diff --git a/admittance_controller/include/admittance_controller/admittance_controller.hpp b/admittance_controller/include/admittance_controller/admittance_controller.hpp
index b6473c6ff5..eccf184e6a 100644
--- a/admittance_controller/include/admittance_controller/admittance_controller.hpp
+++ b/admittance_controller/include/admittance_controller/admittance_controller.hpp
@@ -38,8 +38,8 @@
 #include "rclcpp/time.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_buffer.h"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "semantic_components/force_torque_sensor.hpp"
 
 #include "trajectory_msgs/msg/joint_trajectory.hpp"
diff --git a/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp b/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
index 3584a1d1f7..2110c68b69 100644
--- a/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
+++ b/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
@@ -37,9 +37,14 @@
 #include "odometry.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/state.hpp"
+<<<<<<< HEAD
 #include "realtime_tools/realtime_box.h"
 #include "realtime_tools/realtime_buffer.h"
 #include "realtime_tools/realtime_publisher.h"
+=======
+#include "realtime_tools/realtime_box.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
+>>>>>>> cd73055 (Use the .hpp headers from `realtime_tools` package (#1406))
 #include "tf2_msgs/msg/tf_message.hpp"
 
 #include "diff_drive_controller_parameters.hpp"
diff --git a/force_torque_sensor_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp b/force_torque_sensor_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp
index 6166adfd9a..f19dd6a45b 100644
--- a/force_torque_sensor_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp
+++ b/force_torque_sensor_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp
@@ -29,7 +29,7 @@
 #include "geometry_msgs/msg/wrench_stamped.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "semantic_components/force_torque_sensor.hpp"
 
 namespace force_torque_sensor_broadcaster
diff --git a/forward_command_controller/include/forward_command_controller/forward_controllers_base.hpp b/forward_command_controller/include/forward_command_controller/forward_controllers_base.hpp
index d60245f328..cabe9ae689 100644
--- a/forward_command_controller/include/forward_command_controller/forward_controllers_base.hpp
+++ b/forward_command_controller/include/forward_command_controller/forward_controllers_base.hpp
@@ -24,7 +24,7 @@
 #include "rclcpp/subscription.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_buffer.h"
+#include "realtime_tools/realtime_buffer.hpp"
 #include "std_msgs/msg/float64_multi_array.hpp"
 
 namespace forward_command_controller
diff --git a/gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp b/gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp
index 105e002a22..8cab4e9dfa 100644
--- a/gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp
+++ b/gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp
@@ -27,8 +27,8 @@
 #include "hardware_interface/hardware_info.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_buffer.h"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
 
 namespace gpio_controllers
 {
diff --git a/gripper_controllers/include/gripper_controllers/gripper_action_controller.hpp b/gripper_controllers/include/gripper_controllers/gripper_action_controller.hpp
index cf3ec193f3..b94b7dc0c3 100644
--- a/gripper_controllers/include/gripper_controllers/gripper_action_controller.hpp
+++ b/gripper_controllers/include/gripper_controllers/gripper_action_controller.hpp
@@ -37,8 +37,8 @@
 #include "gripper_controllers/visibility_control.hpp"
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
-#include "realtime_tools/realtime_buffer.h"
-#include "realtime_tools/realtime_server_goal_handle.h"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_server_goal_handle.hpp"
 
 // Project
 #include "gripper_action_controller_parameters.hpp"
diff --git a/imu_sensor_broadcaster/include/imu_sensor_broadcaster/imu_sensor_broadcaster.hpp b/imu_sensor_broadcaster/include/imu_sensor_broadcaster/imu_sensor_broadcaster.hpp
index d78e28780e..4142ee6ac6 100644
--- a/imu_sensor_broadcaster/include/imu_sensor_broadcaster/imu_sensor_broadcaster.hpp
+++ b/imu_sensor_broadcaster/include/imu_sensor_broadcaster/imu_sensor_broadcaster.hpp
@@ -28,7 +28,7 @@
 #include "imu_sensor_broadcaster_parameters.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "semantic_components/imu_sensor.hpp"
 #include "sensor_msgs/msg/imu.hpp"
 
