros.h>
-#include <sensor_msgs/Joy.h>
-
-#include <sensor_filters/FilterChainNodelet.h>
-
-DECLARE_SENSOR_FILTER(Joy, "joy")  // NOLINT(cert-err58-cpp)
diff --git a/src/LaserScanFilterChainNode.cc b/src/LaserScanFilterChainNode.cc
index dacd4bd..ec030be 100644
--- a/src/LaserScanFilterChainNode.cc
+++ b/src/LaserScanFilterChainNode.cc
@@ -1,11 +1,10 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/LaserScan.h>
+#include <sensor_msgs/msg/laser_scan.hpp>
 
 #include <sensor_filters/FilterChainNode.h>
 
-int main(int argc, char** argv)
-{
-  sensor_filters::spinFilterChain<sensor_msgs::LaserScan>("scan_filter_chain", argc, argv);
+int main(const int argc, char** argv) {
+  sensor_filters::spinFilterChain<sensor_msgs::msg::LaserScan>("scan_filter_chain", argc, argv);
 }
diff --git a/src/LaserScanFilterChainNodelet.cc b/src/LaserScanFilterChainNodelet.cc
deleted file mode 100644
index ffeb226..0000000
--- a/src/LaserScanFilterChainNodelet.cc
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <pluginlib/class_list_macros.h>
-#include <sensor_msgs/LaserScan.h>
-
-#include <sensor_filters/FilterChainNodelet.h>
-
-DECLARE_SENSOR_FILTER(LaserScan, "scan")  // NOLINT(cert-err58-cpp)
diff --git a/src/MagneticFieldFilterChainNode.cc b/src/MagneticFieldFilterChainNode.cc
index 8d4fced..1f31267 100644
--- a/src/MagneticFieldFilterChainNode.cc
+++ b/src/MagneticFieldFilterChainNode.cc
@@ -1,11 +1,10 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/MagneticField.h>
+#include <sensor_msgs/msg/magnetic_field.hpp>
 
 #include <sensor_filters/FilterChainNode.h>
 
-int main(int argc, char** argv)
-{
-  sensor_filters::spinFilterChain<sensor_msgs::MagneticField>("magnetic_field_filter_chain", argc, argv);
+int main(const int argc, char** argv) {
+  sensor_filters::spinFilterChain<sensor_msgs::msg::MagneticField>("magnetic_field_filter_chain", argc, argv);
 }
diff --git a/src/MagneticFieldFilterChainNodelet.cc b/src/MagneticFieldFilterChainNodelet.cc
deleted file mode 100644
index 02aaeb6..0000000
--- a/src/MagneticFieldFilterChainNodelet.cc
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <pluginlib/class_list_macros.h>
-#include <sensor_msgs/MagneticField.h>
-
-#include <sensor_filters/FilterChainNodelet.h>
-
-DECLARE_SENSOR_FILTER(MagneticField, "magnetic_field")  // NOLINT(cert-err58-cpp)
diff --git a/src/MultiEchoLaserScanFilterChainNode.cc b/src/MultiEchoLaserScanFilterChainNode.cc
index ae36412..6cfc035 100644
--- a/src/MultiEchoLaserScanFilterChainNode.cc
+++ b/src/MultiEchoLaserScanFilterChainNode.cc
@@ -1,11 +1,10 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/MultiEchoLaserScan.h>
+#include <sensor_msgs/msg/multi_echo_laser_scan.hpp>
 
 #include <sensor_filters/FilterChainNode.h>
 
-int main(int argc, char** argv)
-{
-  sensor_filters::spinFilterChain<sensor_msgs::MultiEchoLaserScan>("scan_filter_chain", argc, argv);
+int main(const int argc, char** argv) {
+  sensor_filters::spinFilterChain<sensor_msgs::msg::MultiEchoLaserScan>("scan_filter_chain", argc, argv);
 }
diff --git a/src/MultiEchoLaserScanFilterChainNodelet.cc b/src/MultiEchoLaserScanFilterChainNodelet.cc
deleted file mode 100644
index 55bf3d0..0000000
--- a/src/MultiEchoLaserScanFilterChainNodelet.cc
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <pluginlib/class_list_macros.h>
-#include <sensor_msgs/MultiEchoLaserScan.h>
-
-#include <sensor_filters/FilterChainNodelet.h>
-
-DECLARE_SENSOR_FILTER(MultiEchoLaserScan, "scan")  // NOLINT(cert-err58-cpp)
diff --git a/src/NavSatFixFilterChainNode.cc b/src/NavSatFixFilterChainNode.cc
index b959e36..93ebfa7 100644
--- a/src/NavSatFixFilterChainNode.cc
+++ b/src/NavSatFixFilterChainNode.cc
@@ -1,11 +1,10 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/NavSatFix.h>
+#include <sensor_msgs/msg/nav_sat_fix.hpp>
 
 #include <sensor_filters/FilterChainNode.h>
 
-int main(int argc, char** argv)
-{
-  sensor_filters::spinFilterChain<sensor_msgs::NavSatFix>("nav_sat_fix_filter_chain", argc, argv);
+int main(const int argc, char** argv) {
+  sensor_filters::spinFilterChain<sensor_msgs::msg::NavSatFix>("nav_sat_fix_filter_chain", argc, argv);
 }
diff --git a/src/NavSatFixFilterChainNodelet.cc b/src/NavSatFixFilterChainNodelet.cc
deleted file mode 100644
index 395d13a..0000000
--- a/src/NavSatFixFilterChainNodelet.cc
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <pluginlib/class_list_macros.h>
-#include <sensor_msgs/NavSatFix.h>
-
-#include <sensor_filters/FilterChainNodelet.h>
-
-DECLARE_SENSOR_FILTER(NavSatFix, "nav_sat_fix")  // NOLINT(cert-err58-cpp)
diff --git a/src/PointCloud2FilterChainBase.cc b/src/PointCloud2FilterChainBase.cc
index e3e2910..7913b96 100644
--- a/src/PointCloud2FilterChainBase.cc
+++ b/src/PointCloud2FilterChainBase.cc
@@ -4,9 +4,8 @@
 #include <memory>
 #include <string>
 
-#include <point_cloud_transport/point_cloud_transport.h>
-#include <ros/node_handle.h>
-#include <sensor_msgs/Image.h>
+#include <point_cloud_transport/point_cloud_transport.hpp>
+#include <sensor_msgs/msg/image.hpp>
 
 #include <sensor_filters/FilterChainBase.h>
 #include <sensor_filters/PointCloud2FilterChainBase.h>
@@ -14,31 +13,29 @@
 namespace sensor_filters
 {
 
-void PointCloud2FilterChainBase::initFilters(const std::string& filterChainNamespace, ros::NodeHandle filterNodeHandle,
-                                             ros::NodeHandle topicNodeHandle, const bool useSharedPtrMessages,
-                                             const size_t inputQueueSize, const size_t outputQueueSize)
+void PointCloud2FilterChainBase::initFilters(const std::string& filterChainNamespace, rclcpp::Node::SharedPtr node,
+                                             const bool useSharedPtrMessages, const long inputQueueSize, const long outputQueueSize)
 {
-  this->pct = std::make_unique<point_cloud_transport::PointCloudTransport>(topicNodeHandle);
-  FilterChainBase::initFilters(filterChainNamespace, filterNodeHandle, topicNodeHandle, useSharedPtrMessages,
+  this->pct = std::make_unique<point_cloud_transport::PointCloudTransport>(node);
+  FilterChainBase::initFilters(filterChainNamespace, node, useSharedPtrMessages,
                                inputQueueSize, outputQueueSize);
 }
 
 void PointCloud2FilterChainBase::advertise()
 {
-  const auto resolvedOutput = this->topicNodeHandle.resolveName("output");
-  this->pctPublisher = this->pct->advertise(resolvedOutput, this->outputQueueSize);
+  this->pctPublisher = this->pct->advertise("output", this->outputQueueSize);
 }
 
 void PointCloud2FilterChainBase::subscribe()
 {
-  const auto resolvedInput = this->topicNodeHandle.resolveName("input");
-  this->pctSubscriber = this->pct->subscribe<PointCloud2FilterChainBase>(
-      resolvedInput, this->inputQueueSize, &PointCloud2FilterChainBase::callbackShared, this);
+  this->pctSubscriber = this->pct->subscribe(
+    "input", this->inputQueueSize, [this](const sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg) {
+    PointCloud2FilterChainBase::callbackShared(msg);
+  });
 }
 
-void PointCloud2FilterChainBase::publishShared(const sensor_msgs::PointCloud2ConstPtr& msg)
+void PointCloud2FilterChainBase::publishShared(const typename sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg)
 {
   this->pctPublisher.publish(msg);
 }
-
 }
diff --git a/src/PointCloud2FilterChainNode.cc b/src/PointCloud2FilterChainNode.cc
index 84b98a2..5189521 100644
--- a/src/PointCloud2FilterChainNode.cc
+++ b/src/PointCloud2FilterChainNode.cc
@@ -1,13 +1,12 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/PointCloud2.h>
+#include <sensor_msgs/msg/point_cloud2.hpp>
 
 #include <sensor_filters/FilterChainNode.h>
 #include <sensor_filters/PointCloud2FilterChainBase.h>
 
-int main(int argc, char** argv)
-{
-  sensor_filters::spinFilterChain<sensor_msgs::PointCloud2, sensor_filters::PointCloud2FilterChainBase>(
+int main(const int argc, char** argv) {
+  sensor_filters::spinFilterChain<sensor_msgs::msg::PointCloud2, sensor_filters::PointCloud2FilterChainBase>(
     "cloud_filter_chain", argc, argv);
 }
diff --git a/src/PointCloud2FilterChainNodelet.cc b/src/PointCloud2FilterChainNodelet.cc
deleted file mode 100644
index aa9bb18..0000000
--- a/src/PointCloud2FilterChainNodelet.cc
+++ /dev/null
@@ -1,10 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <pluginlib/class_list_macros.h>
-#include <sensor_msgs/PointCloud2.h>
-
-#include <sensor_filters/FilterChainNodelet.h>
-#include <sensor_filters/PointCloud2FilterChainBase.h>
-
-DECLARE_SENSOR_FILTER_BASE(PointCloud2, PointCloud2FilterChainBase, "cloud")  // NOLINT(cert-err58-cpp)
diff --git a/src/PointCloudFilterChainNode.cc b/src/PointCloudFilterChainNode.cc
index 3dc03c6..8f65672 100644
--- a/src/PointCloudFilterChainNode.cc
+++ b/src/PointCloudFilterChainNode.cc
@@ -1,11 +1,10 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/PointCloud.h>
+#include <sensor_msgs/msg/point_cloud.hpp>
 
 #include <sensor_filters/FilterChainNode.h>
 
-int main(int argc, char** argv)
-{
-  sensor_filters::spinFilterChain<sensor_msgs::PointCloud>("cloud_filter_chain", argc, argv);
+int main(const int argc, char** argv) {
+  sensor_filters::spinFilterChain<sensor_msgs::msg::PointCloud>("cloud_filter_chain", argc, argv);
 }
diff --git a/src/PointCloudFilterChainNodelet.cc b/src/PointCloudFilterChainNodelet.cc
deleted file mode 100644
index e57604e..0000000
--- a/src/PointCloudFilterChainNodelet.cc
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <pluginlib/class_list_macros.h>
-#include <sensor_msgs/PointCloud.h>
-
-#include <sensor_filters/FilterChainNodelet.h>
-
-DECLARE_SENSOR_FILTER(PointCloud, "cloud")  // NOLINT(cert-err58-cpp)
diff --git a/src/RangeFilterChainNode.cc b/src/RangeFilterChainNode.cc
index 11ee7c5..d267502 100644
--- a/src/RangeFilterChainNode.cc
+++ b/src/RangeFilterChainNode.cc
@@ -1,11 +1,10 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/Range.h>
+#include <sensor_msgs/msg/range.hpp>
 
 #include <sensor_filters/FilterChainNode.h>
 
-int main(int argc, char** argv)
-{
-  sensor_filters::spinFilterChain<sensor_msgs::Range>("range_filter_chain", argc, argv);
+int main(const int argc, char** argv) {
+  sensor_filters::spinFilterChain<sensor_msgs::msg::Range>("range_filter_chain", argc, argv);
 }
diff --git a/src/RangeFilterChainNodelet.cc b/src/RangeFilterChainNodelet.cc
deleted file mode 100644
index 4cff3b2..0000000
--- a/src/RangeFilterChainNodelet.cc
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <pluginlib/class_list_macros.h>
-#include <sensor_msgs/Range.h>
-
-#include <sensor_filters/FilterChainNodelet.h>
-
-DECLARE_SENSOR_FILTER(Range, "range")  // NOLINT(cert-err58-cpp)
diff --git a/src/RelativeHumidityFilterChainNode.cc b/src/RelativeHumidityFilterChainNode.cc
index 3e33d47..4ec2d65 100644
--- a/src/RelativeHumidityFilterChainNode.cc
+++ b/src/RelativeHumidityFilterChainNode.cc
@@ -1,11 +1,10 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/RelativeHumidity.h>
+#include <sensor_msgs/msg/relative_humidity.hpp>
 
 #include <sensor_filters/FilterChainNode.h>
 
-int main(int argc, char** argv)
-{
-  sensor_filters::spinFilterChain<sensor_msgs::RelativeHumidity>("humidity_filter_chain", argc, argv);
+int main(const int argc, char** argv) {
+  sensor_filters::spinFilterChain<sensor_msgs::msg::RelativeHumidity>("humidity_filter_chain", argc, argv);
 }
diff --git a/src/RelativeHumidityFilterChainNodelet.cc b/src/RelativeHumidityFilterChainNodelet.cc
deleted file mode 100644
index 439526f..0000000
--- a/src/RelativeHumidityFilterChainNodelet.cc
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <pluginlib/class_list_macros.h>
-#include <sensor_msgs/RelativeHumidity.h>
-
-#include <sensor_filters/FilterChainNodelet.h>
-
-DECLARE_SENSOR_FILTER(RelativeHumidity, "humidity")  // NOLINT(cert-err58-cpp)
diff --git a/src/TemperatureFilterChainNode.cc b/src/TemperatureFilterChainNode.cc
index e9f7ef6..c657d85 100644
--- a/src/TemperatureFilterChainNode.cc
+++ b/src/TemperatureFilterChainNode.cc
@@ -1,11 +1,10 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/Temperature.h>
+#include <sensor_msgs/msg/temperature.hpp>
 
 #include <sensor_filters/FilterChainNode.h>
 
-int main(int argc, char** argv)
-{
-  sensor_filters::spinFilterChain<sensor_msgs::Temperature>("temperature_filter_chain", argc, argv);
+int main(const int argc, char** argv) {
+  sensor_filters::spinFilterChain<sensor_msgs::msg::Temperature>("temperature_filter_chain", argc, argv);
 }
diff --git a/src/TemperatureFilterChainNodelet.cc b/src/TemperatureFilterChainNodelet.cc
deleted file mode 100644
index 4b66579..0000000
--- a/src/TemperatureFilterChainNodelet.cc
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <pluginlib/class_list_macros.h>
-#include <sensor_msgs/Temperature.h>
-
-#include <sensor_filters/FilterChainNodelet.h>
-
-DECLARE_SENSOR_FILTER(Temperature, "temperature")  // NOLINT(cert-err58-cpp)

From 555291e7451d455be34ca2bbc58e047d32707604 Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Mon, 23 Feb 2026 22:22:22 -0500
Subject: [PATCH 02/23] code cleanup

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 include/sensor_filters/FilterChainBase.h      | 223 +++++++++---------
 include/sensor_filters/FilterChainNode.h      |  41 ++--
 include/sensor_filters/ImageFilterChainBase.h |  40 ++--
 .../PointCloud2FilterChainBase.h              |  40 ++--
 src/CompressedImageFilterChainNode.cc         |   5 +-
 src/ImageFilterChainBase.cc                   |  63 +++--
 src/ImageFilterChainNode.cc                   |   7 +-
 src/ImuFilterChainNode.cc                     |   5 +-
 src/JoyFilterChainNode.cc                     |   5 +-
 src/LaserScanFilterChainNode.cc               |   5 +-
 src/MagneticFieldFilterChainNode.cc           |   5 +-
 src/MultiEchoLaserScanFilterChainNode.cc      |   5 +-
 src/NavSatFixFilterChainNode.cc               |   5 +-
 src/PointCloud2FilterChainBase.cc             |  59 +++--
 src/PointCloud2FilterChainNode.cc             |   6 +-
 src/PointCloudFilterChainNode.cc              |   5 +-
 src/RangeFilterChainNode.cc                   |   5 +-
 src/RelativeHumidityFilterChainNode.cc        |   5 +-
 src/TemperatureFilterChainNode.cc             |   5 +-
 19 files changed, 254 insertions(+), 280 deletions(-)

diff --git a/include/sensor_filters/FilterChainBase.h b/include/sensor_filters/FilterChainBase.h
index fdde8fc..e699efa 100644
--- a/include/sensor_filters/FilterChainBase.h
+++ b/include/sensor_filters/FilterChainBase.h
@@ -9,118 +9,117 @@
  */
 
 #include <string>
-#include <rcl/rcl.h>
 #include <filters/filter_chain.hpp>
+#include <rcl/rcl.h>
 
-
-namespace sensor_filters
-{
-
-template<typename T>
-class FilterChainBase
-{
-protected:
-  std::shared_ptr<rclcpp::Subscription<T>> inputSubscriber;
-  std::shared_ptr<rclcpp::Publisher<T>> outputPublisher;
-  rclcpp::Node::SharedPtr node;
-  size_t inputQueueSize{10u};
-  size_t outputQueueSize{10u};
-  bool usePtrMessages{true};
-
-  filters::FilterChain<T> filterChain;
-  T msg;
-
-public:
-  FilterChainBase() :
-      filterChain(std::string(typeid(T).name()))
-  {
-  }
-
-  virtual ~FilterChainBase() = default;
-
-  virtual void initFilters(
-    const std::string& filterChainNamespace, rclcpp::Node::SharedPtr node,
-    const bool usePtrMessages, long inputQueueSize, long outputQueueSize) {
-    if (!this->filterChain.configure(filterChainNamespace, node->get_node_logging_interface(), node->get_node_parameters_interface())) {
-      RCLCPP_ERROR_STREAM(node->get_logger(), "Configuration of filter chain for "
-                          << typeid(T).name() << " is invalid, the chain will not be run.");
-      throw std::runtime_error("Filter configuration error");
-    }
-
-    RCLCPP_INFO_STREAM(node->get_logger(), "Configured filter chain of type " << typeid(T).name() << " from namespace "
-                       << node->get_namespace() << "/"
-                       << filterChainNamespace);
-
-    this->node = node;
-    this->outputQueueSize = outputQueueSize;
-    this->inputQueueSize = inputQueueSize;
-    this->usePtrMessages = usePtrMessages;
-
-    this->advertise();
-    this->subscribe();
-  }
-
-protected:
-
-  virtual void advertise()
-  {
-    this->outputPublisher = this->node->create_publisher<T>("output", this->outputQueueSize);
-  }
-
-  virtual void subscribe() {
-  if (this->usePtrMessages)
-    this->inputSubscriber = this->node->template create_subscription<T>(
-      "input", this->inputQueueSize, [this](const typename T::UniquePtr& msg) {
-      FilterChainBase::callbackUnique(msg);
-      });
-  else
-    this->inputSubscriber = this->node->template create_subscription<T>(
-      "input", this->inputQueueSize, [this](const T& msg) {
-      FilterChainBase::callbackReference(msg);
-      });
-  }
-
-  virtual void publishUnique(typename T::UniquePtr& msg) {
-    this->outputPublisher->publish(std::move(msg));
-  }
-
-  virtual void publishShared(const typename T::ConstSharedPtr& msg) {
-    RCLCPP_ERROR_THROTTLE(node->get_logger(), *node->get_clock(), 1000, "must be overriden by child class");
-  }
-
-  virtual void publishReference(const T& msg) {
-    this->outputPublisher->publish(msg);
-  }
-
-  virtual void callbackUnique(const typename T::UniquePtr& msgIn) {
-    typename T::UniquePtr msgOut = std::make_unique<T>();
-    if (this->filter(*msgIn, *msgOut))
-    this->publishUnique(msgOut);
-  }
-
-  virtual void callbackShared(const typename T::ConstSharedPtr& msgIn) {
-    typename T::SharedPtr msgOut = std::make_shared<T>();
-    if (this->filter(*msgIn, *msgOut))
-      this->publishShared(msgOut);
-  }
-
-  virtual void callbackReference(const T& msgIn)
-  {
-    if (this->filter(msgIn, this->msg))
-      this->publishReference(this->msg);
-  }
-
-  virtual bool filter(const T& msgIn, T& msgOut) {
-    const auto clock = node->get_clock();
-    const auto start = clock->now();
-    if (!this->filterChain.update(msgIn, msgOut)) {
-      RCLCPP_ERROR_THROTTLE(node->get_logger(), *clock, 1000, "Filtering data from time %i.%i failed.",
-                            msgIn.header.stamp.sec, msgIn.header.stamp.nanosec);
-      return false;
-    }
-    RCLCPP_DEBUG_STREAM(node->get_logger(), "Filtering took " << (clock->now() - start).seconds() << " s.");
-    return true;
-  }
-};
-
+namespace sensor_filters {
+    template <typename T>
+    class FilterChainBase {
+    protected:
+        std::shared_ptr<rclcpp::Subscription<T>> inputSubscriber;
+        std::shared_ptr<rclcpp::Publisher<T>> outputPublisher;
+        rclcpp::Node::SharedPtr node;
+        size_t inputQueueSize = 10u;
+        size_t outputQueueSize = 10u;
+        bool usePtrMessages = true;
+
+        filters::FilterChain<T> filterChain;
+        T msg;
+
+    public:
+        FilterChainBase() :
+            filterChain(std::string(typeid(T).name())) {}
+
+        virtual ~FilterChainBase() = default;
+
+        virtual void initFilters(
+            const std::string& filterChainNamespace,
+            rclcpp::Node::SharedPtr node,
+            const bool usePtrMessages,
+            long inputQueueSize,
+            long outputQueueSize
+        ) {
+            if (!this->filterChain.configure(filterChainNamespace, node->get_node_logging_interface(), node->get_node_parameters_interface())) {
+                RCLCPP_ERROR_STREAM(node->get_logger(), "Configuration of filter chain for "
+                                    << typeid(T).name() << " is invalid, the chain will not be run.");
+                throw std::runtime_error("Filter configuration error");
+            }
+
+            RCLCPP_INFO_STREAM(node->get_logger(), "Configured filter chain of type " << typeid(T).name() << " from namespace "
+                               << node->get_namespace() << "/"
+                               << filterChainNamespace);
+
+            this->node = node;
+            this->outputQueueSize = outputQueueSize;
+            this->inputQueueSize = inputQueueSize;
+            this->usePtrMessages = usePtrMessages;
+
+            this->advertise();
+            this->subscribe();
+        }
+
+    protected:
+        virtual void advertise() {
+            this->outputPublisher = this->node->create_publisher<T>("output", this->outputQueueSize);
+        }
+
+        virtual void subscribe() {
+            if (this->usePtrMessages) {
+                this->inputSubscriber = this->node->template create_subscription<T>(
+                    "input", this->inputQueueSize,
+                    [this](const typename T::UniquePtr& msg) {
+                        FilterChainBase::callbackUnique(msg);
+                    }
+                );
+            } else {
+                this->inputSubscriber = this->node->template create_subscription<T>(
+                    "input", this->inputQueueSize,
+                    [this](const T& msg) {
+                        FilterChainBase::callbackReference(msg);
+                    }
+                );
+            }
+        }
+
+        virtual void publishUnique(typename T::UniquePtr& msg) {
+            this->outputPublisher->publish(std::move(msg));
+        }
+
+        virtual void publishShared(const typename T::ConstSharedPtr& msg) {
+            RCLCPP_ERROR_THROTTLE(node->get_logger(), *node->get_clock(), 1000, "must be overriden by child class");
+        }
+
+        virtual void publishReference(const T& msg) {
+            this->outputPublisher->publish(msg);
+        }
+
+        virtual void callbackUnique(const typename T::UniquePtr& msgIn) {
+            typename T::UniquePtr msgOut = std::make_unique<T>();
+            if (this->filter(*msgIn, *msgOut))
+                this->publishUnique(msgOut);
+        }
+
+        virtual void callbackShared(const typename T::ConstSharedPtr& msgIn) {
+            typename T::SharedPtr msgOut = std::make_shared<T>();
+            if (this->filter(*msgIn, *msgOut))
+                this->publishShared(msgOut);
+        }
+
+        virtual void callbackReference(const T& msgIn) {
+            if (this->filter(msgIn, this->msg))
+                this->publishReference(this->msg);
+        }
+
+        virtual bool filter(const T& msgIn, T& msgOut) {
+            const auto clock = node->get_clock();
+            const auto start = clock->now();
+            if (!this->filterChain.update(msgIn, msgOut)) {
+                RCLCPP_ERROR_THROTTLE(node->get_logger(), *clock, 1000, "Filtering data from time %i.%i failed.",
+                                      msgIn.header.stamp.sec, msgIn.header.stamp.nanosec);
+                return false;
+            }
+            RCLCPP_DEBUG_STREAM(node->get_logger(), "Filtering took " << (clock->now() - start).seconds() << " s.");
+            return true;
+        }
+    };
 }
diff --git a/include/sensor_filters/FilterChainNode.h b/include/sensor_filters/FilterChainNode.h
index 610a4c8..c2a3a71 100644
--- a/include/sensor_filters/FilterChainNode.h
+++ b/include/sensor_filters/FilterChainNode.h
@@ -9,29 +9,24 @@
  */
 
