diff --git a/perception/image_projection_based_fusion/src/fusion_node.cpp b/perception/image_projection_based_fusion/src/fusion_node.cpp
index 2fbec2aab23d3..c7c72b8752dd7 100644
--- a/perception/image_projection_based_fusion/src/fusion_node.cpp
+++ b/perception/image_projection_based_fusion/src/fusion_node.cpp
@@ -420,7 +420,7 @@ void FusionNode<Msg, Obj, Msg2D>::publish(const Msg & output_msg)
 template class FusionNode<DetectedObjects, DetectedObject, DetectedObjectsWithFeature>;
 template class FusionNode<
   DetectedObjectsWithFeature, DetectedObjectWithFeature, DetectedObjectsWithFeature>;
-template class FusionNode<
-  sensor_msgs::msg::PointCloud2, DetectedObjects, DetectedObjectsWithFeature>;
+template class FusionNode<PointCloud2, DetectedObjects, DetectedObjectsWithFeature>;
+template class FusionNode<PointCloud2, DetectedObjectWithFeature, DetectedObjectsWithFeature>;
 template class FusionNode<PointCloud2, PointCloud2, Image>;
 }  // namespace image_projection_based_fusion
diff --git a/perception/image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp b/perception/image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp
index 233e568ebee0b..421aa3a453451 100644
--- a/perception/image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp
+++ b/perception/image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp
@@ -30,7 +30,8 @@
 namespace image_projection_based_fusion
 {
 RoiPointCloudFusionNode::RoiPointCloudFusionNode(const rclcpp::NodeOptions & options)
-: FusionNode<PointCloud2, DetectedObjectWithFeature>("roi_pointcloud_fusion", options)
+: FusionNode<PointCloud2, DetectedObjectWithFeature, DetectedObjectsWithFeature>(
+    "roi_pointcloud_fusion", options)
 {
   fuse_unknown_only_ = declare_parameter<bool>("fuse_unknown_only");
   min_cluster_size_ = declare_parameter<int>("min_cluster_size");