diff --git a/mavros/mavros/base.py b/mavros/mavros/base.py
index 1b05a31f1..d09970db3 100644
--- a/mavros/mavros/base.py
+++ b/mavros/mavros/base.py
@@ -88,7 +88,7 @@ def __init__(
         self, node_name: typing.Optional[str] = None, mavros_ns: str = DEFAULT_NAMESPACE
     ):
         """
-        Constructor.
+        BaseNode.
 
         :param node_name: name of the node, would be random if None
         :param mavros_ns: node name of mavros::UAS
diff --git a/mavros/src/plugins/setpoint_accel.cpp b/mavros/src/plugins/setpoint_accel.cpp
index 6d270a542..e11ff4742 100644
--- a/mavros/src/plugins/setpoint_accel.cpp
+++ b/mavros/src/plugins/setpoint_accel.cpp
@@ -16,8 +16,7 @@
  * @{
  */
 
-#include <tf2_eigen/tf2_eigen.h>
-
+#include "tf2_eigen/tf2_eigen.hpp"
 #include "rcpputils/asserts.hpp"
 #include "mavros/mavros_uas.hpp"
 #include "mavros/plugin.hpp"
diff --git a/mavros/src/plugins/setpoint_attitude.cpp b/mavros/src/plugins/setpoint_attitude.cpp
index 62b9cde9c..496c401f8 100644
--- a/mavros/src/plugins/setpoint_attitude.cpp
+++ b/mavros/src/plugins/setpoint_attitude.cpp
@@ -16,13 +16,13 @@
  * @{
  */
 
-#include <tf2_eigen/tf2_eigen.h>
 #include <message_filters/subscriber.h>
 #include <message_filters/synchronizer.h>
 #include <message_filters/sync_policies/approximate_time.h>
 
 #include <memory>
 
+#include "tf2_eigen/tf2_eigen.hpp"
 #include "rcpputils/asserts.hpp"
 #include "mavros/mavros_uas.hpp"
 #include "mavros/plugin.hpp"
diff --git a/mavros/src/plugins/setpoint_position.cpp b/mavros/src/plugins/setpoint_position.cpp
index 00f9b0ee0..f1279d52e 100644
--- a/mavros/src/plugins/setpoint_position.cpp
+++ b/mavros/src/plugins/setpoint_position.cpp
@@ -14,9 +14,9 @@
  * @{
  */
 
-#include <tf2_eigen/tf2_eigen.h>
 #include <GeographicLib/Geocentric.hpp>
 
+#include "tf2_eigen/tf2_eigen.hpp"
 #include "rcpputils/asserts.hpp"
 #include "mavros/mavros_uas.hpp"
 #include "mavros/plugin.hpp"
diff --git a/mavros/src/plugins/setpoint_raw.cpp b/mavros/src/plugins/setpoint_raw.cpp
index 653c180c7..beb259fd4 100644
--- a/mavros/src/plugins/setpoint_raw.cpp
+++ b/mavros/src/plugins/setpoint_raw.cpp
@@ -14,10 +14,9 @@
  * https://github.com/mavlink/mavros/tree/master/LICENSE.md
  */
 
-#include <tf2_eigen/tf2_eigen.h>
-
 #include <algorithm>
 
+#include "tf2_eigen/tf2_eigen.hpp"
 #include "rcpputils/asserts.hpp"
 #include "mavros/mavros_uas.hpp"
 #include "mavros/plugin.hpp"
diff --git a/mavros/src/plugins/setpoint_trajectory.cpp b/mavros/src/plugins/setpoint_trajectory.cpp
index 95c5386e2..732c06167 100644
--- a/mavros/src/plugins/setpoint_trajectory.cpp
+++ b/mavros/src/plugins/setpoint_trajectory.cpp
@@ -15,11 +15,10 @@
  * @{
  */
 
-#include <tf2_eigen/tf2_eigen.h>
-
 #include <vector>
 #include <string>
 
+#include "tf2_eigen/tf2_eigen.hpp"
 #include "rcpputils/asserts.hpp"
 #include "mavros/mavros_uas.hpp"
 #include "mavros/plugin.hpp"
diff --git a/mavros/src/plugins/setpoint_velocity.cpp b/mavros/src/plugins/setpoint_velocity.cpp
index 850b43ecb..9f18f5e4d 100644
--- a/mavros/src/plugins/setpoint_velocity.cpp
+++ b/mavros/src/plugins/setpoint_velocity.cpp
@@ -16,8 +16,7 @@
  * @{
  */
 
-#include <tf2_eigen/tf2_eigen.h>
-
+#include "tf2_eigen/tf2_eigen.hpp"
 #include "rcpputils/asserts.hpp"
 #include "mavros/mavros_uas.hpp"
 #include "mavros/plugin.hpp"
diff --git a/mavros/src/plugins/wind_estimation.cpp b/mavros/src/plugins/wind_estimation.cpp
index 4d414f4b0..659d79425 100644
--- a/mavros/src/plugins/wind_estimation.cpp
+++ b/mavros/src/plugins/wind_estimation.cpp
@@ -16,8 +16,8 @@
  */
 
 #include <angles/angles.h>
-#include <tf2_eigen/tf2_eigen.h>
 
+#include "tf2_eigen/tf2_eigen.hpp"
 #include "rcpputils/asserts.hpp"
 #include "mavros/mavros_uas.hpp"
 #include "mavros/plugin.hpp"