diff --git a/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp b/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp
index c49925b701..27b5207a0f 100644
--- a/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp
+++ b/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp
@@ -15,8 +15,6 @@
 #ifndef HARDWARE_INTERFACE__TYPES__HARDWARE_INTERFACE_TYPE_VALUES_HPP_
 #define HARDWARE_INTERFACE__TYPES__HARDWARE_INTERFACE_TYPE_VALUES_HPP_
 
-#include <vector>
-
 namespace hardware_interface
 {
 /// Constant defining position interface name
diff --git a/joint_limits/include/joint_limits/simple_joint_limiter.hpp b/joint_limits/include/joint_limits/simple_joint_limiter.hpp
index 6002a0b4f7..1b9bfd8cad 100644
--- a/joint_limits/include/joint_limits/simple_joint_limiter.hpp
+++ b/joint_limits/include/joint_limits/simple_joint_limiter.hpp
@@ -27,14 +27,14 @@
 namespace joint_limits
 {
 template <typename LimitsType>
-class SimpleJointLimiter : public JointLimiterInterface<LimitsType>
+class JointSaturationLimiter : public JointLimiterInterface<LimitsType>
 {
 public:
   /** \brief Constructor */
-  JOINT_LIMITS_PUBLIC SimpleJointLimiter();
+  JOINT_LIMITS_PUBLIC JointSaturationLimiter();
 
   /** \brief Destructor */
-  JOINT_LIMITS_PUBLIC ~SimpleJointLimiter();
+  JOINT_LIMITS_PUBLIC ~JointSaturationLimiter();
 
   JOINT_LIMITS_PUBLIC bool on_enforce(
     trajectory_msgs::msg::JointTrajectoryPoint & current_joint_states,
@@ -46,13 +46,13 @@ class SimpleJointLimiter : public JointLimiterInterface<LimitsType>
 };
 
 template <typename LimitsType>
-SimpleJointLimiter<LimitsType>::SimpleJointLimiter() : JointLimiterInterface<LimitsType>()
+JointSaturationLimiter<LimitsType>::JointSaturationLimiter() : JointLimiterInterface<LimitsType>()
 {
   clock_ = std::make_shared<rclcpp::Clock>(rclcpp::Clock(RCL_ROS_TIME));
 }
 
 template <typename LimitsType>
-SimpleJointLimiter<LimitsType>::~SimpleJointLimiter()
+JointSaturationLimiter<LimitsType>::~JointSaturationLimiter()
 {
 }
 
diff --git a/joint_limits/joint_limiters.xml b/joint_limits/joint_limiters.xml
index 036b39859a..e4b41f878d 100644
--- a/joint_limits/joint_limiters.xml
+++ b/joint_limits/joint_limiters.xml
@@ -1,7 +1,7 @@
 <class_libraries>
   <library path="simple_joint_limiter">
-    <class name="joint_limits/SimpleJointLimiter"
-          type="joint_limits::SimpleJointLimiter&lt;joint_limits::JointLimits&gt;"
+    <class name="joint_limits/JointSaturationLimiter"
+          type="joint_limits::JointSaturationLimiter&lt;joint_limits::JointLimits&gt;"
           base_class_type="joint_limits::JointLimiterInterface&lt;joint_limits::JointLimits&gt;">
       <description>
         Simple joint limiter using clamping approach. Warning: clamping can cause discontinuities.
diff --git a/joint_limits/src/simple_joint_limiter.cpp b/joint_limits/src/simple_joint_limiter.cpp
index efb90092f2..a5e2e70926 100644
--- a/joint_limits/src/simple_joint_limiter.cpp
+++ b/joint_limits/src/simple_joint_limiter.cpp
@@ -27,7 +27,7 @@ constexpr double VALUE_CONSIDERED_ZERO = 1e-10;
 namespace joint_limits
 {
 template <>
-bool SimpleJointLimiter<JointLimits>::on_enforce(
+bool JointSaturationLimiter<JointLimits>::on_enforce(
   trajectory_msgs::msg::JointTrajectoryPoint & current_joint_states,
   trajectory_msgs::msg::JointTrajectoryPoint & desired_joint_states, const rclcpp::Duration & dt)
 {
@@ -396,5 +396,5 @@ bool SimpleJointLimiter<JointLimits>::on_enforce(
 #include "pluginlib/class_list_macros.hpp"
 
