diff --git a/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_interface.hpp b/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_interface.hpp
index 1b11f6396d..d00462fffa 100644
--- a/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_interface.hpp
+++ b/moveit_planners/chomp/chomp_interface/include/chomp_interface/chomp_interface.hpp
@@ -36,8 +36,8 @@
 
 #pragma once
 
-#include <chomp_motion_planner/chomp_parameters.h>
-#include <chomp_motion_planner/chomp_planner.h>
+#include <chomp_motion_planner/chomp_parameters.hpp>
+#include <chomp_motion_planner/chomp_planner.hpp>
 
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_cost.hpp b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_cost.hpp
index 086b352f0a..f0abfc365d 100644
--- a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_cost.hpp
+++ b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_cost.hpp
@@ -36,7 +36,7 @@
 
 #pragma once
 
-#include <chomp_motion_planner/chomp_trajectory.h>
+#include <chomp_motion_planner/chomp_trajectory.hpp>
 
 #include <eigen3/Eigen/Core>
 #include <vector>
diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.hpp b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.hpp
index c6c8fc1f52..f0025808d1 100644
--- a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.hpp
+++ b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.hpp
@@ -36,10 +36,10 @@
 
 #pragma once
 
-#include <chomp_motion_planner/chomp_cost.h>
-#include <chomp_motion_planner/chomp_parameters.h>
-#include <chomp_motion_planner/chomp_trajectory.h>
-#include <chomp_motion_planner/multivariate_gaussian.h>
+#include <chomp_motion_planner/chomp_cost.hpp>
+#include <chomp_motion_planner/chomp_parameters.hpp>
+#include <chomp_motion_planner/chomp_trajectory.hpp>
+#include <chomp_motion_planner/multivariate_gaussian.hpp>
 #include <moveit/collision_distance_field/collision_env_hybrid.hpp>
 #include <moveit/planning_scene/planning_scene.hpp>
 #include <moveit/robot_model/robot_model.hpp>
diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_planner.hpp b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_planner.hpp
index 8559261e16..fd107fa7e6 100644
--- a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_planner.hpp
+++ b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_planner.hpp
@@ -36,7 +36,7 @@
 
 #pragma once
 
-#include <chomp_motion_planner/chomp_parameters.h>
+#include <chomp_motion_planner/chomp_parameters.hpp>
 #include <moveit/planning_interface/planning_request.hpp>
 #include <moveit/planning_interface/planning_response.hpp>
 #include <moveit/planning_scene/planning_scene.hpp>
diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_trajectory.hpp b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_trajectory.hpp
index 904db57d9d..08d63b1a92 100644
--- a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_trajectory.hpp
+++ b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_trajectory.hpp
@@ -36,7 +36,7 @@
 
 #pragma once
 
-#include <chomp_motion_planner/chomp_utils.h>
+#include <chomp_motion_planner/chomp_utils.hpp>
 #include <moveit/robot_model/robot_model.hpp>
 
 #include <eigen3/Eigen/Core>
diff --git a/moveit_planners/chomp/chomp_motion_planner/src/chomp_cost.cpp b/moveit_planners/chomp/chomp_motion_planner/src/chomp_cost.cpp
index ebe8ad2cd1..5b0e5341c7 100644
--- a/moveit_planners/chomp/chomp_motion_planner/src/chomp_cost.cpp
+++ b/moveit_planners/chomp/chomp_motion_planner/src/chomp_cost.cpp
@@ -34,8 +34,8 @@
 
 /* Author: Mrinal Kalakrishnan */
 
-#include <chomp_motion_planner/chomp_cost.h>
-#include <chomp_motion_planner/chomp_utils.h>
+#include <chomp_motion_planner/chomp_cost.hpp>
+#include <chomp_motion_planner/chomp_utils.hpp>
 
 #include <eigen3/Eigen/LU>
 
diff --git a/moveit_planners/chomp/chomp_motion_planner/src/chomp_optimizer.cpp b/moveit_planners/chomp/chomp_motion_planner/src/chomp_optimizer.cpp
index a83a1e1427..250d8f6ffd 100644
--- a/moveit_planners/chomp/chomp_motion_planner/src/chomp_optimizer.cpp
+++ b/moveit_planners/chomp/chomp_motion_planner/src/chomp_optimizer.cpp
@@ -34,8 +34,8 @@
 
