diff --git a/include/point_cloud_transport/expected.hpp b/include/point_cloud_transport/expected.hpp
deleted file mode 100644
index 5f1b54a..0000000
--- a/include/point_cloud_transport/expected.hpp
+++ /dev/null
@@ -1,73 +0,0 @@
-//  Copyright (c) 2023, Czech Technical University in Prague
-//
-//  Redistribution and use in source and binary forms, with or without
-//  modification, are permitted provided that the following conditions are met:
-//
-//     * Redistributions of source code must retain the above copyright
-//       notice, this list of conditions and the following disclaimer.
-//
-//     * Redistributions in binary form must reproduce the above copyright
-//       notice, this list of conditions and the following disclaimer in the
-//       documentation and/or other materials provided with the distribution.
-//
-//     * Neither the name of the copyright holder nor the names of its
-//       contributors may be used to endorse or promote products derived from
-//       this software without specific prior written permission.
-//
-//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-//  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-//  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-//  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-//  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-//  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-//  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-//  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-//  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-//  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-//  POSSIBILITY OF SUCH DAMAGE.
-//
-
-#ifndef POINT_CLOUD_TRANSPORT__EXPECTED_HPP_
-#define POINT_CLOUD_TRANSPORT__EXPECTED_HPP_
-
-
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague
-
-/**
- * \file
- * \brief An implementation of the `std::expected` proposal.
- *
- * `std::expected` should be used in functions that can either succeed and return a value, or fail and return an error.
- * \author Martin Pecka
- */
-
-#include <tl/expected.hpp>
-
-namespace cras
-{
-using ::tl::bad_expected_access;
-using ::tl::expected;
-using ::tl::in_place;
-using ::tl::make_unexpected;
-using ::tl::unexpect;
-using ::tl::unexpected;
-}  // namespace cras
-
-#include <type_traits>
-
-namespace cras
-{
-/// \brief Type trait determining whether type T is cras::expected or not.
-/// \tparam T The type to test.
-template<typename T>
-struct is_cras_expected : public ::std::false_type {};
-
-
-/// \brief Type trait determining whether type T is std::optional or not.
-/// \tparam T Type of the expected value.
-/// \tparam E Type of the expected error.
-template<typename T, typename E>
-struct is_cras_expected<::cras::expected<T, E>>: public ::std::true_type {};
-}  // namespace cras
-#endif  // POINT_CLOUD_TRANSPORT__EXPECTED_HPP_
diff --git a/include/point_cloud_transport/publisher_plugin.hpp b/include/point_cloud_transport/publisher_plugin.hpp
index 6322a19..ff4a25d 100644
--- a/include/point_cloud_transport/publisher_plugin.hpp
+++ b/include/point_cloud_transport/publisher_plugin.hpp
@@ -38,8 +38,8 @@
 
 #include "rclcpp/node.hpp"
 #include <sensor_msgs/msg/point_cloud2.hpp>
+#include <tl/expected.hpp>
 
-#include <point_cloud_transport/expected.hpp>
 #include <point_cloud_transport/single_subscriber_publisher.hpp>
 #include "point_cloud_transport/visibility_control.hpp"
 
@@ -52,7 +52,7 @@ class POINT_CLOUD_TRANSPORT_PUBLIC PublisherPlugin
 public:
   /// \brief Result of cloud encoding. Either an holding the compressed cloud,
   /// empty value or error message.
-  typedef cras::expected<std::optional<const std::shared_ptr<rclcpp::SerializedMessage>>,
+  typedef tl::expected<std::optional<const std::shared_ptr<rclcpp::SerializedMessage>>,
       std::string> EncodeResult;
 
