diff --git a/.github/workflows/lint.yaml b/.github/workflows/lint.yaml
index d07965b..87cc531 100644
--- a/.github/workflows/lint.yaml
+++ b/.github/workflows/lint.yaml
@@ -7,26 +7,26 @@ jobs:
     name: ament_${{ matrix.linter }}
     runs-on: ubuntu-latest
     container:
-      image: ubuntu:jammy
+      image: ubuntu:resolute
     strategy:
       fail-fast: false
       matrix:
           linter: [copyright, flake8, pep257]
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - uses: ros-tooling/setup-ros@v0.7
       with:
-        required-ros-distributions: rolling
+        required-ros-distributions: lyrical
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
-        distribution: rolling
+        distribution: lyrical
         linter: ${{ matrix.linter }}
         package-name: turtle_tf2_py
   ament_lint_cpp:
     name: ament_${{ matrix.linter }}
     runs-on: ubuntu-latest
     container:
-      image: ubuntu:jammy
+      image: ubuntu:resolute
     strategy:
       fail-fast: false
       matrix:
@@ -35,9 +35,9 @@ jobs:
     - uses: actions/checkout@v4
     - uses: ros-tooling/setup-ros@v0.7
       with:
-        required-ros-distributions: rolling
+        required-ros-distributions: lyrical
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
-        distribution: rolling
+        distribution: lyrical
         linter: ${{ matrix.linter }}
         package-name: turtle_tf2_cpp
diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 6ba8b15..9e28e8b 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -6,10 +6,10 @@ on:
       - ros2
 
 jobs:
-  build_and_test_source_rolling:
+  build_and_test_source_lyrical:
     runs-on: ubuntu-latest
     container:
-      image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-noble-testing
+      image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-resolute-testing
     steps:
     - name: Build and run tests
       id: action-ros-ci
@@ -18,8 +18,8 @@ jobs:
         package-name: |
           turtle_tf2_py
           turtle_tf2_cpp
-        target-ros2-distro: rolling
-        vcs-repo-file-url: https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos
+        target-ros2-distro: lyrical
+        vcs-repo-file-url: https://raw.githubusercontent.com/ros2/ros2/lyrical/ros2.repos
         colcon-defaults: |
           {
             "build": {
@@ -32,10 +32,10 @@ jobs:
               "pytest-args": ["-m", "not xfail"]
             }
           }
-  build_and_test_binaries_rolling:
+  build_and_test_binaries_lyrical:
     runs-on: ubuntu-latest
     container:
-      image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-noble-testing
+      image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-resolute-testing
     steps:
     - name: Build and run tests
       id: action-ros-ci
@@ -44,7 +44,7 @@ jobs:
         package-name: |
           turtle_tf2_py
           turtle_tf2_cpp
-        target-ros2-distro: rolling
+        target-ros2-distro: lyrical
         colcon-defaults: |
           {
             "build": {
diff --git a/turtle_tf2_cpp/src/dynamic_frame_tf2_broadcaster.cpp b/turtle_tf2_cpp/src/dynamic_frame_tf2_broadcaster.cpp
index de08ba7..bd056c4 100644
--- a/turtle_tf2_cpp/src/dynamic_frame_tf2_broadcaster.cpp
+++ b/turtle_tf2_cpp/src/dynamic_frame_tf2_broadcaster.cpp
@@ -18,7 +18,7 @@
 
 #include "geometry_msgs/msg/transform_stamped.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "tf2_ros/transform_broadcaster.h"
+#include "tf2_ros/transform_broadcaster.hpp"
 
 using namespace std::chrono_literals;
 
diff --git a/turtle_tf2_cpp/src/fixed_frame_tf2_broadcaster.cpp b/turtle_tf2_cpp/src/fixed_frame_tf2_broadcaster.cpp
index 057134f..b68f1f3 100644
--- a/turtle_tf2_cpp/src/fixed_frame_tf2_broadcaster.cpp
+++ b/turtle_tf2_cpp/src/fixed_frame_tf2_broadcaster.cpp
@@ -18,7 +18,7 @@
 
 #include "geometry_msgs/msg/transform_stamped.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "tf2_ros/transform_broadcaster.h"
+#include "tf2_ros/transform_broadcaster.hpp"
 
 using namespace std::chrono_literals;
 
diff --git a/turtle_tf2_cpp/src/static_turtle_tf2_broadcaster.cpp b/turtle_tf2_cpp/src/static_turtle_tf2_broadcaster.cpp
index ddd3218..bb659f2 100644
--- a/turtle_tf2_cpp/src/static_turtle_tf2_broadcaster.cpp
+++ b/turtle_tf2_cpp/src/static_turtle_tf2_broadcaster.cpp
@@ -17,7 +17,7 @@
 #include "geometry_msgs/msg/transform_stamped.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/LinearMath/Quaternion.hpp"
-#include "tf2_ros/static_transform_broadcaster.h"
+#include "tf2_ros/static_transform_broadcaster.hpp"
 
 class StaticFramePublisher : public rclcpp::Node
 {
diff --git a/turtle_tf2_cpp/src/turtle_tf2_broadcaster.cpp b/turtle_tf2_cpp/src/turtle_tf2_broadcaster.cpp
index eadc759..bacfbcf 100644
--- a/turtle_tf2_cpp/src/turtle_tf2_broadcaster.cpp
+++ b/turtle_tf2_cpp/src/turtle_tf2_broadcaster.cpp
@@ -20,7 +20,7 @@
 #include "geometry_msgs/msg/transform_stamped.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/LinearMath/Quaternion.hpp"
-#include "tf2_ros/transform_broadcaster.h"
+#include "tf2_ros/transform_broadcaster.hpp"
 #include "turtlesim_msgs/msg/pose.hpp"
 
 class FramePublisher : public rclcpp::Node
diff --git a/turtle_tf2_cpp/src/turtle_tf2_listener.cpp b/turtle_tf2_cpp/src/turtle_tf2_listener.cpp
index ecd3bfb..264b41b 100644
--- a/turtle_tf2_cpp/src/turtle_tf2_listener.cpp
+++ b/turtle_tf2_cpp/src/turtle_tf2_listener.cpp
@@ -21,8 +21,8 @@
 #include "geometry_msgs/msg/twist.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/exceptions.hpp"
-#include "tf2_ros/transform_listener.h"
-#include "tf2_ros/buffer.h"
+#include "tf2_ros/transform_listener.hpp"
+#include "tf2_ros/buffer.hpp"
 #include "turtlesim_msgs/srv/spawn.hpp"
 
 using namespace std::chrono_literals;
diff --git a/turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp b/turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp
index c2d7085..fab2926 100644
--- a/turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp
+++ b/turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp
@@ -19,10 +19,10 @@
 #include "geometry_msgs/msg/point_stamped.hpp"
 #include "message_filters/subscriber.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "tf2_ros/buffer.h"
-#include "tf2_ros/create_timer_ros.h"
-#include "tf2_ros/message_filter.h"
-#include "tf2_ros/transform_listener.h"
+#include "tf2_ros/buffer.hpp"
+#include "tf2_ros/create_timer_ros.hpp"
+#include "tf2_ros/message_filter.hpp"
+#include "tf2_ros/transform_listener.hpp"
 #ifdef TF2_CPP_HEADERS
   #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #else