diff --git a/urdf_parser/include/urdf_parser/exportdecl.h b/urdf_parser/include/urdf_parser/exportdecl.h
index e01e783f..c3eeb48d 100644
--- a/urdf_parser/include/urdf_parser/exportdecl.h
+++ b/urdf_parser/include/urdf_parser/exportdecl.h
@@ -32,53 +32,19 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
-/* Author: Thomas Moulard */
-
+/*
+ * This header exists for backwards compatibility.
+ * Please include exportdecl.hpp instead.
+ */
 #ifndef URDFDOM_EXPORTDECL_H
-# define URDFDOM_EXPORTDECL_H
+#define URDFDOM_EXPORTDECL_H
+
+#if defined(_MSC_VER)
+    #pragma message("warning: urdf_parser/exportdecl.h is deprecated. Please use urdf_parser/exportdecl.hpp instead.")
+#else
+    #warning urdf_parser/exportdecl.h is deprecated. Please use urdf_parser/exportdecl.hpp instead.
+#endif
 
-// Handle portable symbol export.
-// Defining manually which symbol should be exported is required
-// under Windows whether MinGW or MSVC is used.
-//
-// The headers then have to be able to work in two different modes:
-// - dllexport when one is building the library,
-// - dllimport for clients using the library.
-//
-// On Linux, set the visibility accordingly. If C++ symbol visibility
-// is handled by the compiler, see: http://gcc.gnu.org/wiki/Visibility
-# if defined _WIN32 || defined __CYGWIN__
-// On Microsoft Windows, use dllimport and dllexport to tag symbols.
-#  define URDFDOM_DLLIMPORT __declspec(dllimport)
-#  define URDFDOM_DLLEXPORT __declspec(dllexport)
-#  define URDFDOM_DLLLOCAL
-# else
-// On Linux, for GCC >= 4, tag symbols using GCC extension.
-#  if __GNUC__ >= 4
-#   define URDFDOM_DLLIMPORT __attribute__ ((visibility("default")))
-#   define URDFDOM_DLLEXPORT __attribute__ ((visibility("default")))
-#   define URDFDOM_DLLLOCAL  __attribute__ ((visibility("hidden")))
-#  else
-// Otherwise (GCC < 4 or another compiler is used), export everything.
-#   define URDFDOM_DLLIMPORT
-#   define URDFDOM_DLLEXPORT
-#   define URDFDOM_DLLLOCAL
-#  endif // __GNUC__ >= 4
-# endif // defined _WIN32 || defined __CYGWIN__
+#include <urdf_parser/exportdecl.hpp>
 
-# ifdef URDFDOM_STATIC
-// If one is using the library statically, get rid of
-// extra information.
-#  define URDFDOM_DLLAPI
-#  define URDFDOM_LOCAL
-# else
-// Depending on whether one is building or using the
-// library define DLLAPI to import or export.
-#  ifdef URDFDOM_EXPORTS
-#   define URDFDOM_DLLAPI URDFDOM_DLLEXPORT
-#  else
-#   define URDFDOM_DLLAPI URDFDOM_DLLIMPORT
-#  endif // URDFDOM_EXPORTS
-#  define URDFDOM_LOCAL URDFDOM_DLLLOCAL
-# endif // URDFDOM_STATIC
 #endif //! URDFDOM_EXPORTDECL_H
diff --git a/urdf_parser/include/urdf_parser/exportdecl.hpp b/urdf_parser/include/urdf_parser/exportdecl.hpp
new file mode 100644
index 00000000..4e08b109
--- /dev/null
+++ b/urdf_parser/include/urdf_parser/exportdecl.hpp
@@ -0,0 +1,84 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2008, Willow Garage, Inc.
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Willow Garage nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/* Author: Thomas Moulard */
+
+#ifndef URDFDOM_EXPORTDECL_HPP
+#define URDFDOM_EXPORTDECL_HPP
+
+// Handle portable symbol export.
+// Defining manually which symbol should be exported is required
+// under Windows whether MinGW or MSVC is used.
+//
+// The headers then have to be able to work in two different modes:
+// - dllexport when one is building the library,
+// - dllimport for clients using the library.
+//
+// On Linux, set the visibility accordingly. If C++ symbol visibility
+// is handled by the compiler, see: http://gcc.gnu.org/wiki/Visibility
+# if defined _WIN32 || defined __CYGWIN__
+// On Microsoft Windows, use dllimport and dllexport to tag symbols.
+#  define URDFDOM_DLLIMPORT __declspec(dllimport)
+#  define URDFDOM_DLLEXPORT __declspec(dllexport)
+#  define URDFDOM_DLLLOCAL
+# else
+// On Linux, for GCC >= 4, tag symbols using GCC extension.
+#  if __GNUC__ >= 4
+#   define URDFDOM_DLLIMPORT __attribute__ ((visibility("default")))
+#   define URDFDOM_DLLEXPORT __attribute__ ((visibility("default")))
+#   define URDFDOM_DLLLOCAL  __attribute__ ((visibility("hidden")))
+#  else
+// Otherwise (GCC < 4 or another compiler is used), export everything.
+#   define URDFDOM_DLLIMPORT
+#   define URDFDOM_DLLEXPORT
+#   define URDFDOM_DLLLOCAL
+#  endif // __GNUC__ >= 4
+# endif // defined _WIN32 || defined __CYGWIN__
+
+# ifdef URDFDOM_STATIC
+// If one is using the library statically, get rid of
+// extra information.
+#  define URDFDOM_DLLAPI
+#  define URDFDOM_LOCAL
+# else
+// Depending on whether one is building or using the
+// library define DLLAPI to import or export.
+#  ifdef URDFDOM_EXPORTS
+#   define URDFDOM_DLLAPI URDFDOM_DLLEXPORT
+#  else
+#   define URDFDOM_DLLAPI URDFDOM_DLLIMPORT
+#  endif // URDFDOM_EXPORTS
+#  define URDFDOM_LOCAL URDFDOM_DLLLOCAL
+# endif // URDFDOM_STATIC
+#endif //! URDFDOM_EXPORTDECL_HPP
diff --git a/urdf_parser/include/urdf_parser/urdf_parser.h b/urdf_parser/include/urdf_parser/urdf_parser.h
index 70d5f543..40a4b63b 100644
--- a/urdf_parser/include/urdf_parser/urdf_parser.h
+++ b/urdf_parser/include/urdf_parser/urdf_parser.h
@@ -32,148 +32,19 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
-/* Author: Wim Meeussen */
-
+/*
+ * This header exists for backwards compatibility.
+ * Please include urdf_parser.hpppp instead.
+ */
 #ifndef URDF_PARSER_URDF_PARSER_H
 #define URDF_PARSER_URDF_PARSER_H
 
-#include <cstdint>
-#include <stdexcept>
-#include <string>
-#include <vector>
-
-#include <urdf_model/model.h>
-#include <urdf_model/color.h>
-#include <urdf_model/utils.h>
-#include <urdf_sensor/sensor.h>
-#include <urdf_model/types.h>
-
-#include "exportdecl.h"
-
-namespace tinyxml2{
-  // Forward declaration for APIs that use TinyXML2 structures.
-  // That way, we don't have to export a TinyXML2 dependency.
-  class XMLDocument;
-  class XMLElement;
-}
-
-namespace urdf_export_helpers {
-
-URDFDOM_DLLAPI std::string values2str(unsigned int count, const double *values, double (*conv)(double) = NULL);
-URDFDOM_DLLAPI std::string values2str(urdf::Vector3 vec);
-URDFDOM_DLLAPI std::string values2str(urdf::Rotation rot);
-URDFDOM_DLLAPI std::string values2str(urdf::Color c);
-URDFDOM_DLLAPI std::string values2str(double d);
-
-// This lives here (rather than in model.cpp) so we can run tests on it.
-class URDFVersion final
-{
-public:
-  explicit URDFVersion(const char *attr)
-  {
-    // If the passed in attribute is NULL, it means it wasn't specified in the
-    // XML, so we just assume version 1.0.
-    if (attr == nullptr)
-    {
-      major_ = 1;
-      minor_ = 0;
-      return;
-    }
-
-    // We only accept version strings of the type <major>.<minor>
-    std::vector<std::string> split;
-    urdf::split_string(split, std::string(attr), ".");
-    if (split.size() == 2)
-    {
-      major_ = strToUnsigned(split[0].c_str());
-      minor_ = strToUnsigned(split[1].c_str());
-    }
-    else
-    {
-      throw std::runtime_error("The version attribute should be in the form 'x.y'");
-    }
-  }
-
-  explicit URDFVersion(uint32_t major, uint32_t minor)
-    : major_(major), minor_(minor)
-  {}
-
-  bool equal(uint32_t maj, uint32_t min)
-  {
-    return this->major_ == maj && this->minor_ == min;
-  }
-
-  // equivalent to greater or equal >=
-  bool at_least(uint32_t maj, uint32_t min) const
-  {
-    return this->major_ > maj || (this->major_ == maj && this->minor_ >= min);
-  }
-
-  // equivalent to lesser or equal <=
-  bool at_most(uint32_t maj, uint32_t min) const
-  {
-    return this->major_ < maj || (this->major_ == maj && this->minor_ <= min);
-  }
-
-  bool greater_than(uint32_t maj, uint32_t min) const
-  {
-    return this->major_ > maj || (this->major_ == maj && this->minor_ > min);
-  }
-
-  bool less_than(uint32_t maj, uint32_t min) const
-  {
-    return this->major_ < maj || (this->major_ == maj && this->minor_ < min);
-  }
-
-  uint32_t getMajor() const
-  {
-    return major_;
-  }
-
-  uint32_t getMinor() const
-  {
-    return minor_;
-  }
-
-private:
-  uint32_t strToUnsigned(const char *str)
-  {
-    if (str[0] == '\0')
-    {
-      // This would get caught below, but we can make a nicer error message
-      throw std::runtime_error("One of the fields of the version attribute is blank");
-    }
-    char *end = const_cast<char *>(str);
-    long value = strtol(str, &end, 10);
-    if (end == str)
-    {
-      // If the pointer didn't move at all, then we couldn't convert any of
-      // the string to an integer.
-      throw std::runtime_error("Version attribute is not an integer");
-    }
-    if (*end != '\0')
-    {
-      // Here, we didn't go all the way to the end of the string, which
-      // means there was junk at the end
-      throw std::runtime_error("Extra characters after the version number");
-    }
-    if (value < 0)
-    {
-      throw std::runtime_error("Version number must be positive");
-    }
-
-    return value;
-  }
-
-  uint32_t major_;
-  uint32_t minor_;
-};
-
-}
+#if defined(_MSC_VER)
+    #pragma message("warning: urdf_parser/urdf_parser.h is deprecated. Please use urdf_parser/urdf_parser.hpp instead.")
+#else
+    #warning urdf_parser/urdf_parser.h is deprecated. Please use urdf_parser/urdf_parser.hpp instead.
+#endif
 
-namespace urdf{
-  URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDF(const std::string &xml_string);
-  URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDFFile(const std::string &path);
-}
+#include <urdf_parser/urdf_parser.hpp>
 
