diff --git a/flightlib/include/flightlib/envs/vec_env.hpp b/flightlib/include/flightlib/envs/vec_env.hpp
index a31fb9a..12586b0 100644
--- a/flightlib/include/flightlib/envs/vec_env.hpp
+++ b/flightlib/include/flightlib/envs/vec_env.hpp
@@ -6,8 +6,7 @@
 // std
 #include <omp.h>
 #include <time.h>
-
-#include <filesystem>
+#include <boost/filesystem.hpp>
 #include <memory>
 #include <regex>
 
diff --git a/flightlib/include/flightlib/ros_nodes/flight_pilot.hpp b/flightlib/include/flightlib/ros_nodes/flight_pilot.hpp
index 48546bb..9529f92 100644
--- a/flightlib/include/flightlib/ros_nodes/flight_pilot.hpp
+++ b/flightlib/include/flightlib/ros_nodes/flight_pilot.hpp
@@ -6,11 +6,9 @@
 #include <ros/ros.h>
 #include <sensor_msgs/CameraInfo.h>
 #include <yaml-cpp/yaml.h>
-
+#include <boost/filesystem.hpp>
 #include <cmath>
-#include <filesystem>
 #include <memory>
-
 #include "std_msgs/Empty.h"
 // flightlib
 #include "flightlib/bridges/unity_bridge.hpp"
diff --git a/flightlib/src/envs/vec_env.cpp b/flightlib/src/envs/vec_env.cpp
index d817260..67972c4 100644
--- a/flightlib/src/envs/vec_env.cpp
+++ b/flightlib/src/envs/vec_env.cpp
@@ -318,15 +318,15 @@ bool VecEnv<EnvBase>::spawnTreesAndSavePointcloud(int ply_id_in, float spacing)
 template<typename EnvBase>
 void VecEnv<EnvBase>::generateMaps() {
 	std::vector<std::string> ply_files;
-	for (const auto& entry : std::filesystem::directory_iterator(ply_path_)) {
-		if (entry.is_regular_file() && entry.path().extension() == ".ply") {
-			ply_files.push_back(entry.path().string());
-		}
-	}
+	for (const auto& entry : boost::filesystem::directory_iterator(ply_path_)) {
+        if (boost::filesystem::is_regular_file(entry) && entry.path().extension() == ".ply") {
+            ply_files.push_back(entry.path().string());
+        }
+    }
 
 	// Sort according to the number of the filename.
 	std::sort(ply_files.begin(), ply_files.end(), [this](const std::string& a, const std::string& b) {
-		return extract_number(std::filesystem::path(a).filename().string()) < extract_number(std::filesystem::path(b).filename().string());
+		return extract_number(boost::filesystem::path(a).filename().string()) < extract_number(boost::filesystem::path(b).filename().string());
 	});
 
 	for (auto ply_file : ply_files) {
diff --git a/flightlib/src/ros_nodes/flight_pilot.cpp b/flightlib/src/ros_nodes/flight_pilot.cpp
index a61f31b..59190b4 100644
--- a/flightlib/src/ros_nodes/flight_pilot.cpp
+++ b/flightlib/src/ros_nodes/flight_pilot.cpp
@@ -202,8 +202,8 @@ bool FlightPilot::loadParams(const YAML::Node& cfg) {
 	}
 	pointcloud_resolution_ = cfg["unity"]["pointcloud_resolution"].as<Scalar>();
 	ply_path_              = getenv("FLIGHTMARE_PATH") + cfg["ply_path"].as<std::string>();
-	if (!std::filesystem::exists(ply_path_)) {
-		std::filesystem::create_directories(ply_path_);
+	if (!boost::filesystem::exists(ply_path_)) {
+		boost::filesystem::create_directories(ply_path_);
 		std::cout << "Directory created: " << ply_path_ << std::endl;
 	}
 	return true;