diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_RCLJava.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_RCLJava.cpp
index 00249c2b..d4251ee6 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_RCLJava.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_RCLJava.cpp
@@ -25,8 +25,8 @@
 #include "rmw/rmw.h"
 #include "rosidl_generator_c/message_type_support_struct.h"
 
-#include "rcljava_common/exceptions.h"
-#include "rcljava_common/signatures.h"
+#include "rcljava_common/exceptions.hpp"
+#include "rcljava_common/signatures.hpp"
 
 #include "org_ros2_rcljava_RCLJava.h"
 
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_Time.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_Time.cpp
index 1f287b7f..fcd332a2 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_Time.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_Time.cpp
@@ -19,7 +19,7 @@
 #include "rcl/error_handling.h"
 #include "rcl/rcl.h"
 
-#include "rcljava_common/exceptions.h"
+#include "rcljava_common/exceptions.hpp"
 
 #include "org_ros2_rcljava_Time.h"
 
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_client_ClientImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_client_ClientImpl.cpp
index aec896e9..9277fc3c 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_client_ClientImpl.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_client_ClientImpl.cpp
@@ -24,8 +24,8 @@
 #include "rmw/rmw.h"
 #include "rosidl_generator_c/message_type_support_struct.h"
 
-#include "rcljava_common/exceptions.h"
-#include "rcljava_common/signatures.h"
+#include "rcljava_common/exceptions.hpp"
+#include "rcljava_common/signatures.hpp"
 
 #include "org_ros2_rcljava_client_ClientImpl.h"
 
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_contexts_ContextImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_contexts_ContextImpl.cpp
index 4b2f8695..8f70afad 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_contexts_ContextImpl.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_contexts_ContextImpl.cpp
@@ -20,8 +20,8 @@
 #include "rcl/error_handling.h"
 #include "rcl/init.h"
 
-#include "rcljava_common/exceptions.h"
-#include "rcljava_common/signatures.h"
+#include "rcljava_common/exceptions.hpp"
+#include "rcljava_common/signatures.hpp"
 
 #include "org_ros2_rcljava_contexts_ContextImpl.h"
 
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp
index 3f948b1b..e87daaa4 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp
@@ -25,8 +25,8 @@
 #include "rmw/rmw.h"
 #include "rosidl_generator_c/message_type_support_struct.h"
 
-#include "rcljava_common/exceptions.h"
-#include "rcljava_common/signatures.h"
+#include "rcljava_common/exceptions.hpp"
+#include "rcljava_common/signatures.hpp"
 
 #include "org_ros2_rcljava_executors_BaseExecutor.h"
 
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp
index 16db9d04..8df9b5b9 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp
@@ -24,8 +24,8 @@
 #include "rmw/rmw.h"
 #include "rosidl_generator_c/message_type_support_struct.h"
 
-#include "rcljava_common/exceptions.h"
-#include "rcljava_common/signatures.h"
+#include "rcljava_common/exceptions.hpp"
+#include "rcljava_common/signatures.hpp"
 
 #include "org_ros2_rcljava_node_NodeImpl.h"
 
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_publisher_PublisherImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_publisher_PublisherImpl.cpp
index fef34631..6cef82c2 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_publisher_PublisherImpl.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_publisher_PublisherImpl.cpp
@@ -24,8 +24,8 @@
 #include "rcl/rcl.h"
 #include "rmw/rmw.h"
 
-#include "rcljava_common/exceptions.h"
-#include "rcljava_common/signatures.h"
+#include "rcljava_common/exceptions.hpp"
+#include "rcljava_common/signatures.hpp"
 
 #include "org_ros2_rcljava_publisher_PublisherImpl.h"
 
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_service_ServiceImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_service_ServiceImpl.cpp
index e56289d8..f4708f6c 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_service_ServiceImpl.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_service_ServiceImpl.cpp
@@ -24,8 +24,8 @@
 #include "rmw/rmw.h"
 #include "rosidl_generator_c/message_type_support_struct.h"
 
-#include "rcljava_common/exceptions.h"
-#include "rcljava_common/signatures.h"
+#include "rcljava_common/exceptions.hpp"
+#include "rcljava_common/signatures.hpp"
 
 #include "org_ros2_rcljava_service_ServiceImpl.h"
 
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp
index d0e84bdf..eedb9242 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp
@@ -24,8 +24,8 @@
 #include "rmw/rmw.h"
 #include "rosidl_generator_c/message_type_support_struct.h"
 
-#include "rcljava_common/exceptions.h"
-#include "rcljava_common/signatures.h"
+#include "rcljava_common/exceptions.hpp"
+#include "rcljava_common/signatures.hpp"
 
 #include "org_ros2_rcljava_subscription_SubscriptionImpl.h"
 
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_time_Clock.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_time_Clock.cpp
index fe54ed1b..3a4638b2 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_time_Clock.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_time_Clock.cpp
@@ -20,8 +20,8 @@
 #include "rcl/error_handling.h"
 #include "rcl/time.h"
 
-#include "rcljava_common/exceptions.h"
-#include "rcljava_common/signatures.h"
+#include "rcljava_common/exceptions.hpp"
+#include "rcljava_common/signatures.hpp"
 
 #include "org_ros2_rcljava_time_Clock.h"
 
