diff --git a/livox_ros_driver2/CMakeLists.txt b/livox_ros_driver2/CMakeLists.txt
index 99a8ccc..55ed50c 100644
--- a/livox_ros_driver2/CMakeLists.txt
+++ b/livox_ros_driver2/CMakeLists.txt
@@ -1,336 +1,140 @@
-# judge which cmake codes to use 
-if(ROS_EDITION STREQUAL "ROS1")
+# Copyright(c) 2020 livoxtech limited.
 
-  # Copyright(c) 2019 livoxtech limited.
+cmake_minimum_required(VERSION 3.14)
+project(livox_ros_driver2)
 
-  cmake_minimum_required(VERSION 3.0)
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
 
-
-  #---------------------------------------------------------------------------------------
-  # Start livox_ros_driver2 project
-  #---------------------------------------------------------------------------------------
-  include(cmake/version.cmake)
-  project(livox_ros_driver2 VERSION ${LIVOX_ROS_DRIVER2_VERSION} LANGUAGES CXX)
-  message(STATUS "livox_ros_driver2 version: ${LIVOX_ROS_DRIVER2_VERSION}")
-
-  #---------------------------------------------------------------------------------------
-  # Add ROS Version MACRO
-  #---------------------------------------------------------------------------------------
-  add_definitions(-DBUILDING_ROS1)
-
-  #---------------------------------------------------------------------------------------
-  # find package and the dependecy
-  #---------------------------------------------------------------------------------------
-  find_package(Boost 1.54 REQUIRED COMPONENTS
-    system
-    thread
-    chrono
-  )
-
-  ## Find catkin macros and libraries
-  ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-  ## is used, also find other catkin packages
-  find_package(catkin REQUIRED COMPONENTS
-    roscpp
-    rospy
-    sensor_msgs
-    std_msgs
-    message_generation
-    rosbag
-    pcl_ros
-  )
-
-  ## Find pcl lib
-  find_package(PCL REQUIRED)
-
-  ## Generate messages in the 'msg' folder
-  add_message_files(FILES
-    CustomPoint.msg
-    CustomMsg.msg
-  #   Message2.msg
-  )
-
-  ## Generate added messages and services with any dependencies listed here
-  generate_messages(DEPENDENCIES
-    std_msgs
-  )
-
-  find_package(PkgConfig)
-  pkg_check_modules(APR apr-1)
-  if (APR_FOUND)
-    message(${APR_INCLUDE_DIRS})
-    message(${APR_LIBRARIES})
-  endif (APR_FOUND)
-
-  ###################################
-  ## catkin specific configuration ##
-  ###################################
-  ## The catkin_package macro generates cmake config files for your package
-  ## Declare things to be passed to dependent projects
-  ## INCLUDE_DIRS: uncomment this if your package contains header files
-  ## LIBRARIES: libraries you create in this project that dependent projects als    o need
-  ## CATKIN_DEPENDS: catkin_packages dependent projects also need
-  ## DEPENDS: system dependencies of this project that dependent projects also n    eed
-  catkin_package(CATKIN_DEPENDS
-    roscpp rospy std_msgs message_runtime
-    pcl_ros
-  )
-
-  #---------------------------------------------------------------------------------------
-  # Set default build to release
-  #---------------------------------------------------------------------------------------
-  if(NOT CMAKE_BUILD_TYPE)
-    set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Choose Release or Debug" FORCE)
-  endif()
-
-  #---------------------------------------------------------------------------------------
-  # Compiler config
-  #---------------------------------------------------------------------------------------
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
-  set(CMAKE_CXX_STANDARD_REQUIRED ON)
-  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
 
-  ## make sure the livox_lidar_sdk_static library is installed
-  find_library(LIVOX_LIDAR_SDK_LIBRARY  liblivox_lidar_sdk_static.a    /usr/local/lib)
+list(INSERT CMAKE_MODULE_PATH 0 "${PROJECT_SOURCE_DIR}/cmake/modules")
 
-  ## PCL library
-  link_directories(${PCL_LIBRARY_DIRS})
-  add_definitions(${PCL_DEFINITIONS})
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter)
+endif()
 
