diff --git a/rqt_gui_cpp/CMakeLists.txt b/rqt_gui_cpp/CMakeLists.txt
index 2b039be9..11cabb2c 100644
--- a/rqt_gui_cpp/CMakeLists.txt
+++ b/rqt_gui_cpp/CMakeLists.txt
@@ -55,6 +55,11 @@ target_link_libraries(${PROJECT_NAME} PRIVATE
   Qt5::Widgets
 )
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 install(
   TARGETS ${PROJECT_NAME}
   EXPORT export_${PROJECT_NAME}
diff --git a/rqt_gui_cpp/include/rqt_gui_cpp/plugin.h b/rqt_gui_cpp/include/rqt_gui_cpp/plugin.h
index 1cc66608..3a606df9 100644
--- a/rqt_gui_cpp/include/rqt_gui_cpp/plugin.h
+++ b/rqt_gui_cpp/include/rqt_gui_cpp/plugin.h
@@ -30,54 +30,14 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef rqt_gui_cpp__Plugin_H
-#define rqt_gui_cpp__Plugin_H
+#ifndef RQT_GUI_CPP__PLUGIN_H_
+#define RQT_GUI_CPP__PLUGIN_H_
 
-#include <qt_gui_cpp/plugin.hpp>
-#include <qt_gui_cpp/plugin_context.hpp>
-#include <qt_gui_cpp/settings.hpp>
+// *INDENT-OFF* (prevent uncrustify from adding indention below)
+#warning Including header <rqt_gui_cpp/plugin.h> is deprecated, \
+include <rqt_gui_cpp/plugin.hpp> instead.
 
-#include <rclcpp/rclcpp.hpp>
+// *INDENT-ON*
+#include "./plugin.hpp"
 
-namespace rqt_gui_cpp {
-
-/**
- * The base class for C++ plugins which use the ROS client library.
- * A plugin must not call rclcpp::init() as this is performed once by the framework.
- */
-class Plugin
-  : public qt_gui_cpp::Plugin
-{
-
-public:
-
-  Plugin()
-    : qt_gui_cpp::Plugin()
-  {}
-
-  /**
-   * Shutdown and clean up the plugin before unloading.
-   * I.e. unregister subscribers and stop timers.
-   */
-  virtual void shutdownPlugin()
-  {}
-
-  virtual void passInNode(std::shared_ptr<rclcpp::Node> node)
-  {
-    node_ = node;
-  }
-
-protected:
-
-  rclcpp::Node::SharedPtr node_;
-
-private:
-
-  void onInit()
-  {}
-
-};
-
-} // namespace
-
-#endif // rqt_gui_cpp__Plugin_H
+#endif  // RQT_GUI_CPP__PLUGIN_H_
diff --git a/rqt_gui_cpp/include/rqt_gui_cpp/plugin.hpp b/rqt_gui_cpp/include/rqt_gui_cpp/plugin.hpp
new file mode 100644
index 00000000..f2200654
--- /dev/null
+++ b/rqt_gui_cpp/include/rqt_gui_cpp/plugin.hpp
@@ -0,0 +1,80 @@
+/*
+ * Copyright (c) 2011, Dirk Thomas, TU Darmstadt
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the TU Darmstadt nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef RQT_GUI_CPP__PLUGIN_HPP_
+#define RQT_GUI_CPP__PLUGIN_HPP_
+
+#include <memory>
+
+#include <qt_gui_cpp/plugin.hpp>
+#include <qt_gui_cpp/plugin_context.hpp>
+#include <qt_gui_cpp/settings.hpp>
+
+#include <rclcpp/rclcpp.hpp>
+
+namespace rqt_gui_cpp
+{
+
+/**
+ * The base class for C++ plugins which use the ROS client library.
+ * A plugin must not call rclcpp::init() as this is performed once by the framework.
+ */
+class Plugin
+  : public qt_gui_cpp::Plugin
+{
+public:
+  Plugin()
+  : qt_gui_cpp::Plugin()
+  {}
+
+  /**
+   * Shutdown and clean up the plugin before unloading.
+   * I.e. unregister subscribers and stop timers.
+   */
+  virtual void shutdownPlugin()
+  {}
+
+  virtual void passInNode(std::shared_ptr<rclcpp::Node> node)
+  {
+    node_ = node;
+  }
+
+protected:
+  rclcpp::Node::SharedPtr node_;
+
+private:
+  void onInit()
+  {}
+};
+}  // namespace rqt_gui_cpp
+
+#endif  // RQT_GUI_CPP__PLUGIN_HPP_
diff --git a/rqt_gui_cpp/package.xml b/rqt_gui_cpp/package.xml
index 10996a47..649680fc 100644
--- a/rqt_gui_cpp/package.xml
+++ b/rqt_gui_cpp/package.xml
@@ -22,6 +22,9 @@
   <build_depend>qtbase5-dev</build_depend>
   <exec_depend version_gte="0.3.0">qt_gui_cpp</exec_depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
     <qt_gui plugin="${prefix}/plugin.xml"/>
diff --git a/rqt_gui_cpp/src/rqt_gui_cpp/nodelet_plugin_provider.cpp b/rqt_gui_cpp/src/rqt_gui_cpp/nodelet_plugin_provider.cpp
index e36e32b1..5ff0cc90 100644
--- a/rqt_gui_cpp/src/rqt_gui_cpp/nodelet_plugin_provider.cpp
+++ b/rqt_gui_cpp/src/rqt_gui_cpp/nodelet_plugin_provider.cpp
@@ -30,26 +30,27 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "nodelet_plugin_provider.h"
-
-#include "roscpp_plugin_provider.h"
+#include "nodelet_plugin_provider.hpp"
 
