diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
index b6e4d53fbe..526a616e45 100644
--- a/nav2_amcl/src/amcl_node.cpp
+++ b/nav2_amcl/src/amcl_node.cpp
@@ -96,7 +96,7 @@ AmclNode::AmclNode()
 
   tfb_.reset(new tf2_ros::TransformBroadcaster(node_));
   tf_.reset(new tf2_ros::Buffer(get_clock()));
-  tfl_.reset(new tf2_ros::TransformListener(*tf_, node_, false));
+  tfl_.reset(new tf2_ros::TransformListener(*tf_));
 
   rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_default;
   custom_qos_profile.depth = 2;
diff --git a/nav2_dwb_controller/dwb_plugins/test/twist_gen.cpp b/nav2_dwb_controller/dwb_plugins/test/twist_gen.cpp
index 8739611b8d..5d8fdb755f 100644
--- a/nav2_dwb_controller/dwb_plugins/test/twist_gen.cpp
+++ b/nav2_dwb_controller/dwb_plugins/test/twist_gen.cpp
@@ -74,12 +74,9 @@ std::vector<rclcpp::Parameter> getDefaultKinematicParameters()
 
 rclcpp::Node::SharedPtr makeTestNode(const std::string & name)
 {
-  return rclcpp::Node::make_shared(
-    name,
-    "",  // namespace
-    rclcpp::contexts::default_context::get_global_default_context(),
-    std::vector<std::string>(),  // arguments
-    getDefaultKinematicParameters());
+  rclcpp::NodeOptions node_options;
+  node_options.initial_parameters(getDefaultKinematicParameters());
+  return rclcpp::Node::make_shared(name, node_options);
 }
 
 void checkLimits(
diff --git a/nav2_tasks/include/nav2_tasks/service_client.hpp b/nav2_tasks/include/nav2_tasks/service_client.hpp
index b6548e97c3..9443d7c134 100644
--- a/nav2_tasks/include/nav2_tasks/service_client.hpp
+++ b/nav2_tasks/include/nav2_tasks/service_client.hpp
@@ -16,7 +16,6 @@
 #define NAV2_TASKS__SERVICE_CLIENT_HPP_
 
 #include <string>
-#include <vector>
 #include "rclcpp/rclcpp.hpp"
 
 namespace nav2_tasks
@@ -28,14 +27,7 @@ class ServiceClient
 public:
   explicit ServiceClient(const std::string & name)
   {
-    node_ = rclcpp::Node::make_shared(name + "_Node",
-        "",
-        rclcpp::contexts::default_context::get_global_default_context(),
-        std::vector<std::string>(),
-        std::vector<rclcpp::Parameter>(),
-        false,  // ignore global parameters, so this node doesn't get renamed
-        false,
-        false);
+    node_ = rclcpp::Node::make_shared(name + "_Node");
     client_ = node_->create_client<ServiceT>(name);
   }
 
diff --git a/tools/ros2_dependencies.repos b/tools/ros2_dependencies.repos
index 5d77cd17dd..8079ede2ce 100644
--- a/tools/ros2_dependencies.repos
+++ b/tools/ros2_dependencies.repos
@@ -9,5 +9,13 @@ repositories:
     version: ros2
   gazebo_ros_pkgs:
     type: git
-    url: https://github.com/ros-simulation/gazebo_ros_pkgs.git
-    version: 3.0.0
+    url: https://github.com/crdelsey/gazebo_ros_pkgs.git
+    version: nodeoptions
+  image_common:
+    type: git
+    url: https://github.com/crdelsey/image_common.git
+    version: nodeoptions
+  vision_opencv:
+    type: git
+    url: https://github.com/ros-perception/vision_opencv.git
+    version: ros2