From 0e1f54d97d2d164c5044f3c6f554e547bcfd5d47 Mon Sep 17 00:00:00 2001
From: YANG Zhenfei <yangzhenfei0@gmail.com>
Date: Wed, 15 Apr 2026 17:21:51 +0800
Subject: [PATCH 1/2] build: make CMake target linkage compatible with Humble

---
 CMakeLists.txt | 25 +++++++++++++++++--------
 1 file changed, 17 insertions(+), 8 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index acd79b5..43ed13f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -26,10 +26,10 @@ endif()
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
-target_link_libraries(${PROJECT_NAME} PUBLIC
-  rclcpp::rclcpp
-  rcutils::rcutils
-  std_msgs::std_msgs
+ament_target_dependencies(${PROJECT_NAME}
+  rclcpp
+  rcutils
+  std_msgs
 )
 
 install(
@@ -88,8 +88,11 @@ if(BUILD_TESTING)
 
   ament_add_gtest(${PROJECT_NAME}-test_subscriber test/test_subscriber.cpp)
   if(TARGET ${PROJECT_NAME}-test_subscriber)
-    target_link_libraries(${PROJECT_NAME}-test_subscriber ${PROJECT_NAME} rclcpp::rclcpp
-    rclcpp_lifecycle::rclcpp_lifecycle sensor_msgs::sensor_msgs)
+    target_link_libraries(${PROJECT_NAME}-test_subscriber ${PROJECT_NAME})
+    ament_target_dependencies(${PROJECT_NAME}-test_subscriber
+      rclcpp
+      rclcpp_lifecycle
+      sensor_msgs)
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-test_synchronizer test/test_synchronizer.cpp)
@@ -124,12 +127,18 @@ if(BUILD_TESTING)
 
   ament_add_gtest(${PROJECT_NAME}-test_fuzz test/test_fuzz.cpp SKIP_TEST)
   if(TARGET ${PROJECT_NAME}-test_fuzz)
-    target_link_libraries(${PROJECT_NAME}-test_fuzz ${PROJECT_NAME} rclcpp::rclcpp sensor_msgs::sensor_msgs)
+    target_link_libraries(${PROJECT_NAME}-test_fuzz ${PROJECT_NAME})
+    ament_target_dependencies(${PROJECT_NAME}-test_fuzz
+      rclcpp
+      sensor_msgs)
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-test_message_traits test/test_message_traits.cpp)
   if(TARGET ${PROJECT_NAME}-test_message_traits)
-    target_link_libraries(${PROJECT_NAME}-test_message_traits ${PROJECT_NAME} rclcpp::rclcpp std_msgs::std_msgs)
+    target_link_libraries(${PROJECT_NAME}-test_message_traits ${PROJECT_NAME})
+    ament_target_dependencies(${PROJECT_NAME}-test_message_traits
+      rclcpp
+      std_msgs)
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-test_input_aligner test/test_input_aligner.cpp)

From d4c2362460e0c9c2c366a85bbc919861943aaa37 Mon Sep 17 00:00:00 2001
From: YANG Zhenfei <yangzhenfei0@gmail.com>
Date: Wed, 15 Apr 2026 17:25:38 +0800
Subject: [PATCH 2/2] build: make input_aligner Time::max compatible with
 Humble

---
 include/message_filters/input_aligner.hpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/message_filters/input_aligner.hpp b/include/message_filters/input_aligner.hpp
index 9816c28..18cc684 100644
--- a/include/message_filters/input_aligner.hpp
+++ b/include/message_filters/input_aligner.hpp
@@ -258,7 +258,7 @@ class InputAligner : public noncopyable
   {
 public:
     EventQueue()
-    : next_ts_(rclcpp::Time::max(RCL_ROS_TIME)), period_(0, 0),
+    : next_ts_(rclcpp::Time::max()), period_(0, 0),
       active_(false), msgs_processed_(0), msgs_dropped_(0) {}
 
     rclcpp::Time firstTimeStamp()
@@ -273,7 +273,7 @@ class InputAligner : public noncopyable
       } else if (active_) {
         return next_ts_;
       }
-      return rclcpp::Time::max(RCL_ROS_TIME);
+      return rclcpp::Time::max();
     }
 
     void popFirst()