diff --git a/include/ur_rtde_driver/bin_parser.h b/include/ur_rtde_driver/bin_parser.h
index 65baf49..1915ddd 100644
--- a/include/ur_rtde_driver/bin_parser.h
+++ b/include/ur_rtde_driver/bin_parser.h
@@ -29,6 +29,8 @@
 #include "ur_rtde_driver/log.h"
 #include "ur_rtde_driver/types.h"
 
+namespace ur_rtde_driver
+{
 class BinParser
 {
 private:
@@ -201,3 +203,4 @@ public:
     LOG_DEBUG("BinParser: %p - %p (%zu bytes)", buf_pos_, buf_end_, buf_end_ - buf_pos_);
   }
 };
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/event_counter.h b/include/ur_rtde_driver/event_counter.h
index 60ff1ea..46a25fd 100644
--- a/include/ur_rtde_driver/event_counter.h
+++ b/include/ur_rtde_driver/event_counter.h
@@ -23,6 +23,8 @@
 #include "ur_rtde_driver/log.h"
 #include "ur_rtde_driver/ur/consumer.h"
 
+namespace ur_rtde_driver
+{
 class EventCounter : public URRTPacketConsumer
 {
 private:
@@ -99,4 +101,5 @@ public:
   void stopConsumer()
   {
   }
-};
\ No newline at end of file
+};
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/pipeline.h b/include/ur_rtde_driver/pipeline.h
index a855c4f..ef7d950 100644
--- a/include/ur_rtde_driver/pipeline.h
+++ b/include/ur_rtde_driver/pipeline.h
@@ -25,6 +25,9 @@
 #include "ur_rtde_driver/log.h"
 #include "ur_rtde_driver/queue/readerwriterqueue.h"
 
+namespace ur_rtde_driver
+{
+// TODO: Remove these!!!
 using namespace moodycamel;
 using namespace std;
 
@@ -230,3 +233,4 @@ public:
     notifier_.stopped(name_);
   }
 };
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ros/action_server.h b/include/ur_rtde_driver/ros/action_server.h
index ffb2eb5..6a77a6f 100644
--- a/include/ur_rtde_driver/ros/action_server.h
+++ b/include/ur_rtde_driver/ros/action_server.h
@@ -37,6 +37,8 @@
 #include "ur_rtde_driver/ur/master_board.h"
 #include "ur_rtde_driver/ur/state.h"
 
+namespace ur_rtde_driver
+{
 class ActionServer : public Service, public URRTPacketConsumer
 {
 private:
@@ -91,3 +93,4 @@ public:
   virtual bool consume(RTState_V3_0__1& state);
   virtual bool consume(RTState_V3_2__3& state);
 };
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ros/action_trajectory_follower_interface.h b/include/ur_rtde_driver/ros/action_trajectory_follower_interface.h
index 9157dc0..13cd484 100644
--- a/include/ur_rtde_driver/ros/action_trajectory_follower_interface.h
+++ b/include/ur_rtde_driver/ros/action_trajectory_follower_interface.h
@@ -26,6 +26,8 @@
 #include <cstddef>
 #include <vector>
 
+namespace ur_rtde_driver
+{
 struct TrajectoryPoint
 {
   std::array<double, 6> positions;
@@ -50,3 +52,4 @@ public:
   virtual void stop() = 0;
   virtual ~ActionTrajectoryFollowerInterface(){};
 };
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ros/controller.h b/include/ur_rtde_driver/ros/controller.h
index 8e9a0c0..4c6e5f1 100644
--- a/include/ur_rtde_driver/ros/controller.h
+++ b/include/ur_rtde_driver/ros/controller.h
@@ -31,6 +31,8 @@
 #include "ur_rtde_driver/ur/consumer.h"
 #include "ur_rtde_driver/ur/rt_state.h"
 
+namespace ur_rtde_driver
+{
 class ROSController : private hardware_interface::RobotHW, public URRTPacketConsumer, public Service
 {
 private:
@@ -108,3 +110,4 @@ public:
 
   virtual void onRobotStateChange(RobotState state);
 };
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ros/hardware_interface.h b/include/ur_rtde_driver/ros/hardware_interface.h
index 1663918..6152c14 100644
--- a/include/ur_rtde_driver/ros/hardware_interface.h
+++ b/include/ur_rtde_driver/ros/hardware_interface.h
@@ -26,6 +26,8 @@
 #include "ur_rtde_driver/ur/commander.h"
 #include "ur_rtde_driver/ur/rt_state.h"
 