diff --git a/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp b/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp
index 4761f3f250..fbf1e3c04b 100644
--- a/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp
+++ b/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp
@@ -24,9 +24,13 @@
 #include "controller_interface/controller_interface.hpp"
 #include "joint_state_broadcaster/visibility_control.h"
 #include "joint_state_broadcaster_parameters.hpp"
+<<<<<<< HEAD
 #include "rclcpp_lifecycle/lifecycle_publisher.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "realtime_tools/realtime_publisher.h"
+=======
+#include "realtime_tools/realtime_publisher.hpp"
+>>>>>>> cd73055 (Use the .hpp headers from `realtime_tools` package (#1406))
 #include "sensor_msgs/msg/joint_state.hpp"
 
 namespace joint_state_broadcaster
diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
index 0d58375295..d946ace806 100644
--- a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
+++ b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -38,9 +38,9 @@
 #include "rclcpp_action/server.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_buffer.h"
-#include "realtime_tools/realtime_publisher.h"
-#include "realtime_tools/realtime_server_goal_handle.h"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
+#include "realtime_tools/realtime_server_goal_handle.hpp"
 #include "trajectory_msgs/msg/joint_trajectory.hpp"
 #include "trajectory_msgs/msg/joint_trajectory_point.hpp"
 
diff --git a/mecanum_drive_controller/include/mecanum_drive_controller/mecanum_drive_controller.hpp b/mecanum_drive_controller/include/mecanum_drive_controller/mecanum_drive_controller.hpp
new file mode 100644
index 0000000000..f835752d43
--- /dev/null
+++ b/mecanum_drive_controller/include/mecanum_drive_controller/mecanum_drive_controller.hpp
@@ -0,0 +1,162 @@
+// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt)
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MECANUM_DRIVE_CONTROLLER__MECANUM_DRIVE_CONTROLLER_HPP_
+#define MECANUM_DRIVE_CONTROLLER__MECANUM_DRIVE_CONTROLLER_HPP_
+
+#include <chrono>
+#include <cmath>
+#include <memory>
+#include <queue>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "controller_interface/chainable_controller_interface.hpp"
+#include "mecanum_drive_controller/odometry.hpp"
+#include "mecanum_drive_controller/visibility_control.h"
+#include "mecanum_drive_controller_parameters.hpp"
+#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
+#include "rclcpp_lifecycle/state.hpp"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
+#include "std_srvs/srv/set_bool.hpp"
+
+#include "control_msgs/msg/mecanum_drive_controller_state.hpp"
+#include "geometry_msgs/msg/twist_stamped.hpp"
+#include "nav_msgs/msg/odometry.hpp"
+#include "tf2_msgs/msg/tf_message.hpp"
+namespace mecanum_drive_controller
+{
+// name constants for state interfaces
+static constexpr size_t NR_STATE_ITFS = 4;
+
+// name constants for command interfaces
+static constexpr size_t NR_CMD_ITFS = 4;
+
+// name constants for reference interfaces
+static constexpr size_t NR_REF_ITFS = 3;
+
+class MecanumDriveController : public controller_interface::ChainableControllerInterface
+{
+public:
+  MECANUM_DRIVE_CONTROLLER__VISIBILITY_PUBLIC
+  MecanumDriveController();
+
+  MECANUM_DRIVE_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::CallbackReturn on_init() override;
+
+  MECANUM_DRIVE_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::InterfaceConfiguration command_interface_configuration() const override;
+
+  MECANUM_DRIVE_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::InterfaceConfiguration state_interface_configuration() const override;
+
+  MECANUM_DRIVE_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::CallbackReturn on_configure(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  MECANUM_DRIVE_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::CallbackReturn on_activate(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  MECANUM_DRIVE_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::CallbackReturn on_deactivate(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  MECANUM_DRIVE_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::return_type update_reference_from_subscribers(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+
+  MECANUM_DRIVE_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::return_type update_and_write_commands(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+
+  using ControllerReferenceMsg = geometry_msgs::msg::TwistStamped;
+  using OdomStateMsg = nav_msgs::msg::Odometry;
+  using TfStateMsg = tf2_msgs::msg::TFMessage;
+  using ControllerStateMsg = control_msgs::msg::MecanumDriveControllerState;
+
+protected:
+  std::shared_ptr<mecanum_drive_controller::ParamListener> param_listener_;
+  mecanum_drive_controller::Params params_;
+
+  /**
+   * The list is sorted in the following order:
+   *  - front left wheel
+   *  - front right wheel
+   *  - back right wheel
+   *  - back left wheel
+   */
+  enum WheelIndex : std::size_t
+  {
+    FRONT_LEFT = 0,
+    FRONT_RIGHT = 1,
+    REAR_RIGHT = 2,
+    REAR_LEFT = 3
+  };
+
+  /**
+   * Internal lists with joint names sorted as in `WheelIndex` enum.
+   */
+  std::vector<std::string> command_joint_names_;
+
+  /**
+   * Internal lists with joint names sorted as in `WheelIndex` enum.
+   * If parameters for state joint names are *not* defined, this list is the same as
+   * `command_joint_names_`.
+   */
+  std::vector<std::string> state_joint_names_;
+
+  // Names of the references, ex: high level vel commands from MoveIt, Nav2, etc.
+  // used for preceding controller
+  std::vector<std::string> reference_names_;
+
+  // Command subscribers and Controller State, odom state, tf state publishers
+  rclcpp::Subscription<ControllerReferenceMsg>::SharedPtr ref_subscriber_ = nullptr;
+  realtime_tools::RealtimeBuffer<std::shared_ptr<ControllerReferenceMsg>> input_ref_;
+  rclcpp::Duration ref_timeout_ = rclcpp::Duration::from_seconds(0.0);