 #include <string>
-
 #include <sensor_filters/FilterChainBase.h>
 
-namespace sensor_filters
-{
-
-template <typename T, typename Base = sensor_filters::FilterChainBase<T>>
-class FilterChainNode : public rclcpp::Node, public Base {
-public:
-  explicit FilterChainNode() : Base(), Node("") {
-  }
-};
-
-
-template <typename T, typename Base = sensor_filters::FilterChainBase<T>>
-void spinFilterChain(const std::string& filterChainNamespace, int argc, char** argv) {
-  rclcpp::init(argc, argv);
-  const auto node = std::make_shared<FilterChainNode<T, Base>>();
-  node->initFilters(
-    filterChainNamespace, node, false,
-    node->declare_parameter("input_queue_size", 10),
-    node->declare_parameter("output_queue_size", 10));
-  rclcpp::spin(node);
-}
-
+namespace sensor_filters {
+    template <typename T, typename Base = FilterChainBase<T>>
+    class FilterChainNode : public rclcpp::Node, public Base {
+    public:
+        explicit FilterChainNode() : Base(), Node("") {}
+    };
+
+
+    template <typename T, typename Base = FilterChainBase<T>>
+    void spinFilterChain(const std::string& filterChainNamespace, const int argc, char** argv) {
+        rclcpp::init(argc, argv);
+        const auto node = std::make_shared<FilterChainNode<T, Base>>();
+        node->initFilters(
+            filterChainNamespace, node, false,
+            node->declare_parameter("input_queue_size", 10),
+            node->declare_parameter("output_queue_size", 10));
+        rclcpp::spin(node);
+    }
 }
diff --git a/include/sensor_filters/ImageFilterChainBase.h b/include/sensor_filters/ImageFilterChainBase.h
index c1db265..d378d5c 100644
--- a/include/sensor_filters/ImageFilterChainBase.h
+++ b/include/sensor_filters/ImageFilterChainBase.h
@@ -10,34 +10,34 @@
 
 #include <memory>
 #include <string>
-
 #include <image_transport/image_transport.h>
 #include <image_transport/publisher.h>
 #include <image_transport/subscriber.h>
-#include <sensor_msgs/msg/image.hpp>
-
 #include <sensor_filters/FilterChainBase.h>
+#include <sensor_msgs/msg/image.hpp>
 
-namespace sensor_filters
-{
-class ImageFilterChainBase : public FilterChainBase<sensor_msgs::msg::Image> {
-public:
-  ImageFilterChainBase() : FilterChainBase<sensor_msgs::msg::Image>() {
-  }
-
-  void initFilters(const std::string& filterChainNamespace, rclcpp::Node::SharedPtr node,
-                   bool useSharedPtrMessages, long inputQueueSize, long outputQueueSize) override;
+namespace sensor_filters {
+    class ImageFilterChainBase : public FilterChainBase<sensor_msgs::msg::Image> {
+    public:
+        ImageFilterChainBase() {}
 
-protected:
-  std::unique_ptr<image_transport::ImageTransport> it;
-  image_transport::Publisher itPublisher;
-  image_transport::Subscriber itSubscriber;
+        void initFilters(
+            const std::string& filterChainNamespace,
+            rclcpp::Node::SharedPtr node,
+            bool useSharedPtrMessages,
+            long inputQueueSize,
+            long outputQueueSize
+        ) override;
 
-  void advertise() override;
+    protected:
+        std::unique_ptr<image_transport::ImageTransport> it;
+        image_transport::Publisher itPublisher;
+        image_transport::Subscriber itSubscriber;
 
-  void subscribe() override;
+        void advertise() override;
 
-  void publishShared(const sensor_msgs::msg::Image::ConstSharedPtr& msg) override;
-};
+        void subscribe() override;
 
+        void publishShared(const sensor_msgs::msg::Image::ConstSharedPtr& msg) override;
+    };
 }
diff --git a/include/sensor_filters/PointCloud2FilterChainBase.h b/include/sensor_filters/PointCloud2FilterChainBase.h
index a5dfcdc..5e0ec19 100644
--- a/include/sensor_filters/PointCloud2FilterChainBase.h
+++ b/include/sensor_filters/PointCloud2FilterChainBase.h
@@ -10,34 +10,34 @@
 
 #include <memory>
 #include <string>
-
 #include <point_cloud_transport/point_cloud_transport.hpp>
 #include <point_cloud_transport/publisher.hpp>
 #include <point_cloud_transport/subscriber.hpp>
-#include <sensor_msgs/msg/point_cloud2.hpp>
-
 #include <sensor_filters/FilterChainBase.h>
+#include <sensor_msgs/msg/point_cloud2.hpp>
 
-namespace sensor_filters
-{
-class PointCloud2FilterChainBase : public FilterChainBase<sensor_msgs::msg::PointCloud2> {
-public:
-  PointCloud2FilterChainBase() : FilterChainBase<sensor_msgs::msg::PointCloud2>() {
-  }
-
-  void initFilters(const std::string& filterChainNamespace, rclcpp::Node::SharedPtr node,
-                   bool useSharedPtrMessages, long inputQueueSize, long outputQueueSize) override;
+namespace sensor_filters {
+    class PointCloud2FilterChainBase : public FilterChainBase<sensor_msgs::msg::PointCloud2> {
+    public:
+        PointCloud2FilterChainBase() {}
 
-protected:
-  std::unique_ptr<point_cloud_transport::PointCloudTransport> pct;
-  point_cloud_transport::Publisher pctPublisher;
-  point_cloud_transport::Subscriber pctSubscriber;
+        void initFilters(
+            const std::string& filterChainNamespace,
+            rclcpp::Node::SharedPtr node,
+            bool useSharedPtrMessages,
+            long inputQueueSize,
+            long outputQueueSize
+        ) override;
 
-  void advertise() override;
+    protected:
+        std::unique_ptr<point_cloud_transport::PointCloudTransport> pct;
+        point_cloud_transport::Publisher pctPublisher;
+        point_cloud_transport::Subscriber pctSubscriber;
 
-  void subscribe() override;
+        void advertise() override;
 
-  void publishShared(const sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg) override;
-};
+        void subscribe() override;
 
+        void publishShared(const sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg) override;
+    };
 }
diff --git a/src/CompressedImageFilterChainNode.cc b/src/CompressedImageFilterChainNode.cc
index 5ab8848..a277b2c 100644
--- a/src/CompressedImageFilterChainNode.cc
+++ b/src/CompressedImageFilterChainNode.cc
@@ -1,10 +1,9 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/msg/compressed_image.hpp>
-
 #include <sensor_filters/FilterChainNode.h>
+#include <sensor_msgs/msg/compressed_image.hpp>
 
 int main(const int argc, char** argv) {
- sensor_filters::spinFilterChain<sensor_msgs::msg::CompressedImage>("image_filter_chain", argc, argv);
+    sensor_filters::spinFilterChain<sensor_msgs::msg::CompressedImage>("image_filter_chain", argc, argv);
 }
diff --git a/src/ImageFilterChainBase.cc b/src/ImageFilterChainBase.cc
index a21de4b..1d7209c 100644
--- a/src/ImageFilterChainBase.cc
+++ b/src/ImageFilterChainBase.cc
@@ -3,41 +3,38 @@
 
 #include <memory>
 #include <string>
-
 #include <image_transport/image_transport.hpp>
-#include <sensor_msgs/msg/image.hpp>
-
 #include <sensor_filters/FilterChainBase.h>
 #include <sensor_filters/ImageFilterChainBase.h>
+#include <sensor_msgs/msg/image.hpp>
 
-namespace sensor_filters
-{
-
-void ImageFilterChainBase::initFilters(const std::string& filterChainNamespace, rclcpp::Node::SharedPtr node,
-                                       const bool useSharedPtrMessages, const long inputQueueSize, const long outputQueueSize)
-{
-  // TODO 2026-02-23 (solonovamax): offer parameter to advertise camera topic?
-  this->it = std::make_unique<image_transport::ImageTransport>(node);
-  FilterChainBase::initFilters(filterChainNamespace, node, useSharedPtrMessages,
-                               inputQueueSize, outputQueueSize);
-}
-
-void ImageFilterChainBase::advertise()
-{
-  this->itPublisher = this->it->advertise("output", this->outputQueueSize);
-}
-
-void ImageFilterChainBase::subscribe()
-{
-  this->itSubscriber = this->it->subscribe(
-    "input", this->inputQueueSize, [this](const typename sensor_msgs::msg::Image::ConstSharedPtr& msg) {
-      this->callbackShared(msg);
-  });
-}
-
-void ImageFilterChainBase::publishShared(const sensor_msgs::msg::Image::ConstSharedPtr& msg)
-{
-  this->itPublisher.publish(msg);
-}
-
+namespace sensor_filters {
+    void ImageFilterChainBase::initFilters(
+        const std::string& filterChainNamespace,
+        rclcpp::Node::SharedPtr node,
+        const bool useSharedPtrMessages,
+        const long inputQueueSize,
+        const long outputQueueSize
+    ) {
+        // TODO 2026-02-23 (solonovamax): offer parameter to advertise camera topic?
+        this->it = std::make_unique<image_transport::ImageTransport>(node);
+        FilterChainBase::initFilters(filterChainNamespace, node, useSharedPtrMessages, inputQueueSize, outputQueueSize);
+    }
+
+    void ImageFilterChainBase::advertise() {
+        this->itPublisher = this->it->advertise("output", this->outputQueueSize);
+    }
+
+    void ImageFilterChainBase::subscribe() {
+        this->itSubscriber = this->it->subscribe(
+            "input", this->inputQueueSize,
+            [this](const typename sensor_msgs::msg::Image::ConstSharedPtr& msg) {
+                this->callbackShared(msg);
+            }
+        );
+    }
+
+    void ImageFilterChainBase::publishShared(const sensor_msgs::msg::Image::ConstSharedPtr& msg) {
+        this->itPublisher.publish(msg);
+    }
 }
diff --git a/src/ImageFilterChainNode.cc b/src/ImageFilterChainNode.cc
index 752b7eb..bd02f26 100644
--- a/src/ImageFilterChainNode.cc
+++ b/src/ImageFilterChainNode.cc
@@ -1,12 +1,11 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/msg/image.hpp>
-
 #include <sensor_filters/FilterChainNode.h>
 #include <sensor_filters/ImageFilterChainBase.h>
+#include <sensor_msgs/msg/image.hpp>
 
 int main(const int argc, char** argv) {
-  sensor_filters::spinFilterChain<sensor_msgs::msg::Image, sensor_filters::ImageFilterChainBase>(
-    "image_filter_chain", argc, argv);
+    sensor_filters::spinFilterChain<sensor_msgs::msg::Image, sensor_filters::ImageFilterChainBase>(
+        "image_filter_chain", argc, argv);
 }
diff --git a/src/ImuFilterChainNode.cc b/src/ImuFilterChainNode.cc
index 7f330f0..bcf755d 100644
--- a/src/ImuFilterChainNode.cc
+++ b/src/ImuFilterChainNode.cc
@@ -1,10 +1,9 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/msg/imu.hpp>
-
 #include <sensor_filters/FilterChainNode.h>
+#include <sensor_msgs/msg/imu.hpp>
 
 int main(const int argc, char** argv) {
-  sensor_filters::spinFilterChain<sensor_msgs::msg::Imu>("imu_filter_chain", argc, argv);
+    sensor_filters::spinFilterChain<sensor_msgs::msg::Imu>("imu_filter_chain", argc, argv);
 }
diff --git a/src/JoyFilterChainNode.cc b/src/JoyFilterChainNode.cc
index dd40675..c7cfef3 100644
--- a/src/JoyFilterChainNode.cc
+++ b/src/JoyFilterChainNode.cc
@@ -1,10 +1,9 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/msg/joy.hpp>
-
 #include <sensor_filters/FilterChainNode.h>
+#include <sensor_msgs/msg/joy.hpp>
 
 int main(const int argc, char** argv) {
-  sensor_filters::spinFilterChain<sensor_msgs::msg::Joy>("joy_filter_chain", argc, argv);
+    sensor_filters::spinFilterChain<sensor_msgs::msg::Joy>("joy_filter_chain", argc, argv);
 }
diff --git a/src/LaserScanFilterChainNode.cc b/src/LaserScanFilterChainNode.cc
index ec030be..ef51c6f 100644
--- a/src/LaserScanFilterChainNode.cc
+++ b/src/LaserScanFilterChainNode.cc
@@ -1,10 +1,9 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/msg/laser_scan.hpp>
-
 #include <sensor_filters/FilterChainNode.h>
+#include <sensor_msgs/msg/laser_scan.hpp>
 
 int main(const int argc, char** argv) {
-  sensor_filters::spinFilterChain<sensor_msgs::msg::LaserScan>("scan_filter_chain", argc, argv);
+    sensor_filters::spinFilterChain<sensor_msgs::msg::LaserScan>("scan_filter_chain", argc, argv);
 }
diff --git a/src/MagneticFieldFilterChainNode.cc b/src/MagneticFieldFilterChainNode.cc
index 1f31267..4fe3f09 100644
--- a/src/MagneticFieldFilterChainNode.cc
+++ b/src/MagneticFieldFilterChainNode.cc
@@ -1,10 +1,9 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/msg/magnetic_field.hpp>
-
 #include <sensor_filters/FilterChainNode.h>
+#include <sensor_msgs/msg/magnetic_field.hpp>
 
 int main(const int argc, char** argv) {
-  sensor_filters::spinFilterChain<sensor_msgs::msg::MagneticField>("magnetic_field_filter_chain", argc, argv);
+    sensor_filters::spinFilterChain<sensor_msgs::msg::MagneticField>("magnetic_field_filter_chain", argc, argv);
 }
diff --git a/src/MultiEchoLaserScanFilterChainNode.cc b/src/MultiEchoLaserScanFilterChainNode.cc
index 6cfc035..4ab063b 100644
--- a/src/MultiEchoLaserScanFilterChainNode.cc
+++ b/src/MultiEchoLaserScanFilterChainNode.cc
@@ -1,10 +1,9 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/msg/multi_echo_laser_scan.hpp>
-
 #include <sensor_filters/FilterChainNode.h>
+#include <sensor_msgs/msg/multi_echo_laser_scan.hpp>
 
 int main(const int argc, char** argv) {
-  sensor_filters::spinFilterChain<sensor_msgs::msg::MultiEchoLaserScan>("scan_filter_chain", argc, argv);
+    sensor_filters::spinFilterChain<sensor_msgs::msg::MultiEchoLaserScan>("scan_filter_chain", argc, argv);
 }
diff --git a/src/NavSatFixFilterChainNode.cc b/src/NavSatFixFilterChainNode.cc
index 93ebfa7..f336789 100644
--- a/src/NavSatFixFilterChainNode.cc
+++ b/src/NavSatFixFilterChainNode.cc
@@ -1,10 +1,9 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/msg/nav_sat_fix.hpp>
-
 #include <sensor_filters/FilterChainNode.h>
+#include <sensor_msgs/msg/nav_sat_fix.hpp>
 
 int main(const int argc, char** argv) {
-  sensor_filters::spinFilterChain<sensor_msgs::msg::NavSatFix>("nav_sat_fix_filter_chain", argc, argv);
+    sensor_filters::spinFilterChain<sensor_msgs::msg::NavSatFix>("nav_sat_fix_filter_chain", argc, argv);
 }
diff --git a/src/PointCloud2FilterChainBase.cc b/src/PointCloud2FilterChainBase.cc
index 7913b96..c2b538d 100644
--- a/src/PointCloud2FilterChainBase.cc
+++ b/src/PointCloud2FilterChainBase.cc
@@ -3,39 +3,36 @@
 
 #include <memory>
 #include <string>
-
 #include <point_cloud_transport/point_cloud_transport.hpp>
-#include <sensor_msgs/msg/image.hpp>
-
 #include <sensor_filters/FilterChainBase.h>
 #include <sensor_filters/PointCloud2FilterChainBase.h>
 
-namespace sensor_filters
-{
-
-void PointCloud2FilterChainBase::initFilters(const std::string& filterChainNamespace, rclcpp::Node::SharedPtr node,
-                                             const bool useSharedPtrMessages, const long inputQueueSize, const long outputQueueSize)
-{
-  this->pct = std::make_unique<point_cloud_transport::PointCloudTransport>(node);
-  FilterChainBase::initFilters(filterChainNamespace, node, useSharedPtrMessages,
-                               inputQueueSize, outputQueueSize);
-}
-
-void PointCloud2FilterChainBase::advertise()
-{
-  this->pctPublisher = this->pct->advertise("output", this->outputQueueSize);
-}
-
-void PointCloud2FilterChainBase::subscribe()
-{
-  this->pctSubscriber = this->pct->subscribe(
-    "input", this->inputQueueSize, [this](const sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg) {
-    PointCloud2FilterChainBase::callbackShared(msg);
-  });
-}
-
-void PointCloud2FilterChainBase::publishShared(const typename sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg)
-{
-  this->pctPublisher.publish(msg);
-}
+namespace sensor_filters {
+    void PointCloud2FilterChainBase::initFilters(
+        const std::string& filterChainNamespace,
+        rclcpp::Node::SharedPtr node,
+        const bool useSharedPtrMessages,
+        const long inputQueueSize,
+        const long outputQueueSize
+    ) {
+        this->pct = std::make_unique<point_cloud_transport::PointCloudTransport>(node);
+        FilterChainBase::initFilters(filterChainNamespace, node, useSharedPtrMessages, inputQueueSize, outputQueueSize);
+    }
+
+    void PointCloud2FilterChainBase::advertise() {
+        this->pctPublisher = this->pct->advertise("output", this->outputQueueSize);
+    }
+
+    void PointCloud2FilterChainBase::subscribe() {
+        this->pctSubscriber = this->pct->subscribe(
+            "input", this->inputQueueSize,
+            [this](const sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg) {
+                PointCloud2FilterChainBase::callbackShared(msg);
+            }
+        );
+    }
+
+    void PointCloud2FilterChainBase::publishShared(const typename sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg) {
+        this->pctPublisher.publish(msg);
+    }
 }
diff --git a/src/PointCloud2FilterChainNode.cc b/src/PointCloud2FilterChainNode.cc
index 5189521..2302f5a 100644
--- a/src/PointCloud2FilterChainNode.cc
+++ b/src/PointCloud2FilterChainNode.cc
@@ -1,12 +1,10 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/msg/point_cloud2.hpp>
-
 #include <sensor_filters/FilterChainNode.h>
 #include <sensor_filters/PointCloud2FilterChainBase.h>
+#include <sensor_msgs/msg/point_cloud2.hpp>
 
 int main(const int argc, char** argv) {
-  sensor_filters::spinFilterChain<sensor_msgs::msg::PointCloud2, sensor_filters::PointCloud2FilterChainBase>(
-    "cloud_filter_chain", argc, argv);
+    sensor_filters::spinFilterChain<sensor_msgs::msg::PointCloud2, sensor_filters::PointCloud2FilterChainBase>("cloud_filter_chain", argc, argv);
 }
diff --git a/src/PointCloudFilterChainNode.cc b/src/PointCloudFilterChainNode.cc
index 8f65672..038a6cb 100644
--- a/src/PointCloudFilterChainNode.cc
+++ b/src/PointCloudFilterChainNode.cc
@@ -1,10 +1,9 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/msg/point_cloud.hpp>
-
 #include <sensor_filters/FilterChainNode.h>
+#include <sensor_msgs/msg/point_cloud.hpp>
 
 int main(const int argc, char** argv) {
-  sensor_filters::spinFilterChain<sensor_msgs::msg::PointCloud>("cloud_filter_chain", argc, argv);
+    sensor_filters::spinFilterChain<sensor_msgs::msg::PointCloud>("cloud_filter_chain", argc, argv);
 }
diff --git a/src/RangeFilterChainNode.cc b/src/RangeFilterChainNode.cc
index d267502..05a657c 100644
--- a/src/RangeFilterChainNode.cc
+++ b/src/RangeFilterChainNode.cc
@@ -1,10 +1,9 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/msg/range.hpp>
-
 #include <sensor_filters/FilterChainNode.h>
+#include <sensor_msgs/msg/range.hpp>
 
 int main(const int argc, char** argv) {
-  sensor_filters::spinFilterChain<sensor_msgs::msg::Range>("range_filter_chain", argc, argv);
+    sensor_filters::spinFilterChain<sensor_msgs::msg::Range>("range_filter_chain", argc, argv);
 }
diff --git a/src/RelativeHumidityFilterChainNode.cc b/src/RelativeHumidityFilterChainNode.cc
index 4ec2d65..3eff349 100644
--- a/src/RelativeHumidityFilterChainNode.cc
+++ b/src/RelativeHumidityFilterChainNode.cc
@@ -1,10 +1,9 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/msg/relative_humidity.hpp>
-
 #include <sensor_filters/FilterChainNode.h>
+#include <sensor_msgs/msg/relative_humidity.hpp>
 
 int main(const int argc, char** argv) {
-  sensor_filters::spinFilterChain<sensor_msgs::msg::RelativeHumidity>("humidity_filter_chain", argc, argv);
+    sensor_filters::spinFilterChain<sensor_msgs::msg::RelativeHumidity>("humidity_filter_chain", argc, argv);
 }
diff --git a/src/TemperatureFilterChainNode.cc b/src/TemperatureFilterChainNode.cc
index c657d85..5e1e8ce 100644
--- a/src/TemperatureFilterChainNode.cc
+++ b/src/TemperatureFilterChainNode.cc
@@ -1,10 +1,9 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_msgs/msg/temperature.hpp>
-
 #include <sensor_filters/FilterChainNode.h>
+#include <sensor_msgs/msg/temperature.hpp>
 
 int main(const int argc, char** argv) {
-  sensor_filters::spinFilterChain<sensor_msgs::msg::Temperature>("temperature_filter_chain", argc, argv);
+    sensor_filters::spinFilterChain<sensor_msgs::msg::Temperature>("temperature_filter_chain", argc, argv);
 }