-#endif
+#endif // URDF_PARSER_URDF_PARSER_H
diff --git a/urdf_parser/include/urdf_parser/urdf_parser.hpp b/urdf_parser/include/urdf_parser/urdf_parser.hpp
new file mode 100644
index 00000000..dbbd194e
--- /dev/null
+++ b/urdf_parser/include/urdf_parser/urdf_parser.hpp
@@ -0,0 +1,179 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2008, Willow Garage, Inc.
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Willow Garage nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/* Author: Wim Meeussen */
+
+#ifndef URDF_PARSER_URDF_PARSER_HPP
+#define URDF_PARSER_URDF_PARSER_HPP
+
+#include <cstdint>
+#include <stdexcept>
+#include <string>
+#include <vector>
+
+#include <urdf_model/model.hpp>
+#include <urdf_model/color.hpp>
+#include <urdf_model/utils.hpp>
+#include <urdf_sensor/sensor.hpp>
+#include <urdf_model/types.hpp>
+
+#include "exportdecl.hpp"
+
+namespace tinyxml2{
+  // Forward declaration for APIs that use TinyXML2 structures.
+  // That way, we don't have to export a TinyXML2 dependency.
+  class XMLDocument;
+  class XMLElement;
+}
+
+namespace urdf_export_helpers {
+
+URDFDOM_DLLAPI std::string values2str(unsigned int count, const double *values, double (*conv)(double) = NULL);
+URDFDOM_DLLAPI std::string values2str(urdf::Vector3 vec);
+URDFDOM_DLLAPI std::string values2str(urdf::Rotation rot);
+URDFDOM_DLLAPI std::string values2str(urdf::Color c);
+URDFDOM_DLLAPI std::string values2str(double d);
+
+// This lives here (rather than in model.cpp) so we can run tests on it.
+class URDFVersion final
+{
+public:
+  explicit URDFVersion(const char *attr)
+  {
+    // If the passed in attribute is NULL, it means it wasn't specified in the
+    // XML, so we just assume version 1.0.
+    if (attr == nullptr)
+    {
+      major_ = 1;
+      minor_ = 0;
+      return;
+    }
+
+    // We only accept version strings of the type <major>.<minor>
+    std::vector<std::string> split;
+    urdf::split_string(split, std::string(attr), ".");
+    if (split.size() == 2)
+    {
+      major_ = strToUnsigned(split[0].c_str());
+      minor_ = strToUnsigned(split[1].c_str());
+    }
+    else
+    {
+      throw std::runtime_error("The version attribute should be in the form 'x.y'");
+    }
+  }
+
+  explicit URDFVersion(uint32_t major, uint32_t minor)
+    : major_(major), minor_(minor)
+  {}
+
+  bool equal(uint32_t maj, uint32_t min)
+  {
+    return this->major_ == maj && this->minor_ == min;
+  }
+
+  // equivalent to greater or equal >=
+  bool at_least(uint32_t maj, uint32_t min) const
+  {
+    return this->major_ > maj || (this->major_ == maj && this->minor_ >= min);
+  }
+
+  // equivalent to lesser or equal <=
+  bool at_most(uint32_t maj, uint32_t min) const
+  {
+    return this->major_ < maj || (this->major_ == maj && this->minor_ <= min);
+  }
+
+  bool greater_than(uint32_t maj, uint32_t min) const
+  {
+    return this->major_ > maj || (this->major_ == maj && this->minor_ > min);
+  }
+
+  bool less_than(uint32_t maj, uint32_t min) const
+  {
+    return this->major_ < maj || (this->major_ == maj && this->minor_ < min);
+  }
+
+  uint32_t getMajor() const
+  {
+    return major_;
+  }
+
+  uint32_t getMinor() const
+  {
+    return minor_;
+  }
+
+private:
+  uint32_t strToUnsigned(const char *str)
+  {
+    if (str[0] == '\0')
+    {
+      // This would get caught below, but we can make a nicer error message
+      throw std::runtime_error("One of the fields of the version attribute is blank");
+    }
+    char *end = const_cast<char *>(str);
+    long value = strtol(str, &end, 10);
+    if (end == str)
+    {
+      // If the pointer didn't move at all, then we couldn't convert any of
+      // the string to an integer.
+      throw std::runtime_error("Version attribute is not an integer");
+    }
+    if (*end != '\0')
+    {
+      // Here, we didn't go all the way to the end of the string, which
+      // means there was junk at the end
+      throw std::runtime_error("Extra characters after the version number");
+    }
+    if (value < 0)
+    {
+      throw std::runtime_error("Version number must be positive");
+    }
+
+    return value;
+  }
+
+  uint32_t major_;
+  uint32_t minor_;
+};
+
+}
+
+namespace urdf{
+  URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDF(const std::string &xml_string);
+  URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDFFile(const std::string &path);
+}
+
+#endif // URDF_PARSER_URDF_PARSER_HPP
diff --git a/urdf_parser/src/check_urdf.cpp b/urdf_parser/src/check_urdf.cpp
index 292e6d20..33572ef7 100644
--- a/urdf_parser/src/check_urdf.cpp
+++ b/urdf_parser/src/check_urdf.cpp
@@ -34,7 +34,7 @@
 
 /* Author: Wim Meeussen */
 
-#include "urdf_parser/urdf_parser.h"
+#include "urdf_parser/urdf_parser.hpp"
 