-  #---------------------------------------------------------------------------------------
-  # generate excutable and add libraries
-  #---------------------------------------------------------------------------------------
-  add_executable(${PROJECT_NAME}_node
-    ""
-  )
+# Printf version info
+include(cmake/version.cmake)
+project(${PROJECT_NAME} VERSION ${LIVOX_ROS_DRIVER2_VERSION} LANGUAGES CXX)
+message(STATUS "${PROJECT_NAME} version: ${LIVOX_ROS_DRIVER2_VERSION}")
 
-  #---------------------------------------------------------------------------------------
-  # precompile macro and compile option
-  #---------------------------------------------------------------------------------------
-  target_compile_options(${PROJECT_NAME}_node
-    PRIVATE $<$<CXX_COMPILER_ID:GNU>:-Wall>
-  )
+#---------------------------------------------------------------------------------------
+# Add ROS Version MACRO
+#---------------------------------------------------------------------------------------
+add_definitions(-DBUILDING_ROS2)
 
-  #---------------------------------------------------------------------------------------
-  # add projects that depend on
-  #---------------------------------------------------------------------------------------
-  add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_generate_messages_cpp)
+# find dependencies
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+find_package(PCL REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
 
-  #---------------------------------------------------------------------------------------
-  # source file
-  #---------------------------------------------------------------------------------------
-  target_sources(${PROJECT_NAME}_node
-    PRIVATE
-    src/driver_node.cpp
-    src/lds.cpp
-    src/lds_lidar.cpp
-    src/lddc.cpp
-    src/livox_ros_driver2.cpp
+# check apr
+find_package(PkgConfig)
+pkg_check_modules(APR apr-1)
+if (APR_FOUND)
+  message(${APR_INCLUDE_DIRS})
+  message(${APR_LIBRARIES})
+endif (APR_FOUND)
 
-    src/comm/comm.cpp
-    src/comm/ldq.cpp
-    src/comm/semaphore.cpp
-    src/comm/lidar_imu_data_queue.cpp
-    src/comm/cache_index.cpp
-    src/comm/pub_handler.cpp
+# generate custom msg headers
+set(LIVOX_INTERFACES livox_interfaces2)
+rosidl_generate_interfaces(${LIVOX_INTERFACES}
+  "msg/CustomPoint.msg"
+  "msg/CustomMsg.msg"
+  DEPENDENCIES builtin_interfaces std_msgs
+  LIBRARY_NAME ${PROJECT_NAME}
+)
 
-    src/parse_cfg_file/parse_cfg_file.cpp
-    src/parse_cfg_file/parse_livox_lidar_cfg.cpp
+## make sure the livox_lidar_sdk_shared library is installed
+find_library(LIVOX_LIDAR_SDK_LIBRARY liblivox_lidar_sdk_shared.so /usr/local/lib REQUIRED)
 
-    src/call_back/lidar_common_callback.cpp
-    src/call_back/livox_lidar_callback.cpp
-  )
+##
+find_path(LIVOX_LIDAR_SDK_INCLUDE_DIR
+  NAMES "livox_lidar_api.h" "livox_lidar_def.h"
+  REQUIRED)
 
-  #---------------------------------------------------------------------------------------
-  # include file
-  #---------------------------------------------------------------------------------------
-  target_include_directories(${PROJECT_NAME}_node
-    PUBLIC
-    ${catkin_INCLUDE_DIRS}
-    ${PCL_INCLUDE_DIRS}
-    ${APR_INCLUDE_DIRS}
-    3rdparty
-    src
-  )
+## PCL library
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
 
-  #---------------------------------------------------------------------------------------
-  # link libraries
-  #---------------------------------------------------------------------------------------
-  target_link_libraries(${PROJECT_NAME}_node
-    ${LIVOX_LIDAR_SDK_LIBRARY}
-    ${Boost_LIBRARY}
-    ${catkin_LIBRARIES}
-    ${PCL_LIBRARIES}
-    ${APR_LIBRARIES}
-  )
+# livox ros2 driver target
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/livox_ros_driver2.cpp
+  src/lddc.cpp
+  src/driver_node.cpp
+  src/lds.cpp
+  src/lds_lidar.cpp
 
+  src/comm/comm.cpp
+  src/comm/ldq.cpp
+  src/comm/semaphore.cpp
+  src/comm/lidar_imu_data_queue.cpp
+  src/comm/cache_index.cpp
+  src/comm/pub_handler.cpp
 
