diff --git a/CMakeLists.txt b/CMakeLists.txt
index b49b9c81a..516933964 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -73,8 +73,8 @@ add_library(
   src/ros_filter_utilities.cpp
   src/ros_robot_localization_listener.cpp)
 
-rosidl_target_interfaces(${library_name}
-  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
+target_link_libraries(${library_name} "${cpp_typesupport_target}")
 
 add_executable(
   ekf_node
@@ -177,8 +177,10 @@ if(BUILD_TESTING)
   ament_add_gtest_executable(test_filter_base_diagnostics_timestamps
                     test/test_filter_base_diagnostics_timestamps.cpp)
   target_link_libraries(test_filter_base_diagnostics_timestamps ${library_name})
-  rosidl_target_interfaces(test_filter_base_diagnostics_timestamps
-    ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+  rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
+  target_link_libraries(test_filter_base_diagnostics_timestamps "${cpp_typesupport_target}")
+
   add_dependencies(test_filter_base_diagnostics_timestamps ekf_node)
   ament_add_test(test_filter_base_diagnostics_timestamps
     GENERATE_RESULT_FOR_RETURN_CODE_ZERO
@@ -190,14 +192,17 @@ if(BUILD_TESTING)
   #### EKF TESTS ######
   ament_add_gtest(test_ekf test/test_ekf.cpp)
   target_link_libraries(test_ekf ${library_name})
-  rosidl_target_interfaces(test_ekf
-    ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+  rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
+  target_link_libraries(test_ekf "${cpp_typesupport_target}")
 
   ament_add_gtest_executable(test_ekf_localization_node_interfaces
                     test/test_ekf_localization_node_interfaces.cpp)
   target_link_libraries(test_ekf_localization_node_interfaces ${library_name})
-  rosidl_target_interfaces(test_ekf_localization_node_interfaces
-    ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+  rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
+  target_link_libraries(test_ekf_localization_node_interfaces "${cpp_typesupport_target}")
+
   add_dependencies(test_ekf_localization_node_interfaces ekf_node)
   ament_add_test(test_ekf_localization_node_interfaces
     GENERATE_RESULT_FOR_RETURN_CODE_ZERO
@@ -209,15 +214,17 @@ if(BUILD_TESTING)
   #### UKF TESTS #####
   ament_add_gtest(test_ukf test/test_ukf.cpp)
   target_link_libraries(test_ukf ${library_name})
-  rosidl_target_interfaces(test_ukf
-    ${PROJECT_NAME} "rosidl_typesupport_cpp")
 
+  rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
+  target_link_libraries(test_ukf "${cpp_typesupport_target}")
 
   ament_add_gtest_executable(test_ukf_localization_node_interfaces
                     test/test_ukf_localization_node_interfaces.cpp)
   target_link_libraries(test_ukf_localization_node_interfaces ${library_name})
-  rosidl_target_interfaces(test_ukf_localization_node_interfaces
-    ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+  rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
+  target_link_libraries(test_ukf_localization_node_interfaces "${cpp_typesupport_target}")
+
   add_dependencies(test_ukf_localization_node_interfaces ukf_node)
   ament_add_test(test_ukf_localization_node_interfaces
     GENERATE_RESULT_FOR_RETURN_CODE_ZERO
@@ -249,8 +256,8 @@ if(BUILD_TESTING)
   ament_add_gtest_executable(test_robot_localization_estimator
                   test/test_robot_localization_estimator.cpp)
   target_link_libraries(test_robot_localization_estimator ${library_name})
-  rosidl_target_interfaces(test_robot_localization_estimator
-    ${PROJECT_NAME} "rosidl_typesupport_cpp")
+  rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
+  target_link_libraries(test_robot_localization_estimator "${cpp_typesupport_target}")
   ament_add_test(test_robot_localization_estimator
     GENERATE_RESULT_FOR_RETURN_CODE_ZERO
     TIMEOUT 100
@@ -261,13 +268,13 @@ if(BUILD_TESTING)
   ament_add_gtest_executable(test_ros_robot_localization_listener
                   test/test_ros_robot_localization_listener.cpp)
   target_link_libraries(test_ros_robot_localization_listener ${library_name})
-  rosidl_target_interfaces(test_ros_robot_localization_listener
-    ${PROJECT_NAME} "rosidl_typesupport_cpp")
+  rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
+  target_link_libraries(test_ros_robot_localization_listener "${cpp_typesupport_target}")
   ament_add_gtest_executable(test_ros_robot_localization_listener_publisher
                   test/test_ros_robot_localization_listener_publisher.cpp)
   target_link_libraries(test_ros_robot_localization_listener_publisher ${library_name})
-  rosidl_target_interfaces(test_ros_robot_localization_listener_publisher
-    ${PROJECT_NAME} "rosidl_typesupport_cpp")
+  rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
+  target_link_libraries(test_ros_robot_localization_listener_publisher "${cpp_typesupport_target}")
   ament_add_test(test_ros_robot_localization_listener
     GENERATE_RESULT_FOR_RETURN_CODE_ZERO
     TIMEOUT 100
diff --git a/include/robot_localization/ros_robot_localization_listener.hpp b/include/robot_localization/ros_robot_localization_listener.hpp
index 333c53800..f70450020 100644
--- a/include/robot_localization/ros_robot_localization_listener.hpp
+++ b/include/robot_localization/ros_robot_localization_listener.hpp
@@ -51,7 +51,7 @@ namespace robot_localization
 