 #include <cstring>
 #include <iostream>
diff --git a/urdf_parser/src/joint.cpp b/urdf_parser/src/joint.cpp
index 8580cb15..f0745bd4 100644
--- a/urdf_parser/src/joint.cpp
+++ b/urdf_parser/src/joint.cpp
@@ -38,10 +38,10 @@
 #include <sstream>
 #include <stdexcept>
 #include <string>
-#include <urdf_model/joint.h>
+#include <urdf_model/joint.hpp>
 #include <console_bridge/console.h>
 #include <tinyxml2.h>
-#include <urdf_parser/urdf_parser.h>
+#include <urdf_parser/urdf_parser.hpp>
 
 #include "./pose.hpp"
 
diff --git a/urdf_parser/src/link.cpp b/urdf_parser/src/link.cpp
index e7cbdf18..672f1470 100644
--- a/urdf_parser/src/link.cpp
+++ b/urdf_parser/src/link.cpp
@@ -35,8 +35,8 @@
 /* Author: Wim Meeussen */
 
 
-#include <urdf_parser/urdf_parser.h>
-#include <urdf_model/link.h>
+#include <urdf_parser/urdf_parser.hpp>
+#include <urdf_model/link.hpp>
 #include <fstream>
 #include <locale>
 #include <sstream>
diff --git a/urdf_parser/src/model.cpp b/urdf_parser/src/model.cpp
index 2998827f..a5dd2086 100644
--- a/urdf_parser/src/model.cpp
+++ b/urdf_parser/src/model.cpp
@@ -38,7 +38,7 @@
 #include <map>
 #include <stdexcept>
 #include <string>
-#include "urdf_parser/urdf_parser.h"
+#include "urdf_parser/urdf_parser.hpp"
 #include <console_bridge/console.h>
 #include <tinyxml2.h>
 
diff --git a/urdf_parser/src/pose.cpp b/urdf_parser/src/pose.cpp
index d82c3e54..36cf009c 100644
--- a/urdf_parser/src/pose.cpp
+++ b/urdf_parser/src/pose.cpp
@@ -35,13 +35,13 @@
 /* Author: Wim Meeussen, John Hsu */
 
 
-#include <urdf_model/pose.h>
+#include <urdf_model/pose.hpp>
 #include <fstream>
 #include <sstream>
 #include <algorithm>
 #include <console_bridge/console.h>
 #include <tinyxml2.h>
-#include <urdf_parser/urdf_parser.h>
+#include <urdf_parser/urdf_parser.hpp>
 
 #include "./pose.hpp"
 
diff --git a/urdf_parser/src/pose.hpp b/urdf_parser/src/pose.hpp
index 38e05192..14ce16ec 100644
--- a/urdf_parser/src/pose.hpp
+++ b/urdf_parser/src/pose.hpp
@@ -34,10 +34,10 @@
 
 /* Author: Wim Meeussen, John Hsu */
 
-#include <urdf_model/pose.h>
+#include <urdf_model/pose.hpp>
 #include <tinyxml2.h>
 
-#include "urdf_parser/urdf_parser.h"
+#include "urdf_parser/urdf_parser.hpp"
 
 namespace urdf {
 
diff --git a/urdf_parser/src/urdf_sensor.cpp b/urdf_parser/src/urdf_sensor.cpp
index 7ce30d77..36751bec 100644
--- a/urdf_parser/src/urdf_sensor.cpp
+++ b/urdf_parser/src/urdf_sensor.cpp
@@ -35,7 +35,7 @@
 /* Author: John Hsu */
 
 
-#include <urdf_sensor/sensor.h>
+#include <urdf_sensor/sensor.hpp>
 #include <fstream>
 #include <locale>
 #include <sstream>
@@ -45,7 +45,7 @@
 #include <tinyxml2.h>
 #include <console_bridge/console.h>
 
-#include <urdf_parser/urdf_parser.h>
+#include <urdf_parser/urdf_parser.hpp>
 
 #include "./pose.hpp"
 #include "./urdf_sensor.hpp"
diff --git a/urdf_parser/src/urdf_to_graphviz.cpp b/urdf_parser/src/urdf_to_graphviz.cpp
index e97c3df8..1601270d 100644
--- a/urdf_parser/src/urdf_to_graphviz.cpp
+++ b/urdf_parser/src/urdf_to_graphviz.cpp
@@ -34,7 +34,7 @@
 
