diff --git a/nav2_controller/nav2_controller/package.xml b/nav2_controller/nav2_controller/package.xml
index ad6b0070ab1..6e479ddbdc4 100644
--- a/nav2_controller/nav2_controller/package.xml
+++ b/nav2_controller/nav2_controller/package.xml
@@ -6,7 +6,7 @@
   <description>
     ROS2 controller (DWB) metapackage
   </description>
-  <maintainer email="oregon.robotics.team@intel.com">Oregon Robotics Team</maintainer>
+  <maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
   <license>Apache License 2.0</license>
 
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/array_parser.h b/nav2_costmap_2d/include/nav2_costmap_2d/array_parser.h
index 7acc55bb0b9..592e7c53cd2 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/array_parser.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/array_parser.h
@@ -28,8 +28,8 @@
  *
  * author: Dave Hershberger
  */
-#ifndef nav2_costmap_2d_ARRAY_PARSER_H
-#define nav2_costmap_2d_ARRAY_PARSER_H
+#ifndef NAV2_COSTMAP_2D__ARRAY_PARSER_H
+#define NAV2_COSTMAP_2D__ARRAY_PARSER_H
 
 #include <vector>
 #include <string>
@@ -48,4 +48,4 @@ std::vector<std::vector<float> > parseVVF(const std::string & input, std::string
 
 }  // end namespace nav2_costmap_2d
 
-#endif  // nav2_costmap_2d_ARRAY_PARSER_H
+#endif  // NAV2_COSTMAP_2D__ARRAY_PARSER_H
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/cost_values.h b/nav2_costmap_2d/include/nav2_costmap_2d/cost_values.h
index 6703f8af3dd..2077250d003 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/cost_values.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/cost_values.h
@@ -34,8 +34,8 @@
  *
  * Author: Eitan Marder-Eppstein
  *********************************************************************/
-#ifndef nav2_costmap_2d_COST_VALUES_H_
-#define nav2_costmap_2d_COST_VALUES_H_
+#ifndef NAV2_COSTMAP_2D__COST_VALUES_H_
+#define NAV2_COSTMAP_2D__COST_VALUES_H_
 /** Provides a mapping for often used cost values */
 namespace nav2_costmap_2d
 {
@@ -44,4 +44,4 @@ static const unsigned char LETHAL_OBSTACLE = 254;
 static const unsigned char INSCRIBED_INFLATED_OBSTACLE = 253;
 static const unsigned char FREE_SPACE = 0;
 }
-#endif  // nav2_costmap_2d_COST_VALUES_H_
+#endif  // NAV2_COSTMAP_2D__COST_VALUES_H_
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.h b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.h
index fea86ae309d..5e3bdc4ce68 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.h
@@ -35,8 +35,8 @@
  * Author: Eitan Marder-Eppstein
  *         David V. Lu!!
  *********************************************************************/
-#ifndef nav2_costmap_2d_nav2_costmap_2d_H_
-#define nav2_costmap_2d_nav2_costmap_2d_H_
+#ifndef NAV2_COSTMAP_2D__COSTMAP_2D_H_
+#define NAV2_COSTMAP_2D__COSTMAP_2D_H_
 
 #include <cmath>
 #include <vector>
@@ -480,4 +480,4 @@ class Costmap2D
 };
 }  // namespace nav2_costmap_2d
 
-#endif // nav2_costmap_2d_nav2_costmap_2d_H
+#endif // NAV2_COSTMAP_2D__COSTMAP_2D_H
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.h b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.h
index 306b33483ac..de21863f45b 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.h
@@ -35,8 +35,8 @@
  * Author: Eitan Marder-Eppstein
  *         David V. Lu!!
  *********************************************************************/
-#ifndef nav2_costmap_2d_nav2_costmap_2d_PUBLISHER_H_
-#define nav2_costmap_2d_nav2_costmap_2d_PUBLISHER_H_
+#ifndef NAV2_COSTMAP_2D__COSTMAP_2D_PUBLISHER_H_
+#define NAV2_COSTMAP_2D__COSTMAP_2D_PUBLISHER_H_
 