+namespace ur_rtde_driver
+{
 class HardwareInterface
 {
 public:
@@ -99,3 +101,4 @@ public:
   typedef hardware_interface::PositionJointInterface parent_type;
   static const std::string INTERFACE_NAME;
 };
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ros/io_service.h b/include/ur_rtde_driver/ros/io_service.h
index 8a8c961..293ab9e 100644
--- a/include/ur_rtde_driver/ros/io_service.h
+++ b/include/ur_rtde_driver/ros/io_service.h
@@ -28,6 +28,8 @@
 #include "ur_rtde_driver/log.h"
 #include "ur_rtde_driver/ur/commander.h"
 
+namespace ur_rtde_driver
+{
 class IOService
 {
 private:
@@ -76,4 +78,5 @@ public:
     , payload_service_(nh_.advertiseService("ur_driver/set_payload", &IOService::setPayload, this))
   {
   }
-};
\ No newline at end of file
+};
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ros/lowbandwidth_trajectory_follower.h b/include/ur_rtde_driver/ros/lowbandwidth_trajectory_follower.h
index 9962866..54e68d5 100644
--- a/include/ur_rtde_driver/ros/lowbandwidth_trajectory_follower.h
+++ b/include/ur_rtde_driver/ros/lowbandwidth_trajectory_follower.h
@@ -29,6 +29,8 @@
 #include "ur_rtde_driver/ur/commander.h"
 #include "ur_rtde_driver/ur/server.h"
 
+namespace ur_rtde_driver
+{
 class LowBandwidthTrajectoryFollower : public ActionTrajectoryFollowerInterface
 {
 private:
@@ -54,3 +56,4 @@ public:
 
   virtual ~LowBandwidthTrajectoryFollower(){};
 };
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ros/mb_publisher.h b/include/ur_rtde_driver/ros/mb_publisher.h
index 445a046..76c0c18 100644
--- a/include/ur_rtde_driver/ros/mb_publisher.h
+++ b/include/ur_rtde_driver/ros/mb_publisher.h
@@ -26,6 +26,8 @@
 
 #include "ur_rtde_driver/ur/consumer.h"
 
+namespace ur_rtde_driver
+{
 using namespace ros;
 
 class MBPublisher : public URStatePacketConsumer
@@ -77,3 +79,4 @@ public:
   {
   }
 };
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ros/rt_publisher.h b/include/ur_rtde_driver/ros/rt_publisher.h
index 5623031..bdc5ca8 100644
--- a/include/ur_rtde_driver/ros/rt_publisher.h
+++ b/include/ur_rtde_driver/ros/rt_publisher.h
@@ -31,6 +31,8 @@
 
 #include "ur_rtde_driver/ur/consumer.h"
 
+namespace ur_rtde_driver
+{
 using namespace ros;
 using namespace tf;
 
@@ -90,3 +92,4 @@ public:
   {
   }
 };
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ros/service_stopper.h b/include/ur_rtde_driver/ros/service_stopper.h
index 2829bd1..bb5cac4 100644
--- a/include/ur_rtde_driver/ros/service_stopper.h
+++ b/include/ur_rtde_driver/ros/service_stopper.h
@@ -22,6 +22,8 @@
 #include "ur_rtde_driver/log.h"
 #include "ur_rtde_driver/ur/consumer.h"
 
+namespace ur_rtde_driver
+{
 enum class RobotState
 {
   Running,
@@ -86,3 +88,4 @@ public:
     return true;
   }
 };
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ros/trajectory_follower.h b/include/ur_rtde_driver/ros/trajectory_follower.h
index d30d8dd..d1cb659 100644
--- a/include/ur_rtde_driver/ros/trajectory_follower.h
+++ b/include/ur_rtde_driver/ros/trajectory_follower.h
@@ -33,6 +33,8 @@
 #include "ur_rtde_driver/ur/commander.h"
 #include "ur_rtde_driver/ur/server.h"
 
+namespace ur_rtde_driver
+{
 class TrajectoryFollower : public ActionTrajectoryFollowerInterface
 {
 private:
@@ -65,3 +67,4 @@ public:
 
   virtual ~TrajectoryFollower(){};
 };
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ros/urscript_handler.h b/include/ur_rtde_driver/ros/urscript_handler.h
index 74cb891..bac501d 100644
--- a/include/ur_rtde_driver/ros/urscript_handler.h
+++ b/include/ur_rtde_driver/ros/urscript_handler.h
@@ -26,6 +26,8 @@
 #include "ur_rtde_driver/ros/service_stopper.h"
 #include "ur_rtde_driver/ur/commander.h"
 
+namespace ur_rtde_driver
+{
 class URScriptHandler : public Service
 {
 private:
@@ -39,3 +41,4 @@ public:
   void urscriptInterface(const std_msgs::String::ConstPtr& msg);
   void onRobotStateChange(RobotState state);
 };
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/tcp_socket.h b/include/ur_rtde_driver/tcp_socket.h
index 36709bb..459de96 100644
--- a/include/ur_rtde_driver/tcp_socket.h
+++ b/include/ur_rtde_driver/tcp_socket.h
@@ -24,6 +24,8 @@
 #include <mutex>
 #include <string>
 