 /* Author: Wim Meeussen */
 
-#include "urdf_parser/urdf_parser.h"
+#include "urdf_parser/urdf_parser.hpp"
 #include <iostream>
 #include <fstream>
 
diff --git a/urdf_parser/src/world.cpp b/urdf_parser/src/world.cpp
index 4aa6e3a9..e017d78a 100644
--- a/urdf_parser/src/world.cpp
+++ b/urdf_parser/src/world.cpp
@@ -35,9 +35,9 @@
 /* Author: Wim Meeussen */
 
 
-#include <urdf_world/world.h>
-#include <urdf_model/model.h>
-#include <urdf_parser/urdf_parser.h>
+#include <urdf_world/world.hpp>
+#include <urdf_model/model.hpp>
+#include <urdf_parser/urdf_parser.hpp>
 #include <fstream>
 #include <sstream>
 #include <algorithm>
diff --git a/urdf_parser/test/memtest.cpp b/urdf_parser/test/memtest.cpp
index 86d231ea..8bd68890 100644
--- a/urdf_parser/test/memtest.cpp
+++ b/urdf_parser/test/memtest.cpp
@@ -1,4 +1,4 @@
-#include "urdf_parser/urdf_parser.h"
+#include "urdf_parser/urdf_parser.hpp"
 #include <fstream>
 #include <iostream>
 
diff --git a/urdf_parser/test/urdf_schema_capsule_geometry_test.cpp b/urdf_parser/test/urdf_schema_capsule_geometry_test.cpp
index b586a5d0..fd7857e5 100644
--- a/urdf_parser/test/urdf_schema_capsule_geometry_test.cpp
+++ b/urdf_parser/test/urdf_schema_capsule_geometry_test.cpp
@@ -17,7 +17,7 @@
 #include <memory>
 
 #include "urdf_model/link.h"
-#include "urdf_parser/urdf_parser.h"
+#include "urdf_parser/urdf_parser.hpp"
 
 TEST(URDF_UNIT_TEST, parse_capsule_geometry_version_1_1)
 {
diff --git a/urdf_parser/test/urdf_schema_quaternion_test.cpp b/urdf_parser/test/urdf_schema_quaternion_test.cpp
index c1993743..004bca59 100644
--- a/urdf_parser/test/urdf_schema_quaternion_test.cpp
+++ b/urdf_parser/test/urdf_schema_quaternion_test.cpp
@@ -4,8 +4,8 @@
 #include <cmath>
 #include <vector>
 
-#include "urdf_model/pose.h"
-#include "urdf_parser/urdf_parser.h"
+#include "urdf_model/pose.hpp"
+#include "urdf_parser/urdf_parser.hpp"
 
 TEST(URDF_UNIT_TEST, parse_rot_rpy_version_1_0)
 {
diff --git a/urdf_parser/test/urdf_unit_test.cpp b/urdf_parser/test/urdf_unit_test.cpp
index 6e8d87e1..654d39c5 100644
--- a/urdf_parser/test/urdf_unit_test.cpp
+++ b/urdf_parser/test/urdf_unit_test.cpp
@@ -4,8 +4,8 @@
 #include <cmath>
 #include <vector>
 
-#include "urdf_model/pose.h"
-#include "urdf_parser/urdf_parser.h"
+#include "urdf_model/pose.hpp"
+#include "urdf_parser/urdf_parser.hpp"
 
 #ifndef M_PI
   # define M_PI 3.141592653589793
diff --git a/urdf_parser/test/urdf_version_test.cpp b/urdf_parser/test/urdf_version_test.cpp
index e28a084a..a9f790d2 100644
--- a/urdf_parser/test/urdf_version_test.cpp
+++ b/urdf_parser/test/urdf_version_test.cpp
@@ -3,7 +3,7 @@
 
 #include <gtest/gtest.h>
 
-#include <urdf_parser/urdf_parser.h>
+#include <urdf_parser/urdf_parser.hpp>
 
 #define EXPECT_THROW_OF_TYPE(type, statement, msg)                         \
   do {                                                                     \