diff --git a/CMakeLists.txt b/CMakeLists.txt
index b2823d4..8297219 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,7 +8,8 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   rospy
   std_msgs
-  tf)
+  tf
+  pcl_conversions)
 
 find_package(Eigen3 REQUIRED)
 find_package(PCL REQUIRED)
@@ -20,7 +21,7 @@ include_directories(
 	${PCL_INCLUDE_DIRS})
 
 catkin_package(
-  CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs
+  CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs tf pcl_conversions
   DEPENDS EIGEN3 PCL
   INCLUDE_DIRS include
   LIBRARIES loam
diff --git a/include/loam_velodyne/BasicLaserMapping.h b/include/loam_velodyne/BasicLaserMapping.h
index fbdc3a6..cf55efe 100644
--- a/include/loam_velodyne/BasicLaserMapping.h
+++ b/include/loam_velodyne/BasicLaserMapping.h
@@ -96,6 +96,7 @@ class BasicLaserMapping
 
    auto& downSizeFilterCorner() { return _downSizeFilterCorner; }
    auto& downSizeFilterSurf() { return _downSizeFilterSurf; }
+   auto& downSizeFilterMap() { return _downSizeFilterMap; }
 
    auto frameCount()    const { return _frameCount; }
    auto scanPeriod()    const { return _scanPeriod; }
@@ -177,6 +178,7 @@ class BasicLaserMapping
 
    pcl::VoxelGrid<pcl::PointXYZI> _downSizeFilterCorner;   ///< voxel filter for down sizing corner clouds
    pcl::VoxelGrid<pcl::PointXYZI> _downSizeFilterSurf;     ///< voxel filter for down sizing surface clouds
+   pcl::VoxelGrid<pcl::PointXYZI> _downSizeFilterMap;      ///< voxel filter for down sizing accumulated map
 
    bool _downsizedMapCreated = false;
 };
diff --git a/include/loam_velodyne/MultiScanRegistration.h b/include/loam_velodyne/MultiScanRegistration.h
index cb7d678..6d2a5d2 100644
--- a/include/loam_velodyne/MultiScanRegistration.h
+++ b/include/loam_velodyne/MultiScanRegistration.h
@@ -77,7 +77,7 @@ class MultiScanMapper {
    * @param angle the vertical point angle (in rad)
    * @return the ring ID
    */
-  inline int getRingForAngle(const float& angle);
+  int getRingForAngle(const float& angle);
 
   /** Multi scan mapper for Velodyne VLP-16 according to data sheet. */
   static inline MultiScanMapper Velodyne_VLP_16() { return MultiScanMapper(-15, 15, 16); };
diff --git a/package.xml b/package.xml
index 9b1a98a..eba3e34 100644
--- a/package.xml
+++ b/package.xml
@@ -24,6 +24,7 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>tf</build_depend>
+  <build_depend>pcl_conversions</build_depend>
   
   <run_depend>geometry_msgs</run_depend>
   <run_depend>nav_msgs</run_depend>
@@ -32,6 +33,7 @@
   <run_depend>rospy</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>tf</run_depend>
+  <run_depend>pcl_conversions</run_depend>
 
   <test_depend>rostest</test_depend>
   <test_depend>rosbag</test_depend>