 PLUGINLIB_EXPORT_CLASS(
-  joint_limits::SimpleJointLimiter<joint_limits::JointLimits>,
+  joint_limits::JointSaturationLimiter<joint_limits::JointLimits>,
   joint_limits::JointLimiterInterface<joint_limits::JointLimits>)
diff --git a/joint_limits/test/test_simple_joint_limiter.cpp b/joint_limits/test/test_simple_joint_limiter.cpp
index 9ce2e63480..363506b027 100644
--- a/joint_limits/test/test_simple_joint_limiter.cpp
+++ b/joint_limits/test/test_simple_joint_limiter.cpp
@@ -16,9 +16,9 @@
 
 #include "test_simple_joint_limiter.hpp"
 
-TEST_F(SimpleJointLimiterTest, when_loading_limiter_plugin_expect_loaded)
+TEST_F(JointSaturationLimiterTest, when_loading_limiter_plugin_expect_loaded)
 {
-  // Test SimpleJointLimiter loading
+  // Test JointSaturationLimiter loading
   ASSERT_NO_THROW(
     joint_limiter_ = std::unique_ptr<JointLimiter>(
       joint_limiter_loader_.createUnmanagedInstance(joint_limiter_type_)));
@@ -26,7 +26,7 @@ TEST_F(SimpleJointLimiterTest, when_loading_limiter_plugin_expect_loaded)
 }
 
 /* FIXME: currently init does not check if limit parameters exist for the requested joint
-TEST_F(SimpleJointLimiterTest, when_joint_not_found_expect_init_fail)
+TEST_F(JointSaturationLimiterTest, when_joint_not_found_expect_init_fail)
 {
   SetupNode("simple_joint_limiter");
   Load();
@@ -40,7 +40,7 @@ TEST_F(SimpleJointLimiterTest, when_joint_not_found_expect_init_fail)
 }
 */
 
-TEST_F(SimpleJointLimiterTest, when_invalid_dt_expect_enforce_fail)
+TEST_F(JointSaturationLimiterTest, when_invalid_dt_expect_enforce_fail)
 {
   SetupNode("simple_joint_limiter");
   Load();
@@ -54,7 +54,7 @@ TEST_F(SimpleJointLimiterTest, when_invalid_dt_expect_enforce_fail)
   }
 }
 
-TEST_F(SimpleJointLimiterTest, when_neigher_poscmd_nor_velcmd_expect_enforce_fail)
+TEST_F(JointSaturationLimiterTest, when_neigher_poscmd_nor_velcmd_expect_enforce_fail)
 {
   SetupNode("simple_joint_limiter");
   Load();
@@ -74,7 +74,7 @@ TEST_F(SimpleJointLimiterTest, when_neigher_poscmd_nor_velcmd_expect_enforce_fai
   }
 }
 
-TEST_F(SimpleJointLimiterTest, when_no_posstate_expect_enforce_false)
+TEST_F(JointSaturationLimiterTest, when_no_posstate_expect_enforce_false)
 {
   SetupNode("simple_joint_limiter");
   Load();
@@ -89,13 +89,13 @@ TEST_F(SimpleJointLimiterTest, when_no_posstate_expect_enforce_false)
     current_joint_states_.positions.clear();
     ASSERT_FALSE(joint_limiter_->enforce(current_joint_states_, desired_joint_states_, period));
 
-    // also fail if out fo limits
+    // also fail if out of limits
     desired_joint_states_.positions[0] = 20.0;
     ASSERT_FALSE(joint_limiter_->enforce(current_joint_states_, desired_joint_states_, period));
   }
 }
 