+namespace ur_rtde_driver
+{
 enum class SocketState
 {
   Invalid,
@@ -70,3 +72,4 @@ public:
 
   void close();
 };
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/test/random_data.h b/include/ur_rtde_driver/test/random_data.h
index bdb75b3..a280588 100644
--- a/include/ur_rtde_driver/test/random_data.h
+++ b/include/ur_rtde_driver/test/random_data.h
@@ -26,6 +26,8 @@
 #include <random>
 #include "ur_rtde_driver/bin_parser.h"
 
+namespace ur_rtde_driver
+{
 class RandomDataTest
 {
 private:
@@ -77,4 +79,5 @@ public:
   {
     bp_.consume(n);
   }
-};
\ No newline at end of file
+};
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/types.h b/include/ur_rtde_driver/types.h
index 2293dac..b5f4f1e 100644
--- a/include/ur_rtde_driver/types.h
+++ b/include/ur_rtde_driver/types.h
@@ -20,6 +20,8 @@
 
 #include <inttypes.h>
 
+namespace ur_rtde_driver
+{
 struct double3_t
 {
   double x, y, z;
@@ -39,4 +41,5 @@ inline bool operator==(const double3_t& lhs, const double3_t& rhs)
 inline bool operator==(const cartesian_coord_t& lhs, const cartesian_coord_t& rhs)
 {
   return lhs.position == rhs.position && lhs.rotation == rhs.rotation;
-}
\ No newline at end of file
+}
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ur/commander.h b/include/ur_rtde_driver/ur/commander.h
index 0166fe5..e7f20c5 100644
--- a/include/ur_rtde_driver/ur/commander.h
+++ b/include/ur_rtde_driver/ur/commander.h
@@ -22,6 +22,8 @@
 #include <sstream>
 #include "ur_rtde_driver/ur/stream.h"
 
+namespace ur_rtde_driver
+{
 class URCommander
 {
 private:
@@ -91,3 +93,4 @@ public:
 
   virtual bool speedj(std::array<double, 6>& speeds, double acceleration);
 };
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ur/consumer.h b/include/ur_rtde_driver/ur/consumer.h
index 547af27..6cfd65b 100644
--- a/include/ur_rtde_driver/ur/consumer.h
+++ b/include/ur_rtde_driver/ur/consumer.h
@@ -25,6 +25,8 @@
 #include "ur_rtde_driver/ur/rt_state.h"
 #include "ur_rtde_driver/ur/state.h"
 
+namespace ur_rtde_driver
+{
 class URRTPacketConsumer : public IConsumer<RTPacket>
 {
 public:
@@ -65,4 +67,5 @@ public:
   }
 
   virtual bool consume(VersionMessage& message) = 0;
-};
\ No newline at end of file
+};
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ur/factory.h b/include/ur_rtde_driver/ur/factory.h
index ef0c994..ea33f16 100644
--- a/include/ur_rtde_driver/ur/factory.h
+++ b/include/ur_rtde_driver/ur/factory.h
@@ -27,6 +27,8 @@
 #include "ur_rtde_driver/ur/state_parser.h"
 #include "ur_rtde_driver/ur/stream.h"
 
+namespace ur_rtde_driver
+{
 static const int UR_PRIMARY_PORT = 30001;
 
 class URFactory : private URMessagePacketConsumer
@@ -138,4 +140,5 @@ public:
         return std::unique_ptr<URParser<RTPacket>>(new URRTStateParser_V3_2__3);
     }
   }
-};
\ No newline at end of file
+};
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ur/master_board.h b/include/ur_rtde_driver/ur/master_board.h
index 9501b6a..96fac79 100644
--- a/include/ur_rtde_driver/ur/master_board.h
+++ b/include/ur_rtde_driver/ur/master_board.h
@@ -25,6 +25,8 @@
 #include "ur_rtde_driver/types.h"
 #include "ur_rtde_driver/ur/state.h"
 
+namespace ur_rtde_driver
+{
 class SharedMasterBoardData
 {
 public:
@@ -108,3 +110,4 @@ public:
 
   static const size_t SIZE = MasterBoardData_V3_0__1::SIZE + sizeof(uint8_t) * 2;
 };
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ur/messages.h b/include/ur_rtde_driver/ur/messages.h
index cf348b3..ac5ec76 100644
--- a/include/ur_rtde_driver/ur/messages.h
+++ b/include/ur_rtde_driver/ur/messages.h
@@ -23,6 +23,8 @@
 #include "ur_rtde_driver/bin_parser.h"
 #include "ur_rtde_driver/pipeline.h"
 
