diff --git a/grid_map_core/src/GridMapMath.cpp b/grid_map_core/src/GridMapMath.cpp
index b56d618fd..f54360dff 100644
--- a/grid_map_core/src/GridMapMath.cpp
+++ b/grid_map_core/src/GridMapMath.cpp
@@ -405,7 +405,7 @@ bool getBufferRegionsForSubmap(std::vector<BufferRegion>& submapBufferRegions,
       Size bottomLeftSize(submapBufferSize(0) - topLeftSize(0), bufferSize(1) - submapIndex(1));
       submapBufferRegions.emplace_back(bottomLeftIndex, bottomLeftSize, BufferRegion::Quadrant::BottomLeft);
 
-      Index bottomRightIndex = Index::Zero();
+      bottomRightIndex = Index::Zero();
       Size bottomRightSize(bottomLeftSize(0), topRightSize(1));
       submapBufferRegions.emplace_back(bottomRightIndex, bottomRightSize, BufferRegion::Quadrant::BottomRight);
       return true;
@@ -423,7 +423,7 @@ bool getBufferRegionsForSubmap(std::vector<BufferRegion>& submapBufferRegions,
       Size topRightSize(bufferSize(0) - submapIndex(0), submapBufferSize(1));
       submapBufferRegions.emplace_back(submapIndex, topRightSize, BufferRegion::Quadrant::TopRight);
 
-      Index bottomRightIndex(0, submapIndex(1));
+      bottomRightIndex(0, submapIndex(1));
       Size bottomRightSize(submapBufferSize(0) - topRightSize(0), submapBufferSize(1));
       submapBufferRegions.emplace_back(bottomRightIndex, bottomRightSize, BufferRegion::Quadrant::BottomRight);
       return true;
@@ -440,7 +440,7 @@ bool getBufferRegionsForSubmap(std::vector<BufferRegion>& submapBufferRegions,
       Size bottomLeftSize(submapBufferSize(0), bufferSize(1) - submapIndex(1));
       submapBufferRegions.emplace_back(submapIndex, bottomLeftSize, BufferRegion::Quadrant::BottomLeft);
 
-      Index bottomRightIndex(submapIndex(0), 0);
+      bottomRightIndex(submapIndex(0), 0);
       Size bottomRightSize(submapBufferSize(0), submapBufferSize(1) - bottomLeftSize(1));
       submapBufferRegions.emplace_back(bottomRightIndex, bottomRightSize, BufferRegion::Quadrant::BottomRight);
       return true;
diff --git a/grid_map_cv/include/grid_map_cv/InpaintFilter.hpp b/grid_map_cv/include/grid_map_cv/InpaintFilter.hpp
index f57c21ed4..dcf023c11 100644
--- a/grid_map_cv/include/grid_map_cv/InpaintFilter.hpp
+++ b/grid_map_cv/include/grid_map_cv/InpaintFilter.hpp
@@ -8,7 +8,7 @@
 
 #pragma once
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 
 //OpenCV
 #include "grid_map_cv/grid_map_cv.hpp"
diff --git a/grid_map_demos/CMakeLists.txt b/grid_map_demos/CMakeLists.txt
index 874f7c008..4ce68963a 100644
--- a/grid_map_demos/CMakeLists.txt
+++ b/grid_map_demos/CMakeLists.txt
@@ -57,6 +57,7 @@ catkin_package(
 ## Your package locations should be listed before other locations
 include_directories(
   include
+  SYSTEM
   ${catkin_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIR}
   ${OCTOMAP_INCLUDE_DIR}
diff --git a/grid_map_demos/include/grid_map_demos/FiltersDemo.hpp b/grid_map_demos/include/grid_map_demos/FiltersDemo.hpp
index 55bef936a..22abf6cff 100644
--- a/grid_map_demos/include/grid_map_demos/FiltersDemo.hpp
+++ b/grid_map_demos/include/grid_map_demos/FiltersDemo.hpp
@@ -14,7 +14,7 @@
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wpedantic"
 #pragma GCC diagnostic ignored "-Wformat"
-#include <filters/filter_chain.hpp>
+#include <filters/filter_chain.h>
 #pragma GCC diagnostic pop
 #include <ros/ros.h>
 #include <string>
diff --git a/grid_map_demos/src/InterpolationDemo.cpp b/grid_map_demos/src/InterpolationDemo.cpp
index 35f5ad392..1ff72f5af 100644
--- a/grid_map_demos/src/InterpolationDemo.cpp
+++ b/grid_map_demos/src/InterpolationDemo.cpp
@@ -124,7 +124,7 @@ AnalyticalFunctions createGaussianWorld(grid_map::GridMap *map)
       0.1, 0.1 }, { 0.1, 0.1 }, { 0.1, 0.1 }, { 0.1, 0.05 }, { 0.05, 0.05 } } };
   std::array<std::pair<double, double>, numGaussians> means = { { { 1, -1 }, { 1, 1.7 },
       { -1, 1.6 }, { -1.8, -1.8 }, { -1, 1.8 }, { 0, 0 }, { -1.2, 0 } } };
-  std::array<double, numGaussians> scales = { -2.0, -1.0, 2.0, 1.0, 3.0, 4.0, 1.0 };
+  std::array<double, numGaussians> scales = {{ -2.0, -1.0, 2.0, 1.0, 3.0, 4.0, 1.0 }};
 
