diff --git a/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.cpp
index 73390abae7301..848cc4606b230 100644
--- a/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.cpp
+++ b/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.cpp
@@ -29,9 +29,7 @@
 #include <pcl_conversions/pcl_conversions.h>
 #include <rcutils/filesystem.h>  // To be replaced by std::filesystem in C++17
 
-#include <memory>
 #include <string>
-#include <utility>
 
 namespace autoware::compare_map_segmentation
 {
diff --git a/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.hpp
index ceddaa67ac2cd..8e5015ef21ef7 100644
--- a/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.hpp
+++ b/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.hpp
@@ -24,11 +24,7 @@
 
 #include <grid_map_msgs/msg/grid_map.hpp>
 
-#include <iostream>
-#include <memory>
-#include <mutex>
 #include <string>
-#include <vector>
 namespace autoware::compare_map_segmentation
 {
 class CompareElevationMapFilterComponent : public autoware::pointcloud_preprocessor::Filter
diff --git a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp
index 8b44d1661da48..a2e3afd62cdad 100644
--- a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp
+++ b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp
@@ -51,10 +51,10 @@ bool DistanceBasedStaticMapLoader::is_close_to_map(
   if (!is_initialized_.load(std::memory_order_acquire)) {
     return false;
   }
-  if (map_ptr_ == NULL) {
+  if (map_ptr_ == nullptr) {
     return false;
   }
-  if (tree_ == NULL) {
+  if (tree_ == nullptr) {
     return false;
   }
 
@@ -89,8 +89,8 @@ bool DistanceBasedDynamicMapLoader::is_close_to_map(
   if (static_cast<size_t>(map_grid_index) >= current_voxel_grid_array_.size()) {
     return false;
   }
-  if (current_voxel_grid_array_.at(map_grid_index) != NULL) {
-    if (current_voxel_grid_array_.at(map_grid_index)->map_cell_kdtree == NULL) {
+  if (current_voxel_grid_array_.at(map_grid_index) != nullptr) {
+    if (current_voxel_grid_array_.at(map_grid_index)->map_cell_kdtree == nullptr) {
       return false;
     }
     std::vector<int> nn_indices(1);
diff --git a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp
index 509303c3a4e0e..d6b65daa82267 100644
--- a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp
+++ b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp
@@ -24,14 +24,13 @@
 
 #include <memory>
 #include <string>
-#include <vector>
 
 namespace autoware::compare_map_segmentation
 {
 
-typedef typename pcl::Filter<pcl::PointXYZ>::PointCloud PointCloud;
-typedef typename PointCloud::Ptr PointCloudPtr;
-typedef typename PointCloud::ConstPtr PointCloudConstPtr;
+using PointCloud = typename pcl::Filter<pcl::PointXYZ>::PointCloud;
+using PointCloudPtr = typename PointCloud::Ptr;
+using PointCloudConstPtr = typename PointCloud::ConstPtr;
 
 class DistanceBasedStaticMapLoader : public VoxelGridStaticMapLoader
 {
@@ -102,8 +101,8 @@ class DistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader
 class DistanceBasedCompareMapFilterComponent : public autoware::pointcloud_preprocessor::Filter
 {
 protected:
-  virtual void filter(
-    const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output);
+  void filter(
+    const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override;
 
 private:
   double distance_threshold_;
diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp
index 7ffb825910f64..a02a6865ef9ef 100644
--- a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp
+++ b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp
@@ -29,7 +29,7 @@ namespace autoware::compare_map_segmentation
 bool VoxelBasedApproximateStaticMapLoader::is_close_to_map(
   const pcl::PointXYZ & point, [[maybe_unused]] const double distance_threshold)
 {
-  if (voxel_map_ptr_ == NULL) {
+  if (voxel_map_ptr_ == nullptr) {
     return false;
   }
   const int index =
@@ -55,7 +55,7 @@ bool VoxelBasedApproximateDynamicMapLoader::is_close_to_map(
   if (static_cast<size_t>(map_grid_index) >= current_voxel_grid_array_.size()) {
     return false;
   }
-  if (current_voxel_grid_array_.at(map_grid_index) != NULL) {
+  if (current_voxel_grid_array_.at(map_grid_index) != nullptr) {
     const int index = current_voxel_grid_array_.at(map_grid_index)
                         ->map_cell_voxel_grid.getCentroidIndexAt(
                           current_voxel_grid_array_.at(map_grid_index)
diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp
index c8ad7c16f59cb..1cbf9c0571b73 100644
--- a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp
+++ b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp
@@ -23,7 +23,6 @@
 
