diff --git a/vectornav/CMakeLists.txt b/vectornav/CMakeLists.txt
index 0cf42c8d..2af957a2 100644
--- a/vectornav/CMakeLists.txt
+++ b/vectornav/CMakeLists.txt
@@ -35,7 +35,7 @@ target_link_libraries(${PROJECT_NAME} vncxx )
 
 # vn_sensor_msgs
 add_executable(vn_sensor_msgs src/vn_sensor_msgs.cc)
-ament_target_dependencies(vn_sensor_msgs rclcpp sensor_msgs vectornav_msgs)
+ament_target_dependencies(vn_sensor_msgs rclcpp sensor_msgs vectornav_msgs tf2_geometry_msgs)
 
 # install
 install(TARGETS
@@ -52,4 +52,4 @@ endif()
 
 ament_export_dependencies(rosidl_default_runtime)
 
-ament_package()
\ No newline at end of file
+ament_package()
diff --git a/vectornav/src/vectornav.cc b/vectornav/src/vectornav.cc
index a0284177..5ec09cc1 100755
--- a/vectornav/src/vectornav.cc
+++ b/vectornav/src/vectornav.cc
@@ -363,14 +363,17 @@ class Vectornav : public rclcpp::Node {
 
     // GPS Compass Baseline
     // 8.2.3
-    auto gps_baseline = vs_.readGpsCompassBaseline();
-    RCLCPP_INFO(get_logger(), "GPS Baseline     : (%f, %f, %f), (%f, %f, %f)",
-      gps_baseline.position[0], gps_baseline.position[1], gps_baseline.position[2],
-      gps_baseline.uncertainty[0], gps_baseline.uncertainty[1], gps_baseline.uncertainty[2]);
+    try {
+      auto gps_baseline = vs_.readGpsCompassBaseline();
+      RCLCPP_INFO(get_logger(), "GPS Baseline     : (%f, %f, %f), (%f, %f, %f)",
+        gps_baseline.position[0], gps_baseline.position[1], gps_baseline.position[2],
+        gps_baseline.uncertainty[0], gps_baseline.uncertainty[1], gps_baseline.uncertainty[2]);
 
+    } catch (vn::sensors::sensor_error e) {
+      RCLCPP_ERROR(get_logger(), "readGpsCompassBaseline: %s", e.what());
+    }
     // Register Binary Data Callback
     vs_.registerAsyncPacketReceivedHandler(this, Vectornav::AsyncPacketReceivedHandler);
-
     // Connection Successful
     return true;
   }