diff --git a/.clang-tidy b/.clang-tidy
index 716dd3a..4a88fa5 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -1,14 +1,16 @@
 ---
-Checks: >
-  clang-analyzer-*,
-  -clang-analyzer-optin.cplusplus.VirtualCall,
-  clang-diagnostic-*,
-  google-*,
-  misc-*,
-  -misc-non-private-member-variables-in-classes,
-  readability-*,
-  -readability-identifier-length,
-  -readability-magic-numbers,
+Checks: [
+    clang-analyzer-*,
+    -clang-analyzer-optin.cplusplus.VirtualCall,
+    clang-diagnostic-*,
+    google-*,
+    misc-*,
+    -misc-non-private-member-variables-in-classes,
+    readability-*,
+    -readability-container-contains, # Removed for compatibility with C++17 which is used in ROS Humble
+    -readability-identifier-length,
+    -readability-magic-numbers,
+  ]
 
 CheckOptions:
   misc-include-cleaner.IgnoreHeaders: bits/chrono.h
@@ -23,13 +25,13 @@ CheckOptions:
   readability-identifier-naming.StaticConstantCase: lower_case
   readability-identifier-naming.StaticVariableCase: lower_case
   readability-identifier-naming.MacroDefinitionCase: UPPER_CASE
-  readability-identifier-naming.MacroDefinitionIgnoredRegexp: '^[A-Z]+(_[A-Z]+)*_$'
+  readability-identifier-naming.MacroDefinitionIgnoredRegexp: "^[A-Z]+(_[A-Z]+)*_$"
   readability-identifier-naming.PrivateMemberCase: lower_case
   readability-identifier-naming.ProtectedMemberCase: lower_case
   readability-identifier-naming.PublicMemberCase: lower_case
   readability-identifier-naming.PrivateMemberSuffix: _
   readability-identifier-naming.ProtectedMemberSuffix: _
-  readability-identifier-naming.PublicMemberSuffix: ''
+  readability-identifier-naming.PublicMemberSuffix: ""
   readability-identifier-naming.NamespaceCase: lower_case
   readability-identifier-naming.ParameterCase: lower_case
   readability-identifier-naming.TypeAliasCase: CamelCase
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 67d02af..380c7c8 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -21,6 +21,11 @@ jobs:
       ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
       ROS_REPO: ${{ matrix.ROS_REPO }}
       CMAKE_ARGS: ${{ matrix.ROS_DISTRO == 'rolling' && '-DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DENABLE_CLANG_TIDY=ON' || '' }}
+      # gcc-16 is installed on the rolling image alongside gcc-15 but without its
+      # libstdc++ headers, so clang-tidy (which auto-selects the newest GCC found)
+      # fails with "'chrono'/'string'/'memory' file not found". Installing
+      # libstdc++-16-dev fixes this.
+      ADDITIONAL_DEBS: ${{ matrix.ROS_DISTRO == 'rolling' && 'libstdc++-16-dev' || '' }}
     steps:
       - name: Checkout repo
         uses: actions/checkout@v4
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5c56ab3..2875c3c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 project(web_video_server)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -25,10 +25,6 @@ pkg_check_modules(avformat libavformat REQUIRED)
 pkg_check_modules(avutil libavutil REQUIRED)
 pkg_check_modules(swscale libswscale REQUIRED)
 
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
 ###################################################
 ## Declare things to be passed to other projects ##
 ###################################################
diff --git a/src/streamers/image_transport_streamer.cpp b/src/streamers/image_transport_streamer.cpp
index 54baa3f..f05eb8a 100644
--- a/src/streamers/image_transport_streamer.cpp
+++ b/src/streamers/image_transport_streamer.cpp
@@ -54,6 +54,7 @@
 #include "image_transport/image_transport.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/logging.hpp"
+#include "rclcpp/qos.hpp"
 #include "rmw/qos_profiles.h"
 #include "sensor_msgs/msg/image.hpp"
 
diff --git a/src/streamers/jpeg_streamers.cpp b/src/streamers/jpeg_streamers.cpp
index c0abf0f..746fb40 100644
--- a/src/streamers/jpeg_streamers.cpp
+++ b/src/streamers/jpeg_streamers.cpp
@@ -33,7 +33,6 @@
 #include <chrono>
 #include <cstdint>
 #include <cstdio>
-#include <cstring>
 #include <memory>
 #include <mutex>
 #include <string>
diff --git a/src/streamers/png_streamers.cpp b/src/streamers/png_streamers.cpp
index 3a0b832..d7a8518 100644
--- a/src/streamers/png_streamers.cpp
+++ b/src/streamers/png_streamers.cpp
@@ -32,7 +32,6 @@
 #include <chrono>
 #include <cstdint>
 #include <cstdio>
-#include <cstring>
 #include <memory>
 #include <mutex>
 #include <string>
diff --git a/src/streamers/vp8_streamer.cpp b/src/streamers/vp8_streamer.cpp
index 82f0df5..2c96063 100644
--- a/src/streamers/vp8_streamer.cpp
+++ b/src/streamers/vp8_streamer.cpp
@@ -36,7 +36,6 @@ extern "C"
 #include <libavutil/opt.h>
 }
 
-#include <cstring>
 #include <map>
 #include <memory>
 
diff --git a/src/streamers/vp9_streamer.cpp b/src/streamers/vp9_streamer.cpp
index f2b1187..e0afda1 100644
--- a/src/streamers/vp9_streamer.cpp
+++ b/src/streamers/vp9_streamer.cpp
@@ -35,7 +35,6 @@ extern "C"
 #include <libavutil/opt.h>
 }
 
-#include <cstring>
 #include <memory>
 
 #include "async_web_server_cpp/http_connection.hpp"
diff --git a/src/web_video_server.cpp b/src/web_video_server.cpp
index e1d4076..968a0f0 100644
--- a/src/web_video_server.cpp
+++ b/src/web_video_server.cpp
@@ -32,7 +32,6 @@
 
 #include <algorithm>
 #include <chrono>
-#include <cstring>
 #include <exception>
 #include <map>
 #include <memory>