From 79075b5f0ae6eda1054ac101208b1b43bc1f818b Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Sun, 19 Jan 2025 18:20:49 +0100
Subject: [PATCH] Revert "Use .hpp headers (#641)"

This reverts commit 3cd567e09b2c4f5ea6561921e7c736ff5331cffc.
---
 .clang-tidy                                        |  1 +
 .../src/execute_task_solution_capability.cpp       | 14 +++++++-------
 .../src/execute_task_solution_capability.h         |  2 +-
 core/include/moveit/task_constructor/container_p.h |  2 +-
 .../moveit/task_constructor/introspection.h        |  2 +-
 .../include/moveit/task_constructor/marker_tools.h |  2 +-
 core/include/moveit/task_constructor/merge.h       |  6 +++---
 .../moveit/task_constructor/moveit_compat.h        |  4 ++--
 .../task_constructor/solvers/joint_interpolation.h |  2 +-
 .../task_constructor/solvers/pipeline_planner.h    |  2 +-
 .../task_constructor/solvers/planner_interface.h   |  2 +-
 core/include/moveit/task_constructor/stage.h       |  2 +-
 .../stages/fix_collision_objects.h                 |  2 +-
 core/include/moveit/task_constructor/stages/noop.h |  2 +-
 core/include/moveit/task_constructor/stages/pick.h |  2 +-
 .../moveit/task_constructor/stages/simple_grasp.h  |  2 +-
 core/include/moveit/task_constructor/storage.h     |  2 +-
 core/include/moveit/task_constructor/task.h        |  4 ++--
 core/include/moveit/task_constructor/utils.h       |  2 +-
 core/python/bindings/src/core.cpp                  |  6 +++---
 core/python/bindings/src/core.h                    |  2 +-
 core/python/bindings/src/stages.cpp                |  2 +-
 core/src/container.cpp                             |  4 ++--
 core/src/cost_terms.cpp                            |  8 ++++----
 core/src/introspection.cpp                         |  2 +-
 core/src/marker_tools.cpp                          |  4 ++--
 core/src/solvers/cartesian_path.cpp                |  8 ++++----
 core/src/solvers/joint_interpolation.cpp           |  4 ++--
 core/src/solvers/multi_planner.cpp                 |  2 +-
 core/src/solvers/pipeline_planner.cpp              |  6 +++---
 core/src/solvers/planner_interface.cpp             |  2 +-
 core/src/stage.cpp                                 |  2 +-
 core/src/stages/compute_ik.cpp                     |  6 +++---
 core/src/stages/connect.cpp                        |  4 ++--
 core/src/stages/current_state.cpp                  |  4 ++--
 core/src/stages/fix_collision_objects.cpp          |  2 +-
 core/src/stages/fixed_cartesian_poses.cpp          |  2 +-
 core/src/stages/fixed_state.cpp                    |  2 +-
 core/src/stages/generate_grasp_pose.cpp            |  4 ++--
 core/src/stages/generate_place_pose.cpp            |  6 +++---
 core/src/stages/generate_pose.cpp                  |  2 +-
 core/src/stages/generate_random_pose.cpp           |  2 +-
 core/src/stages/modify_planning_scene.cpp          |  2 +-
 core/src/stages/move_relative.cpp                  |  2 +-
 core/src/stages/move_to.cpp                        |  6 +++---
 core/src/stages/pick.cpp                           |  2 +-
 core/src/stages/predicate_filter.cpp               |  6 +++---
 core/src/stages/simple_grasp.cpp                   |  2 +-
 core/src/storage.cpp                               |  6 +++---
 core/src/task.cpp                                  |  4 ++--
 core/src/utils.cpp                                 |  4 ++--
 core/test/models.cpp                               |  4 ++--
 core/test/models.h                                 |  2 +-
 core/test/pick_pa10.cpp                            |  2 +-
 core/test/pick_pr2.cpp                             |  2 +-
 core/test/pick_ur5.cpp                             |  2 +-
 core/test/stage_mockups.cpp                        |  2 +-
 core/test/stage_mockups.h                          |  2 +-
 core/test/test_container.cpp                       |  2 +-
 core/test/test_cost_terms.cpp                      |  2 +-
 core/test/test_fallback.cpp                        |  2 +-
 core/test/test_interface_state.cpp                 |  2 +-
 core/test/test_move_relative.cpp                   |  4 ++--
 core/test/test_move_to.cpp                         |  2 +-
 core/test/test_serial.cpp                          |  4 ++--
 core/test/test_stage.cpp                           |  2 +-
 .../moveit_task_constructor_demo/pick_place_task.h |  6 +++---
 demo/src/alternative_path_costs.cpp                |  2 +-
 demo/src/cartesian.cpp                             |  2 +-
 demo/src/fallbacks_move_to.cpp                     |  4 ++--
 demo/src/ik_clearance_cost.cpp                     |  2 +-
 demo/src/modular.cpp                               |  2 +-
 .../src/meta_task_list_model.h                     |  2 +-
 .../src/remote_task_model.cpp                      |  2 +-
 .../motion_planning_tasks/src/task_display.cpp     |  4 ++--
 .../motion_planning_tasks/src/task_display.h       |  2 +-
 .../motion_planning_tasks/src/task_list_model.h    |  2 +-
 .../motion_planning_tasks/src/task_panel.h         |  2 +-
 .../moveit/visualization_tools/display_solution.h  |  2 +-
 .../visualization_tools/marker_visualization.h     |  2 +-
 .../task_solution_visualization.h                  |  2 +-
 .../visualization_tools/src/display_solution.cpp   |  4 ++--
 .../src/marker_visualization.cpp                   |  2 +-
 .../src/task_solution_visualization.cpp            | 12 ++++++------
 84 files changed, 135 insertions(+), 134 deletions(-)

diff --git a/.clang-tidy b/.clang-tidy
index ed398ab43..181fbf69c 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -17,6 +17,7 @@ Checks:          'performance-*,
                   readability-identifier-naming,
                   '
 HeaderFilterRegex: '.*/moveit/task_constructor/.*\.h'
+AnalyzeTemporaryDtors: false
 CheckOptions:
   - key:             llvm-namespace-comment.ShortNamespaceLines
     value:           '10'
diff --git a/capabilities/src/execute_task_solution_capability.cpp b/capabilities/src/execute_task_solution_capability.cpp
index 8acbd1831..b977b6b6b 100644
--- a/capabilities/src/execute_task_solution_capability.cpp
+++ b/capabilities/src/execute_task_solution_capability.cpp
@@ -36,13 +36,13 @@
 
 #include "execute_task_solution_capability.h"
 
