diff --git a/.github/workflows/lint.yaml b/.github/workflows/lint.yaml
index d07965b..866b8b1 100644
--- a/.github/workflows/lint.yaml
+++ b/.github/workflows/lint.yaml
@@ -7,16 +7,17 @@ jobs:
     name: ament_${{ matrix.linter }}
     runs-on: ubuntu-latest
     container:
-      image: ubuntu:jammy
+      image: ubuntu:resolute
     strategy:
       fail-fast: false
       matrix:
           linter: [copyright, flake8, pep257]
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - uses: ros-tooling/setup-ros@v0.7
       with:
         required-ros-distributions: rolling
+        use-ros2-testing: true
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
         distribution: rolling
@@ -26,7 +27,7 @@ jobs:
     name: ament_${{ matrix.linter }}
     runs-on: ubuntu-latest
     container:
-      image: ubuntu:jammy
+      image: ubuntu:resolute
     strategy:
       fail-fast: false
       matrix:
@@ -36,6 +37,7 @@ jobs:
     - uses: ros-tooling/setup-ros@v0.7
       with:
         required-ros-distributions: rolling
+        use-ros2-testing: true
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
         distribution: rolling
diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 6ba8b15..98cf730 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -9,7 +9,7 @@ jobs:
   build_and_test_source_rolling:
     runs-on: ubuntu-latest
     container:
-      image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-noble-testing
+      image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-resolute-testing
     steps:
     - name: Build and run tests
       id: action-ros-ci
@@ -35,7 +35,7 @@ jobs:
   build_and_test_binaries_rolling:
     runs-on: ubuntu-latest
     container:
-      image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-noble-testing
+      image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-resolute-testing
     steps:
     - name: Build and run tests
       id: action-ros-ci
diff --git a/turtle_tf2_cpp/CMakeLists.txt b/turtle_tf2_cpp/CMakeLists.txt
index 2058b4c..ba291ca 100644
--- a/turtle_tf2_cpp/CMakeLists.txt
+++ b/turtle_tf2_cpp/CMakeLists.txt
@@ -81,6 +81,7 @@ target_link_libraries(turtle_tf2_message_filter PRIVATE
   ${geometry_msgs_TARGETS}
   message_filters::message_filters
   rclcpp::rclcpp
+  tf2::tf2
   ${tf2_geometry_msgs_TARGETS}
   tf2_ros::tf2_ros
 )
diff --git a/turtle_tf2_cpp/src/dynamic_frame_tf2_broadcaster.cpp b/turtle_tf2_cpp/src/dynamic_frame_tf2_broadcaster.cpp
index bd056c4..baa6e21 100644
--- a/turtle_tf2_cpp/src/dynamic_frame_tf2_broadcaster.cpp
+++ b/turtle_tf2_cpp/src/dynamic_frame_tf2_broadcaster.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <chrono>
+#include <cmath>
 #include <functional>
 #include <memory>
 
@@ -30,7 +31,7 @@ class DynamicFrameBroadcaster : public rclcpp::Node
   DynamicFrameBroadcaster()
   : Node("dynamic_frame_tf2_broadcaster")
   {
-    tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(this);
+    tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(*this);
     timer_ = this->create_wall_timer(
       100ms, std::bind(&DynamicFrameBroadcaster::broadcast_timer_callback, this));
   }
diff --git a/turtle_tf2_cpp/src/fixed_frame_tf2_broadcaster.cpp b/turtle_tf2_cpp/src/fixed_frame_tf2_broadcaster.cpp
index b68f1f3..4714999 100644
--- a/turtle_tf2_cpp/src/fixed_frame_tf2_broadcaster.cpp
+++ b/turtle_tf2_cpp/src/fixed_frame_tf2_broadcaster.cpp
@@ -28,7 +28,7 @@ class FixedFrameBroadcaster : public rclcpp::Node
   FixedFrameBroadcaster()
   : Node("fixed_frame_tf2_broadcaster")
   {
-    tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(this);
+    tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(*this);
     timer_ = this->create_wall_timer(
       100ms, std::bind(&FixedFrameBroadcaster::broadcast_timer_callback, this));
   }
diff --git a/turtle_tf2_cpp/src/static_turtle_tf2_broadcaster.cpp b/turtle_tf2_cpp/src/static_turtle_tf2_broadcaster.cpp
index bb659f2..09e82bc 100644
--- a/turtle_tf2_cpp/src/static_turtle_tf2_broadcaster.cpp
+++ b/turtle_tf2_cpp/src/static_turtle_tf2_broadcaster.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <cstdlib>
+#include <cstring>
 #include <memory>
 