+namespace ur_rtde_driver
+{
 enum class robot_message_type : uint8_t
 {
   ROBOT_MESSAGE_TEXT = 0,
@@ -66,4 +68,5 @@ public:
   uint8_t minor_version;
   int32_t svn_version;
   std::string build_date;
-};
\ No newline at end of file
+};
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ur/messages_parser.h b/include/ur_rtde_driver/ur/messages_parser.h
index ea7d482..00c9e8a 100644
--- a/include/ur_rtde_driver/ur/messages_parser.h
+++ b/include/ur_rtde_driver/ur/messages_parser.h
@@ -24,6 +24,8 @@
 #include "ur_rtde_driver/ur/messages.h"
 #include "ur_rtde_driver/ur/parser.h"
 
+namespace ur_rtde_driver
+{
 class URMessageParser : public URParser<MessagePacket>
 {
 public:
@@ -68,4 +70,5 @@ public:
     results.push_back(std::move(result));
     return parsed;
   }
-};
\ No newline at end of file
+};
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ur/parser.h b/include/ur_rtde_driver/ur/parser.h
index 345d0d7..d175658 100644
--- a/include/ur_rtde_driver/ur/parser.h
+++ b/include/ur_rtde_driver/ur/parser.h
@@ -21,9 +21,12 @@
 #include "ur_rtde_driver/bin_parser.h"
 #include "ur_rtde_driver/pipeline.h"
 
+namespace ur_rtde_driver
+{
 template <typename T>
 class URParser
 {
 public:
   virtual bool parse(BinParser& bp, std::vector<std::unique_ptr<T>>& results) = 0;
 };
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ur/producer.h b/include/ur_rtde_driver/ur/producer.h
index b016e12..a0af94a 100644
--- a/include/ur_rtde_driver/ur/producer.h
+++ b/include/ur_rtde_driver/ur/producer.h
@@ -22,6 +22,8 @@
 #include "ur_rtde_driver/ur/parser.h"
 #include "ur_rtde_driver/ur/stream.h"
 
+namespace ur_rtde_driver
+{
 template <typename T>
 class URProducer : public IProducer<T>
 {
@@ -80,4 +82,5 @@ public:
     BinParser bp(buf, read);
     return parser_.parse(bp, products);
   }
-};
\ No newline at end of file
+};
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ur/robot_mode.h b/include/ur_rtde_driver/ur/robot_mode.h
index 6007887..0f0e5a5 100644
--- a/include/ur_rtde_driver/ur/robot_mode.h
+++ b/include/ur_rtde_driver/ur/robot_mode.h
@@ -24,6 +24,8 @@
 #include "ur_rtde_driver/types.h"
 #include "ur_rtde_driver/ur/state.h"
 
+namespace ur_rtde_driver
+{
 class SharedRobotModeData
 {
 public:
@@ -134,3 +136,4 @@ public:
 
   static_assert(RobotModeData_V3_5::SIZE == 42, "RobotModeData_V3_5 has missmatched size");
 };
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ur/rt_parser.h b/include/ur_rtde_driver/ur/rt_parser.h
index 92d3399..068489f 100644
--- a/include/ur_rtde_driver/ur/rt_parser.h
+++ b/include/ur_rtde_driver/ur/rt_parser.h
@@ -24,6 +24,8 @@
 #include "ur_rtde_driver/ur/parser.h"
 #include "ur_rtde_driver/ur/rt_state.h"
 
+namespace ur_rtde_driver
+{
 template <typename T>
 class URRTStateParser : public URParser<RTPacket>
 {
@@ -53,4 +55,5 @@ public:
 typedef URRTStateParser<RTState_V1_6__7> URRTStateParser_V1_6__7;
 typedef URRTStateParser<RTState_V1_8> URRTStateParser_V1_8;
 typedef URRTStateParser<RTState_V3_0__1> URRTStateParser_V3_0__1;
-typedef URRTStateParser<RTState_V3_2__3> URRTStateParser_V3_2__3;
\ No newline at end of file
+typedef URRTStateParser<RTState_V3_2__3> URRTStateParser_V3_2__3;
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ur/rt_state.h b/include/ur_rtde_driver/ur/rt_state.h
index 149bf21..4bfdede 100644
--- a/include/ur_rtde_driver/ur/rt_state.h
+++ b/include/ur_rtde_driver/ur/rt_state.h
@@ -24,6 +24,8 @@
 #include "ur_rtde_driver/pipeline.h"
 #include "ur_rtde_driver/types.h"
 