From 3cb530891504a19c7c7793f01b39912b470ed562 Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Mon, 23 Feb 2026 22:39:29 -0500
Subject: [PATCH 03/23] rename .h -> .hpp & .cc -> .cpp

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 CMakeLists.txt                                |  16 +--
 ...{FilterChainBase.h => FilterChainBase.hpp} |   0
 ...{FilterChainNode.h => FilterChainNode.hpp} |   2 +-
 ...erChainBase.h => ImageFilterChainBase.hpp} |   2 +-
 ...nBase.h => PointCloud2FilterChainBase.hpp} |   2 +-
 ....cc => CompressedImageFilterChainNode.cpp} |   2 +-
 ...rChainBase.cc => ImageFilterChainBase.cpp} |   4 +-
 ...rChainNode.cc => ImageFilterChainNode.cpp} |   4 +-
 ...terChainNode.cc => ImuFilterChainNode.cpp} |   2 +-
 ...terChainNode.cc => JoyFilterChainNode.cpp} |   2 +-
 ...inNode.cc => LaserScanFilterChainNode.cpp} |   2 +-
 ...de.cc => MagneticFieldFilterChainNode.cpp} |   2 +-
 ... => MultiEchoLaserScanFilterChainNode.cpp} |   2 +-
 ...inNode.cc => NavSatFixFilterChainNode.cpp} |   2 +-
 ...Base.cc => PointCloud2FilterChainBase.cpp} |   4 +-
 ...Node.cc => PointCloud2FilterChainNode.cpp} |   4 +-
 ...nNode.cc => PointCloudFilterChainNode.cpp} |   2 +-
 ...rChainNode.cc => RangeFilterChainNode.cpp} |   2 +-
 ...cc => RelativeHumidityFilterChainNode.cpp} |   2 +-
 ...Node.cc => TemperatureFilterChainNode.cpp} |   2 +-
 src/filters/ChangeHeaderFilter.cc             | 103 ------------------
 src/filters/ChangeHeaderFilter.cpp            |  97 +++++++++++++++++
 ...clude_all_msgs.hh => include_all_msgs.hpp} |   0
 23 files changed, 127 insertions(+), 133 deletions(-)
 rename include/sensor_filters/{FilterChainBase.h => FilterChainBase.hpp} (100%)
 rename include/sensor_filters/{FilterChainNode.h => FilterChainNode.hpp} (95%)
 rename include/sensor_filters/{ImageFilterChainBase.h => ImageFilterChainBase.hpp} (96%)
 rename include/sensor_filters/{PointCloud2FilterChainBase.h => PointCloud2FilterChainBase.hpp} (96%)
 rename src/{CompressedImageFilterChainNode.cc => CompressedImageFilterChainNode.cpp} (86%)
 rename src/{ImageFilterChainBase.cc => ImageFilterChainBase.cpp} (93%)
 rename src/{ImageFilterChainNode.cc => ImageFilterChainNode.cpp} (77%)
 rename src/{ImuFilterChainNode.cc => ImuFilterChainNode.cpp} (85%)
 rename src/{JoyFilterChainNode.cc => JoyFilterChainNode.cpp} (85%)
 rename src/{LaserScanFilterChainNode.cc => LaserScanFilterChainNode.cpp} (86%)
 rename src/{MagneticFieldFilterChainNode.cc => MagneticFieldFilterChainNode.cpp} (87%)
 rename src/{MultiEchoLaserScanFilterChainNode.cc => MultiEchoLaserScanFilterChainNode.cpp} (87%)
 rename src/{NavSatFixFilterChainNode.cc => NavSatFixFilterChainNode.cpp} (86%)
 rename src/{PointCloud2FilterChainBase.cc => PointCloud2FilterChainBase.cpp} (92%)
 rename src/{PointCloud2FilterChainNode.cc => PointCloud2FilterChainNode.cpp} (76%)
 rename src/{PointCloudFilterChainNode.cc => PointCloudFilterChainNode.cpp} (86%)
 rename src/{RangeFilterChainNode.cc => RangeFilterChainNode.cpp} (85%)
 rename src/{RelativeHumidityFilterChainNode.cc => RelativeHumidityFilterChainNode.cpp} (87%)
 rename src/{TemperatureFilterChainNode.cc => TemperatureFilterChainNode.cpp} (86%)
 delete mode 100644 src/filters/ChangeHeaderFilter.cc
 create mode 100644 src/filters/ChangeHeaderFilter.cpp
 rename src/filters/{include_all_msgs.hh => include_all_msgs.hpp} (100%)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index bd34bb1..52b03b8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -52,11 +52,11 @@ foreach (type IN LISTS types)
 
     list(APPEND NODE_TARGETS ${node_name})
 
-    #    add_library(${node_name} src/${type}FilterChainNodelet.cc)
+    #    add_library(${node_name} src/${type}FilterChainNodelet.cpp)
     #    #target_link_libraries(${nodelet_name} ${DEPENDENCIES})
     #    ament_target_dependencies(${node_name} ${DEPENDENCIES})
 
-    add_executable(${node_name} src/${type}FilterChainNode.cc)
+    add_executable(${node_name} src/${type}FilterChainNode.cpp)
     #target_link_libraries(${node_name} ${DEPENDENCIES})
     ament_target_dependencies(${node_name} ${DEPENDENCIES})
 
@@ -72,10 +72,10 @@ foreach (type IN LISTS types)
 endforeach ()
 
 # Additional sources for the targets that use custom transport
-#target_sources(image_filter_chain_nodelet PRIVATE src/ImageFilterChainBase.cc)
-target_sources(image_filter_chain PRIVATE src/ImageFilterChainBase.cc)
-#target_sources(pointcloud2_filter_chain_nodelet PRIVATE src/PointCloud2FilterChainBase.cc)
-target_sources(pointcloud2_filter_chain PRIVATE src/PointCloud2FilterChainBase.cc)
+#target_sources(image_filter_chain_nodelet PRIVATE src/ImageFilterChainBase.cpp)
+target_sources(image_filter_chain PRIVATE src/ImageFilterChainBase.cpp)
+#target_sources(pointcloud2_filter_chain_nodelet PRIVATE src/PointCloud2FilterChainBase.cpp)
+target_sources(pointcloud2_filter_chain PRIVATE src/PointCloud2FilterChainBase.cpp)
 
 # TODO 2026-02-23 (solonovamax): finish this
 #
@@ -84,7 +84,7 @@ target_sources(pointcloud2_filter_chain PRIVATE src/PointCloud2FilterChainBase.c
 #)
 #
 #foreach (filter IN LISTS filters)
-#    add_library(${filter} src/filters/${filter}.cc)
+#    add_library(${filter} src/filters/${filter}.cpp)
 #    add_dependencies(${filter} ${catkin_EXPORTED_TARGETS})
 #    target_link_libraries(${filter} ${catkin_LIBRARIES})
 #    install(TARGETS ${filter}
@@ -132,7 +132,7 @@ install(
 #    # Roslint C++ - checks formatting and some other rules for C++ files
 #
 #    file(GLOB_RECURSE ROSLINT_INCLUDE include/*.h include/*.hpp)
-#    file(GLOB_RECURSE ROSLINT_SRC src/*.cc src/filters/*.cc src/filters/*.hh examples/*.cpp)
+#    file(GLOB_RECURSE ROSLINT_SRC src/*.cpp src/filters/*.cpp src/filters/*.hpp examples/*.cpp)
 #    #file(GLOB_RECURSE ROSLINT_TEST test/*.cpp)
 #
 #    set(ROSLINT_CPP_OPTS "--extensions=h,hpp,hh,c,cpp,cc;--linelength=120;--filter=\
diff --git a/include/sensor_filters/FilterChainBase.h b/include/sensor_filters/FilterChainBase.hpp
similarity index 100%
rename from include/sensor_filters/FilterChainBase.h
rename to include/sensor_filters/FilterChainBase.hpp
diff --git a/include/sensor_filters/FilterChainNode.h b/include/sensor_filters/FilterChainNode.hpp
similarity index 95%
rename from include/sensor_filters/FilterChainNode.h
rename to include/sensor_filters/FilterChainNode.hpp
index c2a3a71..b19e7c9 100644
--- a/include/sensor_filters/FilterChainNode.h
+++ b/include/sensor_filters/FilterChainNode.hpp
@@ -9,7 +9,7 @@
  */
 
 #include <string>
-#include <sensor_filters/FilterChainBase.h>
+#include <sensor_filters/FilterChainBase.hpp>
 
 namespace sensor_filters {
     template <typename T, typename Base = FilterChainBase<T>>
diff --git a/include/sensor_filters/ImageFilterChainBase.h b/include/sensor_filters/ImageFilterChainBase.hpp
similarity index 96%
rename from include/sensor_filters/ImageFilterChainBase.h
rename to include/sensor_filters/ImageFilterChainBase.hpp
index d378d5c..9826384 100644
--- a/include/sensor_filters/ImageFilterChainBase.h
+++ b/include/sensor_filters/ImageFilterChainBase.hpp
@@ -13,7 +13,7 @@
 #include <image_transport/image_transport.h>
 #include <image_transport/publisher.h>
 #include <image_transport/subscriber.h>
-#include <sensor_filters/FilterChainBase.h>
+#include <sensor_filters/FilterChainBase.hpp>
 #include <sensor_msgs/msg/image.hpp>
 
 namespace sensor_filters {
diff --git a/include/sensor_filters/PointCloud2FilterChainBase.h b/include/sensor_filters/PointCloud2FilterChainBase.hpp
similarity index 96%
rename from include/sensor_filters/PointCloud2FilterChainBase.h
rename to include/sensor_filters/PointCloud2FilterChainBase.hpp
index 5e0ec19..0b8929e 100644
--- a/include/sensor_filters/PointCloud2FilterChainBase.h
+++ b/include/sensor_filters/PointCloud2FilterChainBase.hpp
@@ -13,7 +13,7 @@
 #include <point_cloud_transport/point_cloud_transport.hpp>
 #include <point_cloud_transport/publisher.hpp>
 #include <point_cloud_transport/subscriber.hpp>
-#include <sensor_filters/FilterChainBase.h>
+#include <sensor_filters/FilterChainBase.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
 namespace sensor_filters {
diff --git a/src/CompressedImageFilterChainNode.cc b/src/CompressedImageFilterChainNode.cpp
similarity index 86%
rename from src/CompressedImageFilterChainNode.cc
rename to src/CompressedImageFilterChainNode.cpp
index a277b2c..bf63134 100644
--- a/src/CompressedImageFilterChainNode.cc
+++ b/src/CompressedImageFilterChainNode.cpp
@@ -1,7 +1,7 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_filters/FilterChainNode.h>
+#include <sensor_filters/FilterChainNode.hpp>
 #include <sensor_msgs/msg/compressed_image.hpp>
 
 int main(const int argc, char** argv) {
diff --git a/src/ImageFilterChainBase.cc b/src/ImageFilterChainBase.cpp
similarity index 93%
rename from src/ImageFilterChainBase.cc
rename to src/ImageFilterChainBase.cpp
index 1d7209c..6967eb3 100644
--- a/src/ImageFilterChainBase.cc
+++ b/src/ImageFilterChainBase.cpp
@@ -4,8 +4,8 @@
 #include <memory>
 #include <string>
 #include <image_transport/image_transport.hpp>
-#include <sensor_filters/FilterChainBase.h>
-#include <sensor_filters/ImageFilterChainBase.h>
+#include <sensor_filters/FilterChainBase.hpp>
+#include <sensor_filters/ImageFilterChainBase.hpp>
 #include <sensor_msgs/msg/image.hpp>
 
 namespace sensor_filters {
diff --git a/src/ImageFilterChainNode.cc b/src/ImageFilterChainNode.cpp
similarity index 77%
rename from src/ImageFilterChainNode.cc
rename to src/ImageFilterChainNode.cpp
index bd02f26..a1015bf 100644
--- a/src/ImageFilterChainNode.cc
+++ b/src/ImageFilterChainNode.cpp
@@ -1,8 +1,8 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_filters/FilterChainNode.h>
-#include <sensor_filters/ImageFilterChainBase.h>
+#include <sensor_filters/FilterChainNode.hpp>
+#include <sensor_filters/ImageFilterChainBase.hpp>
 #include <sensor_msgs/msg/image.hpp>
 
 int main(const int argc, char** argv) {
diff --git a/src/ImuFilterChainNode.cc b/src/ImuFilterChainNode.cpp
similarity index 85%
rename from src/ImuFilterChainNode.cc
rename to src/ImuFilterChainNode.cpp
index bcf755d..57198d4 100644
--- a/src/ImuFilterChainNode.cc
+++ b/src/ImuFilterChainNode.cpp
@@ -1,7 +1,7 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_filters/FilterChainNode.h>
+#include <sensor_filters/FilterChainNode.hpp>
 #include <sensor_msgs/msg/imu.hpp>
 
 int main(const int argc, char** argv) {
diff --git a/src/JoyFilterChainNode.cc b/src/JoyFilterChainNode.cpp
similarity index 85%
rename from src/JoyFilterChainNode.cc
rename to src/JoyFilterChainNode.cpp
index c7cfef3..8ea85c3 100644
--- a/src/JoyFilterChainNode.cc
+++ b/src/JoyFilterChainNode.cpp
@@ -1,7 +1,7 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_filters/FilterChainNode.h>
+#include <sensor_filters/FilterChainNode.hpp>
 #include <sensor_msgs/msg/joy.hpp>
 
 int main(const int argc, char** argv) {
diff --git a/src/LaserScanFilterChainNode.cc b/src/LaserScanFilterChainNode.cpp
similarity index 86%
rename from src/LaserScanFilterChainNode.cc
rename to src/LaserScanFilterChainNode.cpp
index ef51c6f..87d8f2b 100644
--- a/src/LaserScanFilterChainNode.cc
+++ b/src/LaserScanFilterChainNode.cpp
@@ -1,7 +1,7 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_filters/FilterChainNode.h>
+#include <sensor_filters/FilterChainNode.hpp>
 #include <sensor_msgs/msg/laser_scan.hpp>
 
 int main(const int argc, char** argv) {
diff --git a/src/MagneticFieldFilterChainNode.cc b/src/MagneticFieldFilterChainNode.cpp
similarity index 87%
rename from src/MagneticFieldFilterChainNode.cc
rename to src/MagneticFieldFilterChainNode.cpp
index 4fe3f09..76f1e42 100644
--- a/src/MagneticFieldFilterChainNode.cc
+++ b/src/MagneticFieldFilterChainNode.cpp
@@ -1,7 +1,7 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_filters/FilterChainNode.h>
+#include <sensor_filters/FilterChainNode.hpp>
 #include <sensor_msgs/msg/magnetic_field.hpp>
 
 int main(const int argc, char** argv) {
diff --git a/src/MultiEchoLaserScanFilterChainNode.cc b/src/MultiEchoLaserScanFilterChainNode.cpp
similarity index 87%
rename from src/MultiEchoLaserScanFilterChainNode.cc
rename to src/MultiEchoLaserScanFilterChainNode.cpp
index 4ab063b..242d51c 100644
--- a/src/MultiEchoLaserScanFilterChainNode.cc
+++ b/src/MultiEchoLaserScanFilterChainNode.cpp
@@ -1,7 +1,7 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_filters/FilterChainNode.h>
+#include <sensor_filters/FilterChainNode.hpp>
 #include <sensor_msgs/msg/multi_echo_laser_scan.hpp>
 
 int main(const int argc, char** argv) {
diff --git a/src/NavSatFixFilterChainNode.cc b/src/NavSatFixFilterChainNode.cpp
similarity index 86%
rename from src/NavSatFixFilterChainNode.cc
rename to src/NavSatFixFilterChainNode.cpp
index f336789..d6af3b4 100644
--- a/src/NavSatFixFilterChainNode.cc
+++ b/src/NavSatFixFilterChainNode.cpp
@@ -1,7 +1,7 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_filters/FilterChainNode.h>
+#include <sensor_filters/FilterChainNode.hpp>
 #include <sensor_msgs/msg/nav_sat_fix.hpp>
 
 int main(const int argc, char** argv) {
diff --git a/src/PointCloud2FilterChainBase.cc b/src/PointCloud2FilterChainBase.cpp
similarity index 92%
rename from src/PointCloud2FilterChainBase.cc
rename to src/PointCloud2FilterChainBase.cpp
index c2b538d..46422aa 100644
--- a/src/PointCloud2FilterChainBase.cc
+++ b/src/PointCloud2FilterChainBase.cpp
@@ -4,8 +4,8 @@
 #include <memory>
 #include <string>
 #include <point_cloud_transport/point_cloud_transport.hpp>
-#include <sensor_filters/FilterChainBase.h>
-#include <sensor_filters/PointCloud2FilterChainBase.h>
+#include <sensor_filters/FilterChainBase.hpp>
+#include <sensor_filters/PointCloud2FilterChainBase.hpp>
 
 namespace sensor_filters {
     void PointCloud2FilterChainBase::initFilters(
diff --git a/src/PointCloud2FilterChainNode.cc b/src/PointCloud2FilterChainNode.cpp
similarity index 76%
rename from src/PointCloud2FilterChainNode.cc
rename to src/PointCloud2FilterChainNode.cpp
index 2302f5a..af203c2 100644
--- a/src/PointCloud2FilterChainNode.cc
+++ b/src/PointCloud2FilterChainNode.cpp
@@ -1,8 +1,8 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_filters/FilterChainNode.h>
-#include <sensor_filters/PointCloud2FilterChainBase.h>
+#include <sensor_filters/FilterChainNode.hpp>
+#include <sensor_filters/PointCloud2FilterChainBase.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
 int main(const int argc, char** argv) {
diff --git a/src/PointCloudFilterChainNode.cc b/src/PointCloudFilterChainNode.cpp
similarity index 86%
rename from src/PointCloudFilterChainNode.cc
rename to src/PointCloudFilterChainNode.cpp
index 038a6cb..e1e86ba 100644
--- a/src/PointCloudFilterChainNode.cc
+++ b/src/PointCloudFilterChainNode.cpp
@@ -1,7 +1,7 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_filters/FilterChainNode.h>
+#include <sensor_filters/FilterChainNode.hpp>
 #include <sensor_msgs/msg/point_cloud.hpp>
 
 int main(const int argc, char** argv) {
diff --git a/src/RangeFilterChainNode.cc b/src/RangeFilterChainNode.cpp
similarity index 85%
rename from src/RangeFilterChainNode.cc
rename to src/RangeFilterChainNode.cpp
index 05a657c..e68a947 100644
--- a/src/RangeFilterChainNode.cc
+++ b/src/RangeFilterChainNode.cpp
@@ -1,7 +1,7 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_filters/FilterChainNode.h>
+#include <sensor_filters/FilterChainNode.hpp>
 #include <sensor_msgs/msg/range.hpp>
 
 int main(const int argc, char** argv) {
diff --git a/src/RelativeHumidityFilterChainNode.cc b/src/RelativeHumidityFilterChainNode.cpp
similarity index 87%
rename from src/RelativeHumidityFilterChainNode.cc
rename to src/RelativeHumidityFilterChainNode.cpp
index 3eff349..53d5649 100644
--- a/src/RelativeHumidityFilterChainNode.cc
+++ b/src/RelativeHumidityFilterChainNode.cpp
@@ -1,7 +1,7 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_filters/FilterChainNode.h>
+#include <sensor_filters/FilterChainNode.hpp>
 #include <sensor_msgs/msg/relative_humidity.hpp>
 