+
+  using OdomStatePublisher = realtime_tools::RealtimePublisher<OdomStateMsg>;
+  rclcpp::Publisher<OdomStateMsg>::SharedPtr odom_s_publisher_;
+  std::unique_ptr<OdomStatePublisher> rt_odom_state_publisher_;
+
+  using TfStatePublisher = realtime_tools::RealtimePublisher<TfStateMsg>;
+  rclcpp::Publisher<TfStateMsg>::SharedPtr tf_odom_s_publisher_;
+  std::unique_ptr<TfStatePublisher> rt_tf_odom_state_publisher_;
+
+  using ControllerStatePublisher = realtime_tools::RealtimePublisher<ControllerStateMsg>;
+  rclcpp::Publisher<ControllerStateMsg>::SharedPtr controller_s_publisher_;
+  std::unique_ptr<ControllerStatePublisher> controller_state_publisher_;
+
+  // override methods from ChainableControllerInterface
+  std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override;
+
+  bool on_set_chained_mode(bool chained_mode) override;
+
+  Odometry odometry_;
+
+private:
+  // callback for topic interface
+  MECANUM_DRIVE_CONTROLLER__VISIBILITY_LOCAL
+  void reference_callback(const std::shared_ptr<ControllerReferenceMsg> msg);
+
+  double velocity_in_center_frame_linear_x_;   // [m/s]
+  double velocity_in_center_frame_linear_y_;   // [m/s]
+  double velocity_in_center_frame_angular_z_;  // [rad/s]
+};
+
+}  // namespace mecanum_drive_controller
+
+#endif  // MECANUM_DRIVE_CONTROLLER__MECANUM_DRIVE_CONTROLLER_HPP_
diff --git a/mecanum_drive_controller/include/mecanum_drive_controller/odometry.hpp b/mecanum_drive_controller/include/mecanum_drive_controller/odometry.hpp
new file mode 100644
index 0000000000..241809e8c2
--- /dev/null
+++ b/mecanum_drive_controller/include/mecanum_drive_controller/odometry.hpp
@@ -0,0 +1,104 @@
+// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt)
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MECANUM_DRIVE_CONTROLLER__ODOMETRY_HPP_
+#define MECANUM_DRIVE_CONTROLLER__ODOMETRY_HPP_
+
+#include "geometry_msgs/msg/twist.hpp"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
+
+#define PLANAR_POINT_DIM 3
+
+namespace mecanum_drive_controller
+{
+/// \brief The Odometry class handles odometry readings
+/// (2D pose and velocity with related timestamp)
+class Odometry
+{
+public:
+  /// Integration function, used to integrate the odometry:
+  typedef std::function<void(double, double, double)> IntegrationFunction;
+
+  /// \brief Constructor
+  /// Timestamp will get the current time value
+  /// Value will be set to zero
+  Odometry();
+
+  /// \brief Initialize the odometry
+  /// \param time Current time
+  void init(const rclcpp::Time & time, std::array<double, PLANAR_POINT_DIM> base_frame_offset);
+
+  /// \brief Updates the odometry class with latest wheels position
+  /// \param wheel_front_left_vel  Wheel velocity [rad/s]
+  /// \param wheel_rear_left_vel  Wheel velocity [rad/s]
+  /// \param wheel_rear_right_vel  Wheel velocity [rad/s]
+  /// \param wheel_front_right_vel  Wheel velocity [rad/s]
+  /// \param time      Current time
+  /// \return true if the odometry is actually updated
+  bool update(
+    const double wheel_front_left_vel, const double wheel_rear_left_vel,
+    const double wheel_rear_right_vel, const double wheel_front_right_vel, const double dt);
+
+  /// \return position (x component) [m]
+  double getX() const { return position_x_in_base_frame_; }
+  /// \return position (y component) [m]
+  double getY() const { return position_y_in_base_frame_; }
+  /// \return orientation (z component) [m]
+  double getRz() const { return orientation_z_in_base_frame_; }
+  /// \return body velocity of the base frame (linear x component) [m/s]
+  double getVx() const { return velocity_in_base_frame_linear_x; }
+  /// \return body velocity of the base frame (linear y component) [m/s]
+  double getVy() const { return velocity_in_base_frame_linear_y; }
+  /// \return body velocity of the base frame (angular z component) [m/s]
+  double getWz() const
+  {
+    return velocity_in_base_frame_angular_z;
+    ;
+  }
+
+  /// \brief Sets the wheels parameters: mecanum geometric param and radius
+  /// \param sum_of_robot_center_projection_on_X_Y_axis Wheels geometric param
+  /// (used in mecanum wheels' ik) [m]
+  /// \param wheels_radius  Wheels radius [m]
+  void setWheelsParams(
+    const double sum_of_robot_center_projection_on_X_Y_axis, const double wheels_radius);
+
+private:
+  /// Current timestamp:
+  rclcpp::Time timestamp_;
+
+  /// Reference frame (wrt to center frame). [x, y, theta]
+  std::array<double, PLANAR_POINT_DIM> base_frame_offset_;
+
+  /// Current pose:
+  double position_x_in_base_frame_;     // [m]
+  double position_y_in_base_frame_;     // [m]
+  double orientation_z_in_base_frame_;  // [rad]
+
+  double velocity_in_base_frame_linear_x;   // [m/s]
+  double velocity_in_base_frame_linear_y;   // [m/s]
+  double velocity_in_base_frame_angular_z;  // [rad/s]
+
+  /// Wheels kinematic parameters [m]:
+  /// lx and ly represent the distance from the robot's center to the wheels
+  /// projected on the x and y axis with origin at robots center respectively,
+  /// sum_of_robot_center_projection_on_X_Y_axis_ = lx+ly
+  double sum_of_robot_center_projection_on_X_Y_axis_;
+  double wheels_radius_;  // [m]
+};
+
+}  // namespace mecanum_drive_controller
+
+#endif  // MECANUM_DRIVE_CONTROLLER__ODOMETRY_HPP_ */
diff --git a/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller.hpp b/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller.hpp
new file mode 100644
index 0000000000..739d1c570a
--- /dev/null
+++ b/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller.hpp
@@ -0,0 +1,174 @@
+// Copyright 2014, SRI International
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/// \author Sachin Chitta, Adolfo Rodriguez Tsouroukdissian
+
+#ifndef PARALLEL_GRIPPER_CONTROLLER__PARALLEL_GRIPPER_ACTION_CONTROLLER_HPP_
+#define PARALLEL_GRIPPER_CONTROLLER__PARALLEL_GRIPPER_ACTION_CONTROLLER_HPP_
+
+// C++ standard
+#include <cassert>
+#include <memory>
+#include <stdexcept>
+#include <string>
+
+// ROS