-#include <moveit/moveit_cpp/moveit_cpp.hpp>
-#include <moveit/plan_execution/plan_execution.hpp>
-#include <moveit/trajectory_processing/trajectory_tools.hpp>
-#include <moveit/kinematic_constraints/utils.hpp>
-#include <moveit/move_group/capability_names.hpp>
-#include <moveit/robot_state/conversions.hpp>
-#include <moveit/utils/message_checks.hpp>
+#include <moveit/moveit_cpp/moveit_cpp.h>
+#include <moveit/plan_execution/plan_execution.h>
+#include <moveit/trajectory_processing/trajectory_tools.h>
+#include <moveit/kinematic_constraints/utils.h>
+#include <moveit/move_group/capability_names.h>
+#include <moveit/robot_state/conversions.h>
+#include <moveit/utils/message_checks.h>
 #include <fmt/format.h>
 
 namespace {
diff --git a/capabilities/src/execute_task_solution_capability.h b/capabilities/src/execute_task_solution_capability.h
index 0dfd12d13..26b437c53 100644
--- a/capabilities/src/execute_task_solution_capability.h
+++ b/capabilities/src/execute_task_solution_capability.h
@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include <moveit/move_group/move_group_capability.hpp>
+#include <moveit/move_group/move_group_capability.h>
 #include <rclcpp_action/rclcpp_action.hpp>
 
 #include <moveit_task_constructor_msgs/action/execute_task_solution.hpp>
diff --git a/core/include/moveit/task_constructor/container_p.h b/core/include/moveit/task_constructor/container_p.h
index 6c16aef41..c9fb61f2c 100644
--- a/core/include/moveit/task_constructor/container_p.h
+++ b/core/include/moveit/task_constructor/container_p.h
@@ -39,7 +39,7 @@
 #pragma once
 
 #include <moveit/task_constructor/container.h>
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/macros/class_forward.h>
 #include "stage_p.h"
 
 #include <boost/bimap.hpp>
diff --git a/core/include/moveit/task_constructor/introspection.h b/core/include/moveit/task_constructor/introspection.h
index cf4dfb764..10652d329 100644
--- a/core/include/moveit/task_constructor/introspection.h
+++ b/core/include/moveit/task_constructor/introspection.h
@@ -38,7 +38,7 @@
 
 #pragma once
 
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/macros/class_forward.h>
 #include <moveit_task_constructor_msgs/msg/task_description.hpp>
 #include <moveit_task_constructor_msgs/msg/task_statistics.hpp>
 #include <moveit_task_constructor_msgs/msg/solution.hpp>
diff --git a/core/include/moveit/task_constructor/marker_tools.h b/core/include/moveit/task_constructor/marker_tools.h
index cded66e16..2ac47927f 100644
--- a/core/include/moveit/task_constructor/marker_tools.h
+++ b/core/include/moveit/task_constructor/marker_tools.h
@@ -2,7 +2,7 @@
 
 #include <rviz_marker_tools/marker_creation.h>
 #include <visualization_msgs/msg/marker.hpp>
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/macros/class_forward.h>
 #include <functional>
 
 namespace planning_scene {
diff --git a/core/include/moveit/task_constructor/merge.h b/core/include/moveit/task_constructor/merge.h
index 6ddeab7c9..734418f1a 100644
--- a/core/include/moveit/task_constructor/merge.h
+++ b/core/include/moveit/task_constructor/merge.h
@@ -37,9 +37,9 @@
 #pragma once
 
 #include <moveit/task_constructor/storage.h>
-#include <moveit/robot_model/robot_model.hpp>
-#include <moveit/robot_trajectory/robot_trajectory.hpp>
-#include <moveit/trajectory_processing/time_parameterization.hpp>
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_trajectory/robot_trajectory.h>
+#include <moveit/trajectory_processing/time_parameterization.h>
 
 namespace moveit {
 namespace task_constructor {
diff --git a/core/include/moveit/task_constructor/moveit_compat.h b/core/include/moveit/task_constructor/moveit_compat.h
index 4427249e1..f48935070 100644
--- a/core/include/moveit/task_constructor/moveit_compat.h
+++ b/core/include/moveit/task_constructor/moveit_compat.h
@@ -38,8 +38,8 @@
 
 #pragma once
 
-#include <moveit/version.hpp>
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/version.h>
+#include <moveit/macros/class_forward.h>
 
 #define MOVEIT_VERSION_GE(major, minor, patch)                                                \
 	(MOVEIT_VERSION_MAJOR * 1'000'000 + MOVEIT_VERSION_MINOR * 1'000 + MOVEIT_VERSION_PATCH >= \
diff --git a/core/include/moveit/task_constructor/solvers/joint_interpolation.h b/core/include/moveit/task_constructor/solvers/joint_interpolation.h
index 8adc28984..0adc6979c 100644
--- a/core/include/moveit/task_constructor/solvers/joint_interpolation.h
+++ b/core/include/moveit/task_constructor/solvers/joint_interpolation.h
@@ -39,7 +39,7 @@
 #pragma once
 
 #include <moveit/task_constructor/solvers/planner_interface.h>
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/macros/class_forward.h>
 
 namespace moveit {
 namespace task_constructor {
diff --git a/core/include/moveit/task_constructor/solvers/pipeline_planner.h b/core/include/moveit/task_constructor/solvers/pipeline_planner.h
index 8a5c2e530..ed0aaa65e 100644
--- a/core/include/moveit/task_constructor/solvers/pipeline_planner.h
+++ b/core/include/moveit/task_constructor/solvers/pipeline_planner.h
@@ -41,7 +41,7 @@
 #include <moveit/task_constructor/solvers/planner_interface.h>
 #include <moveit_msgs/msg/motion_plan_request.hpp>
 #include <rclcpp/node.hpp>
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/macros/class_forward.h>
 
 namespace planning_pipeline {
 MOVEIT_CLASS_FORWARD(PlanningPipeline);
diff --git a/core/include/moveit/task_constructor/solvers/planner_interface.h b/core/include/moveit/task_constructor/solvers/planner_interface.h
index 361db751a..33f9e627e 100644
--- a/core/include/moveit/task_constructor/solvers/planner_interface.h
+++ b/core/include/moveit/task_constructor/solvers/planner_interface.h
@@ -38,7 +38,7 @@
 
 #pragma once
 
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/macros/class_forward.h>
 #include <moveit_msgs/msg/constraints.hpp>
 #include <moveit/task_constructor/properties.h>
 #include <Eigen/Geometry>
diff --git a/core/include/moveit/task_constructor/stage.h b/core/include/moveit/task_constructor/stage.h
index af4ec063c..f75a1be59 100644
--- a/core/include/moveit/task_constructor/stage.h
+++ b/core/include/moveit/task_constructor/stage.h
@@ -41,7 +41,7 @@
 
 #include "trajectory_execution_info.h"
 #include "utils.h"
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/macros/class_forward.h>
 #include <moveit/task_constructor/storage.h>
 #include <vector>
 #include <list>
diff --git a/core/include/moveit/task_constructor/stages/fix_collision_objects.h b/core/include/moveit/task_constructor/stages/fix_collision_objects.h
index 1d10cef94..823d85322 100644
--- a/core/include/moveit/task_constructor/stages/fix_collision_objects.h
+++ b/core/include/moveit/task_constructor/stages/fix_collision_objects.h
@@ -41,7 +41,7 @@
 #include <moveit/task_constructor/storage.h>
 #include <moveit/task_constructor/stage.h>
 #include <geometry_msgs/msg/vector3.hpp>
-#include <moveit/collision_detection/collision_common.hpp>
+#include <moveit/collision_detection/collision_common.h>
 
 namespace moveit {
 namespace task_constructor {
diff --git a/core/include/moveit/task_constructor/stages/noop.h b/core/include/moveit/task_constructor/stages/noop.h
index 9f770c773..02f41994f 100644
--- a/core/include/moveit/task_constructor/stages/noop.h
+++ b/core/include/moveit/task_constructor/stages/noop.h
@@ -36,7 +36,7 @@
 #pragma once
 