 int main(const int argc, char** argv) {
diff --git a/src/TemperatureFilterChainNode.cc b/src/TemperatureFilterChainNode.cpp
similarity index 86%
rename from src/TemperatureFilterChainNode.cc
rename to src/TemperatureFilterChainNode.cpp
index 5e1e8ce..851c96e 100644
--- a/src/TemperatureFilterChainNode.cc
+++ b/src/TemperatureFilterChainNode.cpp
@@ -1,7 +1,7 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
-#include <sensor_filters/FilterChainNode.h>
+#include <sensor_filters/FilterChainNode.hpp>
 #include <sensor_msgs/msg/temperature.hpp>
 
 int main(const int argc, char** argv) {
diff --git a/src/filters/ChangeHeaderFilter.cc b/src/filters/ChangeHeaderFilter.cc
deleted file mode 100644
index 118b7d4..0000000
--- a/src/filters/ChangeHeaderFilter.cc
+++ /dev/null
@@ -1,103 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <optional>
-
-#include <ros/ros.h>
-#include <std_msgs/Header.h>
-#include <pluginlib/class_list_macros.h>
-
-#if ROS_VERSION_MINIMUM(1, 15, 0)
-#include <filters/filter_chain.hpp>
-#else
-#include <filters/filter_chain.h>
-#endif
-
-#include "include_all_msgs.hh"
-
-namespace sensor_filters
-{
-
-template<typename T>
-class ChangeHeader : public filters::FilterBase<T>
-{
-protected:
-  bool configure() override
-  {
-    {
-      std::string frameIdParam;
-      if (this->getParam("frame_id_prefix", frameIdParam))
-        this->newFrameIdPrefix = frameIdParam;
-
-      if (this->getParam("frame_id_suffix", frameIdParam))
-        this->newFrameIdSuffix = frameIdParam;
-
-      if (this->getParam("frame_id", frameIdParam))
-        this->newFrameId = frameIdParam;
-    }
-
-    {
-      uint32_t seqParam;
-      if (this->getParam("seq_relative", seqParam))
-        this->newSeqRel = seqParam;
-
-      if (this->getParam("seq", seqParam))
-        this->newSeqAbs = seqParam;
-    }
-
-    {
-      double stampParam;
-      if (this->getParam("stamp_relative", stampParam))
-        this->newStampRel = ros::Duration(stampParam);
-
-      if (this->getParam("stamp", stampParam))
-        this->newStampAbs = ros::Time(stampParam);
-    }
-
-    return true;
-  }
-
-public:
-  bool update(const T& data_in, T& data_out) override
-  {
-    data_out = data_in;
-
-    if (this->newFrameIdPrefix.has_value())
-      data_out.header.frame_id = this->newFrameIdPrefix.value() + data_out.header.frame_id;
-
-    if (this->newFrameIdSuffix.has_value())
-      data_out.header.frame_id += this->newFrameIdSuffix.value();
-
-    if (this->newFrameId.has_value())
-      data_out.header.frame_id = this->newFrameId.value();
-
-    if (this->newSeqRel.has_value())
-      data_out.header.seq += this->newSeqRel.value();
-
-    if (this->newSeqAbs.has_value())
-      data_out.header.seq = this->newSeqAbs.value();
-
-    if (this->newStampRel.has_value())
-      data_out.header.stamp += this->newStampRel.value();
-
-    if (this->newStampAbs.has_value())
-      data_out.header.stamp = this->newStampAbs.value();
-
-    return true;
-  }
-
-private:
-  std::optional<std::string> newFrameId;
-  std::optional<std::string> newFrameIdPrefix;
-  std::optional<std::string> newFrameIdSuffix;
-
-  std::optional<uint32_t> newSeqAbs;
-  std::optional<uint32_t> newSeqRel;
-
-  std::optional<ros::Time> newStampAbs;
-  std::optional<ros::Duration> newStampRel;
-};
-
-}
-
-REGISTER_ALL_MSG_FILTER(sensor_filters::ChangeHeader)
diff --git a/src/filters/ChangeHeaderFilter.cpp b/src/filters/ChangeHeaderFilter.cpp
new file mode 100644
index 0000000..35920bf
--- /dev/null
+++ b/src/filters/ChangeHeaderFilter.cpp
@@ -0,0 +1,97 @@
+// SPDX-License-Identifier: BSD-3-Clause
+// SPDX-FileCopyrightText: Czech Technical University in Prague
+
+#include <optional>
+
+#include <ros/ros.h>
+#include <std_msgs/Header.h>
+#include <pluginlib/class_list_macros.h>
+
+#if ROS_VERSION_MINIMUM(1, 15, 0)
+#include <filters/filter_chain.hpp>
+#else
+#include <filters/filter_chain.h>
+#endif
+
+#include "include_all_msgs.hpp"
+
+namespace sensor_filters {
+    template <typename T>
+    class ChangeHeader : public filters::FilterBase<T> {
+    protected:
+        bool configure() override {
+            {
+                std::string frameIdParam;
+                if (this->getParam("frame_id_prefix", frameIdParam))
+                    this->newFrameIdPrefix = frameIdParam;
+
+                if (this->getParam("frame_id_suffix", frameIdParam))
+                    this->newFrameIdSuffix = frameIdParam;
+
+                if (this->getParam("frame_id", frameIdParam))
+                    this->newFrameId = frameIdParam;
+            }
+
+            {
+                uint32_t seqParam;
+                if (this->getParam("seq_relative", seqParam))
+                    this->newSeqRel = seqParam;
+
+                if (this->getParam("seq", seqParam))
+                    this->newSeqAbs = seqParam;
+            }
+
+            {
+                double stampParam;
+                if (this->getParam("stamp_relative", stampParam))
+                    this->newStampRel = ros::Duration(stampParam);
+
+                if (this->getParam("stamp", stampParam))
+                    this->newStampAbs = ros::Time(stampParam);
+            }
+
+            return true;
+        }
+
+    public:
+        bool update(const T& data_in, T& data_out) override {
+            data_out = data_in;
+
+            if (this->newFrameIdPrefix.has_value())
+                data_out.header.frame_id = this->newFrameIdPrefix.value() + data_out.header.frame_id;
+
+            if (this->newFrameIdSuffix.has_value())
+                data_out.header.frame_id += this->newFrameIdSuffix.value();
+
+            if (this->newFrameId.has_value())
+                data_out.header.frame_id = this->newFrameId.value();
+
+            if (this->newSeqRel.has_value())
+                data_out.header.seq += this->newSeqRel.value();
+
+            if (this->newSeqAbs.has_value())
+                data_out.header.seq = this->newSeqAbs.value();
+
+            if (this->newStampRel.has_value())
+                data_out.header.stamp += this->newStampRel.value();
+
+            if (this->newStampAbs.has_value())
+                data_out.header.stamp = this->newStampAbs.value();
+
+            return true;
+        }
+
+    private:
+        std::optional<std::string> newFrameId;
+        std::optional<std::string> newFrameIdPrefix;
+        std::optional<std::string> newFrameIdSuffix;
+
+        std::optional<uint32_t> newSeqAbs;
+        std::optional<uint32_t> newSeqRel;
+
+        std::optional<ros::Time> newStampAbs;
+        std::optional<ros::Duration> newStampRel;
+    };
+}
+
+REGISTER_ALL_MSG_FILTER(sensor_filters::ChangeHeader)
diff --git a/src/filters/include_all_msgs.hh b/src/filters/include_all_msgs.hpp
similarity index 100%
rename from src/filters/include_all_msgs.hh
rename to src/filters/include_all_msgs.hpp

From d4229aeeeb7592a10043befb73a640da5a776104 Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Tue, 24 Feb 2026 14:44:33 -0500
Subject: [PATCH 04/23] generate filter chain nodes with cmake

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 CMakeLists.txt                                | 103 +++++++++++-------
 .../FilterChainNode.cpp.in                    |   5 +-
 cmake/GenerateFilterChainNode.cmake           |  31 ++++++
 src/CompressedImageFilterChainNode.cpp        |   9 --
 src/ImageFilterChainNode.cpp                  |  11 --
 src/JoyFilterChainNode.cpp                    |   9 --
 src/LaserScanFilterChainNode.cpp              |   9 --
 src/MagneticFieldFilterChainNode.cpp          |   9 --
 src/MultiEchoLaserScanFilterChainNode.cpp     |   9 --
 src/NavSatFixFilterChainNode.cpp              |   9 --
 src/PointCloud2FilterChainNode.cpp            |  10 --
 src/PointCloudFilterChainNode.cpp             |   9 --
 src/RangeFilterChainNode.cpp                  |   9 --
 src/RelativeHumidityFilterChainNode.cpp       |   9 --
 src/TemperatureFilterChainNode.cpp            |   9 --
 15 files changed, 98 insertions(+), 152 deletions(-)
 rename src/ImuFilterChainNode.cpp => cmake/FilterChainNode.cpp.in (60%)
 create mode 100644 cmake/GenerateFilterChainNode.cmake
 delete mode 100644 src/CompressedImageFilterChainNode.cpp
 delete mode 100644 src/ImageFilterChainNode.cpp
 delete mode 100644 src/JoyFilterChainNode.cpp
 delete mode 100644 src/LaserScanFilterChainNode.cpp
 delete mode 100644 src/MagneticFieldFilterChainNode.cpp
 delete mode 100644 src/MultiEchoLaserScanFilterChainNode.cpp
 delete mode 100644 src/NavSatFixFilterChainNode.cpp
 delete mode 100644 src/PointCloud2FilterChainNode.cpp
 delete mode 100644 src/PointCloudFilterChainNode.cpp
 delete mode 100644 src/RangeFilterChainNode.cpp
 delete mode 100644 src/RelativeHumidityFilterChainNode.cpp
 delete mode 100644 src/TemperatureFilterChainNode.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 52b03b8..e7716be 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,53 +29,78 @@ endforeach ()
 
 include_directories(include include/${PROJECT_NAME})
 
-set(types
-        CompressedImage
-        Image
-        Imu
-        Joy
-        LaserScan
-        MultiEchoLaserScan
-        MagneticField
-        NavSatFix
-        PointCloud
-        PointCloud2
-        Range
-        RelativeHumidity
-        Temperature
-)
-
-foreach (type IN LISTS types)
-    string(TOLOWER "${type}" type_lower)
-
-    set(node_name "${type_lower}_filter_chain")
-
-    list(APPEND NODE_TARGETS ${node_name})
-
-    #    add_library(${node_name} src/${type}FilterChainNodelet.cpp)
-    #    #target_link_libraries(${nodelet_name} ${DEPENDENCIES})
-    #    ament_target_dependencies(${node_name} ${DEPENDENCIES})
+function(add_filter_chain_node TARGET_NAME FILENAME)
+    list(APPEND NODE_TARGETS ${TARGET_NAME})
 
-    add_executable(${node_name} src/${type}FilterChainNode.cpp)
-    #target_link_libraries(${node_name} ${DEPENDENCIES})
-    ament_target_dependencies(${node_name} ${DEPENDENCIES})
+    add_executable(${TARGET_NAME} "${FILENAME}")
+    #target_link_libraries(${TARGET_NAME} ${DEPENDENCIES})
+    ament_target_dependencies(${TARGET_NAME} ${DEPENDENCIES})
 
-    #    install(TARGETS ${node_name}
-    #            RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-    #    )
+    #install(TARGETS ${TARGET_NAME}
+    #        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+    #)
 
-    install(TARGETS ${node_name}
+    install(TARGETS ${TARGET_NAME}
             ARCHIVE DESTINATION lib
             LIBRARY DESTINATION lib
             RUNTIME DESTINATION lib
     )
-endforeach ()
+endfunction()
+
+function(generate_filter_chain_source NODE_NAME)
+    set(oneValueArgs HEADER_NAME MESSAGE_TYPE BASE_FILTER)
+    set(multiValueArgs SOURCES)
+    cmake_parse_arguments(PARSE_ARGV 0 arg
+            "" "${oneValueArgs}" "${multiValueArgs}"
+    )
+
+    set(BASE_FILTER "${arg_BASE_FILTER}")
+    set(HEADER_NAME "${arg_HEADER_NAME}")
+    set(MESSAGE_TYPE "${arg_MESSAGE_TYPE}")
+    set(SOURCES "${arg_SOURCES}")
+
+    set(NODE_NAME "${NODE_NAME}_filter_chain")
+
+    set(FILE_NAME "${MESSAGE_TYPE}FilterChain.cpp")
+
+    set(OUTPUT_FILE "${PROJECT_BINARY_DIR}/${FILE_NAME}")
+
+    add_custom_command(
+            OUTPUT "${OUTPUT_FILE}"
+            COMMAND ${CMAKE_COMMAND}
+            -D "PROJECT_SOURCE_DIR=${PROJECT_SOURCE_DIR}"
+            -D "MESSAGE_TYPE=${MESSAGE_TYPE}"
+            -D "HEADER_NAME=${HEADER_NAME}"
+            -D "BASE_FILTER=${BASE_FILTER}"
+            -D "NODE_NAME=${NODE_NAME}"
+            -D "OUTPUT_FILE=${OUTPUT_FILE}"
+            -P "${CMAKE_SOURCE_DIR}/cmake/GenerateFilterChainNode.cmake"
+            DEPENDS
+            "${CMAKE_CURRENT_SOURCE_DIR}/cmake/FilterChainNode.cpp.in"
+            "${CMAKE_SOURCE_DIR}/cmake/GenerateFilterChainNode.cmake"
+            VERBATIM
+    )
 
-# Additional sources for the targets that use custom transport
-#target_sources(image_filter_chain_nodelet PRIVATE src/ImageFilterChainBase.cpp)
-target_sources(image_filter_chain PRIVATE src/ImageFilterChainBase.cpp)
-#target_sources(pointcloud2_filter_chain_nodelet PRIVATE src/PointCloud2FilterChainBase.cpp)
-target_sources(pointcloud2_filter_chain PRIVATE src/PointCloud2FilterChainBase.cpp)
+    add_filter_chain_node(${NODE_NAME} "${OUTPUT_FILE}")
+
+    if (SOURCES)
+        target_sources(${NODE_NAME} PRIVATE ${SOURCES})
+    endif ()
+endfunction()
+
+generate_filter_chain_source("compressed_image" HEADER_NAME "compressed_image" MESSAGE_TYPE "CompressedImage")
+generate_filter_chain_source("image" HEADER_NAME "image" MESSAGE_TYPE "Image" BASE_FILTER "ImageFilterChainBase" SOURCES src/ImageFilterChainBase.cpp)
+generate_filter_chain_source("imu" HEADER_NAME "imu" MESSAGE_TYPE "Imu")
+generate_filter_chain_source("joy" HEADER_NAME "joy" MESSAGE_TYPE "Joy")
+generate_filter_chain_source("scan" HEADER_NAME "laser_scan" MESSAGE_TYPE "LaserScan")
+generate_filter_chain_source("magnetic_field" HEADER_NAME "magnetic_field" MESSAGE_TYPE "MagneticField")
+generate_filter_chain_source("multi_echo_scan" HEADER_NAME "multi_echo_laser_scan" MESSAGE_TYPE "MultiEchoLaserScan")
+generate_filter_chain_source("navsat_fix" HEADER_NAME "nav_sat_fix" MESSAGE_TYPE "NavSatFix")
+generate_filter_chain_source("pointcloud" HEADER_NAME "point_cloud" MESSAGE_TYPE "PointCloud")
+generate_filter_chain_source("pointcloud2" HEADER_NAME "point_cloud2" MESSAGE_TYPE "PointCloud2" BASE_FILTER "PointCloud2FilterChainBase" SOURCES src/PointCloud2FilterChainBase.cpp)
+generate_filter_chain_source("range" HEADER_NAME "range" MESSAGE_TYPE "Range")
+generate_filter_chain_source("relative_humidity" HEADER_NAME "relative_humidity" MESSAGE_TYPE "RelativeHumidity")
+generate_filter_chain_source("temperature" HEADER_NAME "temperature" MESSAGE_TYPE "Temperature")
 
 # TODO 2026-02-23 (solonovamax): finish this
 #
diff --git a/src/ImuFilterChainNode.cpp b/cmake/FilterChainNode.cpp.in
similarity index 60%
rename from src/ImuFilterChainNode.cpp
rename to cmake/FilterChainNode.cpp.in
index 57198d4..823bc47 100644
--- a/src/ImuFilterChainNode.cpp
+++ b/cmake/FilterChainNode.cpp.in
@@ -2,8 +2,9 @@
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
 #include <sensor_filters/FilterChainNode.hpp>
-#include <sensor_msgs/msg/imu.hpp>
+@BASE_INCLUDE@
+#include <@MESSAGE_HEADER@>
 
 int main(const int argc, char** argv) {
-    sensor_filters::spinFilterChain<sensor_msgs::msg::Imu>("imu_filter_chain", argc, argv);
+    sensor_filters::spinFilterChain<@TEMPLATE_ARGS@>("@NODE_NAME@", argc, argv);
 }
diff --git a/cmake/GenerateFilterChainNode.cmake b/cmake/GenerateFilterChainNode.cmake
new file mode 100644
index 0000000..82842b9
--- /dev/null
+++ b/cmake/GenerateFilterChainNode.cmake
@@ -0,0 +1,31 @@
+# ${MESSAGE_TYPE} = sensor_msgs::msg::CompressedImage
+# ${NODE_NAME} = image_filter_chain
+
+#string(REGEX REPLACE "(_|^)([a-zA-Z])" "\\U$1\\E" FILE_NAME ${NODE_NAME})
+#string(APPEND FILE_NAME "FilterChainNode.cpp")
+#string(REPLACE "::" "/" MESSAGE_HEADER ${MESSAGE_TYPE})
+#string(APPEND MESSAGE_HEADER ".hpp")
+
+set(MESSAGE_TYPE "sensor_msgs::msg::${MESSAGE_TYPE}")
+set(MESSAGE_HEADER "sensor_msgs/msg/${HEADER_NAME}.hpp")
+
+message(MESSAGE_TYPE="${MESSAGE_TYPE}")
+message(HEADER_NAME="${HEADER_NAME}")
+message(MESSAGE_HEADER="${MESSAGE_HEADER}")
+if (BASE_FILTER)
+    set(TEMPLATE_ARGS "${MESSAGE_TYPE}, sensor_filters::${BASE_FILTER}")
+    # string(REPLACE "::" "/" "${BASE_FILTER}")
+    set(BASE_INCLUDE "#include <sensor_filters/${BASE_FILTER}.hpp>")
+else ()
+    set(TEMPLATE_ARGS "${MESSAGE_TYPE}")
+    set(BASE_INCLUDE "")
+endif ()
+message(NODE_NAME="${NODE_NAME}")
+message(BASE_FILTER="${BASE_FILTER}")
+message(TEMPLATE_ARGS="${TEMPLATE_ARGS}")
+
+# Configure the header file
+configure_file(${PROJECT_SOURCE_DIR}/cmake/FilterChainNode.cpp.in ${OUTPUT_FILE} @ONLY)
+
+file(READ ${OUTPUT_FILE} CONTENTS)
+message(CONTENTS=${CONTENTS})
diff --git a/src/CompressedImageFilterChainNode.cpp b/src/CompressedImageFilterChainNode.cpp
deleted file mode 100644
index bf63134..0000000
--- a/src/CompressedImageFilterChainNode.cpp
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <sensor_filters/FilterChainNode.hpp>
-#include <sensor_msgs/msg/compressed_image.hpp>
-
-int main(const int argc, char** argv) {
-    sensor_filters::spinFilterChain<sensor_msgs::msg::CompressedImage>("image_filter_chain", argc, argv);
-}
diff --git a/src/ImageFilterChainNode.cpp b/src/ImageFilterChainNode.cpp
deleted file mode 100644
index a1015bf..0000000
--- a/src/ImageFilterChainNode.cpp
+++ /dev/null
@@ -1,11 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <sensor_filters/FilterChainNode.hpp>
-#include <sensor_filters/ImageFilterChainBase.hpp>
-#include <sensor_msgs/msg/image.hpp>
-
-int main(const int argc, char** argv) {
-    sensor_filters::spinFilterChain<sensor_msgs::msg::Image, sensor_filters::ImageFilterChainBase>(
-        "image_filter_chain", argc, argv);
-}
diff --git a/src/JoyFilterChainNode.cpp b/src/JoyFilterChainNode.cpp
deleted file mode 100644
index 8ea85c3..0000000
--- a/src/JoyFilterChainNode.cpp
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <sensor_filters/FilterChainNode.hpp>
-#include <sensor_msgs/msg/joy.hpp>
-
-int main(const int argc, char** argv) {
-    sensor_filters::spinFilterChain<sensor_msgs::msg::Joy>("joy_filter_chain", argc, argv);
-}
diff --git a/src/LaserScanFilterChainNode.cpp b/src/LaserScanFilterChainNode.cpp
deleted file mode 100644
index 87d8f2b..0000000
--- a/src/LaserScanFilterChainNode.cpp
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <sensor_filters/FilterChainNode.hpp>
-#include <sensor_msgs/msg/laser_scan.hpp>
-
-int main(const int argc, char** argv) {
-    sensor_filters::spinFilterChain<sensor_msgs::msg::LaserScan>("scan_filter_chain", argc, argv);
-}
diff --git a/src/MagneticFieldFilterChainNode.cpp b/src/MagneticFieldFilterChainNode.cpp
deleted file mode 100644
index 76f1e42..0000000
--- a/src/MagneticFieldFilterChainNode.cpp
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <sensor_filters/FilterChainNode.hpp>
-#include <sensor_msgs/msg/magnetic_field.hpp>
-
-int main(const int argc, char** argv) {
-    sensor_filters::spinFilterChain<sensor_msgs::msg::MagneticField>("magnetic_field_filter_chain", argc, argv);
-}
diff --git a/src/MultiEchoLaserScanFilterChainNode.cpp b/src/MultiEchoLaserScanFilterChainNode.cpp
deleted file mode 100644
index 242d51c..0000000
--- a/src/MultiEchoLaserScanFilterChainNode.cpp
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <sensor_filters/FilterChainNode.hpp>
-#include <sensor_msgs/msg/multi_echo_laser_scan.hpp>
-
-int main(const int argc, char** argv) {
-    sensor_filters::spinFilterChain<sensor_msgs::msg::MultiEchoLaserScan>("scan_filter_chain", argc, argv);
-}
diff --git a/src/NavSatFixFilterChainNode.cpp b/src/NavSatFixFilterChainNode.cpp
deleted file mode 100644
index d6af3b4..0000000
--- a/src/NavSatFixFilterChainNode.cpp
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <sensor_filters/FilterChainNode.hpp>
-#include <sensor_msgs/msg/nav_sat_fix.hpp>
-
-int main(const int argc, char** argv) {
-    sensor_filters::spinFilterChain<sensor_msgs::msg::NavSatFix>("nav_sat_fix_filter_chain", argc, argv);
-}
diff --git a/src/PointCloud2FilterChainNode.cpp b/src/PointCloud2FilterChainNode.cpp
deleted file mode 100644
index af203c2..0000000
--- a/src/PointCloud2FilterChainNode.cpp
+++ /dev/null
@@ -1,10 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <sensor_filters/FilterChainNode.hpp>
-#include <sensor_filters/PointCloud2FilterChainBase.hpp>
-#include <sensor_msgs/msg/point_cloud2.hpp>
-
-int main(const int argc, char** argv) {
-    sensor_filters::spinFilterChain<sensor_msgs::msg::PointCloud2, sensor_filters::PointCloud2FilterChainBase>("cloud_filter_chain", argc, argv);
-}
diff --git a/src/PointCloudFilterChainNode.cpp b/src/PointCloudFilterChainNode.cpp
deleted file mode 100644
index e1e86ba..0000000
--- a/src/PointCloudFilterChainNode.cpp
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <sensor_filters/FilterChainNode.hpp>
-#include <sensor_msgs/msg/point_cloud.hpp>
-
-int main(const int argc, char** argv) {
-    sensor_filters::spinFilterChain<sensor_msgs::msg::PointCloud>("cloud_filter_chain", argc, argv);
-}
diff --git a/src/RangeFilterChainNode.cpp b/src/RangeFilterChainNode.cpp
deleted file mode 100644
index e68a947..0000000
--- a/src/RangeFilterChainNode.cpp
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <sensor_filters/FilterChainNode.hpp>
-#include <sensor_msgs/msg/range.hpp>
-
-int main(const int argc, char** argv) {
-    sensor_filters::spinFilterChain<sensor_msgs::msg::Range>("range_filter_chain", argc, argv);
-}
diff --git a/src/RelativeHumidityFilterChainNode.cpp b/src/RelativeHumidityFilterChainNode.cpp
deleted file mode 100644
index 53d5649..0000000
--- a/src/RelativeHumidityFilterChainNode.cpp
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <sensor_filters/FilterChainNode.hpp>
-#include <sensor_msgs/msg/relative_humidity.hpp>
-
-int main(const int argc, char** argv) {
-    sensor_filters::spinFilterChain<sensor_msgs::msg::RelativeHumidity>("humidity_filter_chain", argc, argv);
-}
diff --git a/src/TemperatureFilterChainNode.cpp b/src/TemperatureFilterChainNode.cpp
deleted file mode 100644
index 851c96e..0000000
--- a/src/TemperatureFilterChainNode.cpp
+++ /dev/null
@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <sensor_filters/FilterChainNode.hpp>
-#include <sensor_msgs/msg/temperature.hpp>
-
-int main(const int argc, char** argv) {
-    sensor_filters::spinFilterChain<sensor_msgs::msg::Temperature>("temperature_filter_chain", argc, argv);
-}