+#include "rclcpp/rclcpp.hpp"
+
+// ROS messages
+#include "control_msgs/action/parallel_gripper_command.hpp"
+
+// rclcpp_action
+#include "rclcpp_action/create_server.hpp"
+
+// ros_controls
+#include "controller_interface/controller_interface.hpp"
+#include "hardware_interface/loaned_command_interface.hpp"
+#include "hardware_interface/loaned_state_interface.hpp"
+#include "parallel_gripper_controller/visibility_control.hpp"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_server_goal_handle.hpp"
+
+// Project
+#include "parallel_gripper_action_controller_parameters.hpp"
+
+namespace parallel_gripper_action_controller
+{
+/**
+ * \brief Controller for executing a `ParallelGripperCommand` action.
+ *
+ * \tparam HardwareInterface Controller hardware interface. Currently \p
+ * hardware_interface::HW_IF_POSITION and \p
+ * hardware_interface::HW_IF_EFFORT are supported out-of-the-box.
+ */
+
+class GripperActionController : public controller_interface::ControllerInterface
+{
+public:
+  /**
+   * \brief Store position and max effort in struct to allow easier realtime
+   * buffer usage
+   */
+  struct Commands
+  {
+    double position_cmd_;  // Commanded position
+    double max_velocity_;  // Desired max gripper velocity
+    double max_effort_;    // Desired max allowed effort
+  };
+
+  GRIPPER_ACTION_CONTROLLER_PUBLIC GripperActionController();
+
+  /**
+   * @brief command_interface_configuration This controller requires the
+   * position command interfaces for the controlled joints
+   */
+  GRIPPER_ACTION_CONTROLLER_PUBLIC
+  controller_interface::InterfaceConfiguration command_interface_configuration() const override;
+
+  /**
+   * @brief command_interface_configuration This controller requires the
+   * position and velocity state interfaces for the controlled joints
+   */
+  GRIPPER_ACTION_CONTROLLER_PUBLIC
+  controller_interface::InterfaceConfiguration state_interface_configuration() const override;
+
+  GRIPPER_ACTION_CONTROLLER_PUBLIC
+  controller_interface::return_type update(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+
+  GRIPPER_ACTION_CONTROLLER_PUBLIC
+  controller_interface::CallbackReturn on_init() override;
+
+  GRIPPER_ACTION_CONTROLLER_PUBLIC
+  controller_interface::CallbackReturn on_configure(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  GRIPPER_ACTION_CONTROLLER_PUBLIC
+  controller_interface::CallbackReturn on_activate(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  GRIPPER_ACTION_CONTROLLER_PUBLIC
+  controller_interface::CallbackReturn on_deactivate(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  realtime_tools::RealtimeBuffer<Commands> command_;
+  // pre-allocated memory that is re-used to set the realtime buffer
+  Commands command_struct_, command_struct_rt_;
+
+protected:
+  using GripperCommandAction = control_msgs::action::ParallelGripperCommand;
+  using ActionServer = rclcpp_action::Server<GripperCommandAction>;
+  using ActionServerPtr = ActionServer::SharedPtr;
+  using GoalHandle = rclcpp_action::ServerGoalHandle<GripperCommandAction>;
+  using RealtimeGoalHandle =
+    realtime_tools::RealtimeServerGoalHandle<control_msgs::action::ParallelGripperCommand>;
+  using RealtimeGoalHandlePtr = std::shared_ptr<RealtimeGoalHandle>;
+  using RealtimeGoalHandleBuffer = realtime_tools::RealtimeBuffer<RealtimeGoalHandlePtr>;
+
+  bool update_hold_position_;
+
+  bool verbose_ = false;  ///< Hard coded verbose flag to help in debugging
+  std::string name_;      ///< Controller name.
+  std::optional<std::reference_wrapper<hardware_interface::LoanedCommandInterface>>
+    joint_command_interface_;
+  std::optional<std::reference_wrapper<hardware_interface::LoanedCommandInterface>>
+    effort_interface_;
+  std::optional<std::reference_wrapper<hardware_interface::LoanedCommandInterface>>
+    speed_interface_;
+  std::optional<std::reference_wrapper<hardware_interface::LoanedStateInterface>>
+    joint_position_state_interface_;
+  std::optional<std::reference_wrapper<hardware_interface::LoanedStateInterface>>
+    joint_velocity_state_interface_;
+
+  std::shared_ptr<ParamListener> param_listener_;
+  Params params_;
+
+  RealtimeGoalHandleBuffer
+    rt_active_goal_;  ///< Container for the currently active action goal, if any.
+  control_msgs::action::ParallelGripperCommand::Result::SharedPtr pre_alloc_result_;
+
+  rclcpp::Duration action_monitor_period_;
+
+  // ROS API
+  ActionServerPtr action_server_;
+
+  rclcpp::TimerBase::SharedPtr goal_handle_timer_;
+
+  rclcpp_action::GoalResponse goal_callback(
+    const rclcpp_action::GoalUUID & uuid, std::shared_ptr<const GripperCommandAction::Goal> goal);
+
+  rclcpp_action::CancelResponse cancel_callback(const std::shared_ptr<GoalHandle> goal_handle);
+
+  void accepted_callback(std::shared_ptr<GoalHandle> goal_handle);
+
+  void preempt_active_goal();
+
+  void set_hold_position();
+
+  rclcpp::Time last_movement_time_ = rclcpp::Time(0, 0, RCL_ROS_TIME);  ///< Store stall time
+  double computed_command_;                                             ///< Computed command
+
+  /**
+   * \brief Check for success and publish appropriate result and feedback.
+   **/
+  void check_for_success(
+    const rclcpp::Time & time, double error_position, double current_position,
+    double current_velocity);
+};
+
+}  // namespace parallel_gripper_action_controller
+
+#include "parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp"
+
+#endif  // PARALLEL_GRIPPER_CONTROLLER__PARALLEL_GRIPPER_ACTION_CONTROLLER_HPP_
diff --git a/pid_controller/include/pid_controller/pid_controller.hpp b/pid_controller/include/pid_controller/pid_controller.hpp
index 105a915442..3d3f95d290 100644
--- a/pid_controller/include/pid_controller/pid_controller.hpp
+++ b/pid_controller/include/pid_controller/pid_controller.hpp
@@ -30,8 +30,8 @@
 #include "pid_controller_parameters.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_buffer.h"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "std_srvs/srv/set_bool.hpp"
 