+namespace ur_rtde_driver
+{
 class URRTPacketConsumer;
 
 class RTPacket
@@ -134,4 +136,5 @@ public:
   static const size_t SIZE = RTState_V3_0__1::SIZE + sizeof(uint64_t) + sizeof(double);
 
   static_assert(RTState_V3_2__3::SIZE == 936, "RTState_V3_2__3 has mismatched size!");
-};
\ No newline at end of file
+};
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ur/server.h b/include/ur_rtde_driver/ur/server.h
index 4bf938f..1484da0 100644
--- a/include/ur_rtde_driver/ur/server.h
+++ b/include/ur_rtde_driver/ur/server.h
@@ -26,6 +26,8 @@
 #include <string>
 #include "ur_rtde_driver/tcp_socket.h"
 
+namespace ur_rtde_driver
+{
 #define MAX_SERVER_BUF_LEN 50
 
 class URServer : private TCPSocket
@@ -47,3 +49,4 @@ public:
   bool readLine(char* buffer, size_t buf_len);
   bool write(const uint8_t* buf, size_t buf_len, size_t& written);
 };
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ur/state.h b/include/ur_rtde_driver/ur/state.h
index 50d4668..fdbe24d 100644
--- a/include/ur_rtde_driver/ur/state.h
+++ b/include/ur_rtde_driver/ur/state.h
@@ -24,6 +24,8 @@
 #include "ur_rtde_driver/log.h"
 #include "ur_rtde_driver/pipeline.h"
 
+namespace ur_rtde_driver
+{
 enum class package_type : uint8_t
 {
   ROBOT_MODE_DATA = 0,
@@ -59,3 +61,4 @@ public:
   virtual bool parseWith(BinParser& bp) = 0;
   virtual bool consumeWith(URStatePacketConsumer& consumer) = 0;
 };
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ur/state_parser.h b/include/ur_rtde_driver/ur/state_parser.h
index 51a819e..53bfc4b 100644
--- a/include/ur_rtde_driver/ur/state_parser.h
+++ b/include/ur_rtde_driver/ur/state_parser.h
@@ -26,6 +26,8 @@
 #include "ur_rtde_driver/ur/robot_mode.h"
 #include "ur_rtde_driver/ur/state.h"
 
+namespace ur_rtde_driver
+{
 template <typename RMD, typename MBD>
 class URStateParser : public URParser<StatePacket>
 {
@@ -115,3 +117,4 @@ typedef URStateParser<RobotModeData_V1_X, MasterBoardData_V1_X> URStateParser_V1
 typedef URStateParser<RobotModeData_V3_0__1, MasterBoardData_V3_0__1> URStateParser_V3_0__1;
 typedef URStateParser<RobotModeData_V3_2, MasterBoardData_V3_2> URStateParser_V3_2;
 typedef URStateParser<RobotModeData_V3_5, MasterBoardData_V3_2> URStateParser_V3_5;
+}  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ur/stream.h b/include/ur_rtde_driver/ur/stream.h
index 38d016f..0e5bcf5 100644
--- a/include/ur_rtde_driver/ur/stream.h
+++ b/include/ur_rtde_driver/ur/stream.h
@@ -26,6 +26,8 @@
 #include "ur_rtde_driver/log.h"
 #include "ur_rtde_driver/tcp_socket.h"
 
+namespace ur_rtde_driver
+{
 class URStream : public TCPSocket
 {
 private:
@@ -61,4 +63,5 @@ public:
 
   bool read(uint8_t* buf, size_t buf_len, size_t& read);
   bool write(const uint8_t* buf, size_t buf_len, size_t& written);
-};
\ No newline at end of file
+};
+}  // namespace ur_rtde_driver
diff --git a/src/ros/action_server.cpp b/src/ros/action_server.cpp
index ce1f3e6..1265470 100644
--- a/src/ros/action_server.cpp
+++ b/src/ros/action_server.cpp
@@ -21,6 +21,8 @@
 #include "ur_rtde_driver/ros/action_server.h"
 #include <cmath>
 
+namespace ur_rtde_driver
+{
 ActionServer::ActionServer(ActionTrajectoryFollowerInterface& follower, std::vector<std::string>& joint_names,
                            double max_velocity)
   : as_(nh_, "follow_joint_trajectory", boost::bind(&ActionServer::onGoal, this, _1),
@@ -367,3 +369,4 @@ void ActionServer::trajectoryThread()
     lk.unlock();
   }
 }
+}  // namespace ur_rtde_driver
diff --git a/src/ros/controller.cpp b/src/ros/controller.cpp
index b2f1fc6..554ecaa 100644
--- a/src/ros/controller.cpp
+++ b/src/ros/controller.cpp
@@ -18,6 +18,8 @@
 
 #include "ur_rtde_driver/ros/controller.h"
 
