diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4895f08..9dbf2e8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,7 +18,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
-find_package(PCL 1.7 REQUIRED)
+find_package(PCL 1.12 REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
@@ -33,6 +33,8 @@ find_package(octomap_msgs REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(tf2_msgs REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(rclcpp_components REQUIRED)
 
 link_directories(${PCL_LIBRARY_DIRS})
 include_directories(${PCL_INCLUDE_DIRS})
@@ -60,6 +62,8 @@ ament_target_dependencies(octomap_server2
   tf2_ros
   tf2_msgs
   tf2
+  tf2_geometry_msgs
+  rclcpp_components
   )
 
 target_link_libraries(octomap_server2 ${PCL_LIBRARIES} ${OCTOMAP_LIBRARIES})
diff --git a/deps.repos b/deps.repos
index 9edaf7b..2b8bb91 100644
--- a/deps.repos
+++ b/deps.repos
@@ -6,7 +6,7 @@ repositories:
   ./../perception_pcl:
     type: git
     url: https://github.com/ros-perception/perception_pcl.git
-    version: foxy-devel
+    version: ros2
   ./../pcl_msgs:
     type: git
     url: https://github.com/ros-perception/pcl_msgs.git
diff --git a/src/octomap_server.cpp b/src/octomap_server.cpp
index 60b202f..764f9dd 100644
--- a/src/octomap_server.cpp
+++ b/src/octomap_server.cpp
@@ -1016,7 +1016,7 @@ namespace octomap_server {
                 second_pass.setInputCloud(pc.makeShared());
                 second_pass.filter(ground);
 
-                second_pass.setFilterLimitsNegative (true);
+                second_pass.setNegative(true);
                 second_pass.filter(nonground);
             }
         }