 #include "rclcpp/rclcpp.hpp"
 #include <nav2_costmap_2d/costmap_2d.h>
@@ -110,4 +110,4 @@ class Costmap2DPublisher
   static char * cost_translation_table_;  ///< Translate from 0-255 values in costmap to -1 to 100 values in message.
 };
 }  // namespace nav2_costmap_2d
-#endif // nav2_costmap_2d_nav2_costmap_2d_PUBLISHER_H
+#endif // NAV2_COSTMAP_2D__COSTMAP_2D_PUBLISHER_H
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.h b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.h
index 53ec7d25ead..7f6da395f5c 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.h
@@ -35,8 +35,8 @@
  * Author: Eitan Marder-Eppstein
  *         David V. Lu!!
  *********************************************************************/
-#ifndef nav2_costmap_2d_nav2_costmap_2d_ROS_H_
-#define nav2_costmap_2d_nav2_costmap_2d_ROS_H_
+#ifndef NAV2_COSTMAP_2D__COSTMAP_2D_ROS_H_
+#define NAV2_COSTMAP_2D__COSTMAP_2D_ROS_H_
 
 #include <nav2_costmap_2d/layered_costmap.h>
 #include <nav2_costmap_2d/layer.h>
@@ -286,4 +286,4 @@ class Costmap2DROS
 // class Costmap2DROS
 }  // namespace nav2_costmap_2d
 
-#endif  // nav2_costmap_2d_nav2_costmap_2d_ROS_H
+#endif  // NAV2_COSTMAP_2D__COSTMAP_2D_ROS_H
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_layer.h b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_layer.h
index fc55145f651..378d148de31 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_layer.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_layer.h
@@ -35,8 +35,8 @@
  * Author: Eitan Marder-Eppstein
  *         David V. Lu!!
  *********************************************************************/
-#ifndef nav2_costmap_2d_COSTMAP_LAYER_H_
-#define nav2_costmap_2d_COSTMAP_LAYER_H_
+#ifndef NAV2_COSTMAP_2D__COSTMAP_LAYER_H_
+#define NAV2_COSTMAP_2D__COSTMAP_LAYER_H_
 
 #include <rclcpp/rclcpp.hpp>
 #include <nav2_costmap_2d/layer.h>
@@ -151,4 +151,4 @@ class CostmapLayer : public Layer, public Costmap2D
 };
 
 }  // namespace nav2_costmap_2d
-#endif // nav2_costmap_2d_COSTMAP_LAYER_H_
+#endif // NAV2_COSTMAP_2D__COSTMAP_LAYER_H_
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_math.h b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_math.h
index 8fee35cafa2..5830d33b436 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_math.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_math.h
@@ -35,8 +35,8 @@
  * Author: Eitan Marder-Eppstein
  *         David V. Lu!!
  *********************************************************************/
-#ifndef nav2_costmap_2d_COSTMAP_MATH_H_
-#define nav2_costmap_2d_COSTMAP_MATH_H_
+#ifndef NAV2_COSTMAP_2D__COSTMAP_MATH_H_
+#define NAV2_COSTMAP_2D__COSTMAP_MATH_H_
 
 #include <math.h>
 #include <algorithm>
@@ -67,4 +67,4 @@ bool intersects(std::vector<geometry_msgs::msg::Point> & polygon, float testx, f
 bool intersects(std::vector<geometry_msgs::msg::Point> & polygon1,
   std::vector<geometry_msgs::msg::Point> & polygon2);
 
-#endif  // nav2_costmap_2d_COSTMAP_MATH_H_
+#endif  // NAV2_COSTMAP_2D__COSTMAP_MATH_H_
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/footprint.h b/nav2_costmap_2d/include/nav2_costmap_2d/footprint.h
index 7ed44b0b13c..9380cf1341c 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/footprint.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/footprint.h
@@ -35,8 +35,8 @@
  * Author: Eitan Marder-Eppstein
  *         David V. Lu!!
  *********************************************************************/
-#ifndef nav2_costmap_2d_FOOTPRINT_H
-#define nav2_costmap_2d_FOOTPRINT_H
+#ifndef NAV2_COSTMAP_2D__FOOTPRINT_H
+#define NAV2_COSTMAP_2D__FOOTPRINT_H
 
 #include "rclcpp/rclcpp.hpp"
 #include <geometry_msgs/msg/polygon.hpp>
@@ -150,4 +150,4 @@ void writeFootprintToParam(rclcpp::Node::SharedPtr nh,
 