+namespace ur_rtde_driver
+{
 ROSController::ROSController(URCommander& commander, TrajectoryFollower& follower,
                              std::vector<std::string>& joint_names, double max_vel_change, std::string tcp_link)
   : controller_(this, nh_)
@@ -147,3 +149,4 @@ void ROSController::onRobotStateChange(RobotState state)
   service_enabled_ = next;
   service_cooldown_ = 125;
 }
+}  // namespace ur_rtde_driver
diff --git a/src/ros/hardware_interface.cpp b/src/ros/hardware_interface.cpp
index 320ab6f..636c1ea 100644
--- a/src/ros/hardware_interface.cpp
+++ b/src/ros/hardware_interface.cpp
@@ -19,6 +19,8 @@
 #include "ur_rtde_driver/ros/hardware_interface.h"
 #include "ur_rtde_driver/log.h"
 
+namespace ur_rtde_driver
+{
 const std::string JointInterface::INTERFACE_NAME = "hardware_interface::JointStateInterface";
 JointInterface::JointInterface(std::vector<std::string>& joint_names)
 {
@@ -104,3 +106,4 @@ void PositionInterface::stop()
 {
   follower_.stop();
 }
+}  // namespace ur_rtde_driver
diff --git a/src/ros/lowbandwidth_trajectory_follower.cpp b/src/ros/lowbandwidth_trajectory_follower.cpp
index 965ddee..87f13be 100644
--- a/src/ros/lowbandwidth_trajectory_follower.cpp
+++ b/src/ros/lowbandwidth_trajectory_follower.cpp
@@ -19,6 +19,8 @@
 #include <ros/ros.h>
 #include <cmath>
 
+namespace ur_rtde_driver
+{
 static const std::array<double, 6> EMPTY_VALUES = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
 
 static const std::string TIME_INTERVAL("{{TIME_INTERVAL}}");
@@ -402,3 +404,4 @@ void LowBandwidthTrajectoryFollower::stop()
   server_.disconnectClient();
   running_ = false;
 }
+}  // namespace ur_rtde_driver
diff --git a/src/ros/mb_publisher.cpp b/src/ros/mb_publisher.cpp
index 62cc4ea..7cec1ae 100644
--- a/src/ros/mb_publisher.cpp
+++ b/src/ros/mb_publisher.cpp
@@ -18,6 +18,8 @@
 
 #include "ur_rtde_driver/ros/mb_publisher.h"
 
+namespace ur_rtde_driver
+{
 inline void appendAnalog(std::vector<ur_msgs::Analog>& vec, double val, uint8_t pin)
 {
   ur_msgs::Analog ana;
@@ -130,3 +132,4 @@ bool MBPublisher::consume(RobotModeData_V3_2& data)
   publishRobotStatus(data);
   return true;
 }
+}  // namespace ur_rtde_driver
diff --git a/src/ros/rt_publisher.cpp b/src/ros/rt_publisher.cpp
index 1e4a42c..0ffd549 100644
--- a/src/ros/rt_publisher.cpp
+++ b/src/ros/rt_publisher.cpp
@@ -18,6 +18,8 @@
 
 #include "ur_rtde_driver/ros/rt_publisher.h"
 
+namespace ur_rtde_driver
+{
 bool RTPublisher::publishJoints(RTShared& packet, Time& t)
 {
   sensor_msgs::JointState joint_msg;
@@ -134,3 +136,4 @@ bool RTPublisher::consume(RTState_V3_2__3& state)
 {
   return publish(state);
 }
+}  // namespace ur_rtde_driver
diff --git a/src/ros/service_stopper.cpp b/src/ros/service_stopper.cpp
index af16fbe..bf6d750 100644
--- a/src/ros/service_stopper.cpp
+++ b/src/ros/service_stopper.cpp
@@ -18,6 +18,8 @@
 
 #include "ur_rtde_driver/ros/service_stopper.h"
 
+namespace ur_rtde_driver
+{
 ServiceStopper::ServiceStopper(std::vector<Service*> services)
   : enable_service_(nh_.advertiseService("ur_driver/robot_enable", &ServiceStopper::enableCallback, this))
   , services_(services)
@@ -92,3 +94,4 @@ bool ServiceStopper::handle(SharedRobotModeData& data, bool error)
 
   return true;
 }
+}  // namespace ur_rtde_driver
diff --git a/src/ros/trajectory_follower.cpp b/src/ros/trajectory_follower.cpp
index b01a65a..1defb2c 100644
--- a/src/ros/trajectory_follower.cpp
+++ b/src/ros/trajectory_follower.cpp
@@ -83,6 +83,8 @@ def driverProg():
 end
 )";
 
