diff --git a/patches/livox_ros_driver2.patch b/patches/livox_ros_driver2.patch
index 44512c9..39e0e99 100644
--- a/patches/livox_ros_driver2.patch
+++ b/patches/livox_ros_driver2.patch
@@ -14,3 +14,15 @@ index 0000000..36804a4
 @@ -0,0 +1 @@
 +package_ROS2.xml
 \ No newline at end of file
+diff --git a/package_ROS2.xml b/package_ROS2.xml
+index 96f5762..c66785b 100644
+--- a/package_ROS2.xml
++++ b/package_ROS2.xml
+@@ -28,6 +28,7 @@
+ 
+   <depend>git</depend>
+   <depend>apr</depend>
++  <depend>livox_sdk2</depend>
+ 
+   <export>
+     <build_type>ament_cmake</build_type>
diff --git a/patches/livox_sdk.patch b/patches/livox_sdk.patch
index 3738761..fe33a0f 100644
--- a/patches/livox_sdk.patch
+++ b/patches/livox_sdk.patch
@@ -1,3 +1,28 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 05f84c5..4fb6f31 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1,7 +1,9 @@
+-cmake_minimum_required(VERSION 3.0)
++cmake_minimum_required(VERSION 3.5)
+ 
+ project(livox_sdk2)
+ 
++find_package(ament_cmake REQUIRED)
++
+ set(CMAKE_CXX_STANDARD 11)
+ 
+ message(STATUS "main project dir: " ${PROJECT_SOURCE_DIR})
+@@ -18,3 +20,9 @@ endif(UNIX)
+ 
+ add_subdirectory(sdk_core)
+ add_subdirectory(samples)
++
++# Export the installed headers/libraries so ament packages (e.g. livox_ros_driver2)
++# find the SDK from the colcon install space via CMAKE_PREFIX_PATH.
++ament_export_include_directories(include)
++ament_export_libraries(livox_lidar_sdk_shared)
++ament_package()
 diff --git a/sdk_core/comm/define.h b/sdk_core/comm/define.h
 index 0872328..28d989b 100644
 --- a/sdk_core/comm/define.h