 #include <memory>
 #include <stdexcept>
 #include <string>
 
-namespace rqt_gui_cpp {
+#include "roscpp_plugin_provider.hpp"
 
-NodeletPluginProvider::NodeletPluginProvider(const QString& export_tag, const QString& base_class_type)
-  : qt_gui_cpp::RosPluginlibPluginProvider<rqt_gui_cpp::Plugin>(export_tag, base_class_type)
+namespace rqt_gui_cpp
+{
+NodeletPluginProvider::NodeletPluginProvider(
+  const QString & export_tag,
+  const QString & base_class_type)
+: qt_gui_cpp::RosPluginlibPluginProvider<rqt_gui_cpp::Plugin>(export_tag, base_class_type)
   , loader_initialized_(false)
   , ros_spin_thread_(0)
 {}
 
 NodeletPluginProvider::~NodeletPluginProvider()
 {
-  if (ros_spin_thread_ != 0)
-  {
+  if (ros_spin_thread_ != 0) {
     ros_spin_thread_->abort = true;
     ros_spin_thread_->exec_.remove_node(node_);
     ros_spin_thread_->wait();
@@ -58,10 +59,9 @@ NodeletPluginProvider::~NodeletPluginProvider()
   }
 }
 
-void NodeletPluginProvider::unload(void* instance)
+void NodeletPluginProvider::unload(void * instance)
 {
-  if (!instances_.contains(instance))
-  {
+  if (!instances_.contains(instance)) {
     qCritical("rqt_gui_cpp::NodeletPluginProvider::unload() instance not found");
     return;
   }
@@ -73,14 +73,11 @@ void NodeletPluginProvider::unload(void* instance)
 
 void NodeletPluginProvider::init_loader()
 {
-
-  if (!loader_initialized_)
-  {
+  if (!loader_initialized_) {
     loader_initialized_ = true;
 
     // spawn ros spin thread
-    if (ros_spin_thread_ == 0)
-    {
+    if (ros_spin_thread_ == 0) {
       ros_spin_thread_ = new RosSpinThread(this);
       ros_spin_thread_->start();
     }
@@ -91,26 +88,26 @@ void NodeletPluginProvider::init_loader()
     // Initialize a node for execution to be shared by cpp plugins
     node_ = rclcpp::Node::make_shared(name.str().c_str());
     // Add our node to the executor for execution
-    if (ros_spin_thread_)
-    {
+    if (ros_spin_thread_) {
       ros_spin_thread_->exec_.add_node(node_);
-    }
-    else
-    {
+    } else {
       qWarning("rqt_gui_cpp::NodeletPluginProvider.init_loader: ros_spin_thread_ not initialized");
     }
   }
-
 }
 
-std::shared_ptr<Plugin> NodeletPluginProvider::create_plugin(const std::string& lookup_name, qt_gui_cpp::PluginContext* plugin_context)
+std::shared_ptr<Plugin> NodeletPluginProvider::create_plugin(
+  const std::string & lookup_name,
+  qt_gui_cpp::PluginContext * plugin_context)
 {
   init_loader();
 
