diff --git a/moveit_ros/hybrid_planning/local_planner/local_planner_component/include/moveit/local_planner/local_planner_component.hpp b/moveit_ros/hybrid_planning/local_planner/local_planner_component/include/moveit/local_planner/local_planner_component.hpp
index 164cd231a7..f3b92769a7 100644
--- a/moveit_ros/hybrid_planning/local_planner/local_planner_component/include/moveit/local_planner/local_planner_component.hpp
+++ b/moveit_ros/hybrid_planning/local_planner/local_planner_component/include/moveit/local_planner/local_planner_component.hpp
@@ -58,8 +58,8 @@
 #include <moveit/local_planner/local_constraint_solver_interface.hpp>
 #include <moveit/local_planner/trajectory_operator_interface.hpp>
 
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/buffer.hpp>
+#include <tf2_ros/transform_listener.hpp>
 
 // Forward declaration of parameter class allows users to implement custom parameters
 namespace local_planner_parameters
diff --git a/moveit_ros/move_group/src/move_group.cpp b/moveit_ros/move_group/src/move_group.cpp
index 2389100756..ec561f0c22 100644
--- a/moveit_ros/move_group/src/move_group.cpp
+++ b/moveit_ros/move_group/src/move_group.cpp
@@ -36,7 +36,7 @@
 
 #include <moveit/moveit_cpp/moveit_cpp.hpp>
 #include <moveit/planning_scene_monitor/planning_scene_monitor.hpp>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_listener.hpp>
 #include <moveit/move_group/move_group_capability.hpp>
 #include <moveit/trajectory_execution_manager/trajectory_execution_manager.hpp>
 #include <boost/tokenizer.hpp>
diff --git a/moveit_ros/moveit_servo/demos/cpp_interface/demo_pose.cpp b/moveit_ros/moveit_servo/demos/cpp_interface/demo_pose.cpp
index 4c713fd8b6..24e9bc33a3 100644
--- a/moveit_ros/moveit_servo/demos/cpp_interface/demo_pose.cpp
+++ b/moveit_ros/moveit_servo/demos/cpp_interface/demo_pose.cpp
@@ -45,7 +45,7 @@
 #include <mutex>
 #include <rclcpp/rclcpp.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_listener.hpp>
 #include <moveit/utils/logger.hpp>
 
 using namespace moveit_servo;
diff --git a/moveit_ros/moveit_servo/demos/cpp_interface/demo_twist.cpp b/moveit_ros/moveit_servo/demos/cpp_interface/demo_twist.cpp
index 8c92fa4cfc..a73f319b3c 100644
--- a/moveit_ros/moveit_servo/demos/cpp_interface/demo_twist.cpp
+++ b/moveit_ros/moveit_servo/demos/cpp_interface/demo_twist.cpp
@@ -44,7 +44,7 @@
 #include <moveit_servo/utils/common.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_listener.hpp>
 #include <moveit/utils/logger.hpp>
 
 using namespace moveit_servo;
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo.hpp b/moveit_ros/moveit_servo/include/moveit_servo/servo.hpp
index 88a8f91665..986c0b872c 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo.hpp
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo.hpp
@@ -51,7 +51,7 @@
 #include <pluginlib/class_loader.hpp>
 #include <sensor_msgs/msg/joint_state.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_listener.hpp>
 #include <variant>
 #include <rclcpp/logger.hpp>
 #include <queue>
diff --git a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_monitor.hpp b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_monitor.hpp
index 7f58505143..1a50ab64f5 100644
--- a/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_monitor.hpp
+++ b/moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_monitor.hpp
@@ -42,7 +42,7 @@
 #include <moveit_msgs/srv/save_map.hpp>
 
 #include <rclcpp/rclcpp.hpp>
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
 
