diff --git a/include/ur_rtde_driver/primary/primary_header.h b/include/ur_rtde_driver/primary/package_header.h
similarity index 73%
rename from include/ur_rtde_driver/primary/primary_header.h
rename to include/ur_rtde_driver/primary/package_header.h
index ae31a01..1ab0e1c 100644
--- a/include/ur_rtde_driver/primary/primary_header.h
+++ b/include/ur_rtde_driver/primary/package_header.h
@@ -38,7 +38,7 @@ namespace ur_driver
 {
 namespace primary_interface
 {
-enum class message_type : int8_t
+enum class robot_message_type : int8_t
 {
   DISCONNECT = -1,
   ROBOT_STATE = 16,
@@ -50,38 +50,11 @@ enum class message_type : int8_t
   PROGRAM_STATE_MESSAGE = 25
 };
 
-enum class robot_state_type : uint8_t
-{
-  ROBOT_MODE_DATA = 0,
-  JOINT_DATA = 1,
-  TOOL_DATA = 2,
-  MASTERBOARD_DATA = 3,
-  CARTESIAN_INFO = 4,
-  KINEMATICS_INFO = 5,
-  CONFIGURATION_DATA = 6,
-  FORCE_MODE_DATA = 7,
-  ADDITIONAL_INFO = 8,
-  CALIBRATION_DATA = 9
-};
-
-enum class robot_message_type : uint8_t
-{
-  ROBOT_MESSAGE_TEXT = 0,
-  ROBOT_MESSAGE_PROGRAM_LABEL = 1,
-  PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE = 2,
-  ROBOT_MESSAGE_VERSION = 3,
-  ROBOT_MESSAGE_SAFETY_MODE = 5,
-  ROBOT_MESSAGE_ERROR_CODE = 6,
-  ROBOT_MESSAGE_KEY = 7,
-  ROBOT_MESSAGE_REQUEST_VALUE = 9,
-  ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10
-};
-
-class Header
+class PackageHeader
 {
 public:
-  Header() = default;
-  virtual ~Header() = default;
+  PackageHeader() = default;
+  virtual ~PackageHeader() = default;
 
   using _package_size_type = int32_t;
   static size_t getPackageLength(uint8_t* buf)
diff --git a/include/ur_rtde_driver/primary/primary_package.h b/include/ur_rtde_driver/primary/primary_package.h
index 3b32bf8..3936e2e 100644
--- a/include/ur_rtde_driver/primary/primary_package.h
+++ b/include/ur_rtde_driver/primary/primary_package.h
@@ -28,14 +28,14 @@
 #ifndef UR_RTDE_DRIVER_PRIMARY_PACKAGE_H_INCLUDED
 #define UR_RTDE_DRIVER_PRIMARY_PACKAGE_H_INCLUDED
 
-#include "ur_rtde_driver/primary/primary_header.h"
+#include "ur_rtde_driver/primary/package_header.h"
 #include "ur_rtde_driver/comm/package.h"
 
 namespace ur_driver
 {
 namespace primary_interface
 {
-class PrimaryPackage : comm::URPackage<Header>
+class PrimaryPackage : comm::URPackage<PackageHeader>
 {
 public:
   PrimaryPackage() = default;
diff --git a/include/ur_rtde_driver/primary/robot_message.h b/include/ur_rtde_driver/primary/robot_message.h
index 73352aa..002b5b8 100644
--- a/include/ur_rtde_driver/primary/robot_message.h
+++ b/include/ur_rtde_driver/primary/robot_message.h
@@ -34,6 +34,19 @@ namespace ur_driver
 {
 namespace primary_interface
 {
+enum class message_type : uint8_t
+{
+  ROBOT_MESSAGE_TEXT = 0,
+  ROBOT_MESSAGE_PROGRAM_LABEL = 1,
+  PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE = 2,
+  ROBOT_MESSAGE_VERSION = 3,
+  ROBOT_MESSAGE_SAFETY_MODE = 5,
+  ROBOT_MESSAGE_ERROR_CODE = 6,
+  ROBOT_MESSAGE_KEY = 7,
+  ROBOT_MESSAGE_REQUEST_VALUE = 9,
+  ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10
+};
+
 class RobotMessage : PrimaryPackage
 {
 public:
diff --git a/include/ur_rtde_driver/primary/robot_state.h b/include/ur_rtde_driver/primary/robot_state.h
index 6645ba5..6cc32ef 100644
--- a/include/ur_rtde_driver/primary/robot_state.h
+++ b/include/ur_rtde_driver/primary/robot_state.h
@@ -38,6 +38,20 @@ namespace ur_driver
 {
 namespace primary_interface
 {
+enum class robot_state_type : uint8_t
+{
+  ROBOT_MODE_DATA = 0,
+  JOINT_DATA = 1,
+  TOOL_DATA = 2,
+  MASTERBOARD_DATA = 3,
+  CARTESIAN_INFO = 4,
+  KINEMATICS_INFO = 5,
+  CONFIGURATION_DATA = 6,
+  FORCE_MODE_DATA = 7,
+  ADDITIONAL_INFO = 8,
+  CALIBRATION_DATA = 9
+};
+
 struct version_message
 {
   uint64_t timestamp;
diff --git a/include/ur_rtde_driver/rtde/rtde_header.h b/include/ur_rtde_driver/rtde/package_header.h
similarity index 94%
rename from include/ur_rtde_driver/rtde/rtde_header.h
rename to include/ur_rtde_driver/rtde/package_header.h
index cd0cf1a..4fcbdb9 100644
--- a/include/ur_rtde_driver/rtde/rtde_header.h
+++ b/include/ur_rtde_driver/rtde/package_header.h
@@ -36,11 +36,11 @@ enum class PackageType
   RTDE_CONTROL_PACKAGE_PAUSE = 80           // ascii P
 };
 
-class Header
+class PackageHeader
 {
 public:
-  Header() = default;
-  virtual ~Header() = default;
+  PackageHeader() = default;
+  virtual ~PackageHeader() = default;
   using _package_size_type = uint16_t;
 
   static size_t getPackageLength(uint8_t* buf)
diff --git a/include/ur_rtde_driver/rtde/rtde_package.h b/include/ur_rtde_driver/rtde/rtde_package.h
index 8e202e8..f8c8296 100644
--- a/include/ur_rtde_driver/rtde/rtde_package.h
+++ b/include/ur_rtde_driver/rtde/rtde_package.h
@@ -28,14 +28,14 @@
 #ifndef UR_RTDE_DRIVER_RTDE_PACKAGE_H_INCLUDED
 #define UR_RTDE_DRIVER_RTDE_PACKAGE_H_INCLUDED
 
-#include "ur_rtde_driver/rtde/rtde_header.h"
+#include "ur_rtde_driver/rtde/package_header.h"
 #include "ur_rtde_driver/comm/package.h"
 
 namespace ur_driver
 {
 namespace rtde_interface
 {
-class RTDEPackage : comm::URPackage<Header>
+class RTDEPackage : comm::URPackage<PackageHeader>
 {
 public:
   RTDEPackage() = default;