-  std::string nodelet_name = lookup_name + "_" + QString::number(plugin_context->serialNumber()).toStdString();
+  std::string nodelet_name = lookup_name + "_" +
+    QString::number(plugin_context->serialNumber()).toStdString();
   instance_.reset();
 
-  instance_ = qt_gui_cpp::RosPluginlibPluginProvider<rqt_gui_cpp::Plugin>::create_plugin(lookup_name);
+  instance_ =
+    qt_gui_cpp::RosPluginlibPluginProvider<rqt_gui_cpp::Plugin>::create_plugin(lookup_name);
   instance_->passInNode(node_);
   instances_[&*instance_] = nodelet_name.c_str();
 
@@ -120,22 +117,24 @@ std::shared_ptr<Plugin> NodeletPluginProvider::create_plugin(const std::string&
 }
 
 
-void NodeletPluginProvider::init_plugin(const QString& plugin_id, qt_gui_cpp::PluginContext* plugin_context, qt_gui_cpp::Plugin* plugin)
+void NodeletPluginProvider::init_plugin(
+  const QString & plugin_id,
+  qt_gui_cpp::PluginContext * plugin_context, qt_gui_cpp::Plugin * plugin)
 {
   qDebug("rqt_gui_cpp::NodeletPluginProvider::init_plugin()");
   init_loader();
 
-  rqt_gui_cpp::Plugin* rqt_plugin = dynamic_cast<rqt_gui_cpp::Plugin*>(plugin);
-  if (!rqt_plugin)
-  {
+  rqt_gui_cpp::Plugin * rqt_plugin = dynamic_cast<rqt_gui_cpp::Plugin *>(plugin);
+  if (!rqt_plugin) {
     throw std::runtime_error("plugin is not a rqt_plugin::Plugin");
   }
 
-  qt_gui_cpp::RosPluginlibPluginProvider<rqt_gui_cpp::Plugin>::init_plugin(plugin_id, plugin_context, plugin);
+  qt_gui_cpp::RosPluginlibPluginProvider<rqt_gui_cpp::Plugin>::init_plugin(plugin_id,
+      plugin_context, plugin);
 }
 
-NodeletPluginProvider::RosSpinThread::RosSpinThread(QObject* parent)
-  : QThread(parent)
+NodeletPluginProvider::RosSpinThread::RosSpinThread(QObject * parent)
+: QThread(parent)
   , abort(false)
 {}
 
@@ -144,12 +143,9 @@ NodeletPluginProvider::RosSpinThread::~RosSpinThread()
 
 void NodeletPluginProvider::RosSpinThread::run()
 {
-  while (!abort)
-  {
+  while (!abort) {
     // Spin the executor
     exec_.spin_once();
   }
 }
-
-
-}
+}  // namespace rqt_gui_cpp
diff --git a/rqt_gui_cpp/src/rqt_gui_cpp/nodelet_plugin_provider.h b/rqt_gui_cpp/src/rqt_gui_cpp/nodelet_plugin_provider.hpp
similarity index 75%
rename from rqt_gui_cpp/src/rqt_gui_cpp/nodelet_plugin_provider.h
rename to rqt_gui_cpp/src/rqt_gui_cpp/nodelet_plugin_provider.hpp
index 68f2e854..ce4612e9 100644
--- a/rqt_gui_cpp/src/rqt_gui_cpp/nodelet_plugin_provider.h
+++ b/rqt_gui_cpp/src/rqt_gui_cpp/nodelet_plugin_provider.hpp
@@ -30,48 +30,47 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef rqt_gui_cpp__NodeletPluginProvider_H
-#define rqt_gui_cpp__NodeletPluginProvider_H
+#ifndef RQT_GUI_CPP__NODELET_PLUGIN_PROVIDER_HPP_
+#define RQT_GUI_CPP__NODELET_PLUGIN_PROVIDER_HPP_
 
+#include <QThread>
+#include <memory>
+#include <string>
+
+#include <qt_gui_cpp/plugin_context.hpp>
 #include <qt_gui_cpp/ros_pluginlib_plugin_provider.hpp>
 