 #include <moveit/task_constructor/stage.h>
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 
 namespace moveit {
 namespace task_constructor {
diff --git a/core/include/moveit/task_constructor/stages/pick.h b/core/include/moveit/task_constructor/stages/pick.h
index 621010fb1..8ee67e4ee 100644
--- a/core/include/moveit/task_constructor/stages/pick.h
+++ b/core/include/moveit/task_constructor/stages/pick.h
@@ -36,7 +36,7 @@
 
 #pragma once
 
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/macros/class_forward.h>
 #include <moveit/task_constructor/container.h>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 
diff --git a/core/include/moveit/task_constructor/stages/simple_grasp.h b/core/include/moveit/task_constructor/stages/simple_grasp.h
index 29960cbd6..7fe83cd22 100644
--- a/core/include/moveit/task_constructor/stages/simple_grasp.h
+++ b/core/include/moveit/task_constructor/stages/simple_grasp.h
@@ -37,7 +37,7 @@
 #pragma once
 
 #include <moveit/task_constructor/container.h>
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/macros/class_forward.h>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <Eigen/Geometry>
 
diff --git a/core/include/moveit/task_constructor/storage.h b/core/include/moveit/task_constructor/storage.h
index ff87e355d..46d996c27 100644
--- a/core/include/moveit/task_constructor/storage.h
+++ b/core/include/moveit/task_constructor/storage.h
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/macros/class_forward.h>
 #include <moveit/task_constructor/properties.h>
 #include <moveit/task_constructor/cost_queue.h>
 #include <moveit_task_constructor_msgs/msg/solution.hpp>
diff --git a/core/include/moveit/task_constructor/task.h b/core/include/moveit/task_constructor/task.h
index 8351bc4e7..fae0f7212 100644
--- a/core/include/moveit/task_constructor/task.h
+++ b/core/include/moveit/task_constructor/task.h
@@ -44,10 +44,10 @@
 #include <moveit/task_constructor/introspection.h>
 #include <moveit_task_constructor_msgs/msg/solution.hpp>
 
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/macros/class_forward.h>
 
 #include <moveit_msgs/msg/move_it_error_codes.hpp>
-#include <moveit/utils/moveit_error_code.hpp>
+#include <moveit/utils/moveit_error_code.h>
 
 #include <rclcpp/node.hpp>
 
diff --git a/core/include/moveit/task_constructor/utils.h b/core/include/moveit/task_constructor/utils.h
index d1463fabc..a2b30ec6c 100644
--- a/core/include/moveit/task_constructor/utils.h
+++ b/core/include/moveit/task_constructor/utils.h
@@ -44,7 +44,7 @@
 
 #include <Eigen/Geometry>
 
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/macros/class_forward.h>
 
 namespace planning_scene {
 MOVEIT_CLASS_FORWARD(PlanningScene);
diff --git a/core/python/bindings/src/core.cpp b/core/python/bindings/src/core.cpp
index f770131d1..7eeda4900 100644
--- a/core/python/bindings/src/core.cpp
+++ b/core/python/bindings/src/core.cpp
@@ -40,9 +40,9 @@
 #include <moveit/task_constructor/container_p.h>
 #include <moveit/task_constructor/task.h>
 
-#include <moveit/planning_scene/planning_scene.hpp>
-#include <moveit/planning_scene_interface/planning_scene_interface.hpp>
-#include <moveit/move_group_interface/move_group_interface.hpp>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/planning_scene_interface/planning_scene_interface.h>
+#include <moveit/move_group_interface/move_group_interface.h>
 
 namespace py = pybind11;
 using namespace py::literals;
diff --git a/core/python/bindings/src/core.h b/core/python/bindings/src/core.h
index 9c7f4e3de..84dd6349a 100644
--- a/core/python/bindings/src/core.h
+++ b/core/python/bindings/src/core.h
@@ -38,7 +38,7 @@
 #include <moveit/task_constructor/container.h>
 #include <moveit/task_constructor/cost_queue.h>
 #include <moveit/task_constructor/cost_terms.h>
-#include <moveit/utils/moveit_error_code.hpp>
+#include <moveit/utils/moveit_error_code.h>
 #include <pybind11/smart_holder.h>
 
 /** Trampoline classes to allow inheritance in Python (overriding virtual functions) */
diff --git a/core/python/bindings/src/stages.cpp b/core/python/bindings/src/stages.cpp
index 6ebb1e80e..508225130 100644
--- a/core/python/bindings/src/stages.cpp
+++ b/core/python/bindings/src/stages.cpp
@@ -37,7 +37,7 @@
 #include <moveit/task_constructor/stages.h>
 #include <moveit/task_constructor/stages/pick.h>
 #include <moveit/task_constructor/stages/simple_grasp.h>
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 #include <moveit_msgs/msg/planning_scene.hpp>
 #include <pybind11/stl.h>
 #include <py_binding_tools/ros_msg_typecasters.h>
diff --git a/core/src/container.cpp b/core/src/container.cpp
index e5c255820..eeeab0946 100644
--- a/core/src/container.cpp
+++ b/core/src/container.cpp
@@ -38,8 +38,8 @@
 #include <moveit/task_constructor/introspection.h>
 #include <moveit/task_constructor/merge.h>
 #include <moveit/task_constructor/fmt_p.h>
-#include <moveit/planning_scene/planning_scene.hpp>
-#include <moveit/trajectory_processing/time_optimal_trajectory_generation.hpp>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
 
 #include <rclcpp/logger.hpp>
 #include <rclcpp/logging.hpp>
diff --git a/core/src/cost_terms.cpp b/core/src/cost_terms.cpp
index 179731495..4afeffe97 100644
--- a/core/src/cost_terms.cpp
+++ b/core/src/cost_terms.cpp
@@ -38,10 +38,10 @@
 #include <moveit/task_constructor/stage.h>
 #include <moveit/task_constructor/fmt_p.h>
 
-#include <moveit/collision_detection/collision_common.hpp>
-#include <moveit/robot_trajectory/robot_trajectory.hpp>
-#include <moveit/planning_scene/planning_scene.hpp>
-#include <moveit/robot_state/conversions.hpp>
+#include <moveit/collision_detection/collision_common.h>
+#include <moveit/robot_trajectory/robot_trajectory.h>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/robot_state/conversions.h>
 
