diff --git a/src/accelerated_image_processor_common/CMakeLists.txt b/src/accelerated_image_processor_common/CMakeLists.txt
index c4e8f9e..1a1f5d3 100644
--- a/src/accelerated_image_processor_common/CMakeLists.txt
+++ b/src/accelerated_image_processor_common/CMakeLists.txt
@@ -18,14 +18,13 @@ add_library(${PROJECT_NAME} INTERFACE)
 target_include_directories(
   ${PROJECT_NAME}
   INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-            $<INSTALL_INTERFACE:include>)
+            $<INSTALL_INTERFACE:include> /opt/ros/$ENV{ROS_DISTRO}/include)
 
 install(TARGETS ${PROJECT_NAME} EXPORT export_${PROJECT_NAME})
 install(DIRECTORY include/${PROJECT_NAME} DESTINATION include)
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
+
 endif()
 
 ament_export_targets(export_${PROJECT_NAME})
diff --git a/src/accelerated_image_processor_common/include/accelerated_image_processor_common/processor.hpp b/src/accelerated_image_processor_common/include/accelerated_image_processor_common/processor.hpp
index d171286..6be70ab 100644
--- a/src/accelerated_image_processor_common/include/accelerated_image_processor_common/processor.hpp
+++ b/src/accelerated_image_processor_common/include/accelerated_image_processor_common/processor.hpp
@@ -17,7 +17,8 @@
 #include "accelerated_image_processor_common/datatype.hpp"
 #include "accelerated_image_processor_common/parameter.hpp"
 
-#include <optional>
+#include <tl_expected/expected.hpp>
+
 #include <string>
 #include <type_traits>
 #include <utility>
@@ -66,6 +67,12 @@ class BaseProcessor
   }
 
 public:
+  /**
+   * @brief Output result type of processed image. If successful, returns the processed image.
+   * Otherwise, returns an error message.
+   */
+  using result_t = tl::expected<Image, std::string>;
+
   /**
    * @brief Constructor.
    */
@@ -95,22 +102,18 @@ class BaseProcessor
   /**
    * @brief Process the input image.
    * @param image The input image.
-   * @return The processed image if the process is successful, otherwise std::nullopt.
+   * @return The processed image or an error message.
    */
-  std::optional<common::Image> process(const Image & image)
+  result_t process(const Image & image)
   {
     if (!is_ready()) {
-      // TODO(ktro2828): Update to return a type that describes if the process success or not
-      // instead of void
-      return std::nullopt;
+      return tl::make_unexpected("Failed to process: process is not ready");
     }
 
     auto processed = this->process_impl(image);
 
     if (!processed.is_valid()) {
-      // TODO(ktro2828): Update to return a type that describes if the process success or not
-      // instead of void
-      return std::nullopt;
+      return tl::make_unexpected("Failed to process: invalid processed image");
     }
 
     std::visit(
diff --git a/src/accelerated_image_processor_common/package.xml b/src/accelerated_image_processor_common/package.xml
index dafd24f..12e5309 100644
--- a/src/accelerated_image_processor_common/package.xml
+++ b/src/accelerated_image_processor_common/package.xml
@@ -9,6 +9,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>tl_expected</depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
diff --git a/src/accelerated_image_processor_compression/test/cpu_jpeg_compressor.cpp b/src/accelerated_image_processor_compression/test/cpu_jpeg_compressor.cpp
index 1631a55..6399eb0 100644
--- a/src/accelerated_image_processor_compression/test/cpu_jpeg_compressor.cpp
+++ b/src/accelerated_image_processor_compression/test/cpu_jpeg_compressor.cpp
@@ -24,7 +24,8 @@ TEST_F(TestJPEGCompressor, CpuCompressionDefault)
 {
   auto compressor = make_cpujpeg_compressor();
   compressor->register_postprocess<TestJPEGCompressor, &TestJPEGCompressor::check>(this);
-  compressor->process(get_image());
+  const auto result = compressor->process(get_image());
+  EXPECT_TRUE(result);
 }
 
 TEST_F(TestJPEGCompressor, CpuCompressionWithLowQuality)
@@ -37,7 +38,8 @@ TEST_F(TestJPEGCompressor, CpuCompressionWithLowQuality)
     }
   }
   EXPECT_EQ(compressor->parameter_value<int>("quality"), 10);
-  compressor->process(get_image());
+  const auto result = compressor->process(get_image());
+  EXPECT_TRUE(result);
 }
 