-#include <rqt_gui_cpp/plugin.h>
+#include <rqt_gui_cpp/plugin.hpp>
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <QThread>
-
-#include <string>
-#include <unistd.h>
-#include <iostream>
-
-namespace rqt_gui_cpp {
-
-class RosCppPluginProvider;
+namespace rqt_gui_cpp
+{
 
 class NodeletPluginProvider
   : public qt_gui_cpp::RosPluginlibPluginProvider<rqt_gui_cpp::Plugin>
 {
-
 public:
-
-  NodeletPluginProvider(const QString& export_tag, const QString& base_class_type);
+  NodeletPluginProvider(const QString & export_tag, const QString & base_class_type);
 
   virtual ~NodeletPluginProvider();
 
-  virtual void unload(void* instance);
+  virtual void unload(void * instance);
 
 protected:
-
   void init_loader();
 
-  virtual std::shared_ptr<Plugin> create_plugin(const std::string& lookup_name, qt_gui_cpp::PluginContext* plugin_context);
+  virtual std::shared_ptr<Plugin> create_plugin(
+    const std::string & lookup_name,
+    qt_gui_cpp::PluginContext * plugin_context);
 
-  virtual void init_plugin(const QString& plugin_id, qt_gui_cpp::PluginContext* plugin_context, qt_gui_cpp::Plugin* plugin);
+  virtual void init_plugin(
+    const QString & plugin_id, qt_gui_cpp::PluginContext * plugin_context,
+    qt_gui_cpp::Plugin * plugin);
 
   std::shared_ptr<rqt_gui_cpp::Plugin> instance_;
 
-  QMap<void*, QString> instances_;
+  QMap<void *, QString> instances_;
 
   bool loader_initialized_;
 
@@ -82,8 +81,8 @@ class NodeletPluginProvider
   class RosSpinThread
     : public QThread
   {
-  public:
-    RosSpinThread(QObject* parent = 0);
+public:
+    explicit RosSpinThread(QObject * parent = 0);
     virtual ~RosSpinThread();
     void run();
     bool abort;
@@ -92,10 +91,7 @@ class NodeletPluginProvider
     rclcpp::executors::MultiThreadedExecutor exec_;
   };
 
-  RosSpinThread* ros_spin_thread_;
-
+  RosSpinThread * ros_spin_thread_;
 };
-
-}
-
-#endif // rqt_gui_cpp__NodeletPluginProvider_H
+}  // namespace rqt_gui_cpp
+#endif  // RQT_GUI_CPP__NODELET_PLUGIN_PROVIDER_HPP_
diff --git a/rqt_gui_cpp/src/rqt_gui_cpp/roscpp_plugin_provider.cpp b/rqt_gui_cpp/src/rqt_gui_cpp/roscpp_plugin_provider.cpp
index 42af03fb..b20e2391 100644
--- a/rqt_gui_cpp/src/rqt_gui_cpp/roscpp_plugin_provider.cpp
+++ b/rqt_gui_cpp/src/rqt_gui_cpp/roscpp_plugin_provider.cpp
@@ -30,52 +30,56 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "roscpp_plugin_provider.h"
+#include "roscpp_plugin_provider.hpp"
 
-#include "nodelet_plugin_provider.h"
-#include <rqt_gui_cpp/plugin.h>
+#include <sys/types.h>
+
+#include <stdexcept>
+
+#include "nodelet_plugin_provider.hpp"
+#include <rqt_gui_cpp/plugin.hpp>
 
 #include <qt_gui_cpp/plugin_provider.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <pluginlib/class_list_macros.hpp>
 
-#include <stdexcept>
-#include <sys/types.h>
-
-namespace rqt_gui_cpp {
+namespace rqt_gui_cpp
+{
 
 RosCppPluginProvider::RosCppPluginProvider()
-  : qt_gui_cpp::CompositePluginProvider()
+: qt_gui_cpp::CompositePluginProvider()
   , rclcpp_initialized_(false)
 {
-  if (rclcpp::ok())
-  {
+  if (rclcpp::ok()) {
     rclcpp_initialized_ = true;
   }
 
   init_rclcpp();
-  QList<PluginProvider*> plugin_providers;
+  QList<PluginProvider *> plugin_providers;
   plugin_providers.append(new NodeletPluginProvider("rqt_gui", "rqt_gui_cpp::Plugin"));
   set_plugin_providers(plugin_providers);
 }
 
 RosCppPluginProvider::~RosCppPluginProvider()
 {
-  if (rclcpp::ok())
-  {
+  if (rclcpp::ok()) {
     rclcpp::shutdown();
   }
 }
 
