diff --git a/CMakeLists.txt b/CMakeLists.txt
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new mode 100755
diff --git a/README.md b/README.md
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diff --git a/cfg/calibration_depth.yaml b/cfg/calibration_depth.yaml
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new mode 100755
diff --git a/cfg/calibration_rgb.yaml b/cfg/calibration_rgb.yaml
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new mode 100755
diff --git a/include/kinect_ros2/kinect_ros2_component.hpp b/include/kinect_ros2/kinect_ros2_component.hpp
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new mode 100755
diff --git a/launch/pointcloud.launch.py b/launch/pointcloud.launch.py
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diff --git a/launch/showimage.launch.py b/launch/showimage.launch.py
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diff --git a/package.xml b/package.xml
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diff --git a/rviz/pointcloud.rviz b/rviz/pointcloud.rviz
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diff --git a/src/kinect_ros2_component.cpp b/src/kinect_ros2_component.cpp
old mode 100644
new mode 100755
index 5ce32de..f770342
--- a/src/kinect_ros2_component.cpp
+++ b/src/kinect_ros2_component.cpp
@@ -134,35 +134,28 @@ void KinectRosComponent::rgb_cb(freenect_device * dev, void * rgb_ptr, uint32_t
   _rgb_flag = true;
 }
 
+
 void KinectRosComponent::timer_callback()
 {
   freenect_process_events(fn_ctx_);
-  auto header = std_msgs::msg::Header();
-  header.frame_id = "kinect_depth";
 
+  
   auto stamp = now();
-  header.stamp = stamp;
-  depth_info_.header.stamp = stamp;
-
+  std_msgs::msg::Header rgb_header, depth_header;
+  rgb_header.frame_id = "kinect_rgb"; rgb_header.stamp = stamp;
+  depth_header.frame_id = "kinect_depth"; depth_header.stamp = stamp;
+  rgb_info_.header = rgb_header;
+  depth_info_.header = depth_header;
+  
   if (_depth_flag) {
-    //convert 16bit to 8bit mono
-    // cv::Mat depth_8UC1(_depth_image, CV_16UC1);
-    // depth_8UC1.convertTo(depth_8UC1, CV_8UC1);
-
-    auto msg = cv_bridge::CvImage(header, "16UC1", _depth_image).toImageMsg();
+    auto msg = cv_bridge::CvImage(depth_header, "16UC1", _depth_image).toImageMsg();
     depth_pub_.publish(*msg, depth_info_);
-
-    // cv::imshow("Depth", _depth_image);
-    // cv::waitKey(1);
     _depth_flag = false;
   }
 
   if (_rgb_flag) {
-    auto msg = cv_bridge::CvImage(std_msgs::msg::Header(), "rgb8", _rgb_image).toImageMsg();
+    auto msg = cv_bridge::CvImage(rgb_header, "rgb8", _rgb_image).toImageMsg();
     rgb_pub_.publish(*msg, rgb_info_);
-
-    // cv::imshow("RGB", _rgb_image);
-    // cv::waitKey(1);
     _rgb_flag = false;
   }
 }
diff --git a/src/kinect_ros2_node.cpp b/src/kinect_ros2_node.cpp
old mode 100644
new mode 100755
index 95fcdf9..5d87b81
--- a/src/kinect_ros2_node.cpp
+++ b/src/kinect_ros2_node.cpp
@@ -62,4 +62,4 @@ int main(int argc, char * argv[])
   rclcpp::shutdown();
 
   return 0;
-}
+}
\ No newline at end of file