From 3213d14f07f9704381f18151194302cdc0260855 Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Tue, 24 Feb 2026 14:47:36 -0500
Subject: [PATCH 05/23] use correct name for node

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 include/sensor_filters/FilterChainNode.hpp | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/include/sensor_filters/FilterChainNode.hpp b/include/sensor_filters/FilterChainNode.hpp
index b19e7c9..868c3f9 100644
--- a/include/sensor_filters/FilterChainNode.hpp
+++ b/include/sensor_filters/FilterChainNode.hpp
@@ -15,18 +15,19 @@ namespace sensor_filters {
     template <typename T, typename Base = FilterChainBase<T>>
     class FilterChainNode : public rclcpp::Node, public Base {
     public:
-        explicit FilterChainNode() : Base(), Node("") {}
+        explicit FilterChainNode(const std::string& name) : Node(name), Base() {}
     };
 
 
     template <typename T, typename Base = FilterChainBase<T>>
-    void spinFilterChain(const std::string& filterChainNamespace, const int argc, char** argv) {
+    void spinFilterChain(const std::string& name, const int argc, char** argv) {
         rclcpp::init(argc, argv);
-        const auto node = std::make_shared<FilterChainNode<T, Base>>();
+        const auto node = std::make_shared<FilterChainNode<T, Base>>(name);
         node->initFilters(
-            filterChainNamespace, node, false,
+            name, node, false,
             node->declare_parameter("input_queue_size", 10),
-            node->declare_parameter("output_queue_size", 10));
+            node->declare_parameter("output_queue_size", 10)
+        );
         rclcpp::spin(node);
     }
 }

From c52f1235776c98191cd27ce47c1228bea3a0a11e Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Tue, 24 Feb 2026 16:12:18 -0500
Subject: [PATCH 06/23] make nodes composable

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 CMakeLists.txt                             | 24 +++++++++++++--------
 cmake/FilterChainNode.cpp.in               | 12 +++++++++--
 include/sensor_filters/FilterChainNode.hpp | 25 +++++++++++++++-------
 3 files changed, 42 insertions(+), 19 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e7716be..0f54c80 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,13 +12,15 @@ if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Wpedantic)
 endif ()
 
-set(DEPENDENCIES robot_body_filter_msgs
-        backward_ros
+set(DEPENDENCIES
+        robot_body_filter_msgs
+        rclcpp
+        rclcpp_components
         filters
+        sensor_msgs
         image_transport
         point_cloud_transport
-        rclcpp
-        sensor_msgs
+        backward_ros
 )
 
 find_package(ament_cmake REQUIRED)
@@ -29,12 +31,14 @@ endforeach ()
 
 include_directories(include include/${PROJECT_NAME})
 
-function(add_filter_chain_node TARGET_NAME FILENAME)
+function(add_filter_chain_node TARGET_NAME CLASS_NAME FILENAME)
     list(APPEND NODE_TARGETS ${TARGET_NAME})
 
-    add_executable(${TARGET_NAME} "${FILENAME}")
+    add_library("${TARGET_NAME}_component" SHARED "${FILENAME}")
+    rclcpp_components_register_node(${TARGET_NAME}_component PLUGIN "sensor_filters::${CLASS_NAME}" EXECUTABLE ${TARGET_NAME})
+    #add_executable(${TARGET_NAME} "${FILENAME}")
     #target_link_libraries(${TARGET_NAME} ${DEPENDENCIES})
-    ament_target_dependencies(${TARGET_NAME} ${DEPENDENCIES})
+    ament_target_dependencies("${TARGET_NAME}_component" ${DEPENDENCIES})
 
     #install(TARGETS ${TARGET_NAME}
     #        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
@@ -61,6 +65,7 @@ function(generate_filter_chain_source NODE_NAME)
 
     set(NODE_NAME "${NODE_NAME}_filter_chain")
 
+    set(CLASS_NAME "${MESSAGE_TYPE}FilterChainNode")
     set(FILE_NAME "${MESSAGE_TYPE}FilterChain.cpp")
 
     set(OUTPUT_FILE "${PROJECT_BINARY_DIR}/${FILE_NAME}")
@@ -72,6 +77,7 @@ function(generate_filter_chain_source NODE_NAME)
             -D "MESSAGE_TYPE=${MESSAGE_TYPE}"
             -D "HEADER_NAME=${HEADER_NAME}"
             -D "BASE_FILTER=${BASE_FILTER}"
+            -D "CLASS_NAME=${CLASS_NAME}"
             -D "NODE_NAME=${NODE_NAME}"
             -D "OUTPUT_FILE=${OUTPUT_FILE}"
             -P "${CMAKE_SOURCE_DIR}/cmake/GenerateFilterChainNode.cmake"
@@ -81,10 +87,10 @@ function(generate_filter_chain_source NODE_NAME)
             VERBATIM
     )
 
-    add_filter_chain_node(${NODE_NAME} "${OUTPUT_FILE}")
+    add_filter_chain_node(${NODE_NAME} "${CLASS_NAME}" "${OUTPUT_FILE}")
 
     if (SOURCES)
-        target_sources(${NODE_NAME} PRIVATE ${SOURCES})
+        target_sources(${NODE_NAME}_component PRIVATE ${SOURCES})
     endif ()
 endfunction()
 
diff --git a/cmake/FilterChainNode.cpp.in b/cmake/FilterChainNode.cpp.in
index 823bc47..37d1f8e 100644
--- a/cmake/FilterChainNode.cpp.in
+++ b/cmake/FilterChainNode.cpp.in
@@ -5,6 +5,14 @@
 @BASE_INCLUDE@
 #include <@MESSAGE_HEADER@>
 
-int main(const int argc, char** argv) {
-    sensor_filters::spinFilterChain<@TEMPLATE_ARGS@>("@NODE_NAME@", argc, argv);
+namespace sensor_filters {
+    class @CLASS_NAME@ : public FilterChainNode<@TEMPLATE_ARGS@> {
+    public:
+        @CLASS_NAME@(const rclcpp::NodeOptions& options) : FilterChainNode("@NODE_NAME@", options) {}
+
+        explicit @CLASS_NAME@(): FilterChainNode("@NODE_NAME@") {}
+    };
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(sensor_filters::@CLASS_NAME@)
diff --git a/include/sensor_filters/FilterChainNode.hpp b/include/sensor_filters/FilterChainNode.hpp
index 868c3f9..16141be 100644
--- a/include/sensor_filters/FilterChainNode.hpp
+++ b/include/sensor_filters/FilterChainNode.hpp
@@ -15,19 +15,28 @@ namespace sensor_filters {
     template <typename T, typename Base = FilterChainBase<T>>
     class FilterChainNode : public rclcpp::Node, public Base {
     public:
-        explicit FilterChainNode(const std::string& name) : Node(name), Base() {}
+        explicit FilterChainNode(const std::string& name, const rclcpp::NodeOptions& options) : Node(name, options), Base() {
+            this->initFilters(
+                name, this->node, false,
+                this->declare_parameter("input_queue_size", 10),
+                this->declare_parameter("output_queue_size", 10)
+            );
+        }
+
+        explicit FilterChainNode(const std::string& name) : Node(name), Base() {
+            this->initFilters(
+                name, this->node, false,
+                this->declare_parameter("input_queue_size", 10),
+                this->declare_parameter("output_queue_size", 10)
+            );
+        }
     };
 
 
     template <typename T, typename Base = FilterChainBase<T>>
-    void spinFilterChain(const std::string& name, const int argc, char** argv) {
+    void spinFilterChain(const int argc, char** argv) {
         rclcpp::init(argc, argv);
-        const auto node = std::make_shared<FilterChainNode<T, Base>>(name);
-        node->initFilters(
-            name, node, false,
-            node->declare_parameter("input_queue_size", 10),
-            node->declare_parameter("output_queue_size", 10)
-        );
+        const auto node = std::make_shared<FilterChainNode<T, Base>>();
         rclcpp::spin(node);
     }
 }

From 615f6ab9ba0807b4790d2ccbb64e65f98655c7c8 Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Tue, 24 Feb 2026 16:13:34 -0500
Subject: [PATCH 07/23] cleanup GenerateFilterChainNode.cmake

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 cmake/GenerateFilterChainNode.cmake | 19 -------------------
 1 file changed, 19 deletions(-)

diff --git a/cmake/GenerateFilterChainNode.cmake b/cmake/GenerateFilterChainNode.cmake
index 82842b9..18e97b5 100644
--- a/cmake/GenerateFilterChainNode.cmake
+++ b/cmake/GenerateFilterChainNode.cmake
@@ -1,31 +1,12 @@
-# ${MESSAGE_TYPE} = sensor_msgs::msg::CompressedImage
-# ${NODE_NAME} = image_filter_chain
-
-#string(REGEX REPLACE "(_|^)([a-zA-Z])" "\\U$1\\E" FILE_NAME ${NODE_NAME})
-#string(APPEND FILE_NAME "FilterChainNode.cpp")
-#string(REPLACE "::" "/" MESSAGE_HEADER ${MESSAGE_TYPE})
-#string(APPEND MESSAGE_HEADER ".hpp")
-
 set(MESSAGE_TYPE "sensor_msgs::msg::${MESSAGE_TYPE}")
 set(MESSAGE_HEADER "sensor_msgs/msg/${HEADER_NAME}.hpp")
 
-message(MESSAGE_TYPE="${MESSAGE_TYPE}")
-message(HEADER_NAME="${HEADER_NAME}")
-message(MESSAGE_HEADER="${MESSAGE_HEADER}")
 if (BASE_FILTER)
     set(TEMPLATE_ARGS "${MESSAGE_TYPE}, sensor_filters::${BASE_FILTER}")
-    # string(REPLACE "::" "/" "${BASE_FILTER}")
     set(BASE_INCLUDE "#include <sensor_filters/${BASE_FILTER}.hpp>")
 else ()
     set(TEMPLATE_ARGS "${MESSAGE_TYPE}")
     set(BASE_INCLUDE "")
 endif ()
-message(NODE_NAME="${NODE_NAME}")
-message(BASE_FILTER="${BASE_FILTER}")
-message(TEMPLATE_ARGS="${TEMPLATE_ARGS}")
 
-# Configure the header file
 configure_file(${PROJECT_SOURCE_DIR}/cmake/FilterChainNode.cpp.in ${OUTPUT_FILE} @ONLY)
-
-file(READ ${OUTPUT_FILE} CONTENTS)
-message(CONTENTS=${CONTENTS})

From 6a708f564b896089525bb2815cded0d5d7533c0e Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Tue, 24 Feb 2026 16:20:31 -0500
Subject: [PATCH 08/23] add deprecation note for non-composable constructors

I'm leaving them there for now in case for some reason something comes up in the future where someone can't use a composable node for whatever reason

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 include/sensor_filters/FilterChainNode.hpp | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/include/sensor_filters/FilterChainNode.hpp b/include/sensor_filters/FilterChainNode.hpp
index 16141be..b3a139d 100644
--- a/include/sensor_filters/FilterChainNode.hpp
+++ b/include/sensor_filters/FilterChainNode.hpp
@@ -23,7 +23,8 @@ namespace sensor_filters {
             );
         }
 
-        explicit FilterChainNode(const std::string& name) : Node(name), Base() {
+        //! use a composable node instead
+        [[deprecated]] explicit FilterChainNode(const std::string& name) : Node(name), Base() {
             this->initFilters(
                 name, this->node, false,
                 this->declare_parameter("input_queue_size", 10),
@@ -32,11 +33,11 @@ namespace sensor_filters {
         }
     };
 
-
+    //! this method is deprecated, and instead a composable node should be used
     template <typename T, typename Base = FilterChainBase<T>>
-    void spinFilterChain(const int argc, char** argv) {
+    [[deprecated]] void spinFilterChain(const std::string& name, const int argc, char** argv) {
         rclcpp::init(argc, argv);
-        const auto node = std::make_shared<FilterChainNode<T, Base>>();
+        const auto node = std::make_shared<FilterChainNode<T, Base>>(name);
         rclcpp::spin(node);
     }
 }

From a1ce80ab95bef327d0b49a6ed035b62f372784e3 Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Tue, 24 Feb 2026 17:19:04 -0500
Subject: [PATCH 09/23] how did this accidentally get in there

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 CMakeLists.txt | 1 -
 1 file changed, 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0f54c80..482269f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,7 +13,6 @@ if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif ()
 
 set(DEPENDENCIES
-        robot_body_filter_msgs
         rclcpp
         rclcpp_components
         filters

From df62f549280171411b713aa2277436ec663ea3de Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Tue, 24 Feb 2026 17:20:34 -0500
Subject: [PATCH 10/23] port ChangeHeaderFilter to ros2

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 CMakeLists.txt                     | 58 +++++++++++++-----------------
 src/filters/ChangeHeaderFilter.cpp | 35 ++++--------------
 src/filters/include_all_msgs.hpp   | 55 ++++++++++++++--------------
 3 files changed, 58 insertions(+), 90 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 482269f..f9445da 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -46,7 +46,7 @@ function(add_filter_chain_node TARGET_NAME CLASS_NAME FILENAME)
     install(TARGETS ${TARGET_NAME}
             ARCHIVE DESTINATION lib
             LIBRARY DESTINATION lib
-            RUNTIME DESTINATION lib
+            RUNTIME DESTINATION bin
     )
 endfunction()
 
@@ -107,39 +107,31 @@ generate_filter_chain_source("range" HEADER_NAME "range" MESSAGE_TYPE "Range")
 generate_filter_chain_source("relative_humidity" HEADER_NAME "relative_humidity" MESSAGE_TYPE "RelativeHumidity")
 generate_filter_chain_source("temperature" HEADER_NAME "temperature" MESSAGE_TYPE "Temperature")
 
-# TODO 2026-02-23 (solonovamax): finish this
-#
-#set(filters
-#        ChangeHeaderFilter
-#)
-#
-#foreach (filter IN LISTS filters)
-#    add_library(${filter} src/filters/${filter}.cpp)
-#    add_dependencies(${filter} ${catkin_EXPORTED_TARGETS})
-#    target_link_libraries(${filter} ${catkin_LIBRARIES})
-#    install(TARGETS ${filter}
-#            ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#            LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#            RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-#    )
-#    install(FILES
-#            ${filter}.xml
-#            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-#    )
-#endforeach ()
+set(filters
+        ChangeHeaderFilter
+)
+
+foreach (filter IN LISTS filters)
+    list(APPEND FILTER_LIBRARIES ${filter})
+
+    add_library(${filter} src/filters/${filter}.cpp)
+    ament_target_dependencies(${filter} ${DEPENDENCIES})
+    # target_link_libraries(${filter} ${catkin_LIBRARIES})
+    pluginlib_export_plugin_description_file(filters ${filter}.xml)
+endforeach ()
+
+install(TARGETS ${FILTER_LIBRARIES}
+        EXPORT export_${PROJECT_NAME}
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
+)
 
 install(
         DIRECTORY include/
         DESTINATION include
 )
 
-#install(TARGETS ${NODE_TARGETS}
-#        EXPORT export_${PROJECT_NAME}
-#        RUNTIME DESTINATION bin
-#        ARCHIVE DESTINATION lib
-#        LIBRARY DESTINATION lib
-#)
-
 #if (CATKIN_ENABLE_TESTING)
 #    find_package(roslint REQUIRED)
 #
@@ -173,10 +165,8 @@ install(
 #    roslint_add_test()
 #endif ()
 
-#ament_export_include_directories(include include/${PROJECT_NAME})
-#ament_export_dependencies(${DEPENDENCIES})
-#ament_export_libraries(${PROJECT_NAME} )
-#ament_export_targets(
-#  export_${PROJECT_NAME}
-#)
+ament_export_include_directories(include include/${PROJECT_NAME})
+ament_export_dependencies(${DEPENDENCIES})
+ament_export_libraries(${FILTER_LIBRARIES})
+ament_export_targets(export_${PROJECT_NAME})
 ament_package()
diff --git a/src/filters/ChangeHeaderFilter.cpp b/src/filters/ChangeHeaderFilter.cpp
index 35920bf..148e596 100644
--- a/src/filters/ChangeHeaderFilter.cpp
+++ b/src/filters/ChangeHeaderFilter.cpp
@@ -2,16 +2,8 @@
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
 #include <optional>
-
-#include <ros/ros.h>
-#include <std_msgs/Header.h>
-#include <pluginlib/class_list_macros.h>
-
-#if ROS_VERSION_MINIMUM(1, 15, 0)
 #include <filters/filter_chain.hpp>
-#else
-#include <filters/filter_chain.h>
-#endif
+#include <rclcpp/rclcpp.hpp>
 
 #include "include_all_msgs.hpp"
 
@@ -32,22 +24,13 @@ namespace sensor_filters {
                     this->newFrameId = frameIdParam;
             }
 
-            {
-                uint32_t seqParam;
-                if (this->getParam("seq_relative", seqParam))
-                    this->newSeqRel = seqParam;
-
-                if (this->getParam("seq", seqParam))
-                    this->newSeqAbs = seqParam;
-            }
-
             {
                 double stampParam;
                 if (this->getParam("stamp_relative", stampParam))
-                    this->newStampRel = ros::Duration(stampParam);
+                    this->newStampRel = rclcpp::Duration::from_seconds(stampParam);
 
                 if (this->getParam("stamp", stampParam))
-                    this->newStampAbs = ros::Time(stampParam);
+                    this->newStampAbs = rclcpp::Time(stampParam);
             }
 
             return true;
@@ -66,14 +49,8 @@ namespace sensor_filters {
             if (this->newFrameId.has_value())
                 data_out.header.frame_id = this->newFrameId.value();
 
-            if (this->newSeqRel.has_value())
-                data_out.header.seq += this->newSeqRel.value();
-
-            if (this->newSeqAbs.has_value())
-                data_out.header.seq = this->newSeqAbs.value();
-
             if (this->newStampRel.has_value())
-                data_out.header.stamp += this->newStampRel.value();
+                data_out.header.stamp = rclcpp::Time(data_out.header.stamp) + this->newStampRel.value();
 
             if (this->newStampAbs.has_value())
                 data_out.header.stamp = this->newStampAbs.value();
@@ -89,8 +66,8 @@ namespace sensor_filters {
         std::optional<uint32_t> newSeqAbs;
         std::optional<uint32_t> newSeqRel;
 
-        std::optional<ros::Time> newStampAbs;
-        std::optional<ros::Duration> newStampRel;
+        std::optional<rclcpp::Time> newStampAbs;
+        std::optional<rclcpp::Duration> newStampRel;
     };
 }
 
diff --git a/src/filters/include_all_msgs.hpp b/src/filters/include_all_msgs.hpp
index b0cec60..e127870 100644
--- a/src/filters/include_all_msgs.hpp
+++ b/src/filters/include_all_msgs.hpp
@@ -8,32 +8,33 @@
 
