diff --git a/robot_protocol_msgs/include/robot_protocol_msgs/NodePosition.h b/robot_protocol_msgs/include/robot_protocol_msgs/NodePosition.h
index 8613654..683c85b 100644
--- a/robot_protocol_msgs/include/robot_protocol_msgs/NodePosition.h
+++ b/robot_protocol_msgs/include/robot_protocol_msgs/NodePosition.h
@@ -9,6 +9,7 @@
 #include <string>
 #include <vector>
 #include <memory>
+#include <boost/shared_ptr.hpp>
 
 namespace robot_protocol_msgs
 {
diff --git a/robot_sensor_msgs/include/robot_sensor_msgs/CameraInfo.h b/robot_sensor_msgs/include/robot_sensor_msgs/CameraInfo.h
index d342414..558ce78 100644
--- a/robot_sensor_msgs/include/robot_sensor_msgs/CameraInfo.h
+++ b/robot_sensor_msgs/include/robot_sensor_msgs/CameraInfo.h
@@ -10,6 +10,7 @@
 #include <vector>
 #include <memory>
 #include <boost/shared_ptr.hpp>
+#include <boost/array.hpp>
 #include <robot_std_msgs/Header.h>
 #include <robot_sensor_msgs/RegionOfInterest.h>
 
diff --git a/robot_sensor_msgs/include/robot_sensor_msgs/DepthCameraData.h b/robot_sensor_msgs/include/robot_sensor_msgs/DepthCameraData.h
index 9566010..e74a5d1 100644
--- a/robot_sensor_msgs/include/robot_sensor_msgs/DepthCameraData.h
+++ b/robot_sensor_msgs/include/robot_sensor_msgs/DepthCameraData.h
@@ -1,6 +1,7 @@
 #ifndef ROBOT_SENSOR_MSGS_MESSAGE_DEPTHCAMERADATA_H
 #define ROBOT_SENSOR_MSGS_MESSAGE_DEPTHCAMERADATA_H
 
+#include <boost/array.hpp>
 #include <boost/shared_ptr.hpp>
 #include <robot_sensor_msgs/CameraInfo.h>
 #include <robot_sensor_msgs/Image.h>
@@ -11,28 +12,15 @@ namespace robot_sensor_msgs
 
 struct DepthCameraData
 {
+  // Canonical timestamp and optical frame for this coherent depth sample.
   robot_std_msgs::Header header;
   robot_sensor_msgs::Image depth;
   robot_sensor_msgs::CameraInfo camera_info;
 
   typedef boost::shared_ptr<robot_sensor_msgs::DepthCameraData> Ptr;
   typedef boost::shared_ptr<const robot_sensor_msgs::DepthCameraData> ConstPtr;
-
-  DepthCameraData& operator=(const DepthCameraData& other)
-  {
-    if (this != &other)
-    {
-      header = other.header;
-      depth = other.depth;
-      camera_info = other.camera_info;
-    }
-
-    return *this;
-  }
 };
 
-
-
 }  // namespace robot_sensor_msgs
 
-#endif  // ROBOT_SENSOR_MSGS_MESSAGE_DEPTHCAMERADATA_H
\ No newline at end of file
+#endif  // ROBOT_SENSOR_MSGS_MESSAGE_DEPTHCAMERADATA_H