diff --git a/apriltag_detector/CMakeLists.txt b/apriltag_detector/CMakeLists.txt
index 20c1a06..59e48f6 100644
--- a/apriltag_detector/CMakeLists.txt
+++ b/apriltag_detector/CMakeLists.txt
@@ -31,10 +31,6 @@ find_package(rclcpp)
 find_package(rclcpp_components)
 find_package(sensor_msgs REQUIRED)
 
-if(${cv_bridge_VERSION} VERSION_GREATER_EQUAL "4.0.0")
-  add_definitions(-DUSE_CV_BRIDGE_HPP)
-endif()
-
 if(${rclcpp_VERSION} VERSION_GREATER_EQUAL "28.0.0")
   add_definitions(-DUSE_MATCHED_EVENTS)
 endif()
@@ -43,6 +39,10 @@ if(${image_transport_VERSION} VERSION_GREATER_EQUAL "6.3.0")
   add_definitions(-DIMAGE_TRANSPORT_USE_QOS)
 endif()
 
+if(${image_transport_VERSION} VERSION_GREATER_EQUAL "6.4.0")
+  add_definitions(-DIMAGE_TRANSPORT_USE_NODEINTERFACE)
+endif()
+
 #
 # --------- header-only library
 #
diff --git a/apriltag_detector/src/detector_component.cpp b/apriltag_detector/src/detector_component.cpp
index cf3bbe7..291d9f8 100644
--- a/apriltag_detector/src/detector_component.cpp
+++ b/apriltag_detector/src/detector_component.cpp
@@ -14,7 +14,7 @@
 // limitations under the License.
 
 #include <apriltag_detector/detector_component.hpp>
-#ifdef USE_CV_BRIDGE_HPP
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
 #include <cv_bridge/cv_bridge.hpp>
 #else
 #include <cv_bridge/cv_bridge.h>
@@ -109,7 +109,12 @@ void DetectorComponent::subscribe()
   const auto profile = string_to_profile(image_qos_profile_);
   image_sub_ = std::make_shared<image_transport::Subscriber>(
     image_transport::create_subscription(
-      this, "image",
+#ifdef IMAGE_TRANSPORT_USE_NODEINTERFACE
+      *this,
+#else
+      this,
+#endif
+      "image",
       std::bind(&DetectorComponent::callback, this, std::placeholders::_1),
       in_transport_, convert_profile(profile)));
   is_subscribed_ = true;
diff --git a/apriltag_draw/CMakeLists.txt b/apriltag_draw/CMakeLists.txt
index 4ababd2..a0cd08c 100644
--- a/apriltag_draw/CMakeLists.txt
+++ b/apriltag_draw/CMakeLists.txt
@@ -39,10 +39,6 @@ set(ament_dependencies
   ${sensor_msgs_TARGETS}
   ${apriltag_msgs_TARGETS})
 
-if(${cv_bridge_VERSION} VERSION_GREATER_EQUAL "4.0.0")
-  add_definitions(-DUSE_CV_BRIDGE_HPP)
-endif()
-
 if(${rclcpp_VERSION} VERSION_GREATER_EQUAL "28.0.0")
   add_definitions(-DUSE_MATCHED_EVENTS)
 endif()
@@ -50,6 +46,11 @@ endif()
 if(${image_transport_VERSION} VERSION_GREATER_EQUAL "6.3.0")
   add_definitions(-DIMAGE_TRANSPORT_USE_QOS)
 endif()
+
+if(${image_transport_VERSION} VERSION_GREATER_EQUAL "6.4.0")
+  add_definitions(-DIMAGE_TRANSPORT_USE_NODEINTERFACE)
+endif()
+
 #
 # --------- composable node library (public)
 #
diff --git a/apriltag_draw/src/apriltag_draw.cpp b/apriltag_draw/src/apriltag_draw.cpp
index ac20305..7b9c2ce 100644
--- a/apriltag_draw/src/apriltag_draw.cpp
+++ b/apriltag_draw/src/apriltag_draw.cpp
@@ -14,7 +14,7 @@
 // limitations under the License.
 
 #include <apriltag_draw/apriltag_draw.hpp>
-#ifdef USE_CV_BRIDGE_HPP
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
 #include <cv_bridge/cv_bridge.hpp>
 #else
 #include <cv_bridge/cv_bridge.h>
@@ -121,10 +121,20 @@ ApriltagDraw::ApriltagDraw(const rclcpp::NodeOptions & options)
       }
     };
   image_pub_ = image_transport::create_publisher(
-    this, "image_tags", convert_profile(rmw_qos_profile_default), pub_options);
+#ifdef IMAGE_TRANSPORT_USE_NODEINTERFACE
+    *this,
+#else
+    this,
+#endif
+    "image_tags", convert_profile(rmw_qos_profile_default), pub_options);
 #else
   image_pub_ = image_transport::create_publisher(
-    this, "image_tags", convert_profile(rmw_qos_profile_default));
+#ifdef IMAGE_TRANSPORT_USE_NODEINTERFACE
+    *this,
+#else
+    this,
+#endif
+    "image_tags", convert_profile(rmw_qos_profile_default));
 
   // Since the early ROS2 image transport does not call back when
   // subscribers come and go: must check by polling
@@ -149,7 +159,12 @@ void ApriltagDraw::subscribe()
     std::bind(&ApriltagDraw::tagCallback, this, std::placeholders::_1));
   image_sub_ = std::make_shared<image_transport::Subscriber>(
     image_transport::create_subscription(
-      this, "image",
+#ifdef IMAGE_TRANSPORT_USE_NODEINTERFACE
+      *this,
+#else
+      this,
+#endif
+      "image",
       std::bind(&ApriltagDraw::imageCallback, this, std::placeholders::_1),
       transport_, convert_profile(qos_profile_)));
   is_subscribed_ = true;