 #include "control_msgs/msg/joint_controller_state.hpp"
diff --git a/pose_broadcaster/include/pose_broadcaster/pose_broadcaster.hpp b/pose_broadcaster/include/pose_broadcaster/pose_broadcaster.hpp
index 621a90cc85..9317fce5e1 100644
--- a/pose_broadcaster/include/pose_broadcaster/pose_broadcaster.hpp
+++ b/pose_broadcaster/include/pose_broadcaster/pose_broadcaster.hpp
@@ -25,7 +25,7 @@
 #include "pose_broadcaster_parameters.hpp"
 #include "rclcpp/publisher.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "semantic_components/pose_sensor.hpp"
 #include "tf2_msgs/msg/tf_message.hpp"
 
diff --git a/range_sensor_broadcaster/include/range_sensor_broadcaster/range_sensor_broadcaster.hpp b/range_sensor_broadcaster/include/range_sensor_broadcaster/range_sensor_broadcaster.hpp
index b2e5fbfac0..9a6f1c78df 100644
--- a/range_sensor_broadcaster/include/range_sensor_broadcaster/range_sensor_broadcaster.hpp
+++ b/range_sensor_broadcaster/include/range_sensor_broadcaster/range_sensor_broadcaster.hpp
@@ -28,7 +28,7 @@
 #include "range_sensor_broadcaster_parameters.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "semantic_components/range_sensor.hpp"
 #include "sensor_msgs/msg/range.hpp"
 
