diff --git a/CMake/FindCholmod.cmake b/CMake/FindCHOLMOD.cmake
similarity index 100%
rename from CMake/FindCholmod.cmake
rename to CMake/FindCHOLMOD.cmake
diff --git a/CMake/FindCSparse.cmake b/CMake/FindCSparse.cmake
index 0fd1ca4d3..053c4e76d 100644
--- a/CMake/FindCSparse.cmake
+++ b/CMake/FindCSparse.cmake
@@ -21,5 +21,5 @@ FIND_LIBRARY(CSPARSE_LIBRARY NAMES cxsparse
 )
 
 include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(CSPARSE DEFAULT_MSG
+find_package_handle_standard_args(CSparse DEFAULT_MSG
   CSPARSE_INCLUDE_DIR CSPARSE_LIBRARY)
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index dea378b67..1a7fc8985 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -72,9 +72,9 @@ set(libraries
 
 find_package(PkgConfig REQUIRED)
 find_package(Eigen3 REQUIRED)
+find_package(CHOLMOD REQUIRED)
 find_package(CSparse REQUIRED)
 find_package(G2O REQUIRED)
-find_package(Cholmod REQUIRED)
 find_package(LAPACK REQUIRED)
 find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
 
@@ -119,7 +119,8 @@ target_include_directories(SlamToolboxPlugin PUBLIC
   ${OGRE_INCLUDE_DIRS}
 )
 target_link_libraries(SlamToolboxPlugin ${QT_LIBRARIES} rviz_common::rviz_common)
-rosidl_target_interfaces(SlamToolboxPlugin ${PROJECT_NAME} "rosidl_typesupport_cpp")
+rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(SlamToolboxPlugin "${cpp_typesupport_target}")
 target_compile_definitions(SlamToolboxPlugin PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
 target_compile_definitions(SlamToolboxPlugin PRIVATE "RVIZ_DEFAULT_PLUGINS_BUILDING_LIBRARY")
 pluginlib_export_plugin_description_file(rviz_common rviz_plugins.xml) 
@@ -132,7 +133,8 @@ target_link_libraries(ceres_solver_plugin ${CERES_LIBRARIES}
                                           ${TBB_LIBRARIES}
                                           kartoSlamToolbox
 )
-rosidl_target_interfaces(ceres_solver_plugin ${PROJECT_NAME} "rosidl_typesupport_cpp")
+rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(ceres_solver_plugin "${cpp_typesupport_target}")
 pluginlib_export_plugin_description_file(slam_toolbox solver_plugins.xml)
 
 #### Tool lib for mapping
@@ -141,7 +143,8 @@ ament_target_dependencies(toolbox_common
   ${dependencies}
 )
 target_link_libraries(toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
-rosidl_target_interfaces(toolbox_common ${PROJECT_NAME} "rosidl_typesupport_cpp")
+rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(toolbox_common "${cpp_typesupport_target}")
 
 #### Mapping executibles
 add_library(async_slam_toolbox src/slam_toolbox_async.cpp)
diff --git a/lib/karto_sdk/CMakeLists.txt b/lib/karto_sdk/CMakeLists.txt
index 99b8135d6..6502466cd 100644
--- a/lib/karto_sdk/CMakeLists.txt
+++ b/lib/karto_sdk/CMakeLists.txt
@@ -12,7 +12,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(Boost REQUIRED system serialization filesystem thread)
-find_package(TBB REQUIRED)
+find_package(TBB REQUIRED NO_CMAKE_PACKAGE_REGISTRY)
 
 set(dependencies
   rclcpp
@@ -29,7 +29,7 @@ add_definitions(${EIGEN3_DEFINITIONS})
 include_directories(include ${EIGEN3_INCLUDE_DIRS} ${TBB_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
 add_library(kartoSlamToolbox SHARED src/Karto.cpp src/Mapper.cpp)
 ament_target_dependencies(kartoSlamToolbox ${dependencies})
-target_link_libraries(kartoSlamToolbox ${Boost_LIBRARIES} ${TBB_LIBRARIES})
+target_link_libraries(kartoSlamToolbox ${Boost_LIBRARIES} TBB::tbb)
 
 install(DIRECTORY include/
 	DESTINATION include/
diff --git a/lib/karto_sdk/include/karto_sdk/Mapper.h b/lib/karto_sdk/include/karto_sdk/Mapper.h
index ae6c8cad3..52a4a1f24 100644
--- a/lib/karto_sdk/include/karto_sdk/Mapper.h
+++ b/lib/karto_sdk/include/karto_sdk/Mapper.h
@@ -27,7 +27,7 @@
 #include <utility>
 #include <string>
 
-#include "tbb/parallel_do.h"
+#include "tbb/parallel_for_each.h"
 #include "tbb/parallel_for.h"
 #include "tbb/blocked_range.h"
 
diff --git a/lib/karto_sdk/src/Mapper.cpp b/lib/karto_sdk/src/Mapper.cpp
index 27c029303..f6995fb5e 100644
--- a/lib/karto_sdk/src/Mapper.cpp
+++ b/lib/karto_sdk/src/Mapper.cpp
@@ -770,7 +770,7 @@ kt_double ScanMatcher::CorrelateScan(
   m_nAngles = nAngles;
   m_searchAngleResolution = searchAngleResolution;
   m_doPenalize = doPenalize;
-  tbb::parallel_do(m_yPoses, (*this) );
+  tbb::parallel_for_each(m_yPoses, (*this));
 
   // find value of best response (in [0; 1])
   kt_double bestResponse = -1;