 #include <memory>
 #include <string>
-#include <vector>
 
 namespace autoware::compare_map_segmentation
 {
@@ -59,8 +58,8 @@ class VoxelBasedApproximateCompareMapFilterComponent
 : public autoware::pointcloud_preprocessor::Filter
 {
 protected:
-  virtual void filter(
-    const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output);
+  void filter(
+    const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override;
 
 private:
   double distance_threshold_;
diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp
index e024d2b538e51..cdad52b5a278d 100644
--- a/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp
+++ b/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp
@@ -22,11 +22,9 @@
 #include <pcl/segmentation/segment_differences.h>
 
 #include <string>
-#include <vector>
 
 namespace autoware::compare_map_segmentation
 {
-using autoware::pointcloud_preprocessor::get_param;
 
 VoxelBasedCompareMapFilterComponent::VoxelBasedCompareMapFilterComponent(
   const rclcpp::NodeOptions & options)
diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp
index ac81eae85b8a0..ba29f9ac25af0 100644
--- a/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp
+++ b/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp
@@ -22,15 +22,14 @@
 #include <pcl/search/pcl_search.h>
 
 #include <memory>
-#include <vector>
 
 namespace autoware::compare_map_segmentation
 {
 class VoxelBasedCompareMapFilterComponent : public autoware::pointcloud_preprocessor::Filter
 {
 protected:
-  virtual void filter(
-    const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output);
+  void filter(
+    const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override;
 
 private:
   // pcl::SegmentDifferences<pcl::PointXYZ> impl_;
@@ -39,8 +38,6 @@ class VoxelBasedCompareMapFilterComponent : public autoware::pointcloud_preproce
   double distance_threshold_;
   bool set_map_in_voxel_grid_;
 
-  bool dynamic_map_load_enable_;
-
 public:
   PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit VoxelBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options);
diff --git a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp
index 62f126c0039f4..291a19d02ed4b 100644
--- a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp
+++ b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp
@@ -61,13 +61,13 @@ bool VoxelDistanceBasedStaticMapLoader::is_close_to_map(
   if (!is_initialized_.load(std::memory_order_acquire)) {
     return false;
   }
-  if (voxel_map_ptr_ == NULL) {
+  if (voxel_map_ptr_ == nullptr) {
     return false;
   }
-  if (map_ptr_ == NULL) {
+  if (map_ptr_ == nullptr) {
     return false;
   }
-  if (tree_ == NULL) {
+  if (tree_ == nullptr) {
     return false;
   }
   if (is_close_to_neighbor_voxels(point, distance_threshold, voxel_grid_, tree_)) {
@@ -91,7 +91,7 @@ bool VoxelDistanceBasedDynamicMapLoader::is_close_to_map(
     return false;
   }
   if (
-    current_voxel_grid_array_.at(map_grid_index) != NULL &&
+    current_voxel_grid_array_.at(map_grid_index) != nullptr &&
     is_close_to_neighbor_voxels(
       point, distance_threshold, current_voxel_grid_array_.at(map_grid_index)->map_cell_voxel_grid,
       current_voxel_grid_array_.at(map_grid_index)->map_cell_kdtree)) {
diff --git a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp
index 015ee52793768..218f19601cd41 100644
--- a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp
+++ b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp
@@ -25,14 +25,13 @@
 #include <memory>
 #include <string>
 #include <utility>
-#include <vector>
 
 namespace autoware::compare_map_segmentation
 {
 
-typedef typename pcl::Filter<pcl::PointXYZ>::PointCloud PointCloud;
-typedef typename PointCloud::Ptr PointCloudPtr;
-typedef typename PointCloud::ConstPtr PointCloudConstPtr;
+using PointCloud = typename pcl::Filter<pcl::PointXYZ>::PointCloud;
+using PointCloudPtr = typename PointCloud::Ptr;
+using PointCloudConstPtr = typename PointCloud::ConstPtr;
 
 class VoxelDistanceBasedStaticMapLoader : public VoxelGridStaticMapLoader
 {
@@ -124,8 +123,8 @@ class VoxelDistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader
 class VoxelDistanceBasedCompareMapFilterComponent : public autoware::pointcloud_preprocessor::Filter
 {
 protected:
-  virtual void filter(
-    const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output);
+  void filter(
+    const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override;
 
