diff --git a/velodyne_pointcloud/CMakeLists.txt b/velodyne_pointcloud/CMakeLists.txt
index 2a6757f74..6d38d4894 100644
--- a/velodyne_pointcloud/CMakeLists.txt
+++ b/velodyne_pointcloud/CMakeLists.txt
@@ -19,6 +19,7 @@ find_package(message_filters REQUIRED)
 find_package(PCL REQUIRED COMPONENTS common)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
+find_package(rosidl_cmake REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
@@ -73,9 +74,11 @@ target_link_libraries(velodyne_cloud_types PUBLIC
   tf2_ros::tf2_ros
   ${velodyne_msgs_TARGETS}
 )
-
 add_library(transform SHARED
   src/conversions/transform.cpp)
+if(${rosidl_cmake_VERSION} VERSION_EQUAL 4.0.1)
+  target_compile_definitions(transform PUBLIC ROS2_IRON)
+endif()
 target_include_directories(transform PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
diff --git a/velodyne_pointcloud/include/velodyne_pointcloud/transform.hpp b/velodyne_pointcloud/include/velodyne_pointcloud/transform.hpp
index 1f7ef7b04..4ce55b804 100644
--- a/velodyne_pointcloud/include/velodyne_pointcloud/transform.hpp
+++ b/velodyne_pointcloud/include/velodyne_pointcloud/transform.hpp
@@ -32,8 +32,9 @@
 
 #ifndef VELODYNE_POINTCLOUD__TRANSFORM_HPP_
 #define VELODYNE_POINTCLOUD__TRANSFORM_HPP_
-
+#ifdef ROS2_IRON
 #include <message_filters/subscriber.h>
+#endif
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/message_filter.h>
 #include <tf2_ros/transform_listener.h>
@@ -43,6 +44,9 @@
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <diagnostic_updater/publisher.hpp>
+#ifndef ROS2_IRON
+#include <message_filters/subscriber.hpp>
+#endif
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <velodyne_msgs/msg/velodyne_scan.hpp>
diff --git a/velodyne_pointcloud/package.xml b/velodyne_pointcloud/package.xml
index 6c705b7db..49a0d539d 100644
--- a/velodyne_pointcloud/package.xml
+++ b/velodyne_pointcloud/package.xml
@@ -16,6 +16,7 @@
   <author>Andreas Klintberg</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rosidl_cmake</build_depend>
 
   <depend>angles</depend>
   <depend>diagnostic_updater</depend>
diff --git a/velodyne_pointcloud/src/lib/rawdata.cpp b/velodyne_pointcloud/src/lib/rawdata.cpp
index 15f116bba..c60332f88 100644
--- a/velodyne_pointcloud/src/lib/rawdata.cpp
+++ b/velodyne_pointcloud/src/lib/rawdata.cpp
@@ -328,6 +328,8 @@ void RawData::unpack(
         float time = 0;
         if (timing_offsets_.size()) {
           time = timing_offsets_[i][j] + time_diff_start_to_this_packet;
+        } else {
+          time = time_diff_start_to_this_packet;
         }
 
         if (tmp.uint == 0) {  // no valid laser beam return
@@ -546,6 +548,8 @@ void RawData::unpack_vls128(
       if (timing_offsets_.size()) {
         time = timing_offsets_[block / 4][firing_order + laser_number / 64] +
           time_diff_start_to_this_packet;
+      } else {
+        time = time_diff_start_to_this_packet;
       }
 
       velodyne_pointcloud::LaserCorrection & corrections =
@@ -811,6 +815,8 @@ void RawData::unpack_vlp16(
           float time = 0;
           if (timing_offsets_.size()) {
             time = timing_offsets_[block][firing * 16 + dsr] + time_diff_start_to_this_packet;
+          } else {
+            time = time_diff_start_to_this_packet;
           }
 
           data.addPoint(