   PublisherPlugin() = default;
diff --git a/include/point_cloud_transport/simple_publisher_plugin.hpp b/include/point_cloud_transport/simple_publisher_plugin.hpp
index cc7b558..2e4ba8e 100644
--- a/include/point_cloud_transport/simple_publisher_plugin.hpp
+++ b/include/point_cloud_transport/simple_publisher_plugin.hpp
@@ -42,8 +42,8 @@
 #include <rclcpp/rclcpp.hpp>
 #include "rclcpp/serialization.hpp"
 #include <sensor_msgs/msg/point_cloud2.hpp>
+#include <tl/expected.hpp>
 
-#include <point_cloud_transport/expected.hpp>
 #include <point_cloud_transport/point_cloud_common.hpp>
 #include <point_cloud_transport/publisher_plugin.hpp>
 #include <point_cloud_transport/single_subscriber_publisher.hpp>
@@ -75,7 +75,7 @@ class SimplePublisherPlugin : public point_cloud_transport::PublisherPlugin
 public:
   /// \brief Result of cloud encoding. Either the compressed cloud message,
   /// empty value, or error message.
-  typedef cras::expected<std::optional<M>, std::string> TypedEncodeResult;
+  typedef tl::expected<std::optional<M>, std::string> TypedEncodeResult;
 
   ~SimplePublisherPlugin()
   {
@@ -114,7 +114,7 @@ class SimplePublisherPlugin : public point_cloud_transport::PublisherPlugin
   }
 
   void setParamCallback(
-    rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType
+    rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType
     param_change_callback)
   {
     if (simple_impl_) {
@@ -171,7 +171,7 @@ class SimplePublisherPlugin : public point_cloud_transport::PublisherPlugin
     // encode the message using the expected transport method
     auto res = this->encodeTyped(raw);
     if (!res) {
-      return cras::make_unexpected(res.error());
+      return tl::make_unexpected(res.error());
     }
     if (!res.value()) {
       return std::nullopt;
diff --git a/include/point_cloud_transport/simple_subscriber_plugin.hpp b/include/point_cloud_transport/simple_subscriber_plugin.hpp
index 120b5d8..7df6015 100644
--- a/include/point_cloud_transport/simple_subscriber_plugin.hpp
+++ b/include/point_cloud_transport/simple_subscriber_plugin.hpp
@@ -98,7 +98,7 @@ class SimpleSubscriberPlugin : public SubscriberPlugin
   }
 
   void setParamCallback(
-    rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType
+    rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType
     param_change_callback)
   {
     if (impl_) {
@@ -134,7 +134,7 @@ class SimpleSubscriberPlugin : public SubscriberPlugin
       auto serializer = rclcpp::Serialization<M>();
       serializer.deserialize_message(compressed.get(), msg.get());
     } catch (const std::exception & e) {
-      return cras::make_unexpected(
+      return tl::make_unexpected(
         "Error deserializing message for transport decoder: " + std::string(
           e.what()) + ".");
     }
diff --git a/include/point_cloud_transport/subscriber_plugin.hpp b/include/point_cloud_transport/subscriber_plugin.hpp
index 473284d..91f63dc 100644
--- a/include/point_cloud_transport/subscriber_plugin.hpp
+++ b/include/point_cloud_transport/subscriber_plugin.hpp
@@ -40,8 +40,8 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
 #include <sensor_msgs/msg/point_cloud2.hpp>
+#include <tl/expected.hpp>
 
-#include <point_cloud_transport/expected.hpp>
 #include <point_cloud_transport/transport_hints.hpp>
 
 #include "point_cloud_transport/visibility_control.hpp"
@@ -57,7 +57,7 @@ class POINT_CLOUD_TRANSPORT_PUBLIC SubscriberPlugin
 public:
   /// \brief Result of cloud decoding. Either a `sensor_msgs::msg::PointCloud2`
   /// holding the raw message, empty value or error message.
-  typedef cras::expected<std::optional<sensor_msgs::msg::PointCloud2::ConstSharedPtr>,
+  typedef tl::expected<std::optional<sensor_msgs::msg::PointCloud2::ConstSharedPtr>,
       std::string> DecodeResult;
 
   SubscriberPlugin() = default;