   std::array<Gaussian, numGaussians> g;
 
diff --git a/grid_map_demos/src/normal_filter_comparison_node.cpp b/grid_map_demos/src/normal_filter_comparison_node.cpp
index 01a314382..e22152d03 100644
--- a/grid_map_demos/src/normal_filter_comparison_node.cpp
+++ b/grid_map_demos/src/normal_filter_comparison_node.cpp
@@ -7,7 +7,7 @@
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wpedantic"
 #pragma GCC diagnostic ignored "-Wformat"
-#include <filters/filter_chain.hpp>
+#include <filters/filter_chain.h>
 #pragma GCC diagnostic pop
 #include <ros/ros.h>
 #include <Eigen/Core>
diff --git a/grid_map_filters/include/grid_map_filters/BufferNormalizerFilter.hpp b/grid_map_filters/include/grid_map_filters/BufferNormalizerFilter.hpp
index a22a8f3dd..34f01c6ae 100644
--- a/grid_map_filters/include/grid_map_filters/BufferNormalizerFilter.hpp
+++ b/grid_map_filters/include/grid_map_filters/BufferNormalizerFilter.hpp
@@ -10,7 +10,7 @@
 
 #include <string>
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 #include <grid_map_core/GridMap.hpp>
 
 namespace grid_map {
diff --git a/grid_map_filters/include/grid_map_filters/ColorBlendingFilter.hpp b/grid_map_filters/include/grid_map_filters/ColorBlendingFilter.hpp
index 3f4c56645..dc0853f3a 100644
--- a/grid_map_filters/include/grid_map_filters/ColorBlendingFilter.hpp
+++ b/grid_map_filters/include/grid_map_filters/ColorBlendingFilter.hpp
@@ -11,7 +11,7 @@
 #include <Eigen/Core>
 #include <string>
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 #include <grid_map_core/GridMap.hpp>
 
 namespace grid_map {
diff --git a/grid_map_filters/include/grid_map_filters/ColorFillFilter.hpp b/grid_map_filters/include/grid_map_filters/ColorFillFilter.hpp
index a6ccfac72..49287271a 100644
--- a/grid_map_filters/include/grid_map_filters/ColorFillFilter.hpp
+++ b/grid_map_filters/include/grid_map_filters/ColorFillFilter.hpp
@@ -10,7 +10,7 @@
 
 #include <Eigen/Core>
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 #include <grid_map_core/GridMap.hpp>
 
 namespace grid_map {
diff --git a/grid_map_filters/include/grid_map_filters/ColorMapFilter.hpp b/grid_map_filters/include/grid_map_filters/ColorMapFilter.hpp
index d19e2d1ce..3bc3af61a 100644
--- a/grid_map_filters/include/grid_map_filters/ColorMapFilter.hpp
+++ b/grid_map_filters/include/grid_map_filters/ColorMapFilter.hpp
@@ -11,7 +11,7 @@
 #include <Eigen/Core>
 #include <string>
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 #include <grid_map_core/GridMap.hpp>
 #include <grid_map_core/TypeDefs.hpp>
 
diff --git a/grid_map_filters/include/grid_map_filters/CurvatureFilter.hpp b/grid_map_filters/include/grid_map_filters/CurvatureFilter.hpp
index 0f3762a32..55fc7f2b5 100644
--- a/grid_map_filters/include/grid_map_filters/CurvatureFilter.hpp
+++ b/grid_map_filters/include/grid_map_filters/CurvatureFilter.hpp
@@ -11,7 +11,7 @@
 #include <Eigen/Core>
 #include <string>
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 #include <grid_map_core/GridMap.hpp>
 
