diff --git a/joint_limits/include/joint_limits/joint_limits_urdf.hpp b/joint_limits/include/joint_limits/joint_limits_urdf.hpp
index daa0d707d8..cdcbaf9c9d 100644
--- a/joint_limits/include/joint_limits/joint_limits_urdf.hpp
+++ b/joint_limits/include/joint_limits/joint_limits_urdf.hpp
@@ -14,8 +14,8 @@
 
 /// \author Adolfo Rodriguez Tsouroukdissian
 
-#ifndef JOINT_LIMITS_URDF_HPP
-#define JOINT_LIMITS_URDF_HPP
+#ifndef JOINT_LIMITS__JOINT_LIMITS_URDF_HPP_
+#define JOINT_LIMITS__JOINT_LIMITS_URDF_HPP_
 
 #include "joint_limits/joint_limits.hpp"
 #include "urdf_model/joint.h"
@@ -82,4 +82,4 @@ inline bool getSoftJointLimits(urdf::JointConstSharedPtr urdf_joint, SoftJointLi
   return true;
 }
 }  // namespace joint_limits
-#endif  // JOINT_LIMITS_URDF_HPP
+#endif  // JOINT_LIMITS__JOINT_LIMITS_URDF_HPP_
diff --git a/joint_limits/test/joint_limits_urdf_test.cpp b/joint_limits/test/joint_limits_urdf_test.cpp
index 27d660afd7..562293d475 100644
--- a/joint_limits/test/joint_limits_urdf_test.cpp
+++ b/joint_limits/test/joint_limits_urdf_test.cpp
@@ -17,7 +17,6 @@
 #include "gtest/gtest.h"
 
 using std::string;
-using namespace joint_limits;
 
 class JointLimitsUrdfTest : public ::testing::Test
 {
@@ -53,14 +52,14 @@ TEST_F(JointLimitsUrdfTest, GetJointLimits)
 {
   // Unset URDF joint
   {
-    JointLimits limits;
+    joint_limits::JointLimits limits;
     urdf::JointSharedPtr urdf_joint_bad;
     EXPECT_FALSE(getJointLimits(urdf_joint_bad, limits));
   }
 
   // Unset URDF limits
   {
-    JointLimits limits;
+    joint_limits::JointLimits limits;
     urdf::JointSharedPtr urdf_joint_bad(new urdf::Joint);
     EXPECT_FALSE(getJointLimits(urdf_joint_bad, limits));
   }
@@ -69,7 +68,7 @@ TEST_F(JointLimitsUrdfTest, GetJointLimits)
   {
     urdf_joint->type = urdf::Joint::CONTINUOUS;
 
-    JointLimits limits;
+    joint_limits::JointLimits limits;
     EXPECT_TRUE(getJointLimits(urdf_joint, limits));
 
     // Position
@@ -92,7 +91,7 @@ TEST_F(JointLimitsUrdfTest, GetJointLimits)
   {
     urdf_joint->type = urdf::Joint::REVOLUTE;
 
-    JointLimits limits;
+    joint_limits::JointLimits limits;
     EXPECT_TRUE(getJointLimits(urdf_joint, limits));
 
     // Position
@@ -117,7 +116,7 @@ TEST_F(JointLimitsUrdfTest, GetJointLimits)
   {
     urdf_joint->type = urdf::Joint::PRISMATIC;
 
-    JointLimits limits;
+    joint_limits::JointLimits limits;
     EXPECT_TRUE(getJointLimits(urdf_joint, limits));
 
     // Position
@@ -141,25 +140,23 @@ TEST_F(JointLimitsUrdfTest, GetJointLimits)
 
 TEST_F(JointLimitsUrdfTest, GetSoftJointLimits)
 {
-  using namespace joint_limits;
-
   // Unset URDF joint
   {
-    SoftJointLimits soft_limits;
+    joint_limits::SoftJointLimits soft_limits;
     urdf::JointSharedPtr urdf_joint_bad;
     EXPECT_FALSE(getSoftJointLimits(urdf_joint_bad, soft_limits));
   }
 
   // Unset URDF limits
   {
-    SoftJointLimits soft_limits;
+    joint_limits::SoftJointLimits soft_limits;
     urdf::JointSharedPtr urdf_joint_bad(new urdf::Joint);
     EXPECT_FALSE(getSoftJointLimits(urdf_joint_bad, soft_limits));
   }
 
   // Valid URDF joint
   {
-    SoftJointLimits soft_limits;
+    joint_limits::SoftJointLimits soft_limits;
     EXPECT_TRUE(getSoftJointLimits(urdf_joint, soft_limits));
 
     // Soft limits