-  #---------------------------------------------------------------------------------------
-  # Install
-  #---------------------------------------------------------------------------------------
+  src/parse_cfg_file/parse_cfg_file.cpp
+  src/parse_cfg_file/parse_livox_lidar_cfg.cpp
 
-  install(TARGETS ${PROJECT_NAME}_node
-    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  )
+  src/call_back/lidar_common_callback.cpp
+  src/call_back/livox_lidar_callback.cpp
+)
 
-  install(DIRECTORY launch_ROS1/
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch_ROS1
-  )
+target_include_directories(${PROJECT_NAME} PRIVATE ${livox_sdk_INCLUDE_DIRS})
 
-  #---------------------------------------------------------------------------------------
-  # end of CMakeList.txt
-  #---------------------------------------------------------------------------------------
+# livox ros2 driver target
+rosidl_get_typesupport_target(cpp_typesupport_target
+${LIVOX_INTERFACES} "rosidl_typesupport_cpp")
+target_link_libraries(${PROJECT_NAME} "${cpp_typesupport_target}")
 
+# include file direcotry
+target_include_directories(${PROJECT_NAME} PUBLIC
+  ${PCL_INCLUDE_DIRS}
+  ${APR_INCLUDE_DIRS}
+  ${LIVOX_LIDAR_SDK_INCLUDE_DIR}
+  ${LIVOX_INTERFACES_INCLUDE_DIRECTORIES}   # for custom msgs
+  3rdparty
+  src
+)
 
-else(ROS_EDITION STREQUAL "ROS2")
+# link libraries
+target_link_libraries(${PROJECT_NAME}
+  ${LIVOX_LIDAR_SDK_LIBRARY}
+  ${LIVOX_INTERFACE_TARGET}   # for custom msgs
+  ${PPT_LIBRARY}
+  ${Boost_LIBRARY}
+  ${PCL_LIBRARIES}
+  ${APR_LIBRARIES}
+)
 
-  # Copyright(c) 2020 livoxtech limited.
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "livox_ros::DriverNode"
+  EXECUTABLE ${PROJECT_NAME}_node
+)
 
-  cmake_minimum_required(VERSION 3.14)
-  project(livox_ros_driver2)
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
 
