diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index f930f43..82a2f5f 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -28,7 +28,7 @@ jobs:
       run:
         shell: bash
     container:
-      image: ghcr.io/ymd-stella/stella-cv/stella_vslam-ros2:humble
+      image: ghcr.io/ymd-stella/stella-cv/stella_vslam-ros2:iron
       env:
         ROS_LOG_DIR: ${GITHUB_WORKSPACE}/.ros
     steps:
@@ -84,7 +84,7 @@ jobs:
           pkill -SIGINT -f static_transform_publisher
       - name: run slam offline (stereo)
         run: |
-          (source /opt/ros/${ROS_DISTRO}/setup.bash && source /ros_ws/install/setup.bash && ros2 run stella_vslam_ros run_slam_offline -b MH_04_difficult -r -v /datasets/orb_vocab/orb_vocab.fbow -c /ros_ws/src/stella_vslam/example/euroc/EuRoC_stereo.yaml --map-db-out map_stereo.msg --left=/cam0/image_raw --right=/cam1/image_raw --ros-args -p publish_tf:=false)&
+          (source /opt/ros/${ROS_DISTRO}/setup.bash && source /ros_ws/install/setup.bash && ros2 run stella_vslam_ros run_slam_offline -b MH_04_difficult -r -v /datasets/orb_vocab/orb_vocab.fbow -c /ros_ws/src/stella_vslam/example/euroc/EuRoC_stereo.yaml --map-db-out map_stereo.msg --left=/cam0/image_raw --right=/cam1/image_raw --ros-args -p publish_tf:=false)
 
   rosdep:
     runs-on: ubuntu-latest
@@ -92,7 +92,7 @@ jobs:
       run:
         shell: bash
     container:
-      image: ghcr.io/ymd-stella/stella-cv/ros:humble-ros-base
+      image: ghcr.io/ymd-stella/stella-cv/ros:iron-ros-base
       env:
         ROS_LOG_DIR: ${GITHUB_WORKSPACE}/.ros
     steps:
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3e8861b..3b28aaa 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -130,6 +130,7 @@ find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(rosbag2_cpp REQUIRED)
+find_package(rosbag2_storage REQUIRED)
 
 # thread library
 find_package(Threads REQUIRED)
diff --git a/package.xml b/package.xml
index e20b677..8a0c5b2 100644
--- a/package.xml
+++ b/package.xml
@@ -33,6 +33,7 @@
     <depend>tf2_msgs</depend>
     <depend>tf2_ros</depend>
     <depend>rosbag2_cpp</depend>
+    <depend>rosbag2_storage</depend>
 
     <export>
         <build_type>ament_cmake</build_type>
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index afdb082..62dbf5d 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -71,7 +71,8 @@ foreach(EXECUTABLE_TARGET IN LISTS EXECUTABLE_TARGETS)
                               tf2_geometry_msgs
                               tf2_msgs
                               tf2_ros
-                              rosbag2_cpp)
+                              rosbag2_cpp
+                              rosbag2_storage)
     install(TARGETS ${EXECUTABLE_TARGET}
             DESTINATION lib/${PROJECT_NAME})
 
diff --git a/src/run_slam_offline.cc b/src/run_slam_offline.cc
index c818e61..01ef41d 100644
--- a/src/run_slam_offline.cc
+++ b/src/run_slam_offline.cc
@@ -36,6 +36,7 @@ namespace fs = ghc::filesystem;
 #include <rclcpp/serialized_message.hpp>
 #include <rosbag2_cpp/reader.hpp>
 #include <rosbag2_cpp/readers/sequential_reader.hpp>
+#include <rosbag2_storage/default_storage_id.hpp>
 
 void tracking(const std::shared_ptr<stella_vslam_ros::system>& slam_ros,
               const std::shared_ptr<stella_vslam::config>& cfg,
@@ -267,7 +268,7 @@ int main(int argc, char* argv[]) {
     auto right_topic = op.add<popl::Value<std::string>>("", "right", "right image topic name for stereo", "camera/right/image_raw");
     auto color_topic = op.add<popl::Value<std::string>>("", "color", "color image topic name for RGBD", "camera/color/image_raw");
     auto depth_topic = op.add<popl::Value<std::string>>("", "depth", "depth image topic name for RGBD", "camera/depth/image_raw");
-    auto bag_storage_id = op.add<popl::Value<std::string>>("", "storage-id", "rosbag2 storage id (default: sqlite3)", "sqlite3");
+    auto bag_storage_id = op.add<popl::Value<std::string>>("", "storage-id", "rosbag2 storage id (default: " + rosbag2_storage::get_default_storage_id() + ")", rosbag2_storage::get_default_storage_id());
     auto vocab_file_path = op.add<popl::Value<std::string>>("v", "vocab", "vocabulary file path");
     auto setting_file_path = op.add<popl::Value<std::string>>("c", "config", "setting file path");
     auto mask_img_path = op.add<popl::Value<std::string>>("", "mask", "mask image path", "");