diff --git a/nebula_tests/data/hesai/40p/1673400149711850138.pcd b/nebula_tests/data/hesai/40p/1673400149711850138.pcd
index d49246b11..227d15d6d 100644
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diff --git a/nebula_tests/data/hesai/64/1673403880898440686.pcd b/nebula_tests/data/hesai/64/1673403880898440686.pcd
index 7e51c804e..6dd5525fb 100644
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diff --git a/nebula_tests/data/hesai/at128/1679653308704927652.pcd b/nebula_tests/data/hesai/at128/1679653308704927652.pcd
index 1a11a3ca8..dd215e9c6 100644
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diff --git a/nebula_tests/data/hesai/qt64/1673401196087570870.pcd b/nebula_tests/data/hesai/qt64/1673401196087570870.pcd
index 5edff98fb..0c695c198 100644
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diff --git a/nebula_tests/data/hesai/xt32/1673400678101968885.pcd b/nebula_tests/data/hesai/xt32/1673400678101968885.pcd
index d6dca526b..43d889316 100644
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diff --git a/nebula_tests/data/hesai/xt32m/1660893203292679064.pcd b/nebula_tests/data/hesai/xt32m/1660893203292679064.pcd
index 65f85d599..772de9b49 100644
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diff --git a/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp b/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
index c818b5f2b..5a292e29b 100644
--- a/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
+++ b/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
@@ -5,9 +5,13 @@
 #include "hesai_common.hpp"
 #include "hesai_ros_decoder_test.hpp"
 
+#include <pcl/impl/point_types.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <gtest/gtest.h>
+#include <pcl/conversions.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/point_cloud.h>
 
 #include <cstdlib>
 #include <ctime>
@@ -39,7 +43,7 @@ TEST_P(DecoderTest, TestPcd)
   rcpputils::fs::path bag_dir(hesai_driver_->params_.bag_path);
   rcpputils::fs::path pcd_dir = bag_dir.parent_path();
 
-  pcl::PointCloud<pcl::PointXYZ>::Ptr ref_pointcloud(new pcl::PointCloud<pcl::PointXYZ>);
+  auto ref_pointcloud = std::make_shared<pcl::PointCloud<pcl::PointXYZ>>();
   int check_cnt = 0;
 
   auto scan_callback = [&](
@@ -58,7 +62,7 @@ TEST_P(DecoderTest, TestPcd)
       checkPCDs(pointcloud, ref_pointcloud);
       check_cnt++;
       // ref_pointcloud.reset(new nebula::drivers::NebulaPointCloud);
-      ref_pointcloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
+      ref_pointcloud = std::make_shared<pcl::PointCloud<pcl::PointXYZ>>();
     }
   };