-TEST_F(SimpleJointLimiterTest, when_no_velstate_expect_limiting)
+TEST_F(JointSaturationLimiterTest, when_no_velstate_expect_limiting)
 {
   SetupNode("simple_joint_limiter");
   Load();
@@ -109,13 +109,13 @@ TEST_F(SimpleJointLimiterTest, when_no_velstate_expect_limiting)
     // test no vel interface
     current_joint_states_.velocities.clear();
     ASSERT_FALSE(joint_limiter_->enforce(current_joint_states_, desired_joint_states_, period));
-    // also fail if out fo limits
+    // also fail if out of limits
     desired_joint_states_.positions[0] = 20.0;
     ASSERT_TRUE(joint_limiter_->enforce(current_joint_states_, desired_joint_states_, period));
   }
 }
 
-TEST_F(SimpleJointLimiterTest, when_within_limits_expect_no_limits_applied)
+TEST_F(JointSaturationLimiterTest, when_within_limits_expect_no_limits_applied)
 {
   SetupNode("simple_joint_limiter");
   Load();
@@ -143,7 +143,7 @@ TEST_F(SimpleJointLimiterTest, when_within_limits_expect_no_limits_applied)
   }
 }
 
-TEST_F(SimpleJointLimiterTest, when_posvel_leads_to_vel_exceeded_expect_limits_enforced)
+TEST_F(JointSaturationLimiterTest, when_posvel_leads_to_vel_exceeded_expect_limits_enforced)
 {
   SetupNode("simple_joint_limiter");
   Load();
@@ -187,7 +187,7 @@ TEST_F(SimpleJointLimiterTest, when_posvel_leads_to_vel_exceeded_expect_limits_e
   }
 }
 
-TEST_F(SimpleJointLimiterTest, when_posonly_leads_to_vel_exceeded_expect_pos_acc_enforced)
+TEST_F(JointSaturationLimiterTest, when_posonly_leads_to_vel_exceeded_expect_pos_acc_enforced)
 {
   SetupNode("simple_joint_limiter");
   Load();
@@ -227,7 +227,7 @@ TEST_F(SimpleJointLimiterTest, when_posonly_leads_to_vel_exceeded_expect_pos_acc
   }
 }
 
-TEST_F(SimpleJointLimiterTest, when_velonly_leads_to_vel_exceeded_expect_vel_acc_enforced)
+TEST_F(JointSaturationLimiterTest, when_velonly_leads_to_vel_exceeded_expect_vel_acc_enforced)
 {
   SetupNode("simple_joint_limiter");
   Load();
@@ -273,7 +273,7 @@ TEST_F(SimpleJointLimiterTest, when_velonly_leads_to_vel_exceeded_expect_vel_acc
   }
 }
 
-TEST_F(SimpleJointLimiterTest, when_posonly_exceeded_expect_pos_enforced)
+TEST_F(JointSaturationLimiterTest, when_posonly_exceeded_expect_pos_enforced)
 {
   SetupNode("simple_joint_limiter");
   Load();
@@ -300,7 +300,7 @@ TEST_F(SimpleJointLimiterTest, when_posonly_exceeded_expect_pos_enforced)
   }
 }
 
-TEST_F(SimpleJointLimiterTest, when_position_close_to_pos_limit_expect_deceleration_enforced)
+TEST_F(JointSaturationLimiterTest, when_position_close_to_pos_limit_expect_deceleration_enforced)
 {
   SetupNode("simple_joint_limiter");
   Load();
@@ -325,7 +325,9 @@ TEST_F(SimpleJointLimiterTest, when_position_close_to_pos_limit_expect_decelerat
     {
       auto previous_vel_request = desired_joint_states_.velocities[0];
       // expect limits applied until the end stop
-      ASSERT_EQ(joint_limiter_->enforce(current_joint_states_, desired_joint_states_, period), expected_ret[i]);
+      ASSERT_EQ(
+        joint_limiter_->enforce(current_joint_states_, desired_joint_states_, period),
+        expected_ret[i]);
 