+namespace ur_rtde_driver
+{
 TrajectoryFollower::TrajectoryFollower(URCommander& commander, std::string& reverse_ip, int reverse_port,
                                        bool version_3)
   : running_(false)
@@ -259,3 +261,4 @@ void TrajectoryFollower::stop()
   server_.disconnectClient();
   running_ = false;
 }
+}  // namespace ur_rtde_driver
diff --git a/src/ros/urscript_handler.cpp b/src/ros/urscript_handler.cpp
index a49b248..20aa0cf 100644
--- a/src/ros/urscript_handler.cpp
+++ b/src/ros/urscript_handler.cpp
@@ -19,6 +19,8 @@
 #include "ur_rtde_driver/ros/urscript_handler.h"
 #include "ur_rtde_driver/log.h"
 
+namespace ur_rtde_driver
+{
 URScriptHandler::URScriptHandler(URCommander& commander) : commander_(commander), state_(RobotState::Error)
 {
   LOG_INFO("Initializing ur_driver/URScript subscriber");
@@ -60,3 +62,4 @@ void URScriptHandler::onRobotStateChange(RobotState state)
 {
   state_ = state;
 }
+}  // namespace ur_rtde_driver
diff --git a/src/ros_main.cpp b/src/ros_main.cpp
index 761d98a..afde87d 100644
--- a/src/ros_main.cpp
+++ b/src/ros_main.cpp
@@ -61,6 +61,8 @@ static const std::vector<std::string> DEFAULT_JOINTS = { "shoulder_pan_joint", "
 static const int UR_SECONDARY_PORT = 30002;
 static const int UR_RT_PORT = 30003;
 
+using namespace ur_rtde_driver;
+
 struct ProgArgs
 {
 public:
diff --git a/src/tcp_socket.cpp b/src/tcp_socket.cpp
index d817ec2..a8b20a2 100644
--- a/src/tcp_socket.cpp
+++ b/src/tcp_socket.cpp
@@ -27,6 +27,8 @@
 #include "ur_rtde_driver/log.h"
 #include "ur_rtde_driver/tcp_socket.h"
 
+namespace ur_rtde_driver
+{
 TCPSocket::TCPSocket() : socket_fd_(-1), state_(SocketState::Invalid)
 {
 }
@@ -184,3 +186,4 @@ bool TCPSocket::write(const uint8_t* buf, size_t buf_len, size_t& written)
 
   return true;
 }
+}  // namespace ur_rtde_driver
diff --git a/src/ur/commander.cpp b/src/ur/commander.cpp
index f5f1c38..450b4a3 100644
--- a/src/ur/commander.cpp
+++ b/src/ur/commander.cpp
@@ -19,6 +19,8 @@
 #include "ur_rtde_driver/ur/commander.h"
 #include "ur_rtde_driver/log.h"
 
+namespace ur_rtde_driver
+{
 bool URCommander::write(const std::string& s)
 {
   size_t len = s.size();
@@ -168,3 +170,4 @@ bool URCommander_V3_3::speedj(std::array<double, 6>& speeds, double acceleration
   std::string s(out.str());
   return write(s);
 }
+}  // namespace ur_rtde_driver
diff --git a/src/ur/master_board.cpp b/src/ur/master_board.cpp
index e67e54b..59918d3 100644
--- a/src/ur/master_board.cpp
+++ b/src/ur/master_board.cpp
@@ -19,6 +19,8 @@
 #include "ur_rtde_driver/ur/master_board.h"
 #include "ur_rtde_driver/ur/consumer.h"
 
+namespace ur_rtde_driver
+{
 bool SharedMasterBoardData::parseWith(BinParser& bp)
 {
   bp.parse(analog_input_range0);
@@ -118,4 +120,5 @@ bool MasterBoardData_V3_0__1::consumeWith(URStatePacketConsumer& consumer)
 bool MasterBoardData_V3_2::consumeWith(URStatePacketConsumer& consumer)
 {
   return consumer.consume(*this);
-}
\ No newline at end of file
+}
+}  // namespace ur_rtde_driver
diff --git a/src/ur/messages.cpp b/src/ur/messages.cpp
index 2944690..9ef8837 100644
--- a/src/ur/messages.cpp
+++ b/src/ur/messages.cpp
@@ -19,6 +19,8 @@
 #include "ur_rtde_driver/ur/messages.h"
 #include "ur_rtde_driver/ur/consumer.h"
 
+namespace ur_rtde_driver
+{
 bool VersionMessage::parseWith(BinParser& bp)
 {
   bp.parse(project_name);
@@ -34,4 +36,5 @@ bool VersionMessage::parseWith(BinParser& bp)
 bool VersionMessage::consumeWith(URMessagePacketConsumer& consumer)
 {
   return consumer.consume(*this);
-}
\ No newline at end of file
+}
+}  // namespace ur_rtde_driver
diff --git a/src/ur/robot_mode.cpp b/src/ur/robot_mode.cpp
index 758f57a..4771c50 100644
--- a/src/ur/robot_mode.cpp
+++ b/src/ur/robot_mode.cpp
@@ -19,6 +19,8 @@
 #include "ur_rtde_driver/ur/robot_mode.h"
 #include "ur_rtde_driver/ur/consumer.h"
 