-void* RosCppPluginProvider::load(const QString& plugin_id, qt_gui_cpp::PluginContext* plugin_context)
+void * RosCppPluginProvider::load(
+  const QString & plugin_id,
+  qt_gui_cpp::PluginContext * plugin_context)
 {
   qDebug("RosCppPluginProvider::load(%s)", plugin_id.toStdString().c_str());
   init_rclcpp();
   return qt_gui_cpp::CompositePluginProvider::load(plugin_id, plugin_context);
 }
 
-qt_gui_cpp::Plugin* RosCppPluginProvider::load_plugin(const QString& plugin_id, qt_gui_cpp::PluginContext* plugin_context)
+qt_gui_cpp::Plugin * RosCppPluginProvider::load_plugin(
+  const QString & plugin_id,
+  qt_gui_cpp::PluginContext * plugin_context)
 {
   qDebug("RosCppPluginProvider::load_plugin(%s)", plugin_id.toStdString().c_str());
   init_rclcpp();
@@ -85,10 +89,9 @@ qt_gui_cpp::Plugin* RosCppPluginProvider::load_plugin(const QString& plugin_id,
 void RosCppPluginProvider::init_rclcpp()
 {
   // initialize ROS node once
-  if (!rclcpp_initialized_)
-  {
+  if (!rclcpp_initialized_) {
     int argc = 0;
-    char** argv = 0;
+    char ** argv = 0;
 
     // Initialize any global resources needed by the middleware and the client library.
     // This will also parse command line arguments one day (as of Beta 1 they are not used).
@@ -101,7 +104,5 @@ void RosCppPluginProvider::init_rclcpp()
     rclcpp_initialized_ = true;
   }
 }
-
-}
-
+}  // namespace rqt_gui_cpp
 PLUGINLIB_EXPORT_CLASS(rqt_gui_cpp::RosCppPluginProvider, qt_gui_cpp::PluginProvider)
diff --git a/rqt_gui_cpp/src/rqt_gui_cpp/roscpp_plugin_provider.h b/rqt_gui_cpp/src/rqt_gui_cpp/roscpp_plugin_provider.hpp
similarity index 82%
rename from rqt_gui_cpp/src/rqt_gui_cpp/roscpp_plugin_provider.h
rename to rqt_gui_cpp/src/rqt_gui_cpp/roscpp_plugin_provider.hpp
index b6e9edb7..175e53e7 100644
--- a/rqt_gui_cpp/src/rqt_gui_cpp/roscpp_plugin_provider.h
+++ b/rqt_gui_cpp/src/rqt_gui_cpp/roscpp_plugin_provider.hpp
@@ -30,40 +30,37 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef rqt_gui_cpp__RosCppPluginProvider_H
-#define rqt_gui_cpp__RosCppPluginProvider_H
-
-#include <qt_gui_cpp/composite_plugin_provider.hpp>
+#ifndef RQT_GUI_CPP__ROSCPP_PLUGIN_PROVIDER_HPP_
+#define RQT_GUI_CPP__ROSCPP_PLUGIN_PROVIDER_HPP_
 
 #include <QMessageBox>
 #include <QThread>
 
 #include <string>
 
-namespace rqt_gui_cpp {
+#include <qt_gui_cpp/composite_plugin_provider.hpp>
+
+namespace rqt_gui_cpp
+{
 
 class RosCppPluginProvider
   : public qt_gui_cpp::CompositePluginProvider
 {
-
 public:
-
   RosCppPluginProvider();
 
   virtual ~RosCppPluginProvider();
 
-  virtual void* load(const QString& plugin_id, qt_gui_cpp::PluginContext* plugin_context);
+  virtual void * load(const QString & plugin_id, qt_gui_cpp::PluginContext * plugin_context);
 
-  virtual qt_gui_cpp::Plugin* load_plugin(const QString& plugin_id, qt_gui_cpp::PluginContext* plugin_context);
+  virtual qt_gui_cpp::Plugin * load_plugin(
+    const QString & plugin_id,
+    qt_gui_cpp::PluginContext * plugin_context);
 
 protected:
-
   void init_rclcpp();
 
   bool rclcpp_initialized_;
-
 };
-
-}
-
-#endif // rqt_gui_cpp__RosCppPluginProvider_H
+}  // namespace rqt_gui_cpp
+#endif  // RQT_GUI_CPP__ROSCPP_PLUGIN_PROVIDER_HPP_