 #pragma once
 
-#include <sensor_msgs/CompressedImage.h>
-#include <sensor_msgs/Image.h>
-#include <sensor_msgs/Imu.h>
-#include <sensor_msgs/Joy.h>
-#include <sensor_msgs/JoyFeedback.h>
-#include <sensor_msgs/LaserScan.h>
-#include <sensor_msgs/MagneticField.h>
-#include <sensor_msgs/MultiEchoLaserScan.h>
-#include <sensor_msgs/NavSatFix.h>
-#include <sensor_msgs/PointCloud.h>
-#include <sensor_msgs/PointCloud2.h>
-#include <sensor_msgs/Range.h>
-#include <sensor_msgs/RelativeHumidity.h>
-#include <sensor_msgs/Temperature.h>
+#include <pluginlib/class_list_macros.hpp>
+#include <sensor_msgs/msg/compressed_image.hpp>
+#include <sensor_msgs/msg/image.hpp>
+#include <sensor_msgs/msg/imu.hpp>
+#include <sensor_msgs/msg/joy.hpp>
+#include <sensor_msgs/msg/joy_feedback.hpp>
+#include <sensor_msgs/msg/laser_scan.hpp>
+#include <sensor_msgs/msg/magnetic_field.hpp>
+#include <sensor_msgs/msg/multi_echo_laser_scan.hpp>
+#include <sensor_msgs/msg/nav_sat_fix.hpp>
+#include <sensor_msgs/msg/point_cloud.hpp>
+#include <sensor_msgs/msg/point_cloud2.hpp>
+#include <sensor_msgs/msg/range.hpp>
+#include <sensor_msgs/msg/relative_humidity.hpp>
+#include <sensor_msgs/msg/temperature.hpp>
 
 #define REGISTER_ALL_MSG_FILTER(filter) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::CompressedImage>, filters::FilterBase<sensor_msgs::CompressedImage>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::Image>, filters::FilterBase<sensor_msgs::Image>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::Imu>, filters::FilterBase<sensor_msgs::Imu>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::Joy>, filters::FilterBase<sensor_msgs::Joy>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::LaserScan>, filters::FilterBase<sensor_msgs::LaserScan>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::MagneticField>, filters::FilterBase<sensor_msgs::MagneticField>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::MultiEchoLaserScan>, filters::FilterBase<sensor_msgs::MultiEchoLaserScan>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::NavSatFix>, filters::FilterBase<sensor_msgs::NavSatFix>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::PointCloud>, filters::FilterBase<sensor_msgs::PointCloud>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::PointCloud2>, filters::FilterBase<sensor_msgs::PointCloud2>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::Range>, filters::FilterBase<sensor_msgs::Range>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::RelativeHumidity>, filters::FilterBase<sensor_msgs::RelativeHumidity>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::Temperature>, filters::FilterBase<sensor_msgs::Temperature>)
+PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::CompressedImage>, filters::FilterBase<sensor_msgs::msg::CompressedImage>) \
+PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::Image>, filters::FilterBase<sensor_msgs::msg::Image>) \
+PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::Imu>, filters::FilterBase<sensor_msgs::msg::Imu>) \
+PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::Joy>, filters::FilterBase<sensor_msgs::msg::Joy>) \
+PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::LaserScan>, filters::FilterBase<sensor_msgs::msg::LaserScan>) \
+PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::MagneticField>, filters::FilterBase<sensor_msgs::msg::MagneticField>) \
+PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::MultiEchoLaserScan>, filters::FilterBase<sensor_msgs::msg::MultiEchoLaserScan>) \
+PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::NavSatFix>, filters::FilterBase<sensor_msgs::msg::NavSatFix>) \
+PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::PointCloud>, filters::FilterBase<sensor_msgs::msg::PointCloud>) \
+PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::PointCloud2>, filters::FilterBase<sensor_msgs::msg::PointCloud2>) \
+PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::Range>, filters::FilterBase<sensor_msgs::msg::Range>) \
+PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::RelativeHumidity>, filters::FilterBase<sensor_msgs::msg::RelativeHumidity>) \
+PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::Temperature>, filters::FilterBase<sensor_msgs::msg::Temperature>)

From 86921dabbebe09a33b5e18376a7351bed100a4f4 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peci1@seznam.cz>
Date: Wed, 25 Feb 2026 10:05:05 +0100
Subject: [PATCH 11/23] Added CI for ROS 2

---
 .github/workflows/ci-ros2.yaml | 66 ++++++++++++++++++++++++++++++++++
 1 file changed, 66 insertions(+)
 create mode 100644 .github/workflows/ci-ros2.yaml

diff --git a/.github/workflows/ci-ros2.yaml b/.github/workflows/ci-ros2.yaml
new file mode 100644
index 0000000..6805df2
--- /dev/null
+++ b/.github/workflows/ci-ros2.yaml
@@ -0,0 +1,66 @@
+# SPDX-License-Identifier: BSD-3-Clause
+# SPDX-FileCopyrightText: Czech Technical University in Prague
+
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: CI
+
+# This determines when this workflow is run
+on:
+  push:
+    branches: [ros2]
+  pull_request:
+    branches: [ros2]
+  workflow_dispatch: {}
+
+jobs:
+  industrial_ci:
+    strategy:
+      fail-fast: false
+      matrix:
+        env:
+          - {ROS_DISTRO: humble, ROS_REPO: testing, DOCKER_IMAGE: "ghcr.io/sloretz/ros:humble-perception", ALLOW_FAIL: yes}
+          - {ROS_DISTRO: jazzy, ROS_REPO: testing, DOCKER_IMAGE: "ghcr.io/sloretz/ros:jazzy-perception", ALLOW_FAIL: no}
+          - {ROS_DISTRO: kilted, ROS_REPO: testing, DOCKER_IMAGE: "ghcr.io/sloretz/ros:kilted-perception", ALLOW_FAIL: no}
+          - {ROS_DISTRO: rolling, ROS_REPO: testing, DOCKER_IMAGE: "ghcr.io/sloretz/ros:rolling-perception", ALLOW_FAIL: yes}
+        os: ["ubuntu-24.04", "ubuntu-24.04-arm"]
+    name: "${{ matrix.env.ROS_DISTRO }}-${{ matrix.os }}"
+    env:
+      CCACHE_DIR: &ccache ${{ github.workspace }}/.ccache # Directory for ccache (and how we enable ccache in industrial_ci)
+      VERBOSE_OUTPUT: &verbose true
+    runs-on: &runs-on ${{ matrix.os }}
+    steps: &steps
+      - uses: actions/checkout@v4
+      # This step will fetch/store the directory used by ccache before/after the ci run
+      - name: Cache ccache
+        uses: rhaschke/cache@main
+        continue-on-error: ${{ matrix.env.ALLOW_FAIL }}
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ matrix.os }}-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-${{ matrix.os }}-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }}
+            ccache-${{ matrix.os }}-${{ matrix.env.ROS_DISTRO }}
+        env:
+          GHA_CACHE_SAVE: always
+      # Run industrial_ci
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{ matrix.env }}
+  # We also do a best effort test with GCC 11 (which is on RHEL 9 on ROS buildfarm)
+  industrial_ci_gcc_11:
+    strategy:
+      fail-fast: false
+      matrix:
+        env:
+          - { ROS_DISTRO: kilted, ROS_REPO: testing, DOCKER_IMAGE: "ghcr.io/sloretz/ros:kilted-perception", ALLOW_FAIL: yes }
+        os: [ "ubuntu-24.04", "ubuntu-24.04-arm" ]
+    name: "${{ matrix.env.ROS_DISTRO }}-${{ matrix.os }}-gcc11"
+    env:
+      CCACHE_DIR: *ccache
+      VERBOSE_OUTPUT: *verbose
+      ADDITIONAL_DEBS: "g++-11"
+      CC: "gcc-11"
+      CXX: "g++-11"
+    runs-on: *runs-on
+    steps: *steps
\ No newline at end of file

From fe9d6b7274ddcaddd5ef46b58ec34513cd8fd187 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peci1@seznam.cz>
Date: Wed, 25 Feb 2026 10:09:40 +0100
Subject: [PATCH 12/23] Converted package.xml to ROS 2

---
 package.xml | 15 +++++++--------
 1 file changed, 7 insertions(+), 8 deletions(-)

diff --git a/package.xml b/package.xml
index 6a14b41..7099c53 100644
--- a/package.xml
+++ b/package.xml
@@ -15,26 +15,25 @@ SPDX-FileCopyrightText: Czech Technical University in Prague
 
   <url type="website">https://github.com/ctu-vras/sensor_filters</url>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>filters</depend>
-  <depend>nodelet</depend>
-  <depend>roscpp</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
 
+  <build_depend>backward_ros</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>point_cloud_transport</build_depend>
 
+  <exec_depend>backward_ros</exec_depend>
   <exec_depend>image_transport</exec_depend>
   <exec_depend>point_cloud_transport</exec_depend>
 
-  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-catkin-lint</test_depend>
-  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-catkin-lint</test_depend>
-  <test_depend>roslint</test_depend>
+  <!--test_depend>cras_lint</test_depend-->  <!-- TODO enable linting -->
 
   <export>
-    <nodelet plugin="${prefix}/nodelets.xml" />
-
+    <build_type>ament_cmake</build_type>
     <filters plugin="${prefix}/ChangeHeaderFilter.xml" />
   </export>
 </package>

From 4ac012f010736b7d1d6a435c22fa18c07c011a17 Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Tue, 17 Mar 2026 12:41:24 -0400
Subject: [PATCH 13/23] Add lifecycle nodes

The current implementation offers both a lifecycle node, as well as a non-lifecycle node.
The reason for doing this, is because the lifecycle node requires additional code to start it.
So, a non-lifecycle node is offered for simplicity.

Lifecycle nodes are currently not offered for the image & pointcloud2 filter types.

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 CMakeLists.txt                                |  43 +++-
 cmake/GenerateFilterChainNode.cmake           |   6 +-
 cmake/LifecycleFilterChainNode.cpp.in         |  18 ++
 include/sensor_filters/FilterChainBase.hpp    | 100 ++++----
 include/sensor_filters/FilterChainNode.hpp    | 223 +++++++++++++++++-
 .../sensor_filters/ImageFilterChainBase.hpp   |  43 ----
 .../PointCloud2FilterChainBase.hpp            |  43 ----
 package.xml                                   |   2 +
 src/ImageFilterChainBase.cpp                  |  40 ----
 src/ImageFilterChainNode.cpp                  |  47 ++++
 src/PointCloud2FilterChainBase.cpp            |  38 ---
 src/PointCloud2FilterChainNode.cpp            |  47 ++++
 12 files changed, 413 insertions(+), 237 deletions(-)
 create mode 100644 cmake/LifecycleFilterChainNode.cpp.in
 delete mode 100644 include/sensor_filters/ImageFilterChainBase.hpp
 delete mode 100644 include/sensor_filters/PointCloud2FilterChainBase.hpp
 delete mode 100644 src/ImageFilterChainBase.cpp
 create mode 100644 src/ImageFilterChainNode.cpp
 delete mode 100644 src/PointCloud2FilterChainBase.cpp
 create mode 100644 src/PointCloud2FilterChainNode.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f9445da..b941f94 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -15,6 +15,8 @@ endif ()
 set(DEPENDENCIES
         rclcpp
         rclcpp_components
+        rclcpp_lifecycle
+        lifecycle_msgs
         filters
         sensor_msgs
         image_transport
@@ -51,10 +53,11 @@ function(add_filter_chain_node TARGET_NAME CLASS_NAME FILENAME)
 endfunction()
 
 function(generate_filter_chain_source NODE_NAME)
+    set(options NO_LIFECYCLE)
     set(oneValueArgs HEADER_NAME MESSAGE_TYPE BASE_FILTER)
     set(multiValueArgs SOURCES)
     cmake_parse_arguments(PARSE_ARGV 0 arg
-            "" "${oneValueArgs}" "${multiValueArgs}"
+            "${options}" "${oneValueArgs}" "${multiValueArgs}"
     )
 
     set(BASE_FILTER "${arg_BASE_FILTER}")
@@ -79,6 +82,7 @@ function(generate_filter_chain_source NODE_NAME)
             -D "CLASS_NAME=${CLASS_NAME}"
             -D "NODE_NAME=${NODE_NAME}"
             -D "OUTPUT_FILE=${OUTPUT_FILE}"
+            -D "LIFECYCLE=OFF"
             -P "${CMAKE_SOURCE_DIR}/cmake/GenerateFilterChainNode.cmake"
             DEPENDS
             "${CMAKE_CURRENT_SOURCE_DIR}/cmake/FilterChainNode.cpp.in"
@@ -91,10 +95,42 @@ function(generate_filter_chain_source NODE_NAME)
     if (SOURCES)
         target_sources(${NODE_NAME}_component PRIVATE ${SOURCES})
     endif ()
+
+    if (NOT NO_LIFECYCLE)
+        set(LIFECYCLE_NODE_NAME "${NODE_NAME}_lifecycle")
+
+        set(LIFECYCLE_CLASS_NAME "Lifecycle${CLASS_NAME}")
+        set(LIFECYCLE_FILE_NAME "Lifecycle${FILE_NAME}")
+
+        set(LIFECYCLE_OUTPUT_FILE "${PROJECT_BINARY_DIR}/${LIFECYCLE_FILE_NAME}")
+
+        add_custom_command(
+                OUTPUT "${LIFECYCLE_OUTPUT_FILE}"
+                COMMAND ${CMAKE_COMMAND}
+                -D "PROJECT_SOURCE_DIR=${PROJECT_SOURCE_DIR}"
+                -D "MESSAGE_TYPE=${MESSAGE_TYPE}"
+                -D "HEADER_NAME=${HEADER_NAME}"
+                -D "BASE_FILTER=${BASE_FILTER}"
+                -D "CLASS_NAME=${LIFECYCLE_CLASS_NAME}"
+                -D "NODE_NAME=${LIFECYCLE_NODE_NAME}"
+                -D "OUTPUT_FILE=${LIFECYCLE_OUTPUT_FILE}"
+                -D "LIFECYCLE=ON"
+                -P "${CMAKE_SOURCE_DIR}/cmake/GenerateFilterChainNode.cmake"
+                DEPENDS
+                "${CMAKE_CURRENT_SOURCE_DIR}/cmake/LifecycleFilterChainNode.cpp.in"
+                "${CMAKE_SOURCE_DIR}/cmake/GenerateFilterChainNode.cmake"
+                VERBATIM
+        )
+
+        add_filter_chain_node(${LIFECYCLE_NODE_NAME} "${LIFECYCLE_CLASS_NAME}" "${LIFECYCLE_OUTPUT_FILE}")
+
+        if (SOURCES)
+            target_sources(${LIFECYCLE_NODE_NAME}_component PRIVATE ${SOURCES})
+        endif ()
+    endif ()
 endfunction()
 
 generate_filter_chain_source("compressed_image" HEADER_NAME "compressed_image" MESSAGE_TYPE "CompressedImage")
-generate_filter_chain_source("image" HEADER_NAME "image" MESSAGE_TYPE "Image" BASE_FILTER "ImageFilterChainBase" SOURCES src/ImageFilterChainBase.cpp)
 generate_filter_chain_source("imu" HEADER_NAME "imu" MESSAGE_TYPE "Imu")
 generate_filter_chain_source("joy" HEADER_NAME "joy" MESSAGE_TYPE "Joy")
 generate_filter_chain_source("scan" HEADER_NAME "laser_scan" MESSAGE_TYPE "LaserScan")
@@ -102,10 +138,11 @@ generate_filter_chain_source("magnetic_field" HEADER_NAME "magnetic_field" MESSA
 generate_filter_chain_source("multi_echo_scan" HEADER_NAME "multi_echo_laser_scan" MESSAGE_TYPE "MultiEchoLaserScan")
 generate_filter_chain_source("navsat_fix" HEADER_NAME "nav_sat_fix" MESSAGE_TYPE "NavSatFix")
 generate_filter_chain_source("pointcloud" HEADER_NAME "point_cloud" MESSAGE_TYPE "PointCloud")
-generate_filter_chain_source("pointcloud2" HEADER_NAME "point_cloud2" MESSAGE_TYPE "PointCloud2" BASE_FILTER "PointCloud2FilterChainBase" SOURCES src/PointCloud2FilterChainBase.cpp)
 generate_filter_chain_source("range" HEADER_NAME "range" MESSAGE_TYPE "Range")
 generate_filter_chain_source("relative_humidity" HEADER_NAME "relative_humidity" MESSAGE_TYPE "RelativeHumidity")
 generate_filter_chain_source("temperature" HEADER_NAME "temperature" MESSAGE_TYPE "Temperature")
+add_filter_chain_node("image" "ImageFilterChainNode" src/ImageFilterChainNode.cpp)
+add_filter_chain_node("pointcloud2" "PointCloud2FilterChainNode" src/PointCloud2FilterChainNode.cpp)
 
 set(filters
         ChangeHeaderFilter
diff --git a/cmake/GenerateFilterChainNode.cmake b/cmake/GenerateFilterChainNode.cmake
index 18e97b5..0b3e611 100644
--- a/cmake/GenerateFilterChainNode.cmake
+++ b/cmake/GenerateFilterChainNode.cmake
@@ -9,4 +9,8 @@ else ()
     set(BASE_INCLUDE "")
 endif ()
 
-configure_file(${PROJECT_SOURCE_DIR}/cmake/FilterChainNode.cpp.in ${OUTPUT_FILE} @ONLY)
+if (LIFECYCLE)
+    configure_file(${PROJECT_SOURCE_DIR}/cmake/LifecycleFilterChainNode.cpp.in ${OUTPUT_FILE} @ONLY)
+else ()
+    configure_file(${PROJECT_SOURCE_DIR}/cmake/FilterChainNode.cpp.in ${OUTPUT_FILE} @ONLY)
+endif ()
diff --git a/cmake/LifecycleFilterChainNode.cpp.in b/cmake/LifecycleFilterChainNode.cpp.in
new file mode 100644
index 0000000..2b9d295
--- /dev/null
+++ b/cmake/LifecycleFilterChainNode.cpp.in
@@ -0,0 +1,18 @@
+// SPDX-License-Identifier: BSD-3-Clause
+// SPDX-FileCopyrightText: Czech Technical University in Prague
+
+#include <sensor_filters/FilterChainNode.hpp>
+@BASE_INCLUDE@
+#include <@MESSAGE_HEADER@>
+
+namespace sensor_filters {
+    class @CLASS_NAME@ : public LifecycleFilterChainNode<@TEMPLATE_ARGS@> {
+    public:
+        @CLASS_NAME@(const rclcpp::NodeOptions& options) : LifecycleFilterChainNode("@NODE_NAME@", options) {}
+
+        explicit @CLASS_NAME@(): LifecycleFilterChainNode("@NODE_NAME@") {}
+    };
+}
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(sensor_filters::@CLASS_NAME@)
diff --git a/include/sensor_filters/FilterChainBase.hpp b/include/sensor_filters/FilterChainBase.hpp
index e699efa..1271aff 100644
--- a/include/sensor_filters/FilterChainBase.hpp
+++ b/include/sensor_filters/FilterChainBase.hpp
@@ -10,115 +10,97 @@
 
 #include <string>
 #include <filters/filter_chain.hpp>
-#include <rcl/rcl.h>
+#include <utility>
 
 namespace sensor_filters {
     template <typename T>
     class FilterChainBase {
     protected:
-        std::shared_ptr<rclcpp::Subscription<T>> inputSubscriber;
-        std::shared_ptr<rclcpp::Publisher<T>> outputPublisher;
-        rclcpp::Node::SharedPtr node;
+        std::string filterChainNamespace;
         size_t inputQueueSize = 10u;
         size_t outputQueueSize = 10u;
         bool usePtrMessages = true;
 
+        rclcpp::node_interfaces::NodeBaseInterface::SharedPtr baseInterface;
+        rclcpp::node_interfaces::NodeClockInterface::SharedPtr clockInterface;
+        rclcpp::node_interfaces::NodeParametersInterface::SharedPtr paramsInterface;
+        rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr loggingInterface;
+
         filters::FilterChain<T> filterChain;
         T msg;
 
     public:
-        FilterChainBase() :
-            filterChain(std::string(typeid(T).name())) {}
+        FilterChainBase(
+            std::string filterChainNamespace,
+            const long inputQueueSize,
+            const long outputQueueSize,
+            const bool usePtrMessages,
+            rclcpp::node_interfaces::NodeBaseInterface::SharedPtr baseInterface,
+            rclcpp::node_interfaces::NodeClockInterface::SharedPtr clockInterface,
+            rclcpp::node_interfaces::NodeParametersInterface::SharedPtr paramsInterface,
+            rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr loggingInterface
+        ) : filterChainNamespace(std::move(filterChainNamespace)), inputQueueSize(inputQueueSize), outputQueueSize(outputQueueSize),
+            usePtrMessages(usePtrMessages), baseInterface(std::move(baseInterface)), clockInterface(std::move(clockInterface)),
+            paramsInterface(std::move(paramsInterface)), loggingInterface(std::move(loggingInterface)), filterChain(std::string(typeid(T).name())) {}
 
         virtual ~FilterChainBase() = default;
 
-        virtual void initFilters(
-            const std::string& filterChainNamespace,
-            rclcpp::Node::SharedPtr node,
-            const bool usePtrMessages,
-            long inputQueueSize,
-            long outputQueueSize
-        ) {
-            if (!this->filterChain.configure(filterChainNamespace, node->get_node_logging_interface(), node->get_node_parameters_interface())) {
-                RCLCPP_ERROR_STREAM(node->get_logger(), "Configuration of filter chain for "
+        virtual void configure() {
+            if (!this->filterChain.configure(filterChainNamespace, loggingInterface, paramsInterface)) {
+                RCLCPP_ERROR_STREAM(loggingInterface->get_logger(), "Configuration of filter chain for "
                                     << typeid(T).name() << " is invalid, the chain will not be run.");
                 throw std::runtime_error("Filter configuration error");
             }
-
-            RCLCPP_INFO_STREAM(node->get_logger(), "Configured filter chain of type " << typeid(T).name() << " from namespace "
-                               << node->get_namespace() << "/"
-                               << filterChainNamespace);
-
-            this->node = node;
-            this->outputQueueSize = outputQueueSize;
-            this->inputQueueSize = inputQueueSize;
-            this->usePtrMessages = usePtrMessages;
-
-            this->advertise();
-            this->subscribe();
         }
 
     protected:
-        virtual void advertise() {
-            this->outputPublisher = this->node->create_publisher<T>("output", this->outputQueueSize);
-        }
+        virtual void advertise();
 
-        virtual void subscribe() {
-            if (this->usePtrMessages) {
-                this->inputSubscriber = this->node->template create_subscription<T>(
-                    "input", this->inputQueueSize,
-                    [this](const typename T::UniquePtr& msg) {
-                        FilterChainBase::callbackUnique(msg);
-                    }
-                );
-            } else {
-                this->inputSubscriber = this->node->template create_subscription<T>(
-                    "input", this->inputQueueSize,
-                    [this](const T& msg) {
-                        FilterChainBase::callbackReference(msg);
-                    }
-                );
-            }
-        }
+        virtual void subscribe();
 