 #include <Eigen/Geometry>
 
diff --git a/core/src/introspection.cpp b/core/src/introspection.cpp
index d938f95ee..9f297c6e8 100644
--- a/core/src/introspection.cpp
+++ b/core/src/introspection.cpp
@@ -44,7 +44,7 @@
 #include <rclcpp/node.hpp>
 #include <rclcpp/publisher.hpp>
 #include <rclcpp/service.hpp>
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 
 #include <sstream>
 #include <boost/bimap.hpp>
diff --git a/core/src/marker_tools.cpp b/core/src/marker_tools.cpp
index 5903a6c08..0ec7ea4ab 100644
--- a/core/src/marker_tools.cpp
+++ b/core/src/marker_tools.cpp
@@ -1,6 +1,6 @@
 #include <moveit/task_constructor/marker_tools.h>
-#include <moveit/planning_scene/planning_scene.hpp>
-#include <moveit/robot_state/robot_state.hpp>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/robot_state/robot_state.h>
 
 namespace vm = visualization_msgs;
 
diff --git a/core/src/solvers/cartesian_path.cpp b/core/src/solvers/cartesian_path.cpp
index 96058c5d3..cff4fa0b9 100644
--- a/core/src/solvers/cartesian_path.cpp
+++ b/core/src/solvers/cartesian_path.cpp
@@ -38,10 +38,10 @@
 
 #include <moveit/task_constructor/solvers/cartesian_path.h>
 #include <moveit/task_constructor/utils.h>
-#include <moveit/planning_scene/planning_scene.hpp>
-#include <moveit/trajectory_processing/time_parameterization.hpp>
-#include <moveit/kinematics_base/kinematics_base.hpp>
-#include <moveit/robot_state/cartesian_interpolator.hpp>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/trajectory_processing/time_parameterization.h>
+#include <moveit/kinematics_base/kinematics_base.h>
+#include <moveit/robot_state/cartesian_interpolator.h>
 #if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
 #else
diff --git a/core/src/solvers/joint_interpolation.cpp b/core/src/solvers/joint_interpolation.cpp
index 3886c9093..8c092e0e3 100644
--- a/core/src/solvers/joint_interpolation.cpp
+++ b/core/src/solvers/joint_interpolation.cpp
@@ -37,8 +37,8 @@
 */
 
 #include <moveit/task_constructor/solvers/joint_interpolation.h>
-#include <moveit/planning_scene/planning_scene.hpp>
-#include <moveit/trajectory_processing/time_parameterization.hpp>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/trajectory_processing/time_parameterization.h>
 
 #include <chrono>
 
diff --git a/core/src/solvers/multi_planner.cpp b/core/src/solvers/multi_planner.cpp
index 6a7017831..59b48d9af 100644
--- a/core/src/solvers/multi_planner.cpp
+++ b/core/src/solvers/multi_planner.cpp
@@ -37,7 +37,7 @@
 */
 
 #include <moveit/task_constructor/solvers/multi_planner.h>
-#include <moveit/robot_trajectory/robot_trajectory.hpp>
+#include <moveit/robot_trajectory/robot_trajectory.h>
 #include <chrono>
 
 namespace moveit {
diff --git a/core/src/solvers/pipeline_planner.cpp b/core/src/solvers/pipeline_planner.cpp
index 358aba01e..d0d44e77a 100644
--- a/core/src/solvers/pipeline_planner.cpp
+++ b/core/src/solvers/pipeline_planner.cpp
@@ -38,10 +38,10 @@
 
 #include <moveit/task_constructor/solvers/pipeline_planner.h>
 #include <moveit/task_constructor/task.h>
-#include <moveit/planning_scene/planning_scene.hpp>
-#include <moveit/planning_pipeline/planning_pipeline.hpp>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/planning_pipeline/planning_pipeline.h>
 #include <moveit_msgs/msg/motion_plan_request.hpp>
-#include <moveit/kinematic_constraints/utils.hpp>
+#include <moveit/kinematic_constraints/utils.h>
 
 #if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
diff --git a/core/src/solvers/planner_interface.cpp b/core/src/solvers/planner_interface.cpp
index 9163e97cd..a58b110da 100644
--- a/core/src/solvers/planner_interface.cpp
+++ b/core/src/solvers/planner_interface.cpp
@@ -37,7 +37,7 @@
 */
 
 #include <moveit/task_constructor/solvers/planner_interface.h>
-#include <moveit/trajectory_processing/time_optimal_trajectory_generation.hpp>
+#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
 
 using namespace trajectory_processing;
 
diff --git a/core/src/stage.cpp b/core/src/stage.cpp
index 085a9d75c..f842e2a64 100644
--- a/core/src/stage.cpp
+++ b/core/src/stage.cpp
@@ -40,7 +40,7 @@
 #include <moveit/task_constructor/introspection.h>
 #include <moveit/task_constructor/fmt_p.h>
 
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 
 #include <rclcpp/logging.hpp>
 
diff --git a/core/src/stages/compute_ik.cpp b/core/src/stages/compute_ik.cpp
index 839db52e8..6644fc95f 100644
--- a/core/src/stages/compute_ik.cpp
+++ b/core/src/stages/compute_ik.cpp
@@ -39,9 +39,9 @@
 #include <moveit/task_constructor/marker_tools.h>
 #include <moveit/task_constructor/fmt_p.h>
 
-#include <moveit/planning_scene/planning_scene.hpp>
-#include <moveit/robot_state/conversions.hpp>
-#include <moveit/robot_state/robot_state.hpp>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/robot_state/conversions.h>
+#include <moveit/robot_state/robot_state.h>
 
 #include <Eigen/Geometry>
 #if __has_include(<tf2_eigen/tf2_eigen.hpp>)
diff --git a/core/src/stages/connect.cpp b/core/src/stages/connect.cpp
index c5a5eab52..3e1923503 100644
--- a/core/src/stages/connect.cpp
+++ b/core/src/stages/connect.cpp
@@ -41,8 +41,8 @@
 #include <moveit/task_constructor/cost_terms.h>
 #include <moveit/task_constructor/fmt_p.h>
 
-#include <moveit/planning_scene/planning_scene.hpp>
-#include <moveit/trajectory_processing/time_optimal_trajectory_generation.hpp>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
 
 #if FMT_VERSION >= 90000
 template <>
diff --git a/core/src/stages/current_state.cpp b/core/src/stages/current_state.cpp
index 66b61368d..5a5d4c158 100644
--- a/core/src/stages/current_state.cpp
+++ b/core/src/stages/current_state.cpp
@@ -41,8 +41,8 @@
 #include <moveit/task_constructor/storage.h>
 #include <moveit_msgs/srv/get_planning_scene.hpp>
 #include <moveit_msgs/msg/planning_scene_components.hpp>
-#include <moveit/planning_scene/planning_scene.hpp>
-#include <moveit/robot_model_loader/robot_model_loader.hpp>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
 #include <rclcpp/rclcpp.hpp>
 
 namespace moveit {
diff --git a/core/src/stages/fix_collision_objects.cpp b/core/src/stages/fix_collision_objects.cpp
index fe225eebc..8b4042ca6 100644
--- a/core/src/stages/fix_collision_objects.cpp
+++ b/core/src/stages/fix_collision_objects.cpp
@@ -40,7 +40,7 @@
 #include <moveit/task_constructor/storage.h>
 #include <moveit/task_constructor/fmt_p.h>
 
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 #include <moveit/task_constructor/cost_terms.h>
 
