diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp
index 13829b4910d96..d7acd3a1d887c 100644
--- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
-#define FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
 
 #include "cost_value.hpp"
 
@@ -63,4 +63,4 @@ unsigned char singleFrameOccupancyFusion(
   const std::vector<double> & reliability);
 }  // namespace fusion_policy
 
-#endif  // FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp
index cf1e2e75ba06c..1096620d41853 100644
--- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
-#define FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
 
 #include "pointcloud_based_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp"
 #include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp"
@@ -124,4 +124,4 @@ class GridMapFusionNode : public rclcpp::Node
 
 }  // namespace synchronized_grid_map_fusion
 
-#endif  // FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp
index 2e125b890effb..8ca29e71b1f3f 100644
--- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
-#define UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
 
 #include "pointcloud_based_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp"
 #include "pointcloud_based_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
@@ -45,4 +45,4 @@ class OccupancyGridMapLOBFUpdater : public OccupancyGridMapUpdaterInterface
 
 }  // namespace costmap_2d
 
-#endif  // UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_