diff --git a/src/vanjee/vanjee_lidar_sdk/CMakeLists.txt b/src/vanjee/vanjee_lidar_sdk/CMakeLists.txt
index bd18055..f2be11c 100755
--- a/src/vanjee/vanjee_lidar_sdk/CMakeLists.txt
+++ b/src/vanjee/vanjee_lidar_sdk/CMakeLists.txt
@@ -2,10 +2,8 @@ cmake_minimum_required(VERSION 3.5)
 cmake_policy(SET CMP0048 NEW)
 project(vanjee_lidar_sdk)
 
-#=======================================
-# Compile Type (Release, Debug)
-#=======================================
-set(CMAKE_BUILD_TYPE "Release")
+# Colcon packages must use the same configuration as generated ROS message
+# targets. Forcing Release here makes vanjee_lidar_msg exports incompatible.
 
 #=======================================
 # Custom Point Type (XYZI, XYZIRT)
@@ -105,8 +103,7 @@ if (CMAKE_BUILD_TYPE STREQUAL "Release")
 elseif (CMAKE_BUILD_TYPE STREQUAL "Debug")
   message("buile type: Debug")
 else ()
-  set(CMAKE_BUILD_TYPE "Release")
-  message("buile type: Release")
+  message("buile type: Default")
 endif()
 
 if($ENV{ROS_DISTRO} STREQUAL "humble")  # the ros2 humble requires c++17
@@ -203,8 +200,20 @@ if(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
 
   find_package(ament_cmake REQUIRED)
   find_package(sensor_msgs REQUIRED)
-  find_package(vanjee_lidar_msg REQUIRED)
-  find_package(std_msgs REQUIRED)                      
+  find_package(std_msgs REQUIRED)
+
+  # The vendor package exports only NOCONFIG imported targets, which breaks
+  # find_package() when its nested driver selects Release. Use its generated
+  # message header and C++ typesupport library directly instead.
+  find_path(VANJEE_LIDAR_MSG_INCLUDE_DIR
+    NAMES vanjee_lidar_msg/msg/device_ctrl.hpp
+    PATH_SUFFIXES include/vanjee_lidar_msg)
+  find_library(VANJEE_LIDAR_MSG_TYPESUPPORT_CPP
+    NAMES vanjee_lidar_msg__rosidl_typesupport_cpp)
+  if(NOT VANJEE_LIDAR_MSG_INCLUDE_DIR OR NOT VANJEE_LIDAR_MSG_TYPESUPPORT_CPP)
+    message(FATAL_ERROR "vanjee_lidar_msg generated headers or typesupport library were not found")
+  endif()
+  include_directories(${VANJEE_LIDAR_MSG_INCLUDE_DIR})
 
 else(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
 
@@ -236,7 +245,8 @@ add_executable(vanjee_lidar_sdk_node
 
 target_link_libraries(vanjee_lidar_sdk_node                   
                       ${YAML_CPP_LIBRARIES}
-                      ${vanjee_driver_LIBRARIES})
+                      ${vanjee_driver_LIBRARIES}
+                      ${VANJEE_LIDAR_MSG_TYPESUPPORT_CPP})
 
 if(${ENABLE_TBB})
 target_link_libraries(vanjee_lidar_sdk_node                   
@@ -281,8 +291,7 @@ if(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
   ament_target_dependencies(vanjee_lidar_sdk_node 
     rclcpp 
     std_msgs 
-    sensor_msgs 
-    vanjee_lidar_msg)
+    sensor_msgs)
 
   install(TARGETS
     vanjee_lidar_sdk_node
@@ -298,6 +307,3 @@ if(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
   ament_package()
 
 endif(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
-
-
-
diff --git a/src/yhs_can/yhs_can_control/CMakeLists.txt b/src/yhs_can/yhs_can_control/CMakeLists.txt
index 2439586..3c7042c 100644
--- a/src/yhs_can/yhs_can_control/CMakeLists.txt
+++ b/src/yhs_can/yhs_can_control/CMakeLists.txt
@@ -14,7 +14,18 @@ find_package(nav2_msgs REQUIRED)
 find_package(tf2_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(sensor_msgs REQUIRED)
-find_package(yhs_can_interfaces REQUIRED)
+
+# yhs_can_interfaces is generated in the same isolated colcon workspace.
+# Its vendor export exposes only NOCONFIG imported targets, so use the
+# generated headers and C++ typesupport library directly.
+find_path(YHS_CAN_INTERFACES_INCLUDE_DIR
+  NAMES yhs_can_interfaces/msg/io_cmd.hpp
+  PATH_SUFFIXES include/yhs_can_interfaces)
+find_library(YHS_CAN_INTERFACES_TYPESUPPORT_CPP
+  NAMES yhs_can_interfaces__rosidl_typesupport_cpp)
+if(NOT YHS_CAN_INTERFACES_INCLUDE_DIR OR NOT YHS_CAN_INTERFACES_TYPESUPPORT_CPP)
+  message(FATAL_ERROR "yhs_can_interfaces generated headers or typesupport library were not found")
+endif()
 
 # ---------------------------------------------------------
 # 1. YHS Control Node (기존 드라이버)
@@ -23,7 +34,8 @@ add_executable(yhs_can_control_node src/yhs_can_control_node.cpp)
 
 target_include_directories(yhs_can_control_node PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>)
+  $<INSTALL_INTERFACE:include>
+  ${YHS_CAN_INTERFACES_INCLUDE_DIR})
 
 target_compile_features(yhs_can_control_node PUBLIC c_std_99 cxx_std_17)
 
@@ -35,9 +47,11 @@ ament_target_dependencies(yhs_can_control_node
   tf2_msgs
   tf2_ros
   sensor_msgs
-  yhs_can_interfaces
 )
 
+target_link_libraries(yhs_can_control_node
+  ${YHS_CAN_INTERFACES_TYPESUPPORT_CPP})
+
 # ---------------------------------------------------------
 # 2. Mini Bridge Node (추가된 Translator)
 # ---------------------------------------------------------