       ASSERT_LE(
         desired_joint_states_.velocities[0],
@@ -344,7 +346,7 @@ TEST_F(SimpleJointLimiterTest, when_position_close_to_pos_limit_expect_decelerat
   }
 }
 
-TEST_F(SimpleJointLimiterTest, when_posvel_leads_to_acc_exceeded_expect_limits_enforced)
+TEST_F(JointSaturationLimiterTest, when_posvel_leads_to_acc_exceeded_expect_limits_enforced)
 {
   SetupNode("simple_joint_limiter");
   Load();
@@ -373,7 +375,7 @@ TEST_F(SimpleJointLimiterTest, when_posvel_leads_to_acc_exceeded_expect_limits_e
   }
 }
 
-TEST_F(SimpleJointLimiterTest, when_posonly_leads_to_acc_exceeded_expect_limits_enforced)
+TEST_F(JointSaturationLimiterTest, when_posonly_leads_to_acc_exceeded_expect_limits_enforced)
 {
   SetupNode("simple_joint_limiter");
   Load();
@@ -402,7 +404,7 @@ TEST_F(SimpleJointLimiterTest, when_posonly_leads_to_acc_exceeded_expect_limits_
   }
 }
 
-TEST_F(SimpleJointLimiterTest, when_velonly_leads_to_acc_exceeded_expect_limits_enforced)
+TEST_F(JointSaturationLimiterTest, when_velonly_leads_to_acc_exceeded_expect_limits_enforced)
 {
   SetupNode("simple_joint_limiter");
   Load();
@@ -428,7 +430,7 @@ TEST_F(SimpleJointLimiterTest, when_velonly_leads_to_acc_exceeded_expect_limits_
   }
 }
 
-TEST_F(SimpleJointLimiterTest, when_deceleration_exceeded_expect_dec_enforced)
+TEST_F(JointSaturationLimiterTest, when_deceleration_exceeded_expect_dec_enforced)
 {
   SetupNode("simple_joint_limiter");
   Load();
@@ -458,7 +460,7 @@ TEST_F(SimpleJointLimiterTest, when_deceleration_exceeded_expect_dec_enforced)
   }
 }
 
-TEST_F(SimpleJointLimiterTest, when_deceleration_exceeded_with_no_maxdec_expect_acc_enforced)
+TEST_F(JointSaturationLimiterTest, when_deceleration_exceeded_with_no_maxdec_expect_acc_enforced)
 {
   SetupNode("simple_joint_limiter_nodeclimit");
   Load();
diff --git a/joint_limits/test/test_simple_joint_limiter.hpp b/joint_limits/test/test_simple_joint_limiter.hpp
index 27597eb628..0b01cdd8e5 100644
--- a/joint_limits/test/test_simple_joint_limiter.hpp
+++ b/joint_limits/test/test_simple_joint_limiter.hpp
@@ -36,7 +36,7 @@ const double COMMON_THRESHOLD = 0.0011;
 
 using JointLimiter = joint_limits::JointLimiterInterface<joint_limits::JointLimits>;
 
-class SimpleJointLimiterTest : public ::testing::Test
+class JointSaturationLimiterTest : public ::testing::Test
 {
 public:
   void SetUp() override
@@ -77,8 +77,8 @@ class SimpleJointLimiterTest : public ::testing::Test
     current_joint_states_.velocities[0] += desired_joint_states_.accelerations[0] * dt;
   }
 
-  SimpleJointLimiterTest()
-  : joint_limiter_type_("joint_limits/SimpleJointLimiter"),
+  JointSaturationLimiterTest()
+  : joint_limiter_type_("joint_limits/JointSaturationLimiter"),
     joint_limiter_loader_(
       "joint_limits", "joint_limits::JointLimiterInterface<joint_limits::JointLimits>")
   {