diff --git a/Examples/ROS/ORB_SLAM2/manifest.xml b/Examples/ROS/ORB_SLAM2/manifest.xml
index b40564f796..78867c75ac 100644
--- a/Examples/ROS/ORB_SLAM2/manifest.xml
+++ b/Examples/ROS/ORB_SLAM2/manifest.xml
@@ -9,6 +9,7 @@
   <depend package="roscpp"/>
   <depend package="tf"/>
   <depend package="sensor_msgs"/>
+  <depend package="std_msgs"/>
   <depend package="image_transport"/>
   <depend package="cv_bridge"/>
 
diff --git a/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc b/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc
index ec1b0a9cd8..8317bb40b5 100644
--- a/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc
+++ b/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc
@@ -25,7 +25,7 @@
 #include<chrono>
 
 #include<ros/ros.h>
-#include<std_msgs/Float32MultiArray.h>
+#include<std_msgs/Float64MultiArray.h>
 #include<std_msgs/MultiArrayDimension.h>
 #include <tf/tf.h>
 #include <tf/transform_broadcaster.h>
@@ -131,7 +131,7 @@ int main(int argc, char **argv)
     ros::NodeHandle nh;
 
     g_pubPose = nh.advertise<geometry_msgs::PoseWithCovarianceStamped>("/cube/data/vslam_localization/pose", 1);
-    g_pubInfo = nh.advertise<std_msgs::Float32MultiArray>("/cube/data/vslam_localization/info", 1);
+    g_pubInfo = nh.advertise<std_msgs::Float64MultiArray>("/cube/data/vslam_localization/info", 1);
 
     message_filters::Subscriber<sensor_msgs::Image> left_sub(nh, "/camera/left/image_raw", 1);
     message_filters::Subscriber<sensor_msgs::Image> right_sub(nh, "/camera/right/image_raw", 1);