diff --git a/perception/ground_segmentation/CMakeLists.txt b/perception/ground_segmentation/CMakeLists.txt
index 076f9cbc01cb4..1db192cb4bc39 100644
--- a/perception/ground_segmentation/CMakeLists.txt
+++ b/perception/ground_segmentation/CMakeLists.txt
@@ -32,11 +32,12 @@ ament_auto_find_build_dependencies()
 
 include_directories(
   include
-  ${Boost_INCLUDE_DIRS}
-  ${PCL_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIRS}
-  ${OpenCV_INCLUDE_DIRS}
-  ${GRID_MAP_INCLUDE_DIR}
+  SYSTEM
+    ${Boost_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIRS}
+    ${OpenCV_INCLUDE_DIRS}
+    ${GRID_MAP_INCLUDE_DIR}
 )
 
 ament_auto_add_library(ground_segmentation SHARED
diff --git a/perception/ground_segmentation/include/ground_segmentation/ransac_ground_filter_nodelet.hpp b/perception/ground_segmentation/include/ground_segmentation/ransac_ground_filter_nodelet.hpp
index 6e46f2a376bf5..498fcca6a302a 100644
--- a/perception/ground_segmentation/include/ground_segmentation/ransac_ground_filter_nodelet.hpp
+++ b/perception/ground_segmentation/include/ground_segmentation/ransac_ground_filter_nodelet.hpp
@@ -17,6 +17,8 @@
 
 #include "pointcloud_preprocessor/filter.hpp"
 
+#include <tf2_eigen/tf2_eigen.hpp>
+
 #include <geometry_msgs/msg/pose_array.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
@@ -25,7 +27,6 @@
 #include <pcl/segmentation/sac_segmentation.h>
 #include <pcl_conversions/pcl_conversions.h>
 #include <tf2/transform_datatypes.h>
-#include <tf2_eigen/tf2_eigen.h>
 #include <tf2_ros/transform_listener.h>
 
 #include <chrono>
diff --git a/perception/ground_segmentation/include/ground_segmentation/ray_ground_filter_nodelet.hpp b/perception/ground_segmentation/include/ground_segmentation/ray_ground_filter_nodelet.hpp
index cbef2564920ac..44af8b766df62 100644
--- a/perception/ground_segmentation/include/ground_segmentation/ray_ground_filter_nodelet.hpp
+++ b/perception/ground_segmentation/include/ground_segmentation/ray_ground_filter_nodelet.hpp
@@ -45,13 +45,14 @@
 #ifndef GROUND_SEGMENTATION__RAY_GROUND_FILTER_NODELET_HPP_
 #define GROUND_SEGMENTATION__RAY_GROUND_FILTER_NODELET_HPP_
 
+#include <tf2_eigen/tf2_eigen.hpp>
+
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
 #include <pcl/filters/extract_indices.h>
 #include <pcl/filters/voxel_grid.h>
 #include <pcl_conversions/pcl_conversions.h>
 #include <tf2/transform_datatypes.h>
-#include <tf2_eigen/tf2_eigen.h>
 #include <tf2_ros/transform_listener.h>
 
 #include <chrono>
diff --git a/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp b/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp
index 8ec423cd9be98..6680891bfe0cf 100644
--- a/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp
+++ b/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp
@@ -17,6 +17,7 @@
 
 #include "pointcloud_preprocessor/filter.hpp"
 
+#include <tf2_eigen/tf2_eigen.hpp>
 #include <vehicle_info_util/vehicle_info.hpp>
 
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -25,7 +26,6 @@
 #include <pcl/filters/voxel_grid.h>
 #include <pcl_conversions/pcl_conversions.h>
 #include <tf2/transform_datatypes.h>
-#include <tf2_eigen/tf2_eigen.h>
 #include <tf2_ros/transform_listener.h>
 
 #include <string>
diff --git a/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp
index a59d8b8b8bbb5..45aeedabe01cb 100644
--- a/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp
+++ b/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp
@@ -17,7 +17,6 @@
 #include <pcl_ros/transforms.hpp>
 
 #include <pcl/common/centroid.h>
-#include <tf2_eigen/tf2_eigen.h>
 
 #include <limits>
 #include <random>
@@ -187,7 +186,7 @@ void RANSACGroundFilterComponent::extractPointsIndices(
 {
   pcl::ExtractIndices<PointType> extract_ground;
   extract_ground.setInputCloud(in_cloud_ptr);
-  extract_ground.setIndices(boost::make_shared<pcl::PointIndices>(in_indices));
+  extract_ground.setIndices(pcl::make_shared<pcl::PointIndices>(in_indices));
 
   extract_ground.setNegative(false);  // true removes the indices, false leaves only the indices
   extract_ground.filter(*out_only_indices_cloud_ptr);
diff --git a/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp
index a452512e36bdf..51410771edb9f 100644
--- a/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp
+++ b/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp
@@ -297,7 +297,7 @@ void RayGroundFilterComponent::ExtractPointsIndices(
 {
   pcl::ExtractIndices<PointType_> extract_ground;
   extract_ground.setInputCloud(in_cloud_ptr);
-  extract_ground.setIndices(boost::make_shared<pcl::PointIndices>(in_indices));
+  extract_ground.setIndices(pcl::make_shared<pcl::PointIndices>(in_indices));
 
   extract_ground.setNegative(false);  // true removes the indices, false leaves only the indices
   extract_ground.filter(*out_only_indices_cloud_ptr);