 namespace grid_map {
diff --git a/grid_map_filters/include/grid_map_filters/DeletionFilter.hpp b/grid_map_filters/include/grid_map_filters/DeletionFilter.hpp
index 658b02720..3540aa9ec 100644
--- a/grid_map_filters/include/grid_map_filters/DeletionFilter.hpp
+++ b/grid_map_filters/include/grid_map_filters/DeletionFilter.hpp
@@ -11,7 +11,7 @@
 #include <string>
 #include <vector>
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 #include <grid_map_core/GridMap.hpp>
 
 namespace grid_map {
diff --git a/grid_map_filters/include/grid_map_filters/DuplicationFilter.hpp b/grid_map_filters/include/grid_map_filters/DuplicationFilter.hpp
index 825518b6e..60d0d7f6c 100644
--- a/grid_map_filters/include/grid_map_filters/DuplicationFilter.hpp
+++ b/grid_map_filters/include/grid_map_filters/DuplicationFilter.hpp
@@ -10,7 +10,7 @@
 
 #include <string>
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 #include <grid_map_core/GridMap.hpp>
 
 namespace grid_map {
diff --git a/grid_map_filters/include/grid_map_filters/LightIntensityFilter.hpp b/grid_map_filters/include/grid_map_filters/LightIntensityFilter.hpp
index 0572c84ec..2a95a6b96 100644
--- a/grid_map_filters/include/grid_map_filters/LightIntensityFilter.hpp
+++ b/grid_map_filters/include/grid_map_filters/LightIntensityFilter.hpp
@@ -11,7 +11,7 @@
 #include <Eigen/Core>
 #include <string>
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 #include <grid_map_core/GridMap.hpp>
 
 namespace grid_map {
diff --git a/grid_map_filters/include/grid_map_filters/MathExpressionFilter.hpp b/grid_map_filters/include/grid_map_filters/MathExpressionFilter.hpp
index c909b8ae8..f23354687 100644
--- a/grid_map_filters/include/grid_map_filters/MathExpressionFilter.hpp
+++ b/grid_map_filters/include/grid_map_filters/MathExpressionFilter.hpp
@@ -11,7 +11,7 @@
 #include <string>
 #include "EigenLab/EigenLab.h"
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 #include <grid_map_core/GridMap.hpp>
 
 namespace grid_map {
diff --git a/grid_map_filters/include/grid_map_filters/MeanInRadiusFilter.hpp b/grid_map_filters/include/grid_map_filters/MeanInRadiusFilter.hpp
index 78de1151b..ae8708a76 100644
--- a/grid_map_filters/include/grid_map_filters/MeanInRadiusFilter.hpp
+++ b/grid_map_filters/include/grid_map_filters/MeanInRadiusFilter.hpp
@@ -10,7 +10,7 @@
 
 #include <string>
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 #include <grid_map_core/GridMap.hpp>
 
 namespace grid_map {
diff --git a/grid_map_filters/include/grid_map_filters/MedianFillFilter.hpp b/grid_map_filters/include/grid_map_filters/MedianFillFilter.hpp
index be05a8551..a4c795542 100644
--- a/grid_map_filters/include/grid_map_filters/MedianFillFilter.hpp
+++ b/grid_map_filters/include/grid_map_filters/MedianFillFilter.hpp
@@ -11,7 +11,7 @@
 #include <Eigen/Core>
 #include <string>
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 #include <grid_map_core/GridMap.hpp>
 #include <grid_map_core/TypeDefs.hpp>
 #include <opencv2/core.hpp>
diff --git a/grid_map_filters/include/grid_map_filters/MinInRadiusFilter.hpp b/grid_map_filters/include/grid_map_filters/MinInRadiusFilter.hpp
index 521d244eb..acc9675ce 100644
--- a/grid_map_filters/include/grid_map_filters/MinInRadiusFilter.hpp
+++ b/grid_map_filters/include/grid_map_filters/MinInRadiusFilter.hpp
@@ -10,7 +10,7 @@
 
 #include <string>
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 #include <grid_map_core/GridMap.hpp>
 
 namespace grid_map {
diff --git a/grid_map_filters/include/grid_map_filters/MockFilter.hpp b/grid_map_filters/include/grid_map_filters/MockFilter.hpp
index f7d174f8b..831b23b03 100644
--- a/grid_map_filters/include/grid_map_filters/MockFilter.hpp
+++ b/grid_map_filters/include/grid_map_filters/MockFilter.hpp
@@ -10,7 +10,7 @@
 