 TEST_F(TestJPEGCompressor, CpuCompressionWithHighQuality)
@@ -50,7 +52,8 @@ TEST_F(TestJPEGCompressor, CpuCompressionWithHighQuality)
     }
   }
   EXPECT_EQ(compressor->parameter_value<int>("quality"), 90);
-  compressor->process(get_image());
+  const auto result = compressor->process(get_image());
+  EXPECT_TRUE(result);
 }
 }  // namespace accelerated_image_processor::compression
 #else
diff --git a/src/accelerated_image_processor_compression/test/jetson_jpeg_compressor.cpp b/src/accelerated_image_processor_compression/test/jetson_jpeg_compressor.cpp
index 8cc1e9b..9634797 100644
--- a/src/accelerated_image_processor_compression/test/jetson_jpeg_compressor.cpp
+++ b/src/accelerated_image_processor_compression/test/jetson_jpeg_compressor.cpp
@@ -24,7 +24,8 @@ TEST_F(TestJPEGCompressor, JetsonCompressionDefault)
 {
   auto compressor = make_jetsonjpeg_compressor();
   compressor->register_postprocess<TestJPEGCompressor, &TestJPEGCompressor::check>(this);
-  compressor->process(get_image());
+  const auto result = compressor->process(get_image());
+  EXPECT_TRUE(result);
 }
 
 TEST_F(TestJPEGCompressor, JetsonCompressionWithLowQuality)
@@ -37,7 +38,8 @@ TEST_F(TestJPEGCompressor, JetsonCompressionWithLowQuality)
     }
   }
   EXPECT_EQ(compressor->parameter_value<int>("quality"), 10);
-  compressor->process(get_image());
+  const auto result = compressor->process(get_image());
+  EXPECT_TRUE(result);
 }
 
 TEST_F(TestJPEGCompressor, JetsonCompressionWithHighQuality)
@@ -50,7 +52,8 @@ TEST_F(TestJPEGCompressor, JetsonCompressionWithHighQuality)
     }
   }
   EXPECT_EQ(compressor->parameter_value<int>("quality"), 90);
-  compressor->process(get_image());
+  const auto result = compressor->process(get_image());
+  EXPECT_TRUE(result);
 }
 }  // namespace accelerated_image_processor::compression
 #else
diff --git a/src/accelerated_image_processor_compression/test/nv_jpeg_compressor.cpp b/src/accelerated_image_processor_compression/test/nv_jpeg_compressor.cpp
index 8afac1c..023ccb1 100644
--- a/src/accelerated_image_processor_compression/test/nv_jpeg_compressor.cpp
+++ b/src/accelerated_image_processor_compression/test/nv_jpeg_compressor.cpp
@@ -24,7 +24,8 @@ TEST_F(TestJPEGCompressor, NvJPEGCompressionDefault)
 {
   auto compressor = make_nvjpeg_compressor();
   compressor->register_postprocess<TestJPEGCompressor, &TestJPEGCompressor::check>(this);
-  compressor->process(get_image());
+  const auto result = compressor->process(get_image());
+  EXPECT_TRUE(result);
 }
 
 TEST_F(TestJPEGCompressor, NvJPEGCompressionWithLowQuality)
@@ -37,7 +38,8 @@ TEST_F(TestJPEGCompressor, NvJPEGCompressionWithLowQuality)
     }
   }
   EXPECT_EQ(compressor->parameter_value<int>("quality"), 10);
-  compressor->process(get_image());
+  const auto result = compressor->process(get_image());
+  EXPECT_TRUE(result);
 }
 
 TEST_F(TestJPEGCompressor, NvJPEGCompressionWithHighQuality)
@@ -50,7 +52,8 @@ TEST_F(TestJPEGCompressor, NvJPEGCompressionWithHighQuality)
     }
   }
   EXPECT_EQ(compressor->parameter_value<int>("quality"), 90);
-  compressor->process(get_image());
+  const auto result = compressor->process(get_image());
+  EXPECT_TRUE(result);
 }
 }  // namespace accelerated_image_processor::compression
 #else
diff --git a/src/accelerated_image_processor_pipeline/test/cpu_rectifier.cpp b/src/accelerated_image_processor_pipeline/test/cpu_rectifier.cpp
index 49696ae..b0f4032 100644
--- a/src/accelerated_image_processor_pipeline/test/cpu_rectifier.cpp
+++ b/src/accelerated_image_processor_pipeline/test/cpu_rectifier.cpp
@@ -24,7 +24,8 @@ TEST_F(TestRectifier, CpuRectificationDefault)
   auto rectifier = make_cpu_rectifier();
   rectifier->register_postprocess<TestRectifier, &TestRectifier::check>(this);
   rectifier->set_camera_info(get_camera_info());
-  rectifier->process(get_image());
+  const auto result = rectifier->process(get_image());
+  EXPECT_TRUE(result);
 }
 
