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
+++ b/sdk_core/comm/define.h
@@ -31,6 +31,7 @@
 #include <functional>
 #include <vector>
 #include <atomic>
+#include <cstdint>
 
 #include "livox_lidar_def.h"
 
diff --git a/sdk_core/logger_handler/file_manager.h b/sdk_core/logger_handler/file_manager.h
index 242a431..14cd76a 100644
--- a/sdk_core/logger_handler/file_manager.h
+++ b/sdk_core/logger_handler/file_manager.h
@@ -28,6 +28,7 @@
 #include <string>
 #include <vector>
 #include <map>
+#include <cstdint>
 
 namespace livox {
 namespace lidar {