 #include <string>
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 #include <grid_map_core/GridMap.hpp>
 
 namespace grid_map {
diff --git a/grid_map_filters/include/grid_map_filters/NormalColorMapFilter.hpp b/grid_map_filters/include/grid_map_filters/NormalColorMapFilter.hpp
index 26093bf5f..3ab9b3b87 100644
--- a/grid_map_filters/include/grid_map_filters/NormalColorMapFilter.hpp
+++ b/grid_map_filters/include/grid_map_filters/NormalColorMapFilter.hpp
@@ -11,7 +11,7 @@
 #include <Eigen/Core>
 #include <string>
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 #include <grid_map_core/GridMap.hpp>
 
 namespace grid_map {
diff --git a/grid_map_filters/include/grid_map_filters/NormalVectorsFilter.hpp b/grid_map_filters/include/grid_map_filters/NormalVectorsFilter.hpp
index 0d01850ae..2e5823288 100644
--- a/grid_map_filters/include/grid_map_filters/NormalVectorsFilter.hpp
+++ b/grid_map_filters/include/grid_map_filters/NormalVectorsFilter.hpp
@@ -11,7 +11,7 @@
 #include <Eigen/Core>
 #include <string>
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 #include <grid_map_core/grid_map_core.hpp>
 
 namespace grid_map {
diff --git a/grid_map_filters/include/grid_map_filters/SetBasicLayersFilter.hpp b/grid_map_filters/include/grid_map_filters/SetBasicLayersFilter.hpp
index e8d598118..41624049d 100644
--- a/grid_map_filters/include/grid_map_filters/SetBasicLayersFilter.hpp
+++ b/grid_map_filters/include/grid_map_filters/SetBasicLayersFilter.hpp
@@ -11,7 +11,7 @@
 #include <string>
 #include <vector>
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 #include <grid_map_core/GridMap.hpp>
 
 namespace grid_map {
diff --git a/grid_map_filters/include/grid_map_filters/SlidingWindowMathExpressionFilter.hpp b/grid_map_filters/include/grid_map_filters/SlidingWindowMathExpressionFilter.hpp
index f759bf2d2..f3d990e4d 100644
--- a/grid_map_filters/include/grid_map_filters/SlidingWindowMathExpressionFilter.hpp
+++ b/grid_map_filters/include/grid_map_filters/SlidingWindowMathExpressionFilter.hpp
@@ -11,7 +11,7 @@
 #include <Eigen/Core>
 #include <string>
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 #include <grid_map_core/grid_map_core.hpp>
 
 #include "EigenLab/EigenLab.h"
diff --git a/grid_map_filters/include/grid_map_filters/ThresholdFilter.hpp b/grid_map_filters/include/grid_map_filters/ThresholdFilter.hpp
index 7073b50dc..83e0c4834 100644
--- a/grid_map_filters/include/grid_map_filters/ThresholdFilter.hpp
+++ b/grid_map_filters/include/grid_map_filters/ThresholdFilter.hpp
@@ -11,7 +11,7 @@
 #include <string>
 #include <vector>
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 #include <grid_map_core/GridMap.hpp>
 
 namespace grid_map {
diff --git a/grid_map_filters/test/median_fill_filter_test.cpp b/grid_map_filters/test/median_fill_filter_test.cpp
index 28012f26c..54aab0e3a 100644
--- a/grid_map_filters/test/median_fill_filter_test.cpp
+++ b/grid_map_filters/test/median_fill_filter_test.cpp
@@ -1,7 +1,7 @@
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 #include <grid_map_core/GridMap.hpp>
 #include <grid_map_core/utils/testing.hpp>
 
diff --git a/grid_map_filters/test/threshold_filter_test.cpp b/grid_map_filters/test/threshold_filter_test.cpp
index cd0197ea4..cdc71a5d6 100644
--- a/grid_map_filters/test/threshold_filter_test.cpp
+++ b/grid_map_filters/test/threshold_filter_test.cpp
@@ -1,7 +1,7 @@
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
 
-#include <filters/filter_base.hpp>
+#include <filters/filter_base.h>
 #include <grid_map_core/GridMap.hpp>
 #include <grid_map_core/utils/testing.hpp>
 
diff --git a/grid_map_loader/CMakeLists.txt b/grid_map_loader/CMakeLists.txt
index 40a8a53bb..3f7e7b87f 100644
--- a/grid_map_loader/CMakeLists.txt
+++ b/grid_map_loader/CMakeLists.txt
@@ -67,6 +67,7 @@ install(
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
+install(DIRECTORY ${PROJECT_SOURCE_DIR}/include DESTINATION include)
 
