diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
index b96fac205..f6a5b5fb2 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
@@ -22,8 +22,8 @@
 #include "nebula_common/velodyne/velodyne_calibration_decoder.hpp"
 #include "nebula_common/velodyne/velodyne_common.hpp"
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <tuple>
 
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp16_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp16_decoder.hpp
index 0cfe33aa5..ed8ef2e32 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp16_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp16_decoder.hpp
@@ -2,8 +2,8 @@
 
 #include "nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp"
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <array>
 
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp32_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp32_decoder.hpp
index 4fd5f4c03..28db49afa 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp32_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp32_decoder.hpp
@@ -2,8 +2,8 @@
 
 #include "nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp"
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <array>
 
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vls128_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vls128_decoder.hpp
index d0702371d..627b838a5 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vls128_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vls128_decoder.hpp
@@ -2,8 +2,8 @@
 
 #include "nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp"
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <array>
 
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/velodyne_driver.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/velodyne_driver.hpp
index d88b19db4..d0257b82d 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/velodyne_driver.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/velodyne_driver.hpp
@@ -8,8 +8,8 @@
 #include "nebula_decoders/nebula_decoders_common/nebula_driver_base.hpp"
 #include "nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp"
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <pcl_conversions/pcl_conversions.h>
 
diff --git a/nebula_examples/include/velodyne/velodyne_ros_offline_extract_bag_pcd.hpp b/nebula_examples/include/velodyne/velodyne_ros_offline_extract_bag_pcd.hpp
index 7818a050d..c1910d294 100644
--- a/nebula_examples/include/velodyne/velodyne_ros_offline_extract_bag_pcd.hpp
+++ b/nebula_examples/include/velodyne/velodyne_ros_offline_extract_bag_pcd.hpp
@@ -35,8 +35,8 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <regex>
 
diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_velodyne/velodyne_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_velodyne/velodyne_hw_interface.hpp
index a2bb8fc70..11126d69e 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_velodyne/velodyne_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_velodyne/velodyne_hw_interface.hpp
@@ -19,8 +19,8 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <boost/property_tree/json_parser.hpp>
 #include <boost/property_tree/ptree.hpp>
diff --git a/nebula_messages/velodyne_msgs/CMakeLists.txt b/nebula_messages/velodyne_msgs/CMakeLists.txt
deleted file mode 100644
index 42f375687..000000000
--- a/nebula_messages/velodyne_msgs/CMakeLists.txt
+++ /dev/null
@@ -1,24 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(velodyne_msgs)
-
-if (NOT CMAKE_CXX_STANDARD)
-    set(CMAKE_CXX_STANDARD 14)
-    set(CMAKE_CXX_STANDARD_REQUIRED ON)
-    set(CMAKE_CXX_EXTENSIONS OFF)
-endif ()
-
-if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic)
-endif ()
-
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
-
-rosidl_generate_interfaces(${PROJECT_NAME}
-        "msg/VelodynePacket.msg"
-        "msg/VelodyneScan.msg"
-        DEPENDENCIES
-        std_msgs
-        )
-
-ament_package()
diff --git a/nebula_messages/velodyne_msgs/msg/VelodynePacket.msg b/nebula_messages/velodyne_msgs/msg/VelodynePacket.msg
deleted file mode 100644
index 87a8d3a44..000000000
--- a/nebula_messages/velodyne_msgs/msg/VelodynePacket.msg
+++ /dev/null
@@ -1,4 +0,0 @@
-# Raw Velodyne LIDAR packet.
-
-builtin_interfaces/Time stamp              # packet timestamp
-uint8[1206]             data               # packet contents
diff --git a/nebula_messages/velodyne_msgs/msg/VelodyneScan.msg b/nebula_messages/velodyne_msgs/msg/VelodyneScan.msg
deleted file mode 100644
index d4f3e06a9..000000000
--- a/nebula_messages/velodyne_msgs/msg/VelodyneScan.msg
+++ /dev/null
@@ -1,4 +0,0 @@
-# Velodyne LIDAR scan packets.
-
-std_msgs/Header  header         # standard ROS message header
-VelodynePacket[] packets        # vector of raw packets
diff --git a/nebula_messages/velodyne_msgs/package.xml b/nebula_messages/velodyne_msgs/package.xml
deleted file mode 100644
index 1b1268741..000000000
--- a/nebula_messages/velodyne_msgs/package.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0"?>
-<package format="3">
-  <name>velodyne_msgs</name>
-  <version>1.3.12</version>
-  <description>Nebula ROS message definitions for Velodyne VLS3D LIDARs.</description>
-  <maintainer email="support@perceptionengine.jp">Perception Engine</maintainer>
-  <license>BSD</license>
-
-  <buildtool_depend>ament_cmake_auto</buildtool_depend>
-  <buildtool_depend>rosidl_default_generators</buildtool_depend>
-
-  <depend>std_msgs</depend>
-  <exec_depend>rosidl_default_runtime</exec_depend>
-  <member_of_group>rosidl_interface_packages</member_of_group>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/nebula_ros/include/nebula_ros/velodyne/velodyne_decoder_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/velodyne/velodyne_decoder_ros_wrapper.hpp
index d9a76e14e..5bc79b6c8 100644
--- a/nebula_ros/include/nebula_ros/velodyne/velodyne_decoder_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/velodyne/velodyne_decoder_ros_wrapper.hpp
@@ -12,8 +12,8 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 namespace nebula
 {
diff --git a/nebula_ros/include/nebula_ros/velodyne/velodyne_hw_interface_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/velodyne/velodyne_hw_interface_ros_wrapper.hpp
index a5001b62f..a3606c091 100644
--- a/nebula_ros/include/nebula_ros/velodyne/velodyne_hw_interface_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/velodyne/velodyne_hw_interface_ros_wrapper.hpp
@@ -10,8 +10,8 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <curl/curl.h>
 
