diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0605ead..67b6bd9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,7 +14,7 @@
 
 cmake_minimum_required(VERSION 3.0)
 
-project(mynteye VERSION 2.2.4 LANGUAGES C CXX)
+project(mynteye VERSION 2.3.0 LANGUAGES C CXX)
 
 include(cmake/Common.cmake)
 
diff --git a/Makefile b/Makefile
index 5e47797..9e23713 100644
--- a/Makefile
+++ b/Makefile
@@ -27,7 +27,7 @@ MKFILE_DIR := $(patsubst %/,%,$(dir $(MKFILE_PATH)))
 #   SUDO: sudo command
 #   CAM_MODELS: cmake build with -DWITH_CAM_MODELS=ON
 #
-# e.g. make [TARGET] SUOD=
+# e.g. make [TARGET] SUDO=
 # e.g. make [TARGET] CAM_MODELS=1
 
 SUDO ?= sudo
@@ -35,7 +35,9 @@ SUDO ?= sudo
 CAM_MODELS ?=
 
 CMAKE_BUILD_EXTRA_OPTIONS :=
-ifneq ($(CAM_MODELS),)
+ifeq ($(CAM_MODELS),)
+	CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=OFF
+else
 	CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=ON
 endif
 
diff --git a/README.md b/README.md
index c5d32f3..e5b4fb6 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # MYNT® EYE S SDK
 
-[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.2.4-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
+[![](https://img.shields.io/badge/MYNT%20EYE%20S%20SDK-2.3.0-brightgreen.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK)
 
 ## Overview
 
@@ -17,11 +17,11 @@ Please follow the guide doc to install the SDK on different platforms.
 ## Documentations
 
 * [API Doc](https://github.com/slightech/MYNT-EYE-S-SDK/releases): API reference, some guides and data spec.
-  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2717670/mynt-eye-s-sdk-apidoc-2.2.4-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2717671/mynt-eye-s-sdk-apidoc-2.2.4-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK/)
-  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2717672/mynt-eye-s-sdk-apidoc-2.2.4-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2717673/mynt-eye-s-sdk-apidoc-2.2.4-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.2.4-zh-Hans/mynt-eye-s-sdk-apidoc-2.2.4-zh-Hans/index.html)
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2764152/mynt-eye-s-sdk-apidoc-2.3.0-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2764156/mynt-eye-s-sdk-apidoc-2.3.0-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2764160/mynt-eye-s-sdk-apidoc-2.3.0-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK/files/2764173/mynt-eye-s-sdk-apidoc-2.3.0-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.3.0-zh-Hans/mynt-eye-s-sdk-apidoc-2.3.0-zh-Hans/index.html)
 * [Guide Doc](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/releases): How to install and start using the SDK.
-  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2717663/mynt-eye-s-sdk-guide-2.2.4-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2717664/mynt-eye-s-sdk-guide-2.2.4-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
-  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2717665/mynt-eye-s-sdk-guide-2.2.4-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2717666/mynt-eye-s-sdk-guide-2.2.4-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.2.4-zh-Hans/mynt-eye-s-sdk-guide-2.2.4-zh-Hans/index.html)
+  * en: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2764143/mynt-eye-s-sdk-guide-2.3.0-en.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2764145/mynt-eye-s-sdk-guide-2.3.0-en.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
+  * zh-Hans: [![](https://img.shields.io/badge/Download-PDF-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2764150/mynt-eye-s-sdk-guide-2.3.0-zh-Hans.pdf) [![](https://img.shields.io/badge/Download-HTML-blue.svg?style=flat)](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2764163/mynt-eye-s-sdk-guide-2.3.0-zh-Hans.zip) [![](https://img.shields.io/badge/Online-HTML-blue.svg?style=flat)](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.3.0-zh-Hans/mynt-eye-s-sdk-guide-2.3.0-zh-Hans/index.html)
 
 > Supported languages: `en`, `zh-Hans`.
 
diff --git a/cmake/Option.cmake b/cmake/Option.cmake
index 00fc825..9349320 100644
--- a/cmake/Option.cmake
+++ b/cmake/Option.cmake
@@ -44,7 +44,7 @@ else()
 endif()
 
 if(WITH_BOOST)
-  find_package(Boost COMPONENTS filesystem)
+  find_package(Boost QUIET COMPONENTS filesystem)
   if(Boost_FOUND)
     set(Boost_VERSION_STRING "${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION}")
     set(WITH_FILESYSTEM TRUE)
diff --git a/doc/en/api.doxyfile b/doc/en/api.doxyfile
index f7cb1b2..9a6bb26 100644
--- a/doc/en/api.doxyfile
+++ b/doc/en/api.doxyfile
@@ -38,7 +38,7 @@ PROJECT_NAME           = "MYNT EYE S SDK"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 2.2.4
+PROJECT_NUMBER         = 2.3.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
diff --git a/doc/zh-Hans/api.doxyfile b/doc/zh-Hans/api.doxyfile
index 7b0ace2..312be3e 100644
--- a/doc/zh-Hans/api.doxyfile
+++ b/doc/zh-Hans/api.doxyfile
@@ -38,7 +38,7 @@ PROJECT_NAME           = "MYNT EYE S SDK"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 2.2.4
+PROJECT_NUMBER         = 2.3.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
index 9eae936..3f7b7cb 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -668,9 +668,11 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     header.seq = seq;
     header.stamp = stamp;
     header.frame_id = frame_ids_[stream];
+    pthread_mutex_lock(&mutex_data_);
     cv::Mat mono;
     cv::cvtColor(data.frame, mono, CV_RGB2GRAY);
     auto &&msg = cv_bridge::CvImage(header, enc::MONO8, mono).toImageMsg();
+    pthread_mutex_unlock(&mutex_data_);
     auto &&info = getCameraInfo(stream);
     info->header.stamp = msg->header.stamp;
     mono_publishers_[stream].publish(msg, info);