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_timer_WallTimerImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_timer_WallTimerImpl.cpp
index dd0ed3a3..8a7559af 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_timer_WallTimerImpl.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_timer_WallTimerImpl.cpp
@@ -24,8 +24,8 @@
 #include "rcl/rcl.h"
 #include "rmw/rmw.h"
 
-#include "rcljava_common/exceptions.h"
-#include "rcljava_common/signatures.h"
+#include "rcljava_common/exceptions.hpp"
+#include "rcljava_common/signatures.hpp"
 
 #include "org_ros2_rcljava_timer_WallTimerImpl.h"
 
diff --git a/rcljava_common/include/rcljava_common/exceptions.h b/rcljava_common/include/rcljava_common/exceptions.hpp
similarity index 85%
rename from rcljava_common/include/rcljava_common/exceptions.h
rename to rcljava_common/include/rcljava_common/exceptions.hpp
index d24bea92..8a148611 100644
--- a/rcljava_common/include/rcljava_common/exceptions.h
+++ b/rcljava_common/include/rcljava_common/exceptions.hpp
@@ -11,13 +11,13 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef RCLJAVA_COMMON__EXCEPTIONS_H_
-#define RCLJAVA_COMMON__EXCEPTIONS_H_
+#ifndef RCLJAVA_COMMON__EXCEPTIONS_HPP_
+#define RCLJAVA_COMMON__EXCEPTIONS_HPP_
 #include <jni.h>
 
 #include <string>
 
-#include "rcljava_common/visibility_control.h"
+#include "rcljava_common/visibility_control.hpp"
 
 namespace rcljava_common
 {
@@ -31,4 +31,4 @@ void rcljava_throw_exception(JNIEnv *, const char *, const std::string &);
 }  // namespace exceptions
 }  // namespace rcljava_common
 
-#endif  // RCLJAVA_COMMON__EXCEPTIONS_H_
+#endif  // RCLJAVA_COMMON__EXCEPTIONS_HPP_
diff --git a/rcljava_common/include/rcljava_common/signatures.h b/rcljava_common/include/rcljava_common/signatures.hpp
similarity index 88%
rename from rcljava_common/include/rcljava_common/signatures.h
rename to rcljava_common/include/rcljava_common/signatures.hpp
index 35d9e6d8..11576474 100644
--- a/rcljava_common/include/rcljava_common/signatures.h
+++ b/rcljava_common/include/rcljava_common/signatures.hpp
@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef RCLJAVA_COMMON__SIGNATURES_H_
-#define RCLJAVA_COMMON__SIGNATURES_H_
+#ifndef RCLJAVA_COMMON__SIGNATURES_HPP_
+#define RCLJAVA_COMMON__SIGNATURES_HPP_
 #include <jni.h>
 
 #include <string>
@@ -29,4 +29,4 @@ using destroy_ros_message_signature = void (*)(void *);
 }  // namespace signatures
 }  // namespace rcljava_common
 
-#endif  // RCLJAVA_COMMON__SIGNATURES_H_
+#endif  // RCLJAVA_COMMON__SIGNATURES_HPP_
diff --git a/rcljava_common/include/rcljava_common/visibility_control.h b/rcljava_common/include/rcljava_common/visibility_control.hpp
similarity index 92%
rename from rcljava_common/include/rcljava_common/visibility_control.h
rename to rcljava_common/include/rcljava_common/visibility_control.hpp
index b0c65d3b..d4895c85 100644
--- a/rcljava_common/include/rcljava_common/visibility_control.h
+++ b/rcljava_common/include/rcljava_common/visibility_control.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLJAVA_COMMON__VISIBILITY_CONTROL_H_
-#define RCLJAVA_COMMON__VISIBILITY_CONTROL_H_
+#ifndef RCLJAVA_COMMON__VISIBILITY_CONTROL_HPP_
+#define RCLJAVA_COMMON__VISIBILITY_CONTROL_HPP_
 
 #ifdef __cplusplus
 extern "C"
@@ -55,4 +55,4 @@ extern "C"
 }
 #endif
 
-#endif  // RCLJAVA_COMMON__VISIBILITY_CONTROL_H_
+#endif  // RCLJAVA_COMMON__VISIBILITY_CONTROL_HPP_
diff --git a/rcljava_common/src/main/cpp/rcljava_common.cpp b/rcljava_common/src/main/cpp/rcljava_common.cpp
index 25accf78..4fb1797d 100644
--- a/rcljava_common/src/main/cpp/rcljava_common.cpp
+++ b/rcljava_common/src/main/cpp/rcljava_common.cpp
@@ -16,7 +16,7 @@
 #include <cassert>
 #include <string>
 
-#include "rcljava_common/exceptions.h"
+#include "rcljava_common/exceptions.hpp"
 
 namespace rcljava_common
 {
diff --git a/rosidl_generator_java/resource/msg.cpp.em b/rosidl_generator_java/resource/msg.cpp.em
index 4907c5d0..9c868e60 100644
--- a/rosidl_generator_java/resource/msg.cpp.em
+++ b/rosidl_generator_java/resource/msg.cpp.em
@@ -102,8 +102,8 @@ elif message_c_include_prefix.endswith('__feedback'):
 
 #include "rosidl_generator_c/message_type_support_struct.h"
 
-#include "rcljava_common/exceptions.h"
-#include "rcljava_common/signatures.h"
+#include "rcljava_common/exceptions.hpp"
+#include "rcljava_common/signatures.hpp"
 
 @[for include in member_includes]@
 #include "@(include)"