 #include <functional>
 #include <memory>
diff --git a/moveit_ros/occupancy_map_monitor/src/occupancy_map_server.cpp b/moveit_ros/occupancy_map_monitor/src/occupancy_map_server.cpp
index 7cd0dbb9bc..2ed8a6cc39 100644
--- a/moveit_ros/occupancy_map_monitor/src/occupancy_map_server.cpp
+++ b/moveit_ros/occupancy_map_monitor/src/occupancy_map_server.cpp
@@ -37,7 +37,7 @@
 #include <moveit/occupancy_map_monitor/occupancy_map_monitor.hpp>
 
 #include <octomap_msgs/conversions.h>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_listener.hpp>
 #include <rclcpp/clock.hpp>
 #include <rclcpp/executors.hpp>
 #include <rclcpp/experimental/buffers/intra_process_buffer.hpp>
diff --git a/moveit_ros/occupancy_map_monitor/test/occupancy_map_monitor_tests.cpp b/moveit_ros/occupancy_map_monitor/test/occupancy_map_monitor_tests.cpp
index 207480e531..77ab5aba7c 100644
--- a/moveit_ros/occupancy_map_monitor/test/occupancy_map_monitor_tests.cpp
+++ b/moveit_ros/occupancy_map_monitor/test/occupancy_map_monitor_tests.cpp
@@ -38,7 +38,7 @@
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
 
 #include <memory>
 #include <string>
diff --git a/moveit_ros/perception/depth_image_octomap_updater/include/moveit/depth_image_octomap_updater/depth_image_octomap_updater.hpp b/moveit_ros/perception/depth_image_octomap_updater/include/moveit/depth_image_octomap_updater/depth_image_octomap_updater.hpp
index 13d22bcfc9..c76f88d46a 100644
--- a/moveit_ros/perception/depth_image_octomap_updater/include/moveit/depth_image_octomap_updater/depth_image_octomap_updater.hpp
+++ b/moveit_ros/perception/depth_image_octomap_updater/include/moveit/depth_image_octomap_updater/depth_image_octomap_updater.hpp
@@ -37,7 +37,7 @@
 #pragma once
 
 #include <rclcpp/rclcpp.hpp>
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
 #include <moveit/occupancy_map_monitor/occupancy_map_updater.hpp>
 #include <moveit/mesh_filter/mesh_filter.hpp>
 #include <moveit/mesh_filter/stereo_camera_model.hpp>
diff --git a/moveit_ros/perception/mesh_filter/src/transform_provider.cpp b/moveit_ros/perception/mesh_filter/src/transform_provider.cpp
index a21695ed70..ab939ef534 100644
--- a/moveit_ros/perception/mesh_filter/src/transform_provider.cpp
+++ b/moveit_ros/perception/mesh_filter/src/transform_provider.cpp
@@ -35,8 +35,8 @@
 /* Author: Suat Gedikli */
 
 #include <moveit/mesh_filter/transform_provider.hpp>
-#include <tf2_ros/transform_listener.h>
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/transform_listener.hpp>
+#include <tf2_ros/buffer.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
 
 TransformProvider::TransformProvider(double update_rate) : stop_(true), update_rate_(update_rate)
diff --git a/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.hpp b/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.hpp
index cfe085e8c0..3e84809f48 100644
--- a/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.hpp
+++ b/moveit_ros/perception/pointcloud_octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.hpp
@@ -39,8 +39,8 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp/callback_group.hpp>
 #include <rclcpp/version.h>
-#include <tf2_ros/transform_listener.h>
-#include <tf2_ros/message_filter.h>
+#include <tf2_ros/transform_listener.hpp>
+#include <tf2_ros/message_filter.hpp>
 #if RCLCPP_VERSION_GTE(28, 3, 3)  // Rolling
 #include <message_filters/subscriber.hpp>
 #else
diff --git a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
index 87e539eac9..87ece33ba5 100644
--- a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
+++ b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
@@ -51,7 +51,7 @@
 #endif
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 #include <tf2_ros/create_timer_interface.h>
-#include <tf2_ros/create_timer_ros.h>
+#include <tf2_ros/create_timer_ros.hpp>
 #include <moveit/utils/logger.hpp>
 #include <rclcpp/version.h>
 