diff --git a/nebula_ros/package.xml b/nebula_ros/package.xml
index 3a9f2ecca..92b082e8a 100644
--- a/nebula_ros/package.xml
+++ b/nebula_ros/package.xml
@@ -22,6 +22,7 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>yaml-cpp</depend>
+  <depend>velodyne_msgs</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/nebula_tests/hesai/hesai_ros_decoder_test.hpp b/nebula_tests/hesai/hesai_ros_decoder_test.hpp
index a055e1b2f..b66c996f8 100644
--- a/nebula_tests/hesai/hesai_ros_decoder_test.hpp
+++ b/nebula_tests/hesai/hesai_ros_decoder_test.hpp
@@ -35,11 +35,11 @@ struct HesaiRosDecoderTestParams
 {
   std::string sensor_model;
   std::string return_mode;
-  std::string frame_id = "hesai";
-  double scan_phase = 0.;
   std::string calibration_file = "";
-  std::string correction_file = "";
   std::string bag_path;
+  std::string correction_file = "";
+  std::string frame_id = "hesai";
+  double scan_phase = 0.;
   std::string storage_id = "sqlite3";
   std::string format = "cdr";
   std::string target_topic = "/pandar_packets";
diff --git a/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp b/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
index c8a487a46..feda648f0 100644
--- a/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
+++ b/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
@@ -19,41 +19,42 @@ namespace test
 {
 
 const nebula::ros::HesaiRosDecoderTestParams TEST_CONFIGS[6] = {
-  {.sensor_model = "Pandar40P",
-   .return_mode = "Dual",
-   .calibration_file = "Pandar40P.csv",
-   .bag_path = "40p/1673400149412331409"},
   {
-    .sensor_model = "Pandar64",
-    .return_mode = "Dual",
-    .calibration_file = "Pandar64.csv",
-    .bag_path = "64/1673403880599376836",
+    "Pandar40P",
+    "Dual",
+    "Pandar40P.csv",
+    "40p/1673400149412331409",
   },
   {
-    .sensor_model = "PandarAT128",
-    .return_mode = "Dual",
-    .scan_phase = 152,
-    .calibration_file = "PandarAT128.csv",
-    .correction_file = "PandarAT128.dat",
-    .bag_path = "at128/1679653308406038376",
+    "Pandar64",
+    "Dual",
+    "Pandar64.csv",
+    "64/1673403880599376836",
   },
   {
-    .sensor_model = "PandarQT64",
-    .return_mode = "Dual",
-    .calibration_file = "PandarQT64.csv",
-    .bag_path = "qt64/1673401195788312575",
+    "PandarAT128",
+    "LastStrongest",
+    "PandarAT128.csv",
+    "at128/1679653308406038376",
+    "PandarAT128.dat",
   },
   {
-    .sensor_model = "PandarXT32",
-    .return_mode = "Dual",
-    .calibration_file = "PandarXT32.csv",
-    .bag_path = "xt32/1673400677802009732",
+    "PandarQT64",
+    "Dual",
+    "PandarQT64.csv",
+    "qt64/1673401195788312575",
   },
   {
-    .sensor_model = "PandarXT32M",
-    .return_mode = "LastStrongest",
-    .calibration_file = "PandarXT32M.csv",
-    .bag_path = "xt32m/1660893203042895158",
+    "PandarXT32",
+    "Dual",
+    "PandarXT32.csv",
+    "xt32/1673400677802009732",
+  },
+  {
+    "PandarXT32M",
+    "LastStrongest",
+    "PandarXT32M.csv",
+    "xt32m/1660893203042895158",
   }};
 
 // Compares geometrical output of decoder against pre-recorded reference pointcloud.
@@ -67,7 +68,7 @@ TEST_P(DecoderTest, TestPcd)
   int check_cnt = 0;
 
   auto scan_callback = [&](
-                         uint64_t msg_timestamp, uint64_t scan_timestamp,
+                         uint64_t msg_timestamp, uint64_t /*scan_timestamp*/,
                          nebula::drivers::NebulaPointCloudPtr pointcloud) {
     if (!pointcloud) return;
 
@@ -98,7 +99,7 @@ TEST_P(DecoderTest, TestTimezone)
   std::vector<uint64_t> decoded_timestamps;
 
   auto scan_callback = [&](
-                         uint64_t msg_timestamp, uint64_t scan_timestamp,
+                         uint64_t /*msg_timestamp*/, uint64_t scan_timestamp,
                          nebula::drivers::NebulaPointCloudPtr pointcloud) {
     if (!pointcloud) return;
     decoded_timestamps.push_back(scan_timestamp);
@@ -134,7 +135,7 @@ TEST_P(DecoderTest, TestTimezone)
   // then compare e.g. the last timestamp to verify that it is not affected
   // by timezone settings
   ASSERT_EQ(decoded_timestamps.size(), decoded_timestamps_cmp.size());
-  ASSERT_GT(decoded_timestamps.size(), 0);
+  ASSERT_GT(decoded_timestamps.size(), 0U);
   EXPECT_EQ(decoded_timestamps.back(), decoded_timestamps_cmp.back());
 }
 
diff --git a/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.hpp b/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.hpp
index 8895c1c68..2b889358e 100644
--- a/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.hpp
+++ b/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.hpp
@@ -11,8 +11,8 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <gtest/gtest.h>
 
diff --git a/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.hpp b/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.hpp
index 52b4968c3..a2432838f 100644
--- a/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.hpp
+++ b/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.hpp
@@ -11,8 +11,8 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <gtest/gtest.h>