diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
index dc4f94ac8f..711211c89f 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
@@ -1,9 +1,9 @@
 set(HEADERS
-    include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
-    include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
-    include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
-    include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h
-    include/moveit/motion_planning_rviz_plugin/interactive_marker_display.h)
+    include/moveit/motion_planning_rviz_plugin/motion_planning_display.hpp
+    include/moveit/motion_planning_rviz_plugin/motion_planning_frame.hpp
+    include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.hpp
+    include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.hpp
+    include/moveit/motion_planning_rviz_plugin/interactive_marker_display.hpp)
 qt5_wrap_ui(UIC_FILES src/ui/motion_planning_rviz_plugin_frame.ui
             src/ui/motion_planning_rviz_plugin_frame_joints.ui)
 
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
index fd22e4406e..1880c59b3a 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
@@ -67,7 +67,7 @@
 
 #include <QShortcut>
 
-#include "ui_motion_planning_rviz_plugin_frame.hpp"
+#include "ui_motion_planning_rviz_plugin_frame.h"
 #include <moveit/utils/rclcpp_utils.hpp>
 #include <moveit/utils/logger.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 22590f8591..074545f324 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
@@ -57,7 +57,7 @@
 #include <QComboBox>
 #include <QShortcut>
 
-#include "ui_motion_planning_rviz_plugin_frame.hpp"
+#include "ui_motion_planning_rviz_plugin_frame.h"
 
 namespace moveit_rviz_plugin
 {
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_context.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_context.cpp
index de8b9d0516..13aa519ac6 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_context.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_context.cpp
@@ -45,7 +45,7 @@
 #include <QMessageBox>
 #include <QInputDialog>
 
-#include "ui_motion_planning_rviz_plugin_frame.hpp"
+#include "ui_motion_planning_rviz_plugin_frame.h"
 
 namespace moveit_rviz_plugin
 {
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp
index a649c7f86c..39de464182 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp
@@ -37,7 +37,7 @@
 #include <moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.hpp>
 #include <moveit/motion_planning_rviz_plugin/motion_planning_display.hpp>
 
-#include "ui_motion_planning_rviz_plugin_frame_joints.hpp"
+#include "ui_motion_planning_rviz_plugin_frame_joints.h"
 #include <QPainter>
 #include <QSlider>
 #include <QEvent>
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_manipulation.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_manipulation.cpp
index 808c7daa64..57ef02b94f 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_manipulation.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_manipulation.cpp
@@ -43,7 +43,7 @@
 
 #include <tf2_eigen/tf2_eigen.hpp>
 
-#include "ui_motion_planning_rviz_plugin_frame.hpp"
+#include "ui_motion_planning_rviz_plugin_frame.h"
 
 namespace moveit_rviz_plugin
 {
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
index fdfa5e7bc5..f3faa13b3b 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
@@ -53,7 +53,7 @@
 #include <QInputDialog>
 #include <QFileDialog>
 
-#include "ui_motion_planning_rviz_plugin_frame.hpp"
+#include "ui_motion_planning_rviz_plugin_frame.h"
 
 namespace
 {
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
index 8bc632a558..115f32bc6a 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
@@ -46,7 +46,7 @@
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <moveit/trajectory_processing/time_optimal_trajectory_generation.hpp>
 
-#include "ui_motion_planning_rviz_plugin_frame.hpp"
+#include "ui_motion_planning_rviz_plugin_frame.h"
 
 namespace moveit_rviz_plugin
 {
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_scenes.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_scenes.cpp
index e5f99b4d51..bfb391b823 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_scenes.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_scenes.cpp
@@ -51,7 +51,7 @@
 #include <QMessageBox>
 #include <QInputDialog>
 
-#include "ui_motion_planning_rviz_plugin_frame.hpp"
+#include "ui_motion_planning_rviz_plugin_frame.h"
 
 #include <memory>
 
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_states.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_states.cpp
index 90f06b1519..1280f2e38a 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_states.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_states.cpp
@@ -42,7 +42,7 @@
 #include <QMessageBox>
 #include <QInputDialog>
 
-#include "ui_motion_planning_rviz_plugin_frame.hpp"
+#include "ui_motion_planning_rviz_plugin_frame.h"
 
 namespace moveit_rviz_plugin
 {
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
index 346228701e..18fb7210bc 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/ui/motion_planning_rviz_plugin_frame.ui
@@ -2080,7 +2080,7 @@ This is usually achieved by random seeding, which can flip the robot configurati
   <customwidget>
    <class>moveit_rviz_plugin::MotionPlanningParamWidget</class>
    <extends>QTreeView</extends>
-   <header location="global">moveit/motion_planning_rviz_plugin/motion_planning_param_widget.h</header>
+   <header location="global">moveit/motion_planning_rviz_plugin/motion_planning_param_widget.hpp</header>
   </customwidget>
  </customwidgets>
  <tabstops>
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt
index 71f84afb5d..efe2dc41f4 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt
@@ -1,7 +1,7 @@
 add_library(
   moveit_planning_scene_rviz_plugin_core SHARED
   src/planning_scene_display.cpp src/background_processing.cpp
-  include/moveit/planning_scene_rviz_plugin/planning_scene_display.h)
+  include/moveit/planning_scene_rviz_plugin/planning_scene_display.hpp)
 include(GenerateExportHeader)
 generate_export_header(moveit_planning_scene_rviz_plugin_core)
 target_include_directories(
diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt
index 73b5751a1e..f9bd7f4c8b 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt
@@ -1,7 +1,7 @@
 add_library(
   moveit_robot_state_rviz_plugin_core SHARED
   src/robot_state_display.cpp
-  include/moveit/robot_state_rviz_plugin/robot_state_display.h)
+  include/moveit/robot_state_rviz_plugin/robot_state_display.hpp)
 set_target_properties(moveit_robot_state_rviz_plugin_core
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 target_link_libraries(moveit_robot_state_rviz_plugin_core
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt b/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt
index 65d2ce41a4..2a8c81a4dd 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt
@@ -1,11 +1,11 @@
 set(HEADERS
-    include/moveit/rviz_plugin_render_tools/octomap_render.h
-    include/moveit/rviz_plugin_render_tools/planning_link_updater.h
-    include/moveit/rviz_plugin_render_tools/planning_scene_render.h
-    include/moveit/rviz_plugin_render_tools/render_shapes.h
-    include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
-    include/moveit/rviz_plugin_render_tools/trajectory_visualization.h
-    include/moveit/rviz_plugin_render_tools/trajectory_panel.h
+    include/moveit/rviz_plugin_render_tools/octomap_render.hpp
+    include/moveit/rviz_plugin_render_tools/planning_link_updater.hpp
+    include/moveit/rviz_plugin_render_tools/planning_scene_render.hpp
+    include/moveit/rviz_plugin_render_tools/render_shapes.hpp
+    include/moveit/rviz_plugin_render_tools/robot_state_visualization.hpp
+    include/moveit/rviz_plugin_render_tools/trajectory_visualization.hpp
+    include/moveit/rviz_plugin_render_tools/trajectory_panel.hpp
     include/ogre_helpers/mesh_shape.hpp)
 
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
diff --git a/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt
index 63cdcf6316..8a58e56eba 100644
--- a/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt
@@ -1,5 +1,5 @@
 # Header files that need Qt Moc pre-processing for use with Qt signals, etc:
-set(HEADERS include/moveit/trajectory_rviz_plugin/trajectory_display.h)
+set(HEADERS include/moveit/trajectory_rviz_plugin/trajectory_display.hpp)
 
 include_directories(${CMAKE_CURRENT_BINARY_DIR})