diff --git a/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.hpp b/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.hpp
index eeaf4ab415..e6821fae90 100644
--- a/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.hpp
+++ b/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.hpp
@@ -45,7 +45,7 @@
 #include <moveit/planning_pipeline/planning_pipeline.hpp>
 #include <moveit/trajectory_execution_manager/trajectory_execution_manager.hpp>
 #include <moveit/robot_state/robot_state.hpp>
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
 
 namespace moveit_cpp
 {
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.hpp b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.hpp
index 273d4b1049..34fa5f092d 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.hpp
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.hpp
@@ -48,7 +48,7 @@
 #include <sensor_msgs/msg/joint_state.hpp>
 #include <tf2_msgs/msg/tf_message.hpp>
 
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
 
 #include <moveit/robot_state/robot_state.hpp>
 
diff --git a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.hpp b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.hpp
index fc965680e5..3d9b9fb097 100644
--- a/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.hpp
+++ b/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.hpp
@@ -37,8 +37,8 @@
 #pragma once
 
 #include <rclcpp/rclcpp.hpp>
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/buffer.hpp>
+#include <tf2_ros/transform_listener.hpp>
 #include <moveit/macros/class_forward.hpp>
 #include <moveit/planning_scene/planning_scene.hpp>
 #include <moveit/robot_model_loader/robot_model_loader.hpp>
diff --git a/moveit_ros/planning/planning_scene_monitor/test/current_state_monitor_tests.cpp b/moveit_ros/planning/planning_scene_monitor/test/current_state_monitor_tests.cpp
index 2977b0f76c..46d25dfa94 100644
--- a/moveit_ros/planning/planning_scene_monitor/test/current_state_monitor_tests.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/test/current_state_monitor_tests.cpp
@@ -43,7 +43,7 @@
 #include <moveit/planning_scene_monitor/current_state_monitor.hpp>
 #include <moveit/utils/robot_model_test_utils.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
 
 struct MockMiddlewareHandle : public planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle
 {
diff --git a/moveit_ros/planning/planning_scene_monitor/test/trajectory_monitor_tests.cpp b/moveit_ros/planning/planning_scene_monitor/test/trajectory_monitor_tests.cpp
index 0b957fdf43..a263c2e5c6 100644
--- a/moveit_ros/planning/planning_scene_monitor/test/trajectory_monitor_tests.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/test/trajectory_monitor_tests.cpp
@@ -44,7 +44,7 @@
 #include <moveit/planning_scene_monitor/current_state_monitor.hpp>
 #include <moveit/utils/robot_model_test_utils.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
 
 using namespace std::chrono_literals;
 
diff --git a/moveit_ros/planning_interface/common_planning_interface_objects/include/moveit/common_planning_interface_objects/common_objects.hpp b/moveit_ros/planning_interface/common_planning_interface_objects/include/moveit/common_planning_interface_objects/common_objects.hpp
index 0295e3216b..121d3a5a16 100644
--- a/moveit_ros/planning_interface/common_planning_interface_objects/include/moveit/common_planning_interface_objects/common_objects.hpp
+++ b/moveit_ros/planning_interface/common_planning_interface_objects/include/moveit/common_planning_interface_objects/common_objects.hpp
@@ -37,7 +37,7 @@
 #pragma once
 
 #include <memory>
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
 #include <moveit/planning_scene_monitor/current_state_monitor.hpp>
 #include <moveit/robot_model_loader/robot_model_loader.hpp>
 
diff --git a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.hpp b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.hpp
index 7692dc4f6a..3d3b220fe1 100644
--- a/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.hpp
+++ b/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.hpp
@@ -56,7 +56,7 @@
 
 #include <memory>
 #include <utility>
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
 