 #include <rviz_marker_tools/marker_creation.h>
diff --git a/core/src/stages/fixed_cartesian_poses.cpp b/core/src/stages/fixed_cartesian_poses.cpp
index fe0653a1f..97ff83617 100644
--- a/core/src/stages/fixed_cartesian_poses.cpp
+++ b/core/src/stages/fixed_cartesian_poses.cpp
@@ -39,7 +39,7 @@
 #include <moveit/task_constructor/cost_terms.h>
 #include <moveit/task_constructor/marker_tools.h>
 
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 #include <rviz_marker_tools/marker_creation.h>
 
 namespace moveit {
diff --git a/core/src/stages/fixed_state.cpp b/core/src/stages/fixed_state.cpp
index 7a34645a9..0c8ebaade 100644
--- a/core/src/stages/fixed_state.cpp
+++ b/core/src/stages/fixed_state.cpp
@@ -37,7 +37,7 @@
 #include <moveit/task_constructor/stages/fixed_state.h>
 #include <moveit/task_constructor/cost_terms.h>
 
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 
 namespace moveit {
 namespace task_constructor {
diff --git a/core/src/stages/generate_grasp_pose.cpp b/core/src/stages/generate_grasp_pose.cpp
index 8ccc3b3bc..5a886e4c7 100644
--- a/core/src/stages/generate_grasp_pose.cpp
+++ b/core/src/stages/generate_grasp_pose.cpp
@@ -39,8 +39,8 @@
 #include <moveit/task_constructor/marker_tools.h>
 #include <rviz_marker_tools/marker_creation.h>
 
-#include <moveit/planning_scene/planning_scene.hpp>
-#include <moveit/robot_state/conversions.hpp>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/robot_state/conversions.h>
 
 #include <Eigen/Geometry>
 #if __has_include(<tf2_eigen/tf2_eigen.hpp>)
diff --git a/core/src/stages/generate_place_pose.cpp b/core/src/stages/generate_place_pose.cpp
index 0566f07e6..42a3205ca 100644
--- a/core/src/stages/generate_place_pose.cpp
+++ b/core/src/stages/generate_place_pose.cpp
@@ -40,9 +40,9 @@
 
 #include <rviz_marker_tools/marker_creation.h>
 
-#include <moveit/planning_scene/planning_scene.hpp>
-#include <moveit/robot_state/robot_state.hpp>
-#include <moveit/robot_state/attached_body.hpp>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/robot_state/robot_state.h>
+#include <moveit/robot_state/attached_body.h>
 
 #include <Eigen/Geometry>
 #if __has_include(<tf2_eigen/tf2_eigen.hpp>)
diff --git a/core/src/stages/generate_pose.cpp b/core/src/stages/generate_pose.cpp
index 26ea74265..9f00cc9bc 100644
--- a/core/src/stages/generate_pose.cpp
+++ b/core/src/stages/generate_pose.cpp
@@ -38,7 +38,7 @@
 #include <moveit/task_constructor/storage.h>
 #include <moveit/task_constructor/cost_terms.h>
 #include <moveit/task_constructor/marker_tools.h>
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 #include <rviz_marker_tools/marker_creation.h>
 
 namespace moveit {
diff --git a/core/src/stages/generate_random_pose.cpp b/core/src/stages/generate_random_pose.cpp
index ddacfebfc..1ab6cfeef 100644
--- a/core/src/stages/generate_random_pose.cpp
+++ b/core/src/stages/generate_random_pose.cpp
@@ -37,7 +37,7 @@
 #include <moveit/task_constructor/stages/generate_random_pose.h>
 #include <moveit/task_constructor/storage.h>
 #include <moveit/task_constructor/marker_tools.h>
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 #include <rviz_marker_tools/marker_creation.h>
 
 #include <Eigen/Geometry>
diff --git a/core/src/stages/modify_planning_scene.cpp b/core/src/stages/modify_planning_scene.cpp
index 55feac1e8..21b86a4e5 100644
--- a/core/src/stages/modify_planning_scene.cpp
+++ b/core/src/stages/modify_planning_scene.cpp
@@ -41,7 +41,7 @@
 #include <moveit/task_constructor/cost_terms.h>
 #include <moveit/task_constructor/fmt_p.h>
 
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 
 namespace moveit {
 namespace task_constructor {
diff --git a/core/src/stages/move_relative.cpp b/core/src/stages/move_relative.cpp
index c0bf6d6d0..46e4208bc 100644
--- a/core/src/stages/move_relative.cpp
+++ b/core/src/stages/move_relative.cpp
@@ -39,7 +39,7 @@
 #include <moveit/task_constructor/stages/move_relative.h>
 #include <moveit/task_constructor/cost_terms.h>
 
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 #include <rviz_marker_tools/marker_creation.h>
 #if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
diff --git a/core/src/stages/move_to.cpp b/core/src/stages/move_to.cpp
index 7399fcb43..59f311e57 100644
--- a/core/src/stages/move_to.cpp
+++ b/core/src/stages/move_to.cpp
@@ -36,8 +36,8 @@
    Desc:    Move to joint-state or Cartesian goal pose
 */
 
-#include <moveit/planning_scene/planning_scene.hpp>
-#include <moveit/robot_state/conversions.hpp>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/robot_state/conversions.h>
 
 #include <moveit/task_constructor/stages/move_to.h>
 #include <moveit/task_constructor/cost_terms.h>
@@ -49,7 +49,7 @@
 #else
 #include <tf2_eigen/tf2_eigen.h>
 #endif
-#include <moveit/robot_state/conversions.hpp>
+#include <moveit/robot_state/conversions.h>
 
 namespace moveit {
 namespace task_constructor {
diff --git a/core/src/stages/pick.cpp b/core/src/stages/pick.cpp
index 116f09f49..6a2e9987a 100644
--- a/core/src/stages/pick.cpp
+++ b/core/src/stages/pick.cpp
@@ -5,7 +5,7 @@
 #include <moveit/task_constructor/container.h>
 #include <moveit/task_constructor/stages/move_relative.h>
 
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 
 namespace moveit {
 namespace task_constructor {
diff --git a/core/src/stages/predicate_filter.cpp b/core/src/stages/predicate_filter.cpp
index 39c7a5111..869f67d01 100644
--- a/core/src/stages/predicate_filter.cpp
+++ b/core/src/stages/predicate_filter.cpp
@@ -37,10 +37,10 @@
 
 #include <moveit/task_constructor/storage.h>
 
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 
-#include <moveit/robot_state/conversions.hpp>
-#include <moveit/robot_state/robot_state.hpp>
+#include <moveit/robot_state/conversions.h>
+#include <moveit/robot_state/robot_state.h>
 
 #include <functional>
 
diff --git a/core/src/stages/simple_grasp.cpp b/core/src/stages/simple_grasp.cpp
index 1cc5318d0..edd189e5a 100644
--- a/core/src/stages/simple_grasp.cpp
+++ b/core/src/stages/simple_grasp.cpp
@@ -41,7 +41,7 @@
 #include <moveit/task_constructor/stages/move_to.h>
 #include <moveit/task_constructor/solvers/joint_interpolation.h>
 