+namespace ur_rtde_driver
+{
 bool SharedRobotModeData::parseWith(BinParser& bp)
 {
   bp.parse(timestamp);
@@ -100,3 +102,4 @@ bool RobotModeData_V3_5::consumeWith(URStatePacketConsumer& consumer)
 {
   return consumer.consume(*this);
 }
+}  // namespace ur_rtde_driver
diff --git a/src/ur/rt_state.cpp b/src/ur/rt_state.cpp
index 6a78951..ef545bc 100644
--- a/src/ur/rt_state.cpp
+++ b/src/ur/rt_state.cpp
@@ -19,6 +19,8 @@
 #include "ur_rtde_driver/ur/rt_state.h"
 #include "ur_rtde_driver/ur/consumer.h"
 
+namespace ur_rtde_driver
+{
 void RTShared::parse_shared1(BinParser& bp)
 {
   bp.parse(time);
@@ -132,4 +134,5 @@ bool RTState_V3_0__1::consumeWith(URRTPacketConsumer& consumer)
 bool RTState_V3_2__3::consumeWith(URRTPacketConsumer& consumer)
 {
   return consumer.consume(*this);
-}
\ No newline at end of file
+}
+}  // namespace ur_rtde_driver
diff --git a/src/ur/server.cpp b/src/ur/server.cpp
index 1eac797..b8e5c20 100644
--- a/src/ur/server.cpp
+++ b/src/ur/server.cpp
@@ -25,6 +25,8 @@
 #include <cstring>
 #include "ur_rtde_driver/log.h"
 
+namespace ur_rtde_driver
+{
 URServer::URServer(int port) : port_(port)
 {
 }
@@ -149,3 +151,4 @@ bool URServer::readLine(char* buffer, size_t buf_len)
   *current_pointer = '\0';
   return true;
 }
+}  // namespace ur_rtde_driver
diff --git a/src/ur/stream.cpp b/src/ur/stream.cpp
index 8c4e989..74c1759 100644
--- a/src/ur/stream.cpp
+++ b/src/ur/stream.cpp
@@ -24,6 +24,8 @@
 #include "ur_rtde_driver/log.h"
 #include "ur_rtde_driver/ur/stream.h"
 
+namespace ur_rtde_driver
+{
 bool URStream::write(const uint8_t* buf, size_t buf_len, size_t& written)
 {
   std::lock_guard<std::mutex> lock(write_mutex_);
@@ -59,4 +61,5 @@ bool URStream::read(uint8_t* buf, size_t buf_len, size_t& total)
   }
 
   return remainder == 0;
-}
\ No newline at end of file
+}
+}  // namespace ur_rtde_driver
diff --git a/tests/ur/master_board.cpp b/tests/ur/master_board.cpp
index 3c437ea..2b024ee 100644
--- a/tests/ur/master_board.cpp
+++ b/tests/ur/master_board.cpp
@@ -22,6 +22,8 @@
 #include "ur_rtde_driver/test/utils.h"
 #include "ur_rtde_driver/types.h"
 
+using namespace ur_rtde_driver;
+
 TEST(MasterBoardData_V1_X, testRandomDataParsing)
 {
   RandomDataTest rdt(71);
diff --git a/tests/ur/robot_mode.cpp b/tests/ur/robot_mode.cpp
index 78f4718..abb01bb 100644
--- a/tests/ur/robot_mode.cpp
+++ b/tests/ur/robot_mode.cpp
@@ -22,6 +22,7 @@
 #include "ur_rtde_driver/test/utils.h"
 #include "ur_rtde_driver/types.h"
 
+using namespace ur_rtde_driver;
 TEST(RobotModeData_V1_X, testRandomDataParsing)
 {
   RandomDataTest rdt(24);
diff --git a/tests/ur/rt_state.cpp b/tests/ur/rt_state.cpp
index 8d01833..45ac796 100644
--- a/tests/ur/rt_state.cpp
+++ b/tests/ur/rt_state.cpp
@@ -22,6 +22,8 @@
 #include "ur_rtde_driver/test/utils.h"
 #include "ur_rtde_driver/types.h"
 
+using namespace ur_rtde_driver;
+
 TEST(RTState_V1_6__7, testRandomDataParsing)
 {
   RandomDataTest rdt(764);
@@ -205,4 +207,4 @@ TEST(RTState_V3_2__3, testTooSmallBuffer)
   BinParser bp = rdt.getParser(true);
   RTState_V3_2__3 state;
   EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
-}
\ No newline at end of file
+}