 #include <moveit_move_group_interface_export.h>
 
diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
index 37c2471c2a..94e97803fb 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -68,7 +68,7 @@
 #include <tf2/utils.h>
 #endif
 #include <tf2_eigen/tf2_eigen.hpp>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_listener.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp/version.h>
 
diff --git a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.hpp b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.hpp
index 1221ffb3d4..6f1fa1282b 100644
--- a/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.hpp
+++ b/moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.hpp
@@ -39,10 +39,9 @@
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <moveit/macros/class_forward.hpp>
 #include <moveit/robot_interaction/locked_robot_state.hpp>
-//#include <moveit/robot_interaction/robot_interaction.hpp>
 #include <visualization_msgs/msg/interactive_marker_feedback.hpp>
 #include <interactive_markers/menu_handler.hpp>
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
 
 namespace robot_interaction
 {
diff --git a/moveit_ros/trajectory_cache/include/moveit/trajectory_cache/utils/utils.hpp b/moveit_ros/trajectory_cache/include/moveit/trajectory_cache/utils/utils.hpp
index f754754b04..08bec94e15 100644
--- a/moveit_ros/trajectory_cache/include/moveit/trajectory_cache/utils/utils.hpp
+++ b/moveit_ros/trajectory_cache/include/moveit/trajectory_cache/utils/utils.hpp
@@ -27,7 +27,7 @@
 #include <moveit_msgs/msg/robot_trajectory.hpp>
 #include <moveit_msgs/srv/get_cartesian_path.hpp>
 
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
 
 #include <warehouse_ros/message_collection.h>
 
diff --git a/moveit_ros/trajectory_cache/src/utils/utils.cpp b/moveit_ros/trajectory_cache/src/utils/utils.cpp
index 5d3a293408..6be28158ad 100644
--- a/moveit_ros/trajectory_cache/src/utils/utils.cpp
+++ b/moveit_ros/trajectory_cache/src/utils/utils.cpp
@@ -28,7 +28,7 @@
 #include <moveit_msgs/msg/constraints.hpp>
 #include <moveit_msgs/srv/get_cartesian_path.hpp>
 
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
 
 #include <warehouse_ros/message_collection.h>
 
diff --git a/moveit_ros/trajectory_cache/test/utils/test_utils.cpp b/moveit_ros/trajectory_cache/test/utils/test_utils.cpp
index 835b1de2af..b6c6e89d1d 100644
--- a/moveit_ros/trajectory_cache/test/utils/test_utils.cpp
+++ b/moveit_ros/trajectory_cache/test/utils/test_utils.cpp
@@ -25,7 +25,7 @@
 #include <moveit_msgs/msg/orientation_constraint.hpp>
 #include <moveit_msgs/msg/position_constraint.hpp>
 
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
 
 #include "../fixtures/warehouse_fixture.hpp"
 
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
index 074545f324..afd8cd2f28 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -47,7 +47,7 @@
 
 #include <rviz_common/display_context.hpp>
 #include <rviz_common/frame_manager_iface.hpp>
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
 
 #include <std_srvs/srv/empty.hpp>
 
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
index 4bce580a25..3d9f3ad927 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
@@ -50,7 +50,7 @@
 #include <rviz_common/properties/color_property.hpp>
 #include <rviz_common/properties/enum_property.hpp>
 #include <rviz_common/display_context.hpp>
-#include <tf2_ros/buffer.h>
+#include <tf2_ros/buffer.hpp>
 
 #include <OgreSceneManager.h>
 #include <OgreSceneNode.h>
diff --git a/moveit_ros/warehouse/src/save_to_warehouse.cpp b/moveit_ros/warehouse/src/save_to_warehouse.cpp
index b837cec649..7521331f35 100644
--- a/moveit_ros/warehouse/src/save_to_warehouse.cpp
+++ b/moveit_ros/warehouse/src/save_to_warehouse.cpp
@@ -44,7 +44,7 @@
 #include <boost/program_options/parsers.hpp>
 #include <boost/program_options/variables_map.hpp>
 #include <fmt/format.h>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_listener.hpp>
 #include <rclcpp/executors.hpp>
 #include <rclcpp/experimental/buffers/intra_process_buffer.hpp>
 #include <rclcpp/logger.hpp>