 /* Author: Mrinal Kalakrishnan */
 
-#include <chomp_motion_planner/chomp_optimizer.h>
-#include <chomp_motion_planner/chomp_utils.h>
+#include <chomp_motion_planner/chomp_optimizer.hpp>
+#include <chomp_motion_planner/chomp_utils.hpp>
 #include <moveit/planning_scene/planning_scene.hpp>
 #include <moveit/robot_model/robot_model.hpp>
 #include <moveit/robot_state/conversions.hpp>
diff --git a/moveit_planners/chomp/chomp_motion_planner/src/chomp_parameters.cpp b/moveit_planners/chomp/chomp_motion_planner/src/chomp_parameters.cpp
index 58dc3aa2eb..3a45a47e5d 100644
--- a/moveit_planners/chomp/chomp_motion_planner/src/chomp_parameters.cpp
+++ b/moveit_planners/chomp/chomp_motion_planner/src/chomp_parameters.cpp
@@ -34,7 +34,7 @@
 
 /* Author: Mrinal Kalakrishnan */
 
-#include <chomp_motion_planner/chomp_parameters.h>
+#include <chomp_motion_planner/chomp_parameters.hpp>
 
 #include <algorithm>
 
diff --git a/moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp b/moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp
index d0c82f05c3..24ffe990b2 100644
--- a/moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp
+++ b/moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp
@@ -34,9 +34,9 @@
 
 /* Author: E. Gil Jones */
 
-#include <chomp_motion_planner/chomp_optimizer.h>
-#include <chomp_motion_planner/chomp_planner.h>
-#include <chomp_motion_planner/chomp_trajectory.h>
+#include <chomp_motion_planner/chomp_optimizer.hpp>
+#include <chomp_motion_planner/chomp_planner.hpp>
+#include <chomp_motion_planner/chomp_trajectory.hpp>
 #include <moveit/robot_state/conversions.hpp>
 #include <tf2/LinearMath/Quaternion.h>
 #include <tf2_eigen/tf2_eigen.hpp>
diff --git a/moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp b/moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp
index c0dc2abe53..c22618930f 100644
--- a/moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp
+++ b/moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp
@@ -34,7 +34,7 @@
 
 /* Author: Mrinal Kalakrishnan */
 
-#include <chomp_motion_planner/chomp_trajectory.h>
+#include <chomp_motion_planner/chomp_trajectory.hpp>
 
 namespace chomp
 {
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.hpp b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.hpp
index 9f783ac0bf..7f831e6354 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.hpp
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.hpp
@@ -40,7 +40,7 @@
 #include <moveit/macros/class_forward.hpp>
 #include <moveit/ompl_interface/model_based_planning_context.hpp>
 #include <moveit/kinematic_constraints/kinematic_constraint.hpp>
-#include <ompl/base/StateStorage.hpp>
+#include <ompl/base/StateStorage.h>
 #include <boost/serialization/map.hpp>
 
 namespace ompl_interface
diff --git a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_ptp.hpp b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_ptp.hpp
index e57b128c60..f4514c123f 100644
--- a/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_ptp.hpp
+++ b/moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_ptp.hpp
@@ -37,7 +37,7 @@
 #include <moveit/planning_scene/planning_scene.hpp>
 
 #include <eigen3/Eigen/Eigen>
-#include <pilz_industrial_motion_planner/trajectory_generation_exceptions.pph>
+#include <pilz_industrial_motion_planner/trajectory_generation_exceptions.hpp>
 #include <pilz_industrial_motion_planner/trajectory_generator.hpp>
 #include <pilz_industrial_motion_planner/velocity_profile_atrap.hpp>
 
diff --git a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
index 4f6f378a05..f6035e52ca 100644
--- a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
@@ -38,7 +38,7 @@
 #include <moveit/moveit_cpp/moveit_cpp.hpp>
 #include <moveit/utils/message_checks.hpp>
 #include <moveit/move_group/capability_names.hpp>
-#include <tf2_ros/transform_broadcaster.hpp>
+#include <tf2_ros/transform_broadcaster.h>
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <moveit/robot_state/robot_state.hpp>
 #include <moveit/robot_state/attached_body.hpp>