-        virtual void publishUnique(typename T::UniquePtr& msg) {
-            this->outputPublisher->publish(std::move(msg));
-        }
+        virtual bool isActive();
 
-        virtual void publishShared(const typename T::ConstSharedPtr& msg) {
-            RCLCPP_ERROR_THROTTLE(node->get_logger(), *node->get_clock(), 1000, "must be overriden by child class");
-        }
+        virtual void publishUnique(typename T::UniquePtr& msg);
 
-        virtual void publishReference(const T& msg) {
-            this->outputPublisher->publish(msg);
-        }
+        virtual void publishShared(const typename T::ConstSharedPtr& msg);
+
+        virtual void publishReference(const T& msg);
 
         virtual void callbackUnique(const typename T::UniquePtr& msgIn) {
+            if (!isActive())
+                return;
+
             typename T::UniquePtr msgOut = std::make_unique<T>();
             if (this->filter(*msgIn, *msgOut))
                 this->publishUnique(msgOut);
         }
 
         virtual void callbackShared(const typename T::ConstSharedPtr& msgIn) {
+            if (!isActive())
+                return;
+
             typename T::SharedPtr msgOut = std::make_shared<T>();
             if (this->filter(*msgIn, *msgOut))
                 this->publishShared(msgOut);
         }
 
         virtual void callbackReference(const T& msgIn) {
+            if (!isActive())
+                return;
+
             if (this->filter(msgIn, this->msg))
                 this->publishReference(this->msg);
         }
 
         virtual bool filter(const T& msgIn, T& msgOut) {
-            const auto clock = node->get_clock();
+            const auto clock = clockInterface->get_clock();
             const auto start = clock->now();
             if (!this->filterChain.update(msgIn, msgOut)) {
-                RCLCPP_ERROR_THROTTLE(node->get_logger(), *clock, 1000, "Filtering data from time %i.%i failed.",
+                RCLCPP_ERROR_THROTTLE(loggingInterface->get_logger(), *clock, 1000, "Filtering data from time %i.%i failed.",
                                       msgIn.header.stamp.sec, msgIn.header.stamp.nanosec);
                 return false;
             }
-            RCLCPP_DEBUG_STREAM(node->get_logger(), "Filtering took " << (clock->now() - start).seconds() << " s.");
+            RCLCPP_DEBUG_STREAM(loggingInterface->get_logger(), "Filtering took " << (clock->now() - start).seconds() << " s.");
             return true;
         }
     };
diff --git a/include/sensor_filters/FilterChainNode.hpp b/include/sensor_filters/FilterChainNode.hpp
index b3a139d..71effe6 100644
--- a/include/sensor_filters/FilterChainNode.hpp
+++ b/include/sensor_filters/FilterChainNode.hpp
@@ -9,28 +9,222 @@
  */
 
 #include <string>
+#include <rclcpp_lifecycle/lifecycle_node.hpp>
 #include <sensor_filters/FilterChainBase.hpp>
 
 namespace sensor_filters {
+    // TODO 2026-03-17 (solonovamax): maybe create a FilterChainNodeGeneric template that can be used for both normal & lifecycle nodes?
+
     template <typename T, typename Base = FilterChainBase<T>>
     class FilterChainNode : public rclcpp::Node, public Base {
     public:
-        explicit FilterChainNode(const std::string& name, const rclcpp::NodeOptions& options) : Node(name, options), Base() {
-            this->initFilters(
-                name, this->node, false,
+        // TODO 2026-03-16 (solonovamax): support parameter callback
+        explicit FilterChainNode(const std::string& name, const rclcpp::NodeOptions& options) :
+            Node(name, options),
+            Base(
+                name,
+                this->declare_parameter("input_queue_size", 10),
+                this->declare_parameter("output_queue_size", 10),
+                false,
+                this->get_node_base_interface(),
+                this->get_node_clock_interface(),
+                this->get_node_parameters_interface(),
+                this->get_node_logging_interface()
+            ) {}
+
+        //! use a composable node instead
+        [[deprecated]] explicit FilterChainNode(const std::string& name) :
+            Node(name),
+            Base(
+                name,
                 this->declare_parameter("input_queue_size", 10),
-                this->declare_parameter("output_queue_size", 10)
-            );
+                this->declare_parameter("output_queue_size", 10),
+                false,
+                this->get_node_base_interface(),
+                this->get_node_clock_interface(),
+                this->get_node_parameters_interface(),
+                this->get_node_logging_interface()
+            ) {}
+
+        void configure() override {
+            Base::configure();
+
+            publish();
+            subscribe();
+        }
+
+        virtual void publish() {
+            this->outputPublisher = create_publisher<T>("output", this->outputQueueSize);
+        }
+
+        virtual void subscribe() {
+            if (this->usePtrMessages) {
+                this->inputSubscriber = create_subscription<T>(
+                    "input", this->inputQueueSize,
+                    [this](const typename T::UniquePtr& msg) {
+                        FilterChainBase<T>::callbackUnique(msg);
+                    }
+                );
+            } else {
+                this->inputSubscriber = create_subscription<T>(
+                    "input", this->inputQueueSize,
+                    [this](const T& msg) {
+                        FilterChainBase<T>::callbackReference(msg);
+                    }
+                );
+            }
+        }
+
+        bool isActive() override {
+            return true;
+        }
+
+        void publishUnique(typename T::UniquePtr& msg) override {
+            this->outputPublisher->publish(std::move(msg));
+        }
+
+        void publishShared(const typename T::ConstSharedPtr&) override {
+            RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 1000, "must be overridden by child class");
         }
 
+        void publishReference(const T& msg) override {
+            this->outputPublisher->publish(msg);
+        }
+
+    private:
+        std::shared_ptr<rclcpp::Subscription<T>> inputSubscriber;
+        std::shared_ptr<rclcpp::Publisher<T>> outputPublisher;
+    };
+
+    template <typename T, typename Base = FilterChainBase<T>>
+    class LifecycleFilterChainNode : public rclcpp_lifecycle::LifecycleNode, public Base {
+    public:
+        // TODO 2026-03-16 (solonovamax): support parameter callback
+        explicit LifecycleFilterChainNode(const std::string& name, const rclcpp::NodeOptions& options) :
+            LifecycleNode(name, options),
+            Base(
+                name,
+                this->declare_parameter("input_queue_size", 10),
+                this->declare_parameter("output_queue_size", 10),
+                false,
+                this->get_node_base_interface(),
+                this->get_node_clock_interface(),
+                this->get_node_parameters_interface(),
+                this->get_node_logging_interface()
+            ) {}
+
         //! use a composable node instead
-        [[deprecated]] explicit FilterChainNode(const std::string& name) : Node(name), Base() {
-            this->initFilters(
-                name, this->node, false,
+        [[deprecated]] explicit LifecycleFilterChainNode(const std::string& name) :
+            LifecycleNode(name),
+            Base(
+                name,
                 this->declare_parameter("input_queue_size", 10),
-                this->declare_parameter("output_queue_size", 10)
-            );
+                this->declare_parameter("output_queue_size", 10),
+                false,
+                this->get_node_base_interface(),
+                this->get_node_clock_interface(),
+                this->get_node_parameters_interface(),
+                this->get_node_logging_interface()
+            ) {}
+
+        CallbackReturn on_configure(const rclcpp_lifecycle::State&) override {
+            advertise();
+            subscribe();
+
+            try {
+                Base::configure();
+            } catch (const std::runtime_error&) {
+                return CallbackReturn::ERROR;
+            }
+
+            return CallbackReturn::SUCCESS;
+        }
+
+        CallbackReturn on_cleanup(const rclcpp_lifecycle::State&) override {
+            // reset state to before on_configure()
+            this->filterChain.clear();
+            outputPublisher.reset();
+            inputSubscriber.reset();
+
+            return CallbackReturn::SUCCESS;
+        }
+
+        CallbackReturn on_shutdown(const rclcpp_lifecycle::State&) override {
+            this->filterChain.clear();
+
+            return CallbackReturn::SUCCESS;
+        }
+
+        CallbackReturn on_error(const rclcpp_lifecycle::State&) override {
+            // currently an error can only occur in on_configure, so we don't need to check the previous state
+            // if other transitions are ever changed so that they can error, then this needs to be updated.
+
+            this->filterChain.clear();
+
+            return CallbackReturn::SUCCESS;
+        }
+
+        CallbackReturn on_activate(const rclcpp_lifecycle::State& state) override {
+            const auto result = LifecycleNode::on_activate(state);
+
+            return result;
+        }
+
+        CallbackReturn on_deactivate(const rclcpp_lifecycle::State& state) override {
+            if (const auto result = LifecycleNode::on_deactivate(state); result != CallbackReturn::SUCCESS)
+                return result;
+
+            return CallbackReturn::SUCCESS;
+        }
+
+    protected:
+        void advertise() override {
+            this->outputPublisher = create_publisher<T>("output", this->outputQueueSize);
+        }
+
+        void subscribe() override {
+            if (this->usePtrMessages) {
+                this->inputSubscriber = create_subscription<T>(
+                    "input", this->inputQueueSize,
+                    [this](const typename T::UniquePtr& msg) {
+                        FilterChainBase<T>::callbackUnique(msg);
+                    }
+                );
+            } else {
+                this->inputSubscriber = create_subscription<T>(
+                    "input", this->inputQueueSize,
+                    [this](const T& msg) {
+                        FilterChainBase<T>::callbackReference(msg);
+                    }
+                );
+            }
+        }
+
+        bool isActive() override {
+            return this->outputPublisher->is_activated();
+        }
+
+        void publishUnique(typename T::UniquePtr& msg) override {
+            if (!this->outputPublisher->is_activated())
+                return;
+
+            this->outputPublisher->publish(std::move(msg));
+        }
+
+        void publishShared(const typename T::ConstSharedPtr&) override {
+            RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 1000, "must be overridden by child class");
+        }
+
+        void publishReference(const T& msg) override {
+            if (!this->outputPublisher->is_activated())
+                return;
+
+            this->outputPublisher->publish(msg);
         }
+
+    private:
+        std::shared_ptr<rclcpp::Subscription<T>> inputSubscriber;
+        std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<T>> outputPublisher;
     };
 
     //! this method is deprecated, and instead a composable node should be used
@@ -38,6 +232,15 @@ namespace sensor_filters {
     [[deprecated]] void spinFilterChain(const std::string& name, const int argc, char** argv) {
         rclcpp::init(argc, argv);
         const auto node = std::make_shared<FilterChainNode<T, Base>>(name);
+        node->configure();
+        rclcpp::spin(node);
+    }
+
+    //! this method is deprecated, and instead a composable node should be used
+    template <typename T, typename Base = FilterChainBase<T>>
+    [[deprecated]] void spinLifecycleFilterChain(const std::string& name, const int argc, char** argv) {
+        rclcpp::init(argc, argv);
+        const auto node = std::make_shared<LifecycleFilterChainNode<T, Base>>(name);
         rclcpp::spin(node);
     }
 }
diff --git a/include/sensor_filters/ImageFilterChainBase.hpp b/include/sensor_filters/ImageFilterChainBase.hpp
deleted file mode 100644
index 9826384..0000000
--- a/include/sensor_filters/ImageFilterChainBase.hpp
+++ /dev/null
@@ -1,43 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#pragma once
-
-/**
- * \file
- * \brief Specialized base for Image filter chains that uses image_transport.
- */
-
-#include <memory>
-#include <string>
-#include <image_transport/image_transport.h>
-#include <image_transport/publisher.h>
-#include <image_transport/subscriber.h>
-#include <sensor_filters/FilterChainBase.hpp>
-#include <sensor_msgs/msg/image.hpp>
-
-namespace sensor_filters {
-    class ImageFilterChainBase : public FilterChainBase<sensor_msgs::msg::Image> {
-    public:
-        ImageFilterChainBase() {}
-
-        void initFilters(
-            const std::string& filterChainNamespace,
-            rclcpp::Node::SharedPtr node,
-            bool useSharedPtrMessages,
-            long inputQueueSize,
-            long outputQueueSize
-        ) override;
-
-    protected:
-        std::unique_ptr<image_transport::ImageTransport> it;
-        image_transport::Publisher itPublisher;
-        image_transport::Subscriber itSubscriber;
-
-        void advertise() override;
-
-        void subscribe() override;
-
-        void publishShared(const sensor_msgs::msg::Image::ConstSharedPtr& msg) override;
-    };
-}
diff --git a/include/sensor_filters/PointCloud2FilterChainBase.hpp b/include/sensor_filters/PointCloud2FilterChainBase.hpp
deleted file mode 100644
index 0b8929e..0000000
--- a/include/sensor_filters/PointCloud2FilterChainBase.hpp
+++ /dev/null
@@ -1,43 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#pragma once
-
-/**
- * \file
- * \brief Specialized base for PointCloud2 filter chains that uses point_cloud_transport.
- */
-
-#include <memory>
-#include <string>
-#include <point_cloud_transport/point_cloud_transport.hpp>
-#include <point_cloud_transport/publisher.hpp>
-#include <point_cloud_transport/subscriber.hpp>
-#include <sensor_filters/FilterChainBase.hpp>
-#include <sensor_msgs/msg/point_cloud2.hpp>
-
-namespace sensor_filters {
-    class PointCloud2FilterChainBase : public FilterChainBase<sensor_msgs::msg::PointCloud2> {
-    public:
-        PointCloud2FilterChainBase() {}
-
-        void initFilters(
-            const std::string& filterChainNamespace,
-            rclcpp::Node::SharedPtr node,
-            bool useSharedPtrMessages,
-            long inputQueueSize,
-            long outputQueueSize
-        ) override;
-
-    protected:
-        std::unique_ptr<point_cloud_transport::PointCloudTransport> pct;
-        point_cloud_transport::Publisher pctPublisher;
-        point_cloud_transport::Subscriber pctSubscriber;
-
-        void advertise() override;
-
-        void subscribe() override;
-
-        void publishShared(const sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg) override;
-    };
-}
diff --git a/package.xml b/package.xml
index 7099c53..fdc2fb4 100644
--- a/package.xml
+++ b/package.xml
@@ -20,6 +20,8 @@ SPDX-FileCopyrightText: Czech Technical University in Prague
   <depend>filters</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
+    <depend>rclcpp_lifecycle</depend>
+    <depend>lifecycle_msgs</depend>
   <depend>sensor_msgs</depend>
 
   <build_depend>backward_ros</build_depend>
diff --git a/src/ImageFilterChainBase.cpp b/src/ImageFilterChainBase.cpp
deleted file mode 100644
index 6967eb3..0000000
--- a/src/ImageFilterChainBase.cpp
+++ /dev/null
@@ -1,40 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <memory>
-#include <string>
-#include <image_transport/image_transport.hpp>
-#include <sensor_filters/FilterChainBase.hpp>
-#include <sensor_filters/ImageFilterChainBase.hpp>
-#include <sensor_msgs/msg/image.hpp>
-
-namespace sensor_filters {
-    void ImageFilterChainBase::initFilters(
-        const std::string& filterChainNamespace,
-        rclcpp::Node::SharedPtr node,
-        const bool useSharedPtrMessages,
-        const long inputQueueSize,
-        const long outputQueueSize
-    ) {
-        // TODO 2026-02-23 (solonovamax): offer parameter to advertise camera topic?
-        this->it = std::make_unique<image_transport::ImageTransport>(node);
-        FilterChainBase::initFilters(filterChainNamespace, node, useSharedPtrMessages, inputQueueSize, outputQueueSize);
-    }
-
-    void ImageFilterChainBase::advertise() {
-        this->itPublisher = this->it->advertise("output", this->outputQueueSize);
-    }
-
-    void ImageFilterChainBase::subscribe() {
-        this->itSubscriber = this->it->subscribe(
-            "input", this->inputQueueSize,
-            [this](const typename sensor_msgs::msg::Image::ConstSharedPtr& msg) {
-                this->callbackShared(msg);
-            }
-        );
-    }
-
-    void ImageFilterChainBase::publishShared(const sensor_msgs::msg::Image::ConstSharedPtr& msg) {
-        this->itPublisher.publish(msg);
-    }
-}
diff --git a/src/ImageFilterChainNode.cpp b/src/ImageFilterChainNode.cpp
new file mode 100644
index 0000000..7e2aa11
--- /dev/null
+++ b/src/ImageFilterChainNode.cpp
@@ -0,0 +1,47 @@
+// SPDX-License-Identifier: BSD-3-Clause
+// SPDX-FileCopyrightText: Czech Technical University in Prague
+
+#include <memory>
+#include <string>
+#include <sensor_filters/FilterChainNode.hpp>
+#include <image_transport/image_transport.hpp>
+#include <sensor_msgs/msg/image.hpp>
+
+namespace sensor_filters {
+    class ImageFilterChainNode : public FilterChainNode<sensor_msgs::msg::Image> {
+    public:
+        explicit ImageFilterChainNode(const rclcpp::NodeOptions& options) : FilterChainNode("Image_filter_chain", options) {
+            this->it = std::make_unique<image_transport::ImageTransport>(this->shared_from_this());
+        }
+
+        [[deprecated]] explicit ImageFilterChainNode() : FilterChainNode("Image_filter_chain") {
+            this->it = std::make_unique<image_transport::ImageTransport>(this->shared_from_this());
+        }
+
+    protected:
+        void publish() override {
+            this->itPublisher = this->it->advertise("output", this->outputQueueSize);
+        }
+
+        void subscribe() override {
+            this->itSubscriber = this->it->subscribe(
+                "input", this->inputQueueSize,
+                [this](const sensor_msgs::msg::Image::ConstSharedPtr& msg) {
+                    this->callbackShared(msg);
+                }
+            );
+        }
+
+        void publishShared(const sensor_msgs::msg::Image::ConstSharedPtr& msg) override {
+            this->itPublisher.publish(msg);
+        }
+
+    private:
+        std::unique_ptr<image_transport::ImageTransport> it;
+        image_transport::Publisher itPublisher;
+        image_transport::Subscriber itSubscriber;
+    };
+}
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(sensor_filters::ImageFilterChainNode)
diff --git a/src/PointCloud2FilterChainBase.cpp b/src/PointCloud2FilterChainBase.cpp
deleted file mode 100644
index 46422aa..0000000
--- a/src/PointCloud2FilterChainBase.cpp
+++ /dev/null
@@ -1,38 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-#include <memory>
-#include <string>
-#include <point_cloud_transport/point_cloud_transport.hpp>
-#include <sensor_filters/FilterChainBase.hpp>
-#include <sensor_filters/PointCloud2FilterChainBase.hpp>
-
-namespace sensor_filters {
-    void PointCloud2FilterChainBase::initFilters(
-        const std::string& filterChainNamespace,
-        rclcpp::Node::SharedPtr node,
-        const bool useSharedPtrMessages,
-        const long inputQueueSize,
-        const long outputQueueSize
-    ) {
-        this->pct = std::make_unique<point_cloud_transport::PointCloudTransport>(node);
-        FilterChainBase::initFilters(filterChainNamespace, node, useSharedPtrMessages, inputQueueSize, outputQueueSize);
-    }
-
-    void PointCloud2FilterChainBase::advertise() {
-        this->pctPublisher = this->pct->advertise("output", this->outputQueueSize);
-    }
-
-    void PointCloud2FilterChainBase::subscribe() {
-        this->pctSubscriber = this->pct->subscribe(
-            "input", this->inputQueueSize,
-            [this](const sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg) {
-                PointCloud2FilterChainBase::callbackShared(msg);
-            }
-        );
-    }
-
-    void PointCloud2FilterChainBase::publishShared(const typename sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg) {
-        this->pctPublisher.publish(msg);
-    }
-}
diff --git a/src/PointCloud2FilterChainNode.cpp b/src/PointCloud2FilterChainNode.cpp
new file mode 100644
index 0000000..f9db0b6
--- /dev/null
+++ b/src/PointCloud2FilterChainNode.cpp
@@ -0,0 +1,47 @@
+// SPDX-License-Identifier: BSD-3-Clause
+// SPDX-FileCopyrightText: Czech Technical University in Prague
+
+#include <memory>
+#include <string>
+#include <sensor_filters/FilterChainNode.hpp>
+#include <point_cloud_transport/point_cloud_transport.hpp>
+#include <sensor_msgs/msg/point_cloud2.hpp>
+
+namespace sensor_filters {
+    class PointCloud2FilterChainNode : public FilterChainNode<sensor_msgs::msg::PointCloud2> {
+    public:
+        explicit PointCloud2FilterChainNode(const rclcpp::NodeOptions& options) : FilterChainNode("pointcloud2_filter_chain", options) {
+            this->pct = std::make_unique<point_cloud_transport::PointCloudTransport>(this->shared_from_this());
+        }
+
+        [[deprecated]] explicit PointCloud2FilterChainNode() : FilterChainNode("pointcloud2_filter_chain") {
+            this->pct = std::make_unique<point_cloud_transport::PointCloudTransport>(this->shared_from_this());
+        }
+
+    protected:
+        void publish() override {
+            this->pctPublisher = this->pct->advertise("output", this->outputQueueSize);
+        }
+
+        void subscribe() override {
+            this->pctSubscriber = this->pct->subscribe(
+                "input", this->inputQueueSize,
+                [this](const sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg) {
+                    PointCloud2FilterChainNode::callbackShared(msg);
+                }
+            );
+        }
+
+        void publishShared(const typename sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg) override {
+            this->pctPublisher.publish(msg);
+        }
+
+    private:
+        std::unique_ptr<point_cloud_transport::PointCloudTransport> pct;
+        point_cloud_transport::Publisher pctPublisher;
+        point_cloud_transport::Subscriber pctSubscriber;
+    };
+}
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(sensor_filters::PointCloud2FilterChainNode)

From 10f1aba268ae89277c3a672280ec7b6cd637820f Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Tue, 17 Mar 2026 12:57:23 -0400
Subject: [PATCH 14/23] oops, forgot to add this to the CMakeLists.txt

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b941f94..a855860 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -64,6 +64,7 @@ function(generate_filter_chain_source NODE_NAME)
     set(HEADER_NAME "${arg_HEADER_NAME}")
     set(MESSAGE_TYPE "${arg_MESSAGE_TYPE}")
     set(SOURCES "${arg_SOURCES}")
+    set(NO_LIFECYCLE "${arg_NO_LIFECYCLE}")
 
     set(NODE_NAME "${NODE_NAME}_filter_chain")
 