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 
 #include <Eigen/Geometry>
 #if __has_include(<tf2_eigen/tf2_eigen.hpp>)
diff --git a/core/src/storage.cpp b/core/src/storage.cpp
index 4d87692b4..3ce72e032 100644
--- a/core/src/storage.cpp
+++ b/core/src/storage.cpp
@@ -38,9 +38,9 @@
 #include <moveit/task_constructor/stage_p.h>
 #include <moveit/task_constructor/storage.h>
 #include <moveit/task_constructor/introspection.h>
-#include <moveit/robot_trajectory/robot_trajectory.hpp>
-#include <moveit/robot_state/conversions.hpp>
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/robot_trajectory/robot_trajectory.h>
+#include <moveit/robot_state/conversions.h>
+#include <moveit/planning_scene/planning_scene.h>
 #include <assert.h>
 
 namespace moveit {
diff --git a/core/src/task.cpp b/core/src/task.cpp
index f8853e70c..9c31d5db9 100644
--- a/core/src/task.cpp
+++ b/core/src/task.cpp
@@ -43,8 +43,8 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_action/rclcpp_action.hpp>
 
-#include <moveit/robot_model_loader/robot_model_loader.hpp>
-#include <moveit/planning_pipeline/planning_pipeline.hpp>
+#include <moveit/robot_model_loader/robot_model_loader.h>
+#include <moveit/planning_pipeline/planning_pipeline.h>
 
 #include <scope_guard/scope_guard.hpp>
 
diff --git a/core/src/utils.cpp b/core/src/utils.cpp
index 63cef23e8..d5ee5119a 100644
--- a/core/src/utils.cpp
+++ b/core/src/utils.cpp
@@ -41,8 +41,8 @@
 #include <tf2_eigen/tf2_eigen.h>
 #endif
 
-#include <moveit/robot_state/robot_state.hpp>
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/robot_state/robot_state.h>
+#include <moveit/planning_scene/planning_scene.h>
 
 #include <moveit/task_constructor/properties.h>
 #include <moveit/task_constructor/storage.h>
diff --git a/core/test/models.cpp b/core/test/models.cpp
index 5ea0844c1..8ee16f792 100644
--- a/core/test/models.cpp
+++ b/core/test/models.cpp
@@ -1,6 +1,6 @@
 #include "models.h"
-#include <moveit/utils/robot_model_test_utils.hpp>
-#include <moveit/robot_model_loader/robot_model_loader.hpp>
+#include <moveit/utils/robot_model_test_utils.h>
+#include <moveit/robot_model_loader/robot_model_loader.h>
 
 using namespace moveit::core;
 
diff --git a/core/test/models.h b/core/test/models.h
index 8b98fd463..43fbd850a 100644
--- a/core/test/models.h
+++ b/core/test/models.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/macros/class_forward.h>
 #include <rclcpp/rclcpp.hpp>
 
 namespace moveit {
diff --git a/core/test/pick_pa10.cpp b/core/test/pick_pa10.cpp
index dece11b6d..aba0cc9b3 100644
--- a/core/test/pick_pa10.cpp
+++ b/core/test/pick_pa10.cpp
@@ -14,7 +14,7 @@
 #include <moveit/task_constructor/stages/fix_collision_objects.h>
 
 #include <rclcpp/rclcpp.hpp>
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 #include <gtest/gtest.h>
 
 using namespace moveit::task_constructor;
diff --git a/core/test/pick_pr2.cpp b/core/test/pick_pr2.cpp
index 88d777185..5c97d22ac 100644
--- a/core/test/pick_pr2.cpp
+++ b/core/test/pick_pr2.cpp
@@ -8,7 +8,7 @@
 #include <moveit/task_constructor/solvers/pipeline_planner.h>
 
 #include <rclcpp/rclcpp.hpp>
-#include <moveit/planning_scene_interface/planning_scene_interface.hpp>
+#include <moveit/planning_scene_interface/planning_scene_interface.h>
 #include <gtest/gtest.h>
 
 using namespace moveit::task_constructor;
diff --git a/core/test/pick_ur5.cpp b/core/test/pick_ur5.cpp
index 2947c6bc0..f37a0cfc7 100644
--- a/core/test/pick_ur5.cpp
+++ b/core/test/pick_ur5.cpp
@@ -8,7 +8,7 @@
 #include <moveit/task_constructor/solvers/pipeline_planner.h>
 
 #include <rclcpp/rclcpp.hpp>
-#include <moveit/planning_scene_interface/planning_scene_interface.hpp>
+#include <moveit/planning_scene_interface/planning_scene_interface.h>
 #include <gtest/gtest.h>
 
 using namespace moveit::task_constructor;
diff --git a/core/test/stage_mockups.cpp b/core/test/stage_mockups.cpp
index 05f0c28f8..37be534c3 100644
--- a/core/test/stage_mockups.cpp
+++ b/core/test/stage_mockups.cpp
@@ -1,5 +1,5 @@
 #include <moveit/task_constructor/stage_p.h>
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 
 #include "stage_mockups.h"
 
diff --git a/core/test/stage_mockups.h b/core/test/stage_mockups.h
index f36cb08e3..25d47a054 100644
--- a/core/test/stage_mockups.h
+++ b/core/test/stage_mockups.h
@@ -3,7 +3,7 @@
 #include <moveit/task_constructor/task.h>
 #include <moveit/task_constructor/cost_terms.h>
 
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 
 #include "models.h"
 
diff --git a/core/test/test_container.cpp b/core/test/test_container.cpp
index ddd0dc4e2..0bbd5e29f 100644
--- a/core/test/test_container.cpp
+++ b/core/test/test_container.cpp
@@ -2,7 +2,7 @@
 #include <moveit/task_constructor/stage_p.h>
 #include <moveit/task_constructor/task_p.h>
 #include <moveit/task_constructor/stages/fixed_state.h>
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 
 #include "stage_mockups.h"
 #include "models.h"
diff --git a/core/test/test_cost_terms.cpp b/core/test/test_cost_terms.cpp
index 6c6264f63..8b49c8c41 100644
--- a/core/test/test_cost_terms.cpp
+++ b/core/test/test_cost_terms.cpp
@@ -5,7 +5,7 @@
 #include <moveit/task_constructor/container_p.h>
 #include <moveit/task_constructor/stages/passthrough.h>
 
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 
diff --git a/core/test/test_fallback.cpp b/core/test/test_fallback.cpp
index 03ad7580c..49dbc69c8 100644
--- a/core/test/test_fallback.cpp
+++ b/core/test/test_fallback.cpp
@@ -3,7 +3,7 @@
 #include <moveit/task_constructor/task_p.h>
 #include <moveit/task_constructor/stages/predicate_filter.h>
 #include <moveit/task_constructor/stages/noop.h>
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 
 #include "stage_mockups.h"
 #include "models.h"
diff --git a/core/test/test_interface_state.cpp b/core/test/test_interface_state.cpp
index fa3d56bee..65aeee36f 100644
--- a/core/test/test_interface_state.cpp
+++ b/core/test/test_interface_state.cpp
@@ -1,6 +1,6 @@
 #include <moveit/task_constructor/storage.h>
 #include <moveit/task_constructor/stage_p.h>
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 
 #include "models.h"
 #include <memory>
diff --git a/core/test/test_move_relative.cpp b/core/test/test_move_relative.cpp
index 7d0e51cc6..3b3b3774e 100644
--- a/core/test/test_move_relative.cpp
+++ b/core/test/test_move_relative.cpp
@@ -6,8 +6,8 @@
 #include <moveit/task_constructor/solvers/cartesian_path.h>
 #include <moveit/task_constructor/solvers/pipeline_planner.h>
 