-  # Default to C99
-  if(NOT CMAKE_C_STANDARD)
-    set(CMAKE_C_STANDARD 99)
-  endif()
-
-  # Default to C++14
-  if(NOT CMAKE_CXX_STANDARD)
-    set(CMAKE_CXX_STANDARD 14)
-  endif()
-
-  list(INSERT CMAKE_MODULE_PATH 0 "${PROJECT_SOURCE_DIR}/cmake/modules")
-
-  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter)
-  endif()
-
-  # Printf version info
-  include(cmake/version.cmake)
-  project(${PROJECT_NAME} VERSION ${LIVOX_ROS_DRIVER2_VERSION} LANGUAGES CXX)
-  message(STATUS "${PROJECT_NAME} version: ${LIVOX_ROS_DRIVER2_VERSION}")
-
-  #---------------------------------------------------------------------------------------
-  # Add ROS Version MACRO
-  #---------------------------------------------------------------------------------------
-  add_definitions(-DBUILDING_ROS2)
-
-  # find dependencies
-  # uncomment the following section in order to fill in
-  # further dependencies manually.
-  # find_package(<dependency> REQUIRED)
-  find_package(ament_cmake_auto REQUIRED)
-  ament_auto_find_build_dependencies()
-  find_package(PCL REQUIRED)
-  find_package(std_msgs REQUIRED)
-  find_package(builtin_interfaces REQUIRED)
-  find_package(rosidl_default_generators REQUIRED)
-
-  # check apr
-  find_package(PkgConfig)
-  pkg_check_modules(APR apr-1)
-  if (APR_FOUND)
-    message(${APR_INCLUDE_DIRS})
-    message(${APR_LIBRARIES})
-  endif (APR_FOUND)
-
-  # generate custom msg headers
-  set(LIVOX_INTERFACES livox_interfaces2)
-  rosidl_generate_interfaces(${LIVOX_INTERFACES}
-    "msg/CustomPoint.msg"
-    "msg/CustomMsg.msg"
-    DEPENDENCIES builtin_interfaces std_msgs
-    LIBRARY_NAME ${PROJECT_NAME}
-  )
-
-  ## make sure the livox_lidar_sdk_shared library is installed
-  find_library(LIVOX_LIDAR_SDK_LIBRARY liblivox_lidar_sdk_shared.so /usr/local/lib REQUIRED)
-
-  ##
-  find_path(LIVOX_LIDAR_SDK_INCLUDE_DIR
-    NAMES "livox_lidar_api.h" "livox_lidar_def.h"
-    REQUIRED)
-
-  ## PCL library
-  link_directories(${PCL_LIBRARY_DIRS})
-  add_definitions(${PCL_DEFINITIONS})
-
-  # livox ros2 driver target
-  ament_auto_add_library(${PROJECT_NAME} SHARED
-    src/livox_ros_driver2.cpp
-    src/lddc.cpp
-    src/driver_node.cpp
-    src/lds.cpp
-    src/lds_lidar.cpp
-
-    src/comm/comm.cpp
-    src/comm/ldq.cpp
-    src/comm/semaphore.cpp
-    src/comm/lidar_imu_data_queue.cpp
-    src/comm/cache_index.cpp
-    src/comm/pub_handler.cpp
-
-    src/parse_cfg_file/parse_cfg_file.cpp
-    src/parse_cfg_file/parse_livox_lidar_cfg.cpp
-
-    src/call_back/lidar_common_callback.cpp
-    src/call_back/livox_lidar_callback.cpp
-  )
-
-  target_include_directories(${PROJECT_NAME} PRIVATE ${livox_sdk_INCLUDE_DIRS})
-
-  # get include directories of custom msg headers
-  if(HUMBLE_ROS STREQUAL "humble")
-    rosidl_get_typesupport_target(cpp_typesupport_target
-    ${LIVOX_INTERFACES} "rosidl_typesupport_cpp")
-    target_link_libraries(${PROJECT_NAME} "${cpp_typesupport_target}")
-  else()
-    set(LIVOX_INTERFACE_TARGET "${LIVOX_INTERFACES}__rosidl_typesupport_cpp")
-    add_dependencies(${PROJECT_NAME} ${LIVOX_INTERFACES})
-    get_target_property(LIVOX_INTERFACES_INCLUDE_DIRECTORIES ${LIVOX_INTERFACE_TARGET} INTERFACE_INCLUDE_DIRECTORIES)
-  endif()
-
-  # include file direcotry
-  target_include_directories(${PROJECT_NAME} PUBLIC
-    ${PCL_INCLUDE_DIRS}
-    ${APR_INCLUDE_DIRS}
-    ${LIVOX_LIDAR_SDK_INCLUDE_DIR}
-    ${LIVOX_INTERFACES_INCLUDE_DIRECTORIES}   # for custom msgs
-    3rdparty
-    src
-  )
-
-  # link libraries
-  target_link_libraries(${PROJECT_NAME}
-    ${LIVOX_LIDAR_SDK_LIBRARY}
-    ${LIVOX_INTERFACE_TARGET}   # for custom msgs
-    ${PPT_LIBRARY}
-    ${Boost_LIBRARY}
-    ${PCL_LIBRARIES}
-    ${APR_LIBRARIES}
-  )
-
-  rclcpp_components_register_node(${PROJECT_NAME}
-    PLUGIN "livox_ros::DriverNode"
-    EXECUTABLE ${PROJECT_NAME}_node
-  )
-
-  if(BUILD_TESTING)
-    find_package(ament_lint_auto REQUIRED)
-    # the following line skips the linter which checks for copyrights
-    # uncomment the line when a copyright and license is not present in all source files
-    #set(ament_cmake_copyright_FOUND TRUE)
-    # the following line skips cpplint (only works in a git repo)
-    # uncomment the line when this package is not in a git repo
-    #set(ament_cmake_cpplint_FOUND TRUE)
-    ament_lint_auto_find_test_dependencies()
-  endif()
-
-  ament_auto_package(INSTALL_TO_SHARE
-    config
-    launch_ROS2
-  )
-
-endif()
\ No newline at end of file
+ament_auto_package(INSTALL_TO_SHARE
+  config
+  launch_ROS2
+)
\ No newline at end of file