From 46f2ff04a5d3decd85e76807b695d39e5ac86682 Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Tue, 17 Mar 2026 13:07:15 -0400
Subject: [PATCH 15/23] Fix some things I forgot to change

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 cmake/FilterChainNode.cpp.in               | 8 ++++++--
 cmake/LifecycleFilterChainNode.cpp.in      | 8 ++++++--
 include/sensor_filters/FilterChainNode.hpp | 6 +++---
 src/ImageFilterChainNode.cpp               | 4 +++-
 src/PointCloud2FilterChainNode.cpp         | 4 +++-
 5 files changed, 21 insertions(+), 9 deletions(-)

diff --git a/cmake/FilterChainNode.cpp.in b/cmake/FilterChainNode.cpp.in
index 37d1f8e..4978ea9 100644
--- a/cmake/FilterChainNode.cpp.in
+++ b/cmake/FilterChainNode.cpp.in
@@ -8,9 +8,13 @@
 namespace sensor_filters {
     class @CLASS_NAME@ : public FilterChainNode<@TEMPLATE_ARGS@> {
     public:
-        @CLASS_NAME@(const rclcpp::NodeOptions& options) : FilterChainNode("@NODE_NAME@", options) {}
+        @CLASS_NAME@(const rclcpp::NodeOptions& options) : FilterChainNode("@NODE_NAME@", options) {
+            @CLASS_NAME@::configure();
+        }
 
-        explicit @CLASS_NAME@(): FilterChainNode("@NODE_NAME@") {}
+        explicit @CLASS_NAME@(): FilterChainNode("@NODE_NAME@") {
+            @CLASS_NAME@::configure();
+        }
     };
 }
 
diff --git a/cmake/LifecycleFilterChainNode.cpp.in b/cmake/LifecycleFilterChainNode.cpp.in
index 2b9d295..59837cd 100644
--- a/cmake/LifecycleFilterChainNode.cpp.in
+++ b/cmake/LifecycleFilterChainNode.cpp.in
@@ -8,9 +8,13 @@
 namespace sensor_filters {
     class @CLASS_NAME@ : public LifecycleFilterChainNode<@TEMPLATE_ARGS@> {
     public:
-        @CLASS_NAME@(const rclcpp::NodeOptions& options) : LifecycleFilterChainNode("@NODE_NAME@", options) {}
+        @CLASS_NAME@(const rclcpp::NodeOptions& options) : LifecycleFilterChainNode("@NODE_NAME@", options) {
+            @CLASS_NAME@::configure();
+        }
 
-        explicit @CLASS_NAME@(): LifecycleFilterChainNode("@NODE_NAME@") {}
+        explicit @CLASS_NAME@(): LifecycleFilterChainNode("@NODE_NAME@") {
+            @CLASS_NAME@::configure();
+        }
     };
 }
 
diff --git a/include/sensor_filters/FilterChainNode.hpp b/include/sensor_filters/FilterChainNode.hpp
index 71effe6..492e7f0 100644
--- a/include/sensor_filters/FilterChainNode.hpp
+++ b/include/sensor_filters/FilterChainNode.hpp
@@ -49,15 +49,15 @@ namespace sensor_filters {
         void configure() override {
             Base::configure();
 
-            publish();
+            advertise();
             subscribe();
         }
 
-        virtual void publish() {
+        void advertise() override {
             this->outputPublisher = create_publisher<T>("output", this->outputQueueSize);
         }
 
-        virtual void subscribe() {
+        void subscribe() override {
             if (this->usePtrMessages) {
                 this->inputSubscriber = create_subscription<T>(
                     "input", this->inputQueueSize,
diff --git a/src/ImageFilterChainNode.cpp b/src/ImageFilterChainNode.cpp
index 7e2aa11..607ab13 100644
--- a/src/ImageFilterChainNode.cpp
+++ b/src/ImageFilterChainNode.cpp
@@ -12,14 +12,16 @@ namespace sensor_filters {
     public:
         explicit ImageFilterChainNode(const rclcpp::NodeOptions& options) : FilterChainNode("Image_filter_chain", options) {
             this->it = std::make_unique<image_transport::ImageTransport>(this->shared_from_this());
+            ImageFilterChainNode::configure();
         }
 
         [[deprecated]] explicit ImageFilterChainNode() : FilterChainNode("Image_filter_chain") {
             this->it = std::make_unique<image_transport::ImageTransport>(this->shared_from_this());
+            ImageFilterChainNode::configure();
         }
 
     protected:
-        void publish() override {
+        void advertise() override {
             this->itPublisher = this->it->advertise("output", this->outputQueueSize);
         }
 
diff --git a/src/PointCloud2FilterChainNode.cpp b/src/PointCloud2FilterChainNode.cpp
index f9db0b6..8d0a14d 100644
--- a/src/PointCloud2FilterChainNode.cpp
+++ b/src/PointCloud2FilterChainNode.cpp
@@ -12,14 +12,16 @@ namespace sensor_filters {
     public:
         explicit PointCloud2FilterChainNode(const rclcpp::NodeOptions& options) : FilterChainNode("pointcloud2_filter_chain", options) {
             this->pct = std::make_unique<point_cloud_transport::PointCloudTransport>(this->shared_from_this());
+            PointCloud2FilterChainNode::configure();
         }
 
         [[deprecated]] explicit PointCloud2FilterChainNode() : FilterChainNode("pointcloud2_filter_chain") {
             this->pct = std::make_unique<point_cloud_transport::PointCloudTransport>(this->shared_from_this());
+            PointCloud2FilterChainNode::configure();
         }
 
     protected:
-        void publish() override {
+        void advertise() override {
             this->pctPublisher = this->pct->advertise("output", this->outputQueueSize);
         }
 

From 2a4b06cc4057f0c0188a6a0466191a0fc505b356 Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Tue, 17 Mar 2026 13:18:46 -0400
Subject: [PATCH 16/23] oops, lifecycle nodes didn't need that

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 cmake/LifecycleFilterChainNode.cpp.in | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/cmake/LifecycleFilterChainNode.cpp.in b/cmake/LifecycleFilterChainNode.cpp.in
index 59837cd..2b9d295 100644
--- a/cmake/LifecycleFilterChainNode.cpp.in
+++ b/cmake/LifecycleFilterChainNode.cpp.in
@@ -8,13 +8,9 @@
 namespace sensor_filters {
     class @CLASS_NAME@ : public LifecycleFilterChainNode<@TEMPLATE_ARGS@> {
     public:
-        @CLASS_NAME@(const rclcpp::NodeOptions& options) : LifecycleFilterChainNode("@NODE_NAME@", options) {
-            @CLASS_NAME@::configure();
-        }
+        @CLASS_NAME@(const rclcpp::NodeOptions& options) : LifecycleFilterChainNode("@NODE_NAME@", options) {}
 
-        explicit @CLASS_NAME@(): LifecycleFilterChainNode("@NODE_NAME@") {
-            @CLASS_NAME@::configure();
-        }
+        explicit @CLASS_NAME@(): LifecycleFilterChainNode("@NODE_NAME@") {}
     };
 }
 

From ebe0dce40f2f27ed67189f308252795429b9df3e Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Tue, 17 Mar 2026 13:21:23 -0400
Subject: [PATCH 17/23] Clean up template sources

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 cmake/FilterChainNode.cpp.in          | 4 ++--
 cmake/LifecycleFilterChainNode.cpp.in | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/cmake/FilterChainNode.cpp.in b/cmake/FilterChainNode.cpp.in
index 4978ea9..e7456fd 100644
--- a/cmake/FilterChainNode.cpp.in
+++ b/cmake/FilterChainNode.cpp.in
@@ -8,11 +8,11 @@
 namespace sensor_filters {
     class @CLASS_NAME@ : public FilterChainNode<@TEMPLATE_ARGS@> {
     public:
-        @CLASS_NAME@(const rclcpp::NodeOptions& options) : FilterChainNode("@NODE_NAME@", options) {
+        explicit @CLASS_NAME@(const rclcpp::NodeOptions& options) : FilterChainNode("@NODE_NAME@", options) {
             @CLASS_NAME@::configure();
         }
 
-        explicit @CLASS_NAME@(): FilterChainNode("@NODE_NAME@") {
+        [[deprecated]] explicit @CLASS_NAME@(): FilterChainNode("@NODE_NAME@") {
             @CLASS_NAME@::configure();
         }
     };
diff --git a/cmake/LifecycleFilterChainNode.cpp.in b/cmake/LifecycleFilterChainNode.cpp.in
index 2b9d295..0c25e24 100644
--- a/cmake/LifecycleFilterChainNode.cpp.in
+++ b/cmake/LifecycleFilterChainNode.cpp.in
@@ -8,9 +8,9 @@
 namespace sensor_filters {
     class @CLASS_NAME@ : public LifecycleFilterChainNode<@TEMPLATE_ARGS@> {
     public:
-        @CLASS_NAME@(const rclcpp::NodeOptions& options) : LifecycleFilterChainNode("@NODE_NAME@", options) {}
+        explicit @CLASS_NAME@(const rclcpp::NodeOptions& options) : LifecycleFilterChainNode("@NODE_NAME@", options) {}
 
-        explicit @CLASS_NAME@(): LifecycleFilterChainNode("@NODE_NAME@") {}
+        [[deprecated]] explicit @CLASS_NAME@(): LifecycleFilterChainNode("@NODE_NAME@") {}
     };
 }
 

From a55f227549cec96afe3125f1fb3d4f59dd1634a1 Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Tue, 17 Mar 2026 13:40:05 -0400
Subject: [PATCH 18/23] Fix compilation on rolling

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 CMakeLists.txt | 22 +++++++++++++++++-----
 1 file changed, 17 insertions(+), 5 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index a855860..43a02d5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -30,16 +30,29 @@ foreach (dependency IN ITEMS ${DEPENDENCIES})
     find_package(${dependency} REQUIRED)
 endforeach ()
 
+set(LIBRARY_TARGETS
+        ${rclcpp_TARGETS}
+        ${rclcpp_components_TARGETS}
+        ${rclcpp_lifecycle_TARGETS}
+        ${lifecycle_msgs_TARGETS}
+        ${filters_TARGETS}
+        ${sensor_msgs_TARGETS}
+        ${image_transport_TARGETS}
+        ${point_cloud_transport_TARGETS}
+        ${backward_ros_TARGETS}
+)
+
+message("LIBRARY_TARGETS=${LIBRARY_TARGETS}")
+
 include_directories(include include/${PROJECT_NAME})
 
 function(add_filter_chain_node TARGET_NAME CLASS_NAME FILENAME)
     list(APPEND NODE_TARGETS ${TARGET_NAME})
 
     add_library("${TARGET_NAME}_component" SHARED "${FILENAME}")
-    rclcpp_components_register_node(${TARGET_NAME}_component PLUGIN "sensor_filters::${CLASS_NAME}" EXECUTABLE ${TARGET_NAME})
+    rclcpp_components_register_node("${TARGET_NAME}_component" PLUGIN "sensor_filters::${CLASS_NAME}" EXECUTABLE ${TARGET_NAME})
     #add_executable(${TARGET_NAME} "${FILENAME}")
-    #target_link_libraries(${TARGET_NAME} ${DEPENDENCIES})
-    ament_target_dependencies("${TARGET_NAME}_component" ${DEPENDENCIES})
+    target_link_libraries("${TARGET_NAME}_component" PUBLIC ${LIBRARY_TARGETS})
 
     #install(TARGETS ${TARGET_NAME}
     #        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
@@ -153,8 +166,7 @@ foreach (filter IN LISTS filters)
     list(APPEND FILTER_LIBRARIES ${filter})
 
     add_library(${filter} src/filters/${filter}.cpp)
-    ament_target_dependencies(${filter} ${DEPENDENCIES})
-    # target_link_libraries(${filter} ${catkin_LIBRARIES})
+    target_link_libraries(${filter} PUBLIC ${LIBRARY_TARGETS})
     pluginlib_export_plugin_description_file(filters ${filter}.xml)
 endforeach ()
 

From e53d9a078a84d14e3dcb2abf1c5a05df729a1ac4 Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Tue, 17 Mar 2026 14:03:16 -0400
Subject: [PATCH 19/23] Fix names of image & pointcloud2 filter chain nodes

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 CMakeLists.txt | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 43a02d5..5a588e7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -155,8 +155,8 @@ generate_filter_chain_source("pointcloud" HEADER_NAME "point_cloud" MESSAGE_TYPE
 generate_filter_chain_source("range" HEADER_NAME "range" MESSAGE_TYPE "Range")
 generate_filter_chain_source("relative_humidity" HEADER_NAME "relative_humidity" MESSAGE_TYPE "RelativeHumidity")
 generate_filter_chain_source("temperature" HEADER_NAME "temperature" MESSAGE_TYPE "Temperature")
-add_filter_chain_node("image" "ImageFilterChainNode" src/ImageFilterChainNode.cpp)
-add_filter_chain_node("pointcloud2" "PointCloud2FilterChainNode" src/PointCloud2FilterChainNode.cpp)
+add_filter_chain_node("image_filter_chain" "ImageFilterChainNode" src/ImageFilterChainNode.cpp)
+add_filter_chain_node("pointcloud2_filter_chain" "PointCloud2FilterChainNode" src/PointCloud2FilterChainNode.cpp)
 
 set(filters
         ChangeHeaderFilter

From 55f913af28104db686694c614f3752d82e81ea7c Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Tue, 17 Mar 2026 14:07:17 -0400
Subject: [PATCH 20/23] Remove debug message in CMakeLists.txt I left in
 accidentally

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 CMakeLists.txt | 2 --
 1 file changed, 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5a588e7..b9e3919 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -42,8 +42,6 @@ set(LIBRARY_TARGETS
         ${backward_ros_TARGETS}
 )
 
-message("LIBRARY_TARGETS=${LIBRARY_TARGETS}")
-
 include_directories(include include/${PROJECT_NAME})
 
 function(add_filter_chain_node TARGET_NAME CLASS_NAME FILENAME)

From a68a2e79edbfaf85dac051b95aaf6142da3c7aa9 Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Tue, 17 Mar 2026 14:26:23 -0400
Subject: [PATCH 21/23] Fix runtime issues with nodes

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 CMakeLists.txt                             |  2 +-
 include/sensor_filters/FilterChainBase.hpp | 12 ++++++------
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b9e3919..704cd34 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -56,7 +56,7 @@ function(add_filter_chain_node TARGET_NAME CLASS_NAME FILENAME)
     #        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
     #)
 
-    install(TARGETS ${TARGET_NAME}
+    install(TARGETS "${TARGET_NAME}_component"
             ARCHIVE DESTINATION lib
             LIBRARY DESTINATION lib
             RUNTIME DESTINATION bin
diff --git a/include/sensor_filters/FilterChainBase.hpp b/include/sensor_filters/FilterChainBase.hpp
index 1271aff..a2b701e 100644
--- a/include/sensor_filters/FilterChainBase.hpp
+++ b/include/sensor_filters/FilterChainBase.hpp
@@ -54,17 +54,17 @@ namespace sensor_filters {
         }
 
     protected:
-        virtual void advertise();
+        virtual void advertise() = 0;
 
-        virtual void subscribe();
+        virtual void subscribe() = 0;
 
-        virtual bool isActive();
+        virtual bool isActive() = 0;
 
-        virtual void publishUnique(typename T::UniquePtr& msg);
+        virtual void publishUnique(typename T::UniquePtr& msg) = 0;
 
-        virtual void publishShared(const typename T::ConstSharedPtr& msg);
+        virtual void publishShared(const typename T::ConstSharedPtr& msg) = 0;
 
-        virtual void publishReference(const T& msg);
+        virtual void publishReference(const T& msg) = 0;
 
         virtual void callbackUnique(const typename T::UniquePtr& msgIn) {
             if (!isActive())

From 41252e2b553aa0fa49b03e4f4ec98444b1a43ded Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Tue, 17 Mar 2026 14:51:22 -0400
Subject: [PATCH 22/23] Fix bug in change header filter, where absolute
 timestamps were incorrectly converting time

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 src/filters/ChangeHeaderFilter.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/filters/ChangeHeaderFilter.cpp b/src/filters/ChangeHeaderFilter.cpp
index 148e596..9cefb3b 100644
--- a/src/filters/ChangeHeaderFilter.cpp
+++ b/src/filters/ChangeHeaderFilter.cpp
@@ -1,6 +1,7 @@
 // SPDX-License-Identifier: BSD-3-Clause
 // SPDX-FileCopyrightText: Czech Technical University in Prague
 
+#include <chrono>
 #include <optional>
 #include <filters/filter_chain.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -29,8 +30,10 @@ namespace sensor_filters {
                 if (this->getParam("stamp_relative", stampParam))
                     this->newStampRel = rclcpp::Duration::from_seconds(stampParam);
 
-                if (this->getParam("stamp", stampParam))
-                    this->newStampAbs = rclcpp::Time(stampParam);
+                if (this->getParam("stamp", stampParam)) {
+                    const auto nanos = std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(stampParam));
+                    this->newStampAbs = rclcpp::Time(nanos.count());
+                }
             }
 
             return true;

From a01491d62b7b0998e396a304847bdf0ffabe3775 Mon Sep 17 00:00:00 2001
From: solonovamax <solonovamax@12oclockpoint.com>
Date: Thu, 19 Mar 2026 13:25:04 -0400
Subject: [PATCH 23/23] Clean up REGISTER_ALL_MSG_FILTER macro for future use

added boost as a build dependency. though it's already a transitive dep.

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
---
 CMakeLists.txt                     |  3 +++
 package.xml                        |  1 +
 src/filters/ChangeHeaderFilter.cpp |  2 +-
 src/filters/include_all_msgs.hpp   | 38 +++++++++++++++++++-----------
 4 files changed, 29 insertions(+), 15 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 704cd34..c935ad0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -26,11 +26,14 @@ set(DEPENDENCIES
 
 find_package(ament_cmake REQUIRED)
 
+find_package(Boost CONFIG)
+
 foreach (dependency IN ITEMS ${DEPENDENCIES})
     find_package(${dependency} REQUIRED)
 endforeach ()
 
 set(LIBRARY_TARGETS
+        ${boost_TARGETS}
         ${rclcpp_TARGETS}
         ${rclcpp_components_TARGETS}
         ${rclcpp_lifecycle_TARGETS}
diff --git a/package.xml b/package.xml
index fdc2fb4..8cee55f 100644
--- a/package.xml
+++ b/package.xml
@@ -24,6 +24,7 @@ SPDX-FileCopyrightText: Czech Technical University in Prague
     <depend>lifecycle_msgs</depend>
   <depend>sensor_msgs</depend>
 
+    <build_depend>boost</build_depend>
   <build_depend>backward_ros</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>point_cloud_transport</build_depend>
diff --git a/src/filters/ChangeHeaderFilter.cpp b/src/filters/ChangeHeaderFilter.cpp
index 9cefb3b..6f09be9 100644
--- a/src/filters/ChangeHeaderFilter.cpp
+++ b/src/filters/ChangeHeaderFilter.cpp
@@ -74,4 +74,4 @@ namespace sensor_filters {
     };
 }
 
-REGISTER_ALL_MSG_FILTER(sensor_filters::ChangeHeader)
+REGISTER_ALL_MSG_FILTERS(sensor_filters::ChangeHeader)
diff --git a/src/filters/include_all_msgs.hpp b/src/filters/include_all_msgs.hpp
index e127870..41f632f 100644
--- a/src/filters/include_all_msgs.hpp
+++ b/src/filters/include_all_msgs.hpp
@@ -8,6 +8,7 @@
 
 #pragma once
 
+#include <boost/preprocessor/seq/for_each.hpp>
 #include <pluginlib/class_list_macros.hpp>
 #include <sensor_msgs/msg/compressed_image.hpp>
 #include <sensor_msgs/msg/image.hpp>
@@ -24,17 +25,26 @@
 #include <sensor_msgs/msg/relative_humidity.hpp>
 #include <sensor_msgs/msg/temperature.hpp>
 
-#define REGISTER_ALL_MSG_FILTER(filter) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::CompressedImage>, filters::FilterBase<sensor_msgs::msg::CompressedImage>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::Image>, filters::FilterBase<sensor_msgs::msg::Image>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::Imu>, filters::FilterBase<sensor_msgs::msg::Imu>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::Joy>, filters::FilterBase<sensor_msgs::msg::Joy>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::LaserScan>, filters::FilterBase<sensor_msgs::msg::LaserScan>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::MagneticField>, filters::FilterBase<sensor_msgs::msg::MagneticField>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::MultiEchoLaserScan>, filters::FilterBase<sensor_msgs::msg::MultiEchoLaserScan>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::NavSatFix>, filters::FilterBase<sensor_msgs::msg::NavSatFix>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::PointCloud>, filters::FilterBase<sensor_msgs::msg::PointCloud>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::PointCloud2>, filters::FilterBase<sensor_msgs::msg::PointCloud2>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::Range>, filters::FilterBase<sensor_msgs::msg::Range>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::RelativeHumidity>, filters::FilterBase<sensor_msgs::msg::RelativeHumidity>) \
-PLUGINLIB_EXPORT_CLASS(filter<sensor_msgs::msg::Temperature>, filters::FilterBase<sensor_msgs::msg::Temperature>)
+#define SENSOR_MSGS_SEQ \
+    (sensor_msgs::msg::CompressedImage) \
+    (sensor_msgs::msg::Image) \
+    (sensor_msgs::msg::Imu) \
+    (sensor_msgs::msg::Joy) \
+    (sensor_msgs::msg::LaserScan) \
+    (sensor_msgs::msg::MagneticField) \
+    (sensor_msgs::msg::MultiEchoLaserScan) \
+    (sensor_msgs::msg::NavSatFix) \
+    (sensor_msgs::msg::PointCloud) \
+    (sensor_msgs::msg::PointCloud2) \
+    (sensor_msgs::msg::Range) \
+    (sensor_msgs::msg::RelativeHumidity) \
+    (sensor_msgs::msg::Temperature)
+
+#define REGISTER_MSG_FILTER(r, filter, msg) \
+    PLUGINLIB_EXPORT_CLASS(filter<msg>, filters::FilterBase<msg>)
+
+#define REGISTER_MSG_FILTERS(filter, msg_seq) \
+    BOOST_PP_SEQ_FOR_EACH(REGISTER_MSG_FILTER, filter, msg_seq)
+
+#define REGISTER_ALL_MSG_FILTERS(filter) \
+    REGISTER_MSG_FILTERS(filter, SENSOR_MSGS_SEQ)