   void input_target_callback(const PointCloud2ConstPtr map);
 
diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp
index 2627bbff64866..6e927db4e298b 100644
--- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp
+++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp
@@ -47,7 +47,7 @@ bool VoxelGridMapLoader::is_close_to_neighbor_voxels(
   if (index != -1) {
     return true;
   }
-  if (tree == NULL) {
+  if (tree == nullptr) {
     return false;
   }
   std::vector<int> nn_indices(1);
@@ -64,7 +64,7 @@ bool VoxelGridMapLoader::is_close_to_neighbor_voxels(
 {
   // check map downsampled pc
   double distance_threshold_z = downsize_ratio_z_axis_ * distance_threshold;
-  if (map == NULL) {
+  if (map == nullptr) {
     return false;
   }
   if (is_in_voxel(
@@ -331,7 +331,7 @@ bool VoxelGridDynamicMapLoader::is_close_to_next_map_grid(
   if (
     static_cast<size_t>(neighbor_map_grid_index) >= current_voxel_grid_array_.size() ||
     neighbor_map_grid_index == current_map_grid_index ||
-    current_voxel_grid_array_.at(neighbor_map_grid_index) != NULL) {
+    current_voxel_grid_array_.at(neighbor_map_grid_index) != nullptr) {
     return false;
   }
   if (is_close_to_neighbor_voxels(
@@ -360,7 +360,7 @@ bool VoxelGridDynamicMapLoader::is_close_to_map(
     return false;
   }
   if (
-    current_voxel_grid_array_.at(map_grid_index) != NULL &&
+    current_voxel_grid_array_.at(map_grid_index) != nullptr &&
     is_close_to_neighbor_voxels(
       point, distance_threshold, current_voxel_grid_array_.at(map_grid_index)->map_cell_pc_ptr,
       current_voxel_grid_array_.at(map_grid_index)->map_cell_voxel_grid)) {
diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp
index f50d23d4af6e8..b24286874801f 100644
--- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp
+++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp
@@ -30,7 +30,6 @@
 #include <map>
 #include <memory>
 #include <string>
-#include <thread>
 #include <utility>
 #include <vector>
 
@@ -93,13 +92,15 @@ class VoxelGridMapLoader
   bool debug_ = false;
 
 public:
-  typedef VoxelGridEx<pcl::PointXYZ> VoxelGridPointXYZ;
-  typedef typename pcl::Filter<pcl::PointXYZ>::PointCloud PointCloud;
-  typedef typename PointCloud::Ptr PointCloudPtr;
+  using VoxelGridPointXYZ = VoxelGridEx<pcl::PointXYZ>;
+  using PointCloud = typename pcl::Filter<pcl::PointXYZ>::PointCloud;
+  using PointCloudPtr = typename PointCloud::Ptr;
   explicit VoxelGridMapLoader(
     rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis,
     std::string * tf_map_input_frame);
 
+  virtual ~VoxelGridMapLoader() = default;
+
   virtual bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) = 0;
   static bool is_close_to_neighbor_voxels(
     const pcl::PointXYZ & point, const double distance_threshold, VoxelGridPointXYZ & voxel,
@@ -142,7 +143,7 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader
     pcl::search::Search<pcl::PointXYZ>::Ptr map_cell_kdtree;
   };
 
-  typedef typename std::map<std::string, struct MapGridVoxelInfo> VoxelGridDict;
+  using VoxelGridDict = typename std::map<std::string, struct MapGridVoxelInfo>;
 
   /** \brief Map to hold loaded map grid id and it's voxel filter */
   VoxelGridDict current_voxel_grid_dict_;
diff --git a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt
index 247a8faf6b13a..56dab521d7dff 100644
--- a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt
+++ b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt
@@ -36,6 +36,7 @@ target_include_directories(pointcloud_preprocessor_filter_base PUBLIC
 )
 
 ament_target_dependencies(pointcloud_preprocessor_filter_base
+  SYSTEM
   message_filters
   pcl_conversions
   rclcpp
@@ -56,6 +57,7 @@ target_include_directories(faster_voxel_grid_downsample_filter PUBLIC
 )
 
 ament_target_dependencies(faster_voxel_grid_downsample_filter
+  SYSTEM
   pcl_conversions
   rclcpp
   sensor_msgs