diff --git a/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp b/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp
index 8e57e10ea0..fc8df70cef 100644
--- a/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp
+++ b/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp
@@ -27,9 +27,14 @@
 #include "hardware_interface/handle.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
+<<<<<<< HEAD
 #include "realtime_tools/realtime_buffer.h"
 #include "realtime_tools/realtime_publisher.h"
 #include "std_srvs/srv/set_bool.hpp"
+=======
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
+>>>>>>> cd73055 (Use the .hpp headers from `realtime_tools` package (#1406))
 #include "steering_controllers_library/steering_odometry.hpp"
 #include "steering_controllers_library/visibility_control.h"
 #include "steering_controllers_library_parameters.hpp"
diff --git a/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp b/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp
index cef90d026a..67eb565b85 100644
--- a/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp
+++ b/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp
@@ -35,9 +35,14 @@
 #include "nav_msgs/msg/odometry.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/state.hpp"
+<<<<<<< HEAD
 #include "realtime_tools/realtime_box.h"
 #include "realtime_tools/realtime_buffer.h"
 #include "realtime_tools/realtime_publisher.h"
+=======
+#include "realtime_tools/realtime_box.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
+>>>>>>> cd73055 (Use the .hpp headers from `realtime_tools` package (#1406))
 #include "std_srvs/srv/empty.hpp"
 #include "tf2_msgs/msg/tf_message.hpp"
 #include "tricycle_controller/odometry.hpp"