 }  // end namespace nav2_costmap_2d
 
-#endif  // nav2_costmap_2d_FOOTPRINT_H
+#endif  // NAV2_COSTMAP_2D__FOOTPRINT_H
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/inflation_layer.h b/nav2_costmap_2d/include/nav2_costmap_2d/inflation_layer.h
index f62171f9750..13ca14a2b50 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/inflation_layer.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/inflation_layer.h
@@ -35,8 +35,8 @@
  * Author: Eitan Marder-Eppstein
  *         David V. Lu!!
  *********************************************************************/
-#ifndef nav2_costmap_2d_INFLATION_LAYER_H_
-#define nav2_costmap_2d_INFLATION_LAYER_H_
+#ifndef NAV2_COSTMAP_2D__INFLATION_LAYER_H_
+#define NAV2_COSTMAP_2D__INFLATION_LAYER_H_
 
 #include <rclcpp/rclcpp.hpp>
 #include <nav2_costmap_2d/layer.h>
@@ -197,4 +197,4 @@ class InflationLayer : public Layer
 
 }  // namespace nav2_costmap_2d
 
-#endif  // nav2_costmap_2d_INFLATION_LAYER_H_
+#endif  // NAV2_COSTMAP_2D__INFLATION_LAYER_H_
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/layer.h b/nav2_costmap_2d/include/nav2_costmap_2d/layer.h
index 4d1d6271f28..1f03e83e968 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/layer.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/layer.h
@@ -34,8 +34,8 @@
  *
  * Author: David V. Lu!!
  *********************************************************************/
-#ifndef nav2_costmap_2d_LAYER_H_
-#define nav2_costmap_2d_LAYER_H_
+#ifndef NAV2_COSTMAP_2D__LAYER_H_
+#define NAV2_COSTMAP_2D__LAYER_H_
 
 #include <nav2_costmap_2d/costmap_2d.h>
 #include <nav2_costmap_2d/layered_costmap.h>
@@ -132,4 +132,4 @@ class Layer
 
 }  // namespace nav2_costmap_2d
 
-#endif  // nav2_costmap_2d_LAYER_H_
+#endif  // NAV2_COSTMAP_2D__LAYER_H_
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/layered_costmap.h b/nav2_costmap_2d/include/nav2_costmap_2d/layered_costmap.h
index 12d7faa82da..9435391e61b 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/layered_costmap.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/layered_costmap.h
@@ -35,8 +35,8 @@
  * Author: Eitan Marder-Eppstein
  *         David V. Lu!!
  *********************************************************************/
-#ifndef nav2_costmap_2d_LAYERED_COSTMAP_H_
-#define nav2_costmap_2d_LAYERED_COSTMAP_H_
+#ifndef NAV2_COSTMAP_2D__LAYERED_COSTMAP_H_
+#define NAV2_COSTMAP_2D__LAYERED_COSTMAP_H_
 
 #include <nav2_costmap_2d/cost_values.h>
 #include <nav2_costmap_2d/layer.h>
@@ -175,4 +175,4 @@ class LayeredCostmap
 
 }  // namespace nav2_costmap_2d
 
-#endif  // nav2_costmap_2d_LAYERED_COSTMAP_H_
+#endif  // NAV2_COSTMAP_2D__LAYERED_COSTMAP_H_
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/observation.h b/nav2_costmap_2d/include/nav2_costmap_2d/observation.h
index f1445bf4e0d..beb3dc39710 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/observation.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/observation.h
@@ -29,8 +29,8 @@
  * Authors: Conor McGann
  */
 
-#ifndef nav2_costmap_2d_OBSERVATION_H_
-#define nav2_costmap_2d_OBSERVATION_H_
+#ifndef NAV2_COSTMAP_2D__OBSERVATION_H_
+#define NAV2_COSTMAP_2D__OBSERVATION_H_
 
 #include <geometry_msgs/msg/point.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -100,4 +100,4 @@ class Observation
 };
 
 }  // namespace nav2_costmap_2d
-#endif  // nav2_costmap_2d_OBSERVATION_H_
+#endif  // NAV2_COSTMAP_2D__OBSERVATION_H_
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/observation_buffer.h b/nav2_costmap_2d/include/nav2_costmap_2d/observation_buffer.h
index 98d24f0e2e7..d5405075439 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/observation_buffer.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/observation_buffer.h
@@ -34,8 +34,8 @@
  *
  * Author: Eitan Marder-Eppstein
  *********************************************************************/
-#ifndef nav2_costmap_2d_OBSERVATION_BUFFER_H_
-#define nav2_costmap_2d_OBSERVATION_BUFFER_H_
+#ifndef NAV2_COSTMAP_2D__OBSERVATION_BUFFER_H_
+#define NAV2_COSTMAP_2D__OBSERVATION_BUFFER_H_
 
