diff --git a/diagnostic_aggregator/src/aggregator.cpp b/diagnostic_aggregator/src/aggregator.cpp
index e6823fce4..1000dd422 100644
--- a/diagnostic_aggregator/src/aggregator.cpp
+++ b/diagnostic_aggregator/src/aggregator.cpp
@@ -278,7 +278,8 @@ void Aggregator::publishData()
   {
     diag_array.status.push_back(*processed_other[i]);
 
-    const uint depth = static_cast<uint>(std::count(processed[i]->name.begin(), processed[i]->name.end(), '/'));
+    const uint depth = static_cast<uint>(
+      std::count(processed_other[i]->name.begin(), processed_other[i]->name.end(), '/'));
     if (processed_other[i]->level > diag_toplevel_state.level)
     {
       diag_toplevel_state.level = processed_other[i]->level;
diff --git a/diagnostic_analysis/scripts/export_csv.py b/diagnostic_analysis/scripts/export_csv.py
index d834ba1a5..d05cd9119 100755
--- a/diagnostic_analysis/scripts/export_csv.py
+++ b/diagnostic_analysis/scripts/export_csv.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 #
 # Software License Agreement (BSD License)
 #
diff --git a/diagnostic_analysis/scripts/sparse_csv.py b/diagnostic_analysis/scripts/sparse_csv.py
index 0938dbcf5..ff837e935 100755
--- a/diagnostic_analysis/scripts/sparse_csv.py
+++ b/diagnostic_analysis/scripts/sparse_csv.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 # 
 # Software License Agreement (BSD License)
 #
diff --git a/diagnostic_analysis/src/diagnostic_analysis/exporter.py b/diagnostic_analysis/src/diagnostic_analysis/exporter.py
index e960279d1..c15d8a87d 100644
--- a/diagnostic_analysis/src/diagnostic_analysis/exporter.py
+++ b/diagnostic_analysis/src/diagnostic_analysis/exporter.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 #
 # Software License Agreement (BSD License)
 #
diff --git a/diagnostic_analysis/src/diagnostic_analysis/sparse.py b/diagnostic_analysis/src/diagnostic_analysis/sparse.py
index 682ac8491..d5215a3e6 100644
--- a/diagnostic_analysis/src/diagnostic_analysis/sparse.py
+++ b/diagnostic_analysis/src/diagnostic_analysis/sparse.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 #
 # Software License Agreement (BSD License)
 #
diff --git a/diagnostic_common_diagnostics/src/diagnostic_common_diagnostics/hd_monitor.py b/diagnostic_common_diagnostics/src/diagnostic_common_diagnostics/hd_monitor.py
index bb03046d0..26d4db345 100755
--- a/diagnostic_common_diagnostics/src/diagnostic_common_diagnostics/hd_monitor.py
+++ b/diagnostic_common_diagnostics/src/diagnostic_common_diagnostics/hd_monitor.py
@@ -64,15 +64,15 @@ def get_hddtemp_data(hostname='localhost', port=7634):
     try:
         hd_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
         hd_sock.connect((hostname, port))
-        sock_data = ''
+        sock_data = b''
         while True:
             newdat = hd_sock.recv(1024)
             if len(newdat) == 0:
                 break
-            sock_data = sock_data + str(newdat)
+            sock_data = sock_data + newdat
         hd_sock.close()
 
-        sock_vals = sock_data.split('|')
+        sock_vals = sock_data.decode().split('|')
 
         # Format of output looks like ' | DRIVE | MAKE | TEMP | '
         idx = 0
diff --git a/diagnostic_common_diagnostics/src/diagnostic_common_diagnostics/ntp_monitor.py b/diagnostic_common_diagnostics/src/diagnostic_common_diagnostics/ntp_monitor.py
index 18dc6a217..486ba39d4 100755
--- a/diagnostic_common_diagnostics/src/diagnostic_common_diagnostics/ntp_monitor.py
+++ b/diagnostic_common_diagnostics/src/diagnostic_common_diagnostics/ntp_monitor.py
@@ -77,8 +77,8 @@ def ntp_diag(st, host, off, error_offset):
         st.values = [ DIAG.KeyValue("Offset (us)", "N/A"),
                         DIAG.KeyValue("Offset tolerance (us)", str(off)),
                         DIAG.KeyValue("Offset tolerance (us) for Error", str(error_offset)),
-                        DIAG.KeyValue("Output", o),
-                        DIAG.KeyValue("Errors", e) ]
+                        DIAG.KeyValue("Output", o.decode()),
+                        DIAG.KeyValue("Errors", e.decode()) ]
 
     return st
 
diff --git a/diagnostic_updater/include/diagnostic_updater/diagnostic_updater.h b/diagnostic_updater/include/diagnostic_updater/diagnostic_updater.h
index fccb8b052..d6acb0213 100644
--- a/diagnostic_updater/include/diagnostic_updater/diagnostic_updater.h
+++ b/diagnostic_updater/include/diagnostic_updater/diagnostic_updater.h
@@ -368,8 +368,10 @@ namespace diagnostic_updater
       /**
        * \brief Constructs an updater class.
        *
-       * \param h Node handle from which to get the diagnostic_period
+       * \param h Node handle used to publish the diagnostics messages.
+       * \param ph Node handle from which to get the diagnostic_period
        * parameter.
+       * \param node_name Name of the node used in the messages.
        */
     Updater(ros::NodeHandle h = ros::NodeHandle(), ros::NodeHandle ph = ros::NodeHandle("~"), std::string node_name = ros::this_node::getName()) : private_node_handle_(ph), node_handle_(h), node_name_(node_name)
     {
diff --git a/test_diagnostic_aggregator/include/test_diagnostic_aggregator/fail_init_analyzer.h b/test_diagnostic_aggregator/include/test_diagnostic_aggregator/fail_init_analyzer.h
index d612bda6f..b785e8017 100644
--- a/test_diagnostic_aggregator/include/test_diagnostic_aggregator/fail_init_analyzer.h
+++ b/test_diagnostic_aggregator/include/test_diagnostic_aggregator/fail_init_analyzer.h
@@ -43,7 +43,7 @@
 #include <diagnostic_aggregator/analyzer.h>
 #include <diagnostic_aggregator/status_item.h>
 #include <diagnostic_msgs/DiagnosticStatus.h>
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include <string>
 
 namespace test_diagnostic_aggregator {
diff --git a/test_diagnostic_aggregator/include/test_diagnostic_aggregator/match_no_analyze_analyzer.h b/test_diagnostic_aggregator/include/test_diagnostic_aggregator/match_no_analyze_analyzer.h
index 45e878295..a4ca6942b 100644
--- a/test_diagnostic_aggregator/include/test_diagnostic_aggregator/match_no_analyze_analyzer.h
+++ b/test_diagnostic_aggregator/include/test_diagnostic_aggregator/match_no_analyze_analyzer.h
@@ -43,7 +43,7 @@
 #include <diagnostic_aggregator/analyzer.h>
 #include <diagnostic_aggregator/status_item.h>
 #include <diagnostic_msgs/DiagnosticStatus.h>
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include <string>
 
 namespace test_diagnostic_aggregator {