 namespace detail
 {
-rclcpp::SubscriptionOptions
+inline rclcpp::SubscriptionOptions
 get_subscription_options_with_default_qos_override_policies()
 {
   auto subscription_options = rclcpp::SubscriptionOptions();
diff --git a/package.xml b/package.xml
index 372e2943e..5a382fbfc 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>robot_localization</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>Provides nonlinear state estimation through sensor fusion of an abritrary number of sensors.</description>
 
   <author email="ayrton04@gmail.com">Tom Moore</author> 
diff --git a/src/navsat_transform.cpp b/src/navsat_transform.cpp
index 74be08f0a..4e512fae6 100644
--- a/src/navsat_transform.cpp
+++ b/src/navsat_transform.cpp
@@ -42,7 +42,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/imu.hpp>
 #include <sensor_msgs/msg/nav_sat_fix.hpp>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 #include <Eigen/Dense>
 
diff --git a/src/ros_filter.cpp b/src/ros_filter.cpp
index 242631ca7..1667c4f60 100644
--- a/src/ros_filter.cpp
+++ b/src/ros_filter.cpp
@@ -41,7 +41,7 @@
 #include <rclcpp/qos.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/imu.hpp>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 #include <algorithm>
 #include <iostream>
diff --git a/src/ros_filter_utilities.cpp b/src/ros_filter_utilities.cpp
index 2530ce545..52b22bf69 100644
--- a/src/ros_filter_utilities.cpp
+++ b/src/ros_filter_utilities.cpp
@@ -35,7 +35,7 @@
 #include <robot_localization/filter_utilities.hpp>
 #include <robot_localization/ros_filter_utilities.hpp>
 #include <tf2/time.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <tf2_ros/buffer.h>
 
 #include <string>
diff --git a/src/ros_robot_localization_listener.cpp b/src/ros_robot_localization_listener.cpp
index a6faeae32..c4dc22d74 100644
--- a/src/ros_robot_localization_listener.cpp
+++ b/src/ros_robot_localization_listener.cpp
@@ -37,8 +37,8 @@
 #include <tf2/LinearMath/Matrix3x3.h>
 #include <tf2/LinearMath/Quaternion.h>
 #include <tf2/time.h>
-#include <tf2_eigen/tf2_eigen.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_eigen/tf2_eigen.hpp>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <yaml-cpp/yaml.h>
 
 #include <exception>
diff --git a/test/test_ekf_localization_node_interfaces.cpp b/test/test_ekf_localization_node_interfaces.cpp
index e368d4dfe..1d201f8ab 100644
--- a/test/test_ekf_localization_node_interfaces.cpp
+++ b/test/test_ekf_localization_node_interfaces.cpp
@@ -38,7 +38,7 @@
 #include <rclcpp/qos.hpp>
 #include <sensor_msgs/msg/imu.hpp>
 #include <tf2/LinearMath/Quaternion.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 #include <chrono>
 #include <functional>
diff --git a/test/test_ros_robot_localization_listener_publisher.cpp b/test/test_ros_robot_localization_listener_publisher.cpp
index 462030925..2cf4ee9e5 100644
--- a/test/test_ros_robot_localization_listener_publisher.cpp
+++ b/test/test_ros_robot_localization_listener_publisher.cpp
@@ -33,8 +33,8 @@
 #include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tf2/utils.h>
 #include <tf2_ros/static_transform_broadcaster.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 #include <string>
 #include <memory>
diff --git a/test/test_ukf_localization_node_interfaces.cpp b/test/test_ukf_localization_node_interfaces.cpp
index a5afa24e6..c736d0be7 100644
--- a/test/test_ukf_localization_node_interfaces.cpp
+++ b/test/test_ukf_localization_node_interfaces.cpp
@@ -37,7 +37,7 @@
 #include <rclcpp/qos.hpp>
 #include <sensor_msgs/msg/imu.hpp>
 #include <tf2/LinearMath/Quaternion.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 #include <chrono>
 #include <functional>