 #include <vector>
 #include <list>
@@ -152,4 +152,4 @@ class ObservationBuffer
   double tf_tolerance_;
 };
 }  // namespace nav2_costmap_2d
-#endif  // nav2_costmap_2d_OBSERVATION_BUFFER_H_
+#endif  // NAV2_COSTMAP_2D__OBSERVATION_BUFFER_H_
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/obstacle_layer.h b/nav2_costmap_2d/include/nav2_costmap_2d/obstacle_layer.h
index 1b11d164f86..87944b52a8e 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/obstacle_layer.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/obstacle_layer.h
@@ -35,8 +35,8 @@
  * Author: Eitan Marder-Eppstein
  *         David V. Lu!!
  *********************************************************************/
-#ifndef nav2_costmap_2d_OBSTACLE_LAYER_H_
-#define nav2_costmap_2d_OBSTACLE_LAYER_H_
+#ifndef NAV2_COSTMAP_2D__OBSTACLE_LAYER_H_
+#define NAV2_COSTMAP_2D__OBSTACLE_LAYER_H_
 
 #include <ros/ros.h>
 #include <nav2_costmap_2d/costmap_layer.h>
@@ -183,4 +183,4 @@ class ObstacleLayer : public CostmapLayer
 
 }  // namespace nav2_costmap_2d
 
-#endif  // nav2_costmap_2d_OBSTACLE_LAYER_H_
+#endif  // NAV2_COSTMAP_2D__OBSTACLE_LAYER_H_
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/static_layer.h b/nav2_costmap_2d/include/nav2_costmap_2d/static_layer.h
index aacd2c48b02..4590d37a354 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/static_layer.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/static_layer.h
@@ -35,8 +35,8 @@
  * Author: Eitan Marder-Eppstein
  *         David V. Lu!!
  *********************************************************************/
-#ifndef nav2_costmap_2d_STATIC_LAYER_H_
-#define nav2_costmap_2d_STATIC_LAYER_H_
+#ifndef NAV2_COSTMAP_2D__STATIC_LAYER_H_
+#define NAV2_COSTMAP_2D__STATIC_LAYER_H_
 
 #include <rclcpp/rclcpp.hpp>
 #include <nav2_costmap_2d/costmap_layer.h>
@@ -104,4 +104,4 @@ class StaticLayer : public CostmapLayer
 
 }  // namespace nav2_costmap_2d
 
-#endif  // nav2_costmap_2d_STATIC_LAYER_H_
+#endif  // NAV2_COSTMAP_2D__STATIC_LAYER_H_
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/testing_helper.h b/nav2_costmap_2d/include/nav2_costmap_2d/testing_helper.h
index 759ec536913..00529027be4 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/testing_helper.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/testing_helper.h
@@ -1,5 +1,5 @@
-#ifndef nav2_costmap_2d_TESTING_HELPER_H
-#define nav2_costmap_2d_TESTING_HELPER_H
+#ifndef NAV2_COSTMAP_2D__TESTING_HELPER_H
+#define NAV2_COSTMAP_2D__TESTING_HELPER_H
 
 #include "rclcpp/rclcpp.hpp"
 #include <nav2_costmap_2d/cost_values.h>
@@ -108,4 +108,4 @@ nav2_costmap_2d::InflationLayer * addInflationLayer(nav2_costmap_2d::LayeredCost
 }
 
 
-#endif  // nav2_costmap_2d_TESTING_HELPER_H
+#endif  // NAV2_COSTMAP_2D__TESTING_HELPER_H
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/voxel_layer.h b/nav2_costmap_2d/include/nav2_costmap_2d/voxel_layer.h
index 5b6a04ccc43..301d1e97a2a 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/voxel_layer.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/voxel_layer.h
@@ -35,8 +35,8 @@
  * Author: Eitan Marder-Eppstein
  *         David V. Lu!!
  *********************************************************************/
-#ifndef nav2_costmap_2d_VOXEL_LAYER_H_
-#define nav2_costmap_2d_VOXEL_LAYER_H_
+#ifndef NAV2_COSTMAP__2D_VOXEL_LAYER_H_
+#define NAV2_COSTMAP__2D_VOXEL_LAYER_H_
 
 #include <ros/ros.h>
 #include <nav2_costmap_2d/layer.h>
@@ -158,4 +158,4 @@ class VoxelLayer : public ObstacleLayer
 
 }  // namespace nav2_costmap_2d
 
-#endif  // nav2_costmap_2d_VOXEL_LAYER_H_
+#endif  // NAV2_COSTMAP_2D__VOXEL_LAYER_H_