-#include <moveit/planning_scene/planning_scene.hpp>
-#include <moveit/robot_trajectory/robot_trajectory.hpp>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/robot_trajectory/robot_trajectory.h>
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
diff --git a/core/test/test_move_to.cpp b/core/test/test_move_to.cpp
index e38a8178d..4552a2d02 100644
--- a/core/test/test_move_to.cpp
+++ b/core/test/test_move_to.cpp
@@ -8,7 +8,7 @@
 #include <moveit/task_constructor/solvers/joint_interpolation.h>
 #include <moveit/task_constructor/solvers/cartesian_path.h>
 
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 
 #if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
diff --git a/core/test/test_serial.cpp b/core/test/test_serial.cpp
index bdb8ff5ba..ded84eb95 100644
--- a/core/test/test_serial.cpp
+++ b/core/test/test_serial.cpp
@@ -2,8 +2,8 @@
 #include <moveit/task_constructor/stages.h>
 #include <moveit/task_constructor/cost_terms.h>
 #include <moveit/task_constructor/solvers/joint_interpolation.h>
-#include <moveit/planning_scene/planning_scene.hpp>
-#include <moveit/utils/robot_model_test_utils.hpp>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/utils/robot_model_test_utils.h>
 
 #include "stage_mockups.h"
 #include "models.h"
diff --git a/core/test/test_stage.cpp b/core/test/test_stage.cpp
index 1c0553cee..e6a072593 100644
--- a/core/test/test_stage.cpp
+++ b/core/test/test_stage.cpp
@@ -3,7 +3,7 @@
 #include <moveit/task_constructor/stage_p.h>
 #include <moveit/task_constructor/stages/compute_ik.h>
 #include <moveit/task_constructor/stages/modify_planning_scene.h>
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 
 #include "stage_mockups.h"
diff --git a/demo/include/moveit_task_constructor_demo/pick_place_task.h b/demo/include/moveit_task_constructor_demo/pick_place_task.h
index 2d0d5bd07..da76c2fae 100644
--- a/demo/include/moveit_task_constructor_demo/pick_place_task.h
+++ b/demo/include/moveit_task_constructor_demo/pick_place_task.h
@@ -38,9 +38,9 @@
 #include <rclcpp/node.hpp>
 
 // MoveIt
-#include <moveit/planning_scene/planning_scene.hpp>
-#include <moveit/robot_model/robot_model.hpp>
-#include <moveit/planning_scene_interface/planning_scene_interface.hpp>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/planning_scene_interface/planning_scene_interface.h>
 
 // MTC
 #include <moveit/task_constructor/task.h>
diff --git a/demo/src/alternative_path_costs.cpp b/demo/src/alternative_path_costs.cpp
index ae380aa7d..04f4e9034 100644
--- a/demo/src/alternative_path_costs.cpp
+++ b/demo/src/alternative_path_costs.cpp
@@ -1,6 +1,6 @@
 #include <rclcpp/rclcpp.hpp>
 
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 
 #include <moveit/task_constructor/task.h>
 #include <moveit/task_constructor/container.h>
diff --git a/demo/src/cartesian.cpp b/demo/src/cartesian.cpp
index 02733067c..68b12d19e 100644
--- a/demo/src/cartesian.cpp
+++ b/demo/src/cartesian.cpp
@@ -42,7 +42,7 @@
 #include <moveit/task_constructor/stages/connect.h>
 
 #include <rclcpp/rclcpp.hpp>
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 
 using namespace moveit::task_constructor;
 
diff --git a/demo/src/fallbacks_move_to.cpp b/demo/src/fallbacks_move_to.cpp
index 11ebde69d..4c23c9dbe 100644
--- a/demo/src/fallbacks_move_to.cpp
+++ b/demo/src/fallbacks_move_to.cpp
@@ -1,7 +1,7 @@
 #include <rclcpp/rclcpp.hpp>
 
-#include <moveit/robot_model/robot_model.hpp>
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/planning_scene/planning_scene.h>
 
 #include <moveit/task_constructor/task.h>
 #include <moveit/task_constructor/container.h>
diff --git a/demo/src/ik_clearance_cost.cpp b/demo/src/ik_clearance_cost.cpp
index 4691d224c..66d13e3e7 100644
--- a/demo/src/ik_clearance_cost.cpp
+++ b/demo/src/ik_clearance_cost.cpp
@@ -1,6 +1,6 @@
 #include <rclcpp/rclcpp.hpp>
 
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 
 #include <moveit/task_constructor/task.h>
 
diff --git a/demo/src/modular.cpp b/demo/src/modular.cpp
index 4807c19d4..988a19625 100644
--- a/demo/src/modular.cpp
+++ b/demo/src/modular.cpp
@@ -43,7 +43,7 @@
 #include <moveit/task_constructor/container.h>
 
 #include <rclcpp/rclcpp.hpp>
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 
 using namespace moveit::task_constructor;
 
diff --git a/visualization/motion_planning_tasks/src/meta_task_list_model.h b/visualization/motion_planning_tasks/src/meta_task_list_model.h
index 943f9df34..2c87b8474 100644
--- a/visualization/motion_planning_tasks/src/meta_task_list_model.h
+++ b/visualization/motion_planning_tasks/src/meta_task_list_model.h
@@ -37,7 +37,7 @@
 #pragma once
 
 #include <utils/tree_merge_proxy_model.h>
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/macros/class_forward.h>
 #include <QVector>
 
 namespace moveit_rviz_plugin {
diff --git a/visualization/motion_planning_tasks/src/remote_task_model.cpp b/visualization/motion_planning_tasks/src/remote_task_model.cpp
index d28cfd60e..71f95b7ec 100644
--- a/visualization/motion_planning_tasks/src/remote_task_model.cpp
+++ b/visualization/motion_planning_tasks/src/remote_task_model.cpp
@@ -40,7 +40,7 @@
 #include "properties/property_factory.h"
 #include <moveit/task_constructor/container.h>
 #include <moveit/task_constructor/properties.h>
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 #include <rviz_common/properties/property_tree_model.hpp>
 #include <rviz_common/properties/string_property.hpp>
 #include <rclcpp/logging.hpp>
diff --git a/visualization/motion_planning_tasks/src/task_display.cpp b/visualization/motion_planning_tasks/src/task_display.cpp
index 0c07a2dea..582ec462b 100644
--- a/visualization/motion_planning_tasks/src/task_display.cpp
+++ b/visualization/motion_planning_tasks/src/task_display.cpp
@@ -46,8 +46,8 @@
 #include <moveit/visualization_tools/display_solution.h>
 #include <moveit_task_constructor_msgs/srv/get_solution.hpp>
 