 #include "geometry_msgs/msg/transform_stamped.hpp"
@@ -25,7 +27,7 @@ class StaticFramePublisher : public rclcpp::Node
   explicit StaticFramePublisher(char * transformation[])
   : Node("static_turtle_tf2_broadcaster")
   {
-    tf_static_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(this);
+    tf_static_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(*this);
 
     // Publish static transforms once at startup
     this->make_transforms(transformation);
diff --git a/turtle_tf2_cpp/src/turtle_tf2_listener.cpp b/turtle_tf2_cpp/src/turtle_tf2_listener.cpp
index 264b41b..b280fc1 100644
--- a/turtle_tf2_cpp/src/turtle_tf2_listener.cpp
+++ b/turtle_tf2_cpp/src/turtle_tf2_listener.cpp
@@ -13,6 +13,8 @@
 // limitations under the License.
 
 #include <chrono>
+#include <cmath>
+#include <cstring>
 #include <functional>
 #include <memory>
 #include <string>
@@ -21,6 +23,7 @@
 #include "geometry_msgs/msg/twist.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/exceptions.hpp"
+#include "tf2/time.hpp"
 #include "tf2_ros/transform_listener.hpp"
 #include "tf2_ros/buffer.hpp"
 #include "turtlesim_msgs/srv/spawn.hpp"
diff --git a/turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp b/turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp
index fab2926..ca74e44 100644
--- a/turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp
+++ b/turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp
@@ -19,6 +19,7 @@
 #include "geometry_msgs/msg/point_stamped.hpp"
 #include "message_filters/subscriber.hpp"
 #include "rclcpp/rclcpp.hpp"
+#include "tf2/exceptions.hpp"
 #include "tf2_ros/buffer.hpp"
 #include "tf2_ros/create_timer_ros.hpp"
 #include "tf2_ros/message_filter.hpp"
@@ -45,17 +46,14 @@ class PoseDrawer : public rclcpp::Node
     tf2_buffer_ = std::make_shared<tf2_ros::Buffer>(this->get_clock());
     // Create the timer interface before call to waitForTransform,
     // to avoid a tf2_ros::CreateTimerInterfaceException exception
-    auto timer_interface = std::make_shared<tf2_ros::CreateTimerROS>(
-      this->get_node_base_interface(),
-      this->get_node_timers_interface());
+    auto timer_interface = std::make_shared<tf2_ros::CreateTimerROS>(*this);
     tf2_buffer_->setCreateTimerInterface(timer_interface);
     tf2_listener_ =
       std::make_shared<tf2_ros::TransformListener>(*tf2_buffer_);
 
     point_sub_.subscribe(this, "/turtle3/turtle_point_stamped", rclcpp::QoS(10));
     tf2_filter_ = std::make_shared<tf2_ros::MessageFilter<geometry_msgs::msg::PointStamped>>(
-      point_sub_, *tf2_buffer_, target_frame_, 100, this->get_node_logging_interface(),
-      this->get_node_clock_interface(), buffer_timeout);
+      point_sub_, *tf2_buffer_, target_frame_, 100, *this, buffer_timeout);
     // Register a callback with tf2_ros::MessageFilter to be called when transforms are available
     tf2_filter_->registerCallback(&PoseDrawer::msgCallback, this);
   }
diff --git a/turtle_tf2_py/setup.py b/turtle_tf2_py/setup.py
index 99f5657..03438ca 100644
--- a/turtle_tf2_py/setup.py
+++ b/turtle_tf2_py/setup.py
@@ -29,7 +29,11 @@
         'follow turtle1 around as you drive turtle1 using the keyboard.'
     ),
     license='Apache License, Version 2.0',
-    tests_require=['pytest'],
+    extras_require={
+        'test': [
+            'pytest',
+        ],
+    },
     entry_points={
         'console_scripts': [
             'static_turtle_tf2_broadcaster = turtle_tf2_py.static_turtle_tf2_broadcaster:main',