diff --git a/CMakeLists.txt b/CMakeLists.txt
index f2d7a2b..5cb8378 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,15 +2,22 @@ cmake_minimum_required(VERSION 3.5)
 project(depthimage_to_laserscan)
 include(GenerateExportHeader)
 
-# Default to C++14
+# Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+message(STATUS "CHRIS: ROS_DISTRO: $ENV{ROS_DISTRO}")
+if(DEFINED ENV{ROS_DISTRO})
+  if("$ENV{ROS_DISTRO}" STREQUAL "humble")
+    add_definitions(-DLEGACY_PINHOLE_CAMERA_INCLUDE=1)
+  endif()
+endif()
+
 find_package(ament_cmake_ros REQUIRED)
 
 find_package(image_geometry REQUIRED)
diff --git a/include/depthimage_to_laserscan/DepthImageToLaserScan.hpp b/include/depthimage_to_laserscan/DepthImageToLaserScan.hpp
index ff8b5df..0ad9e33 100644
--- a/include/depthimage_to_laserscan/DepthImageToLaserScan.hpp
+++ b/include/depthimage_to_laserscan/DepthImageToLaserScan.hpp
@@ -38,7 +38,11 @@
 
 #include "depthimage_to_laserscan/DepthImageToLaserScan_export.h"
 #include "depthimage_to_laserscan/depth_traits.hpp"
+#ifdef LEGACY_PINHOLE_CAMERA_INCLUDE
 #include "image_geometry/pinhole_camera_model.h"
+#else
+#include "image_geometry/pinhole_camera_model.hpp"
+#endif
 #include <opencv2/core/core.hpp>
 #include <sensor_msgs/msg/camera_info.hpp>
 #include <sensor_msgs/msg/image.hpp>
diff --git a/package.xml b/package.xml
index 8c1641b..5b54dfd 100644
--- a/package.xml
+++ b/package.xml
@@ -13,6 +13,9 @@
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
+  <!-- Used to determine which ROS version is available at build time -->
+  <build_depend>ros_environment</build_depend>
+
   <depend>image_geometry</depend>
   <depend>libopencv-dev</depend>
   <depend>rclcpp</depend>