diff --git a/cmake/ROS2.cmake b/cmake/ROS2.cmake
index 8fa0837..fdec141 100644
--- a/cmake/ROS2.cmake
+++ b/cmake/ROS2.cmake
@@ -38,6 +38,10 @@ foreach(pkg ${ROS2_DEPENDENCIES})
   find_package(${pkg} REQUIRED)
 endforeach()
 
+if(${cv_bridge_VERSION} GREATER "3.3.0")
+  add_definitions(-DUSE_CV_BRIDGE_HPP)
+endif()
+
 ament_auto_find_build_dependencies(REQUIRED ${ROS2_DEPENDENCIES})
 
 #
diff --git a/src/frequency_cam_ros2.cpp b/src/frequency_cam_ros2.cpp
index 63d9d6c..0c2a644 100644
--- a/src/frequency_cam_ros2.cpp
+++ b/src/frequency_cam_ros2.cpp
@@ -15,7 +15,11 @@
 
 #include "frequency_cam/frequency_cam_ros2.h"
 
+#ifdef USE_CV_BRIDGE_HPP
+#include <cv_bridge/cv_bridge.hpp>
+#else
 #include <cv_bridge/cv_bridge.h>
+#endif
 #include <event_camera_codecs/decoder.h>
 #include <math.h>