 TEST_F(TestRectifier, CpuRectificationLowAlpha)
@@ -38,7 +39,8 @@ TEST_F(TestRectifier, CpuRectificationLowAlpha)
   }
   EXPECT_EQ(rectifier->parameter_value<double>("alpha"), 0.0);
   rectifier->set_camera_info(get_camera_info());
-  rectifier->process(get_image());
+  const auto result = rectifier->process(get_image());
+  EXPECT_TRUE(result);
 }
 
 TEST_F(TestRectifier, CpuRectificationHighAlpha)
@@ -52,7 +54,8 @@ TEST_F(TestRectifier, CpuRectificationHighAlpha)
   }
   EXPECT_EQ(rectifier->parameter_value<double>("alpha"), 1.0);
   rectifier->set_camera_info(get_camera_info());
-  rectifier->process(get_image());
+  const auto result = rectifier->process(get_image());
+  EXPECT_TRUE(result);
 }
 }  // namespace accelerated_image_processor::pipeline
 
diff --git a/src/accelerated_image_processor_pipeline/test/npp_rectifier.cpp b/src/accelerated_image_processor_pipeline/test/npp_rectifier.cpp
index ddeef88..f4db7b7 100644
--- a/src/accelerated_image_processor_pipeline/test/npp_rectifier.cpp
+++ b/src/accelerated_image_processor_pipeline/test/npp_rectifier.cpp
@@ -25,7 +25,8 @@ TEST_F(TestRectifier, NppRectificationDefault)
   auto rectifier = make_npp_rectifier();
   rectifier->register_postprocess<TestRectifier, &TestRectifier::check>(this);
   rectifier->set_camera_info(get_camera_info());
-  rectifier->process(get_image());
+  const auto result = rectifier->process(get_image());
+  EXPECT_TRUE(result);
 }
 
 TEST_F(TestRectifier, NppRectificationLowAlpha)
@@ -39,7 +40,8 @@ TEST_F(TestRectifier, NppRectificationLowAlpha)
   }
   EXPECT_EQ(rectifier->parameter_value<double>("alpha"), 0.0);
   rectifier->set_camera_info(get_camera_info());
-  rectifier->process(get_image());
+  const auto result = rectifier->process(get_image());
+  EXPECT_TRUE(result);
 }
 
 TEST_F(TestRectifier, NppRectificationHighAlpha)
@@ -53,7 +55,8 @@ TEST_F(TestRectifier, NppRectificationHighAlpha)
   }
   EXPECT_EQ(rectifier->parameter_value<double>("alpha"), 1.0);
   rectifier->set_camera_info(get_camera_info());
-  rectifier->process(get_image());
+  const auto result = rectifier->process(get_image());
+  EXPECT_TRUE(result);
 }
 }  // namespace accelerated_image_processor::pipeline
 #else
diff --git a/src/accelerated_image_processor_pipeline/test/opencv_cuda_rectifier.cpp b/src/accelerated_image_processor_pipeline/test/opencv_cuda_rectifier.cpp
index e43722a..a9e9d4d 100644
--- a/src/accelerated_image_processor_pipeline/test/opencv_cuda_rectifier.cpp
+++ b/src/accelerated_image_processor_pipeline/test/opencv_cuda_rectifier.cpp
@@ -25,7 +25,8 @@ TEST_F(TestRectifier, OpenCvCudaRectificationDefault)
   auto rectifier = make_opencv_cuda_rectifier();
   rectifier->register_postprocess<TestRectifier, &TestRectifier::check>(this);
   rectifier->set_camera_info(get_camera_info());
-  rectifier->process(get_image());
+  const auto result = rectifier->process(get_image());
+  EXPECT_TRUE(result);
 }
 
 TEST_F(TestRectifier, OpenCvCudaRectificationLowAlpha)
@@ -39,7 +40,8 @@ TEST_F(TestRectifier, OpenCvCudaRectificationLowAlpha)
   }
   EXPECT_EQ(rectifier->parameter_value<double>("alpha"), 0.0);
   rectifier->set_camera_info(get_camera_info());
-  rectifier->process(get_image());
+  const auto result = rectifier->process(get_image());
+  EXPECT_TRUE(result);
 }
 
 TEST_F(TestRectifier, OpenCvCudaRectificationHighAlpha)
@@ -53,7 +55,8 @@ TEST_F(TestRectifier, OpenCvCudaRectificationHighAlpha)
   }
   EXPECT_EQ(rectifier->parameter_value<double>("alpha"), 1.0);
   rectifier->set_camera_info(get_camera_info());
-  rectifier->process(get_image());
+  const auto result = rectifier->process(get_image());
+  EXPECT_TRUE(result);
 }
 }  // namespace accelerated_image_processor::pipeline
 #else