-#include <moveit/rdf_loader/rdf_loader.hpp>
-#include <moveit/robot_model/robot_model.hpp>
+#include <moveit/rdf_loader/rdf_loader.h>
+#include <moveit/robot_model/robot_model.h>
 
 #include <rviz_common/display_context.hpp>
 #include <rviz_common/properties/string_property.hpp>
diff --git a/visualization/motion_planning_tasks/src/task_display.h b/visualization/motion_planning_tasks/src/task_display.h
index 41fa159d1..e1b5015fc 100644
--- a/visualization/motion_planning_tasks/src/task_display.h
+++ b/visualization/motion_planning_tasks/src/task_display.h
@@ -45,7 +45,7 @@
 #ifndef Q_MOC_RUN
 #include "job_queue.h"
 #include "local_task_model.h"
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/macros/class_forward.h>
 #include <rclcpp/subscription.hpp>
 #include <moveit_task_constructor_msgs/msg/task_description.hpp>
 #include <moveit_task_constructor_msgs/msg/task_statistics.hpp>
diff --git a/visualization/motion_planning_tasks/src/task_list_model.h b/visualization/motion_planning_tasks/src/task_list_model.h
index 7145e48b4..4d91f57a6 100644
--- a/visualization/motion_planning_tasks/src/task_list_model.h
+++ b/visualization/motion_planning_tasks/src/task_list_model.h
@@ -41,7 +41,7 @@
 #include <moveit/task_constructor/stage.h>
 #include <utils/flat_merge_proxy_model.h>
 
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/macros/class_forward.h>
 #include <rclcpp/node.hpp>
 #include <moveit_task_constructor_msgs/msg/task_description.hpp>
 #include <moveit_task_constructor_msgs/msg/task_statistics.hpp>
diff --git a/visualization/motion_planning_tasks/src/task_panel.h b/visualization/motion_planning_tasks/src/task_panel.h
index b1deca973..939a19afb 100644
--- a/visualization/motion_planning_tasks/src/task_panel.h
+++ b/visualization/motion_planning_tasks/src/task_panel.h
@@ -39,7 +39,7 @@
 #pragma once
 
 #include <rviz_common/panel.hpp>
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/macros/class_forward.h>
 #include <QModelIndex>
 class QItemSelection;
 class QIcon;
diff --git a/visualization/visualization_tools/include/moveit/visualization_tools/display_solution.h b/visualization/visualization_tools/include/moveit/visualization_tools/display_solution.h
index 7f8cd2980..fae2d866b 100644
--- a/visualization/visualization_tools/include/moveit/visualization_tools/display_solution.h
+++ b/visualization/visualization_tools/include/moveit/visualization_tools/display_solution.h
@@ -37,7 +37,7 @@
 #pragma once
 
 #include <moveit_task_constructor_msgs/msg/solution.hpp>
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/macros/class_forward.h>
 
 namespace moveit {
 namespace core {
diff --git a/visualization/visualization_tools/include/moveit/visualization_tools/marker_visualization.h b/visualization/visualization_tools/include/moveit/visualization_tools/marker_visualization.h
index 1b3fcebe3..1db0d028e 100644
--- a/visualization/visualization_tools/include/moveit/visualization_tools/marker_visualization.h
+++ b/visualization/visualization_tools/include/moveit/visualization_tools/marker_visualization.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <rviz_common/properties/bool_property.hpp>
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/macros/class_forward.h>
 #include <visualization_msgs/msg/marker.hpp>
 #include <deque>
 #include <list>
diff --git a/visualization/visualization_tools/include/moveit/visualization_tools/task_solution_visualization.h b/visualization/visualization_tools/include/moveit/visualization_tools/task_solution_visualization.h
index c1a666b73..101903cef 100644
--- a/visualization/visualization_tools/include/moveit/visualization_tools/task_solution_visualization.h
+++ b/visualization/visualization_tools/include/moveit/visualization_tools/task_solution_visualization.h
@@ -36,7 +36,7 @@
 
 #pragma once
 
-#include <moveit/macros/class_forward.hpp>
+#include <moveit/macros/class_forward.h>
 #include <moveit_task_constructor_msgs/msg/solution.hpp>
 #include <QObject>
 #include <boost/thread/mutex.hpp>
diff --git a/visualization/visualization_tools/src/display_solution.cpp b/visualization/visualization_tools/src/display_solution.cpp
index b9f2994f5..305cb32b1 100644
--- a/visualization/visualization_tools/src/display_solution.cpp
+++ b/visualization/visualization_tools/src/display_solution.cpp
@@ -36,8 +36,8 @@
 
 #include <moveit/visualization_tools/display_solution.h>
 #include <moveit/visualization_tools/marker_visualization.h>
-#include <moveit/planning_scene/planning_scene.hpp>
-#include <moveit/robot_trajectory/robot_trajectory.hpp>
+#include <moveit/planning_scene/planning_scene.h>
+#include <moveit/robot_trajectory/robot_trajectory.h>
 #include <rclcpp/logging.hpp>
 #include <fmt/core.h>
 
diff --git a/visualization/visualization_tools/src/marker_visualization.cpp b/visualization/visualization_tools/src/marker_visualization.cpp
index 031dd48d0..82bdd7836 100644
--- a/visualization/visualization_tools/src/marker_visualization.cpp
+++ b/visualization/visualization_tools/src/marker_visualization.cpp
@@ -1,5 +1,5 @@
 #include <moveit/visualization_tools/marker_visualization.h>
-#include <moveit/planning_scene/planning_scene.hpp>
+#include <moveit/planning_scene/planning_scene.h>
 
 #include <rviz_default_plugins/displays/marker/markers/marker_base.hpp>
 #include <rviz_default_plugins/displays/marker/markers/marker_factory.hpp>
diff --git a/visualization/visualization_tools/src/task_solution_visualization.cpp b/visualization/visualization_tools/src/task_solution_visualization.cpp
index c65dab9b4..b53d4b4f8 100644
--- a/visualization/visualization_tools/src/task_solution_visualization.cpp
+++ b/visualization/visualization_tools/src/task_solution_visualization.cpp
@@ -39,13 +39,13 @@
 #include <moveit/visualization_tools/marker_visualization.h>
 #include <moveit/visualization_tools/task_solution_panel.h>
 
-#include <moveit/rviz_plugin_render_tools/planning_scene_render.hpp>
-#include <moveit/rviz_plugin_render_tools/robot_state_visualization.hpp>
-#include <moveit/rviz_plugin_render_tools/planning_link_updater.hpp>
+#include <moveit/rviz_plugin_render_tools/planning_scene_render.h>
+#include <moveit/rviz_plugin_render_tools/robot_state_visualization.h>
+#include <moveit/rviz_plugin_render_tools/planning_link_updater.h>
 
-#include <moveit/robot_model/robot_model.hpp>
-#include <moveit/robot_trajectory/robot_trajectory.hpp>
-#include <moveit/trajectory_processing/trajectory_tools.hpp>
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_trajectory/robot_trajectory.h>
+#include <moveit/trajectory_processing/trajectory_tools.h>
 
 #include <rviz_default_plugins/robot/robot.hpp>
 #include <rviz_default_plugins/robot/robot_link.hpp>