diff --git a/nebula_decoders/CMakeLists.txt b/nebula_decoders/CMakeLists.txt
index 6f38b97af..d08b16d6a 100644
--- a/nebula_decoders/CMakeLists.txt
+++ b/nebula_decoders/CMakeLists.txt
@@ -14,6 +14,7 @@ if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Wpedantic -Wunused-function)
 endif ()
 
+find_package(angles REQUIRED)
 find_package(PCL REQUIRED)
 find_package(pcl_conversions REQUIRED)
 find_package(yaml-cpp REQUIRED)
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
index 50937e66f..7c319e0fe 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
@@ -12,12 +12,6 @@
 #include <string>
 #include <vector>
 
-#if defined(ROS_DISTRO_FOXY) || defined(ROS_DISTRO_GALACTIC)
-#include <angles/angles.h>  //Galactic
-#else
-#include <angles/angles/angles.h>  //Humble
-#endif
-
 #include "nebula_common/point_types.hpp"
 #include "nebula_common/velodyne/velodyne_calibration_decoder.hpp"
 #include "nebula_common/velodyne/velodyne_common.hpp"
diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
index e1e9062f0..338163d60 100644
--- a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
+++ b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
@@ -3,6 +3,8 @@
 #include <cmath>
 #include <utility>
 
+#include <angles/angles.h> 
+
 namespace nebula
 {
 namespace drivers
diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
index 25feaf8f7..ec3e06745 100644
--- a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
+++ b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
@@ -3,6 +3,8 @@
 #include <cmath>
 #include <utility>
 
+#include <angles/angles.h> 
+
 namespace nebula
 {
 namespace drivers
diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
index 23442a6f3..c42f9b0b5 100644
--- a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
+++ b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
@@ -3,6 +3,8 @@
 #include <cmath>
 #include <utility>
 
+#include <angles/angles.h> 
+
 namespace nebula
 {
 namespace drivers