diff --git a/admittance_controller/include/admittance_controller/admittance_controller.hpp b/admittance_controller/include/admittance_controller/admittance_controller.hpp
index 9be6c3298c..89cd195ce4 100644
--- a/admittance_controller/include/admittance_controller/admittance_controller.hpp
+++ b/admittance_controller/include/admittance_controller/admittance_controller.hpp
@@ -32,8 +32,8 @@
 #include "rclcpp/duration.hpp"
 #include "rclcpp/time.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"
 
 namespace admittance_controller
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 7159adc49b..85f4fb23b0 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
@@ -33,8 +33,8 @@
 #include "nav_msgs/msg/odometry.hpp"
 #include "odometry.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_box.h"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_box.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "tf2_msgs/msg/tf_message.hpp"
 
 // auto-generated by generate_parameter_library
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 e5a5349c32..2364dd7c8b 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
@@ -28,7 +28,7 @@
 #include "force_torque_sensor_broadcaster_parameters.hpp"
 #include "geometry_msgs/msg/wrench_stamped.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 4858e5ab64..fce7941d8a 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
@@ -23,7 +23,7 @@
 #include "forward_command_controller/visibility_control.h"
 #include "rclcpp/subscription.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 5149c74a1c..febac1294e 100644
--- a/gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp
+++ b/gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp
@@ -26,8 +26,8 @@
 #include "gpio_controllers/visibility_control.h"
 #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/gpio_controllers/package.xml b/gpio_controllers/package.xml
index 9b98746545..c8c60fe522 100644
--- a/gpio_controllers/package.xml
+++ b/gpio_controllers/package.xml
@@ -4,10 +4,21 @@
   <name>gpio_controllers</name>
   <version>4.15.0</version>
   <description>Controllers to interact with gpios.</description>
-  <maintainer email="macbednarczyk@gmail.com">Maciej Bednarczyk</maintainer>
-  <maintainer email="wiktorbajor1@gmail.com">Wiktor Bajor</maintainer>
+
+  <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
+  <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>
+  <maintainer email="christoph.froehlich@ait.ac.at">Christoph Froehlich</maintainer>
+  <maintainer email="sai.kishor@pal-robotics.com">Sai Kishor Kothakota</maintainer>
+
   <license>Apache License 2.0</license>
 
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
+
+  <author email="macbednarczyk@gmail.com">Maciej Bednarczyk</author>
+  <author email="wiktorbajor1@gmail.com">Wiktor Bajor</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>controller_interface</depend>
@@ -22,6 +33,7 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>
diff --git a/gripper_controllers/include/gripper_controllers/gripper_action_controller.hpp b/gripper_controllers/include/gripper_controllers/gripper_action_controller.hpp
index 38e0bd8191..478168391b 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_controllers/hardware_interface_adapter.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 1ba0b032ac..449020b6e2 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
@@ -26,7 +26,7 @@
 // auto-generated by generate_parameter_library
 #include "imu_sensor_broadcaster_parameters.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 ecc3c767f6..7ac98eccfb 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
@@ -25,7 +25,7 @@
 #include "joint_state_broadcaster/visibility_control.h"
 // auto-generated by generate_parameter_library
 #include "joint_state_broadcaster_parameters.hpp"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "sensor_msgs/msg/joint_state.hpp"
 #include "urdf/model.h"
 
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 2377b2c0b6..324ccfe4f1 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
@@ -36,9 +36,9 @@
 #include "rclcpp/timer.hpp"
 #include "rclcpp_action/server.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
index 0fd7f6af29..f835752d43 100644
--- a/mecanum_drive_controller/include/mecanum_drive_controller/mecanum_drive_controller.hpp
+++ b/mecanum_drive_controller/include/mecanum_drive_controller/mecanum_drive_controller.hpp
@@ -29,8 +29,8 @@
 #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.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/mecanum_drive_controller_state.hpp"
diff --git a/mecanum_drive_controller/include/mecanum_drive_controller/odometry.hpp b/mecanum_drive_controller/include/mecanum_drive_controller/odometry.hpp
index ac1ad060dd..241809e8c2 100644
--- a/mecanum_drive_controller/include/mecanum_drive_controller/odometry.hpp
+++ b/mecanum_drive_controller/include/mecanum_drive_controller/odometry.hpp
@@ -16,8 +16,8 @@
 #define MECANUM_DRIVE_CONTROLLER__ODOMETRY_HPP_
 
 #include "geometry_msgs/msg/twist.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"
 
 #define PLANAR_POINT_DIM 3
 
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
index d303990b89..739d1c570a 100644
--- 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
@@ -37,8 +37,8 @@
 #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.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 "parallel_gripper_action_controller_parameters.hpp"
diff --git a/pid_controller/include/pid_controller/pid_controller.hpp b/pid_controller/include/pid_controller/pid_controller.hpp
index ce66fd06d4..0aba6cf849 100644
--- a/pid_controller/include/pid_controller/pid_controller.hpp
+++ b/pid_controller/include/pid_controller/pid_controller.hpp
@@ -29,8 +29,8 @@
 #include "pid_controller/visibility_control.h"
 #include "pid_controller_parameters.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"
 
 namespace pid_controller
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 5a93f95982..2e4e47b018 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
@@ -25,7 +25,7 @@
 #include "range_sensor_broadcaster/visibility_control.h"
 #include "range_sensor_broadcaster_parameters.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/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py b/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py
index 51582a90d4..27fb4535df 100644
--- a/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py
+++ b/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py
@@ -70,14 +70,10 @@ def main(args=None):
 
     try:
         rclpy.spin(publisher_forward_position)
-    except KeyboardInterrupt:
+    except (KeyboardInterrupt, rclpy.executors.ExternalShutdownException):
         print("Keyboard interrupt received. Shutting down node.")
     except Exception as e:
         print(f"Unhandled exception: {e}")
-    finally:
-        if rclpy.ok():
-            publisher_forward_position.destroy_node()
-            rclpy.shutdown()
 
 
 if __name__ == "__main__":
diff --git a/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py b/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py
index 91d39855aa..cf38890407 100644
--- a/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py
+++ b/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py
@@ -186,14 +186,10 @@ def main(args=None):
 
     try:
         rclpy.spin(publisher_joint_trajectory)
-    except KeyboardInterrupt:
+    except (KeyboardInterrupt, rclpy.executors.ExternalShutdownException):
         print("Keyboard interrupt received. Shutting down node.")
     except Exception as e:
         print(f"Unhandled exception: {e}")
-    finally:
-        if rclpy.ok():
-            publisher_joint_trajectory.destroy_node()
-            rclpy.shutdown()
 
 
 if __name__ == "__main__":
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 84a892d79e..49236986ee 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
@@ -23,8 +23,8 @@
 #include "controller_interface/chainable_controller_interface.hpp"
 #include "hardware_interface/handle.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 "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 1f9361dadd..4d64549613 100644
--- a/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp
+++ b/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp
@@ -33,8 +33,8 @@
 #include "geometry_msgs/msg/twist_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_box.h"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_box.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "std_srvs/srv/empty.hpp"
 #include "tf2_msgs/msg/tf_message.hpp"
 #include "tricycle_controller/odometry.hpp"