 #############
 ## Testing ##
diff --git a/grid_map_octomap/src/GridMapOctomapConverter.cpp b/grid_map_octomap/src/GridMapOctomapConverter.cpp
index f5f021fab..d9dd96572 100644
--- a/grid_map_octomap/src/GridMapOctomapConverter.cpp
+++ b/grid_map_octomap/src/GridMapOctomapConverter.cpp
@@ -96,9 +96,9 @@ bool GridMapOctomapConverter::fromOctomap(const octomap::OcTree& octomap,
           end = octomapCopy.end_leafs_bbx(); it != end; ++it) {
     if (octomapCopy.isNodeOccupied(*it)) {
       octomap::point3d octoPos = it.getCoordinate();
-      grid_map::Position position(octoPos.x(), octoPos.y());
+      grid_map::Position gridm_position(octoPos.x(), octoPos.y());
       grid_map::Index index;
-      gridMap.getIndex(position, index);
+      gridMap.getIndex(gridm_position, index);
       // If no elevation has been set, use current elevation.
       if (!gridMap.isValid(index)) {
         gridMapData(index(0), index(1)) = octoPos.z();
diff --git a/grid_map_pcl/src/GridMapPclLoader.cpp b/grid_map_pcl/src/GridMapPclLoader.cpp
index 281d39dd7..730f502f9 100644
--- a/grid_map_pcl/src/GridMapPclLoader.cpp
+++ b/grid_map_pcl/src/GridMapPclLoader.cpp
@@ -158,7 +158,7 @@ void GridMapPclLoader::calculateElevationFromPointsInsideGridMapCell(Pointcloud:
   heights.reserve(clusterClouds.size());
 
   std::transform(clusterClouds.begin(), clusterClouds.end(), std::back_inserter(heights),
-                 [this](Pointcloud::ConstPtr cloud) -> double { return grid_map_pcl::calculateMeanOfPointPositions(cloud).z(); });
+                 [this](Pointcloud::ConstPtr my_cloud) -> double { return grid_map_pcl::calculateMeanOfPointPositions(my_cloud).z(); });
 }
 
 GridMapPclLoader::Pointcloud::Ptr GridMapPclLoader::getPointcloudInsideGridMapCellBorder(const grid_map::Index& index) const {
diff --git a/grid_map_rviz_plugin/src/GridMapDisplay.cpp b/grid_map_rviz_plugin/src/GridMapDisplay.cpp
index 50bba9716..b96c79fb1 100644
--- a/grid_map_rviz_plugin/src/GridMapDisplay.cpp
+++ b/grid_map_rviz_plugin/src/GridMapDisplay.cpp
@@ -214,7 +214,7 @@ void GridMapDisplay::updateVisualization()
   bool noColor = colorModeProperty_->getOptionInt() == 3;
   Ogre::ColourValue meshColor = colorProperty_->getOgreColor();
   std::string colorLayer = colorTransformerProperty_->getStdString();
-  std::string colorMap = colorMapProperty_->getStdString();
+  std::string colorMapStr = colorMapProperty_->getStdString();
   bool useColorMap = useColorMapProperty_->getBool();
   bool invertColorMap = invertColorMapProperty_->getBool();
   Ogre::ColourValue minColor = minColorProperty_->getOgreColor();
@@ -227,7 +227,7 @@ void GridMapDisplay::updateVisualization()
 
   for (size_t i = 0; i < visuals_.size(); i++) {
     visuals_[i]->computeVisualization(alpha, showGridLines, flatTerrain, heightLayer, flatColor, noColor, meshColor, mapLayerColor,
-                                      colorLayer, colorMap, useColorMap, invertColorMap, minColor, maxColor, autocomputeIntensity, minIntensity,
+                                      colorLayer, colorMapStr, useColorMap, invertColorMap, minColor, maxColor, autocomputeIntensity, minIntensity,
                                       maxIntensity, gridLineThickness, gridCellDecimation);
   }
 }
diff --git a/grid_map_rviz_plugin/src/GridMapVisual.cpp b/grid_map_rviz_plugin/src/GridMapVisual.cpp
index 4be19e13d..7eb6baa75 100644
--- a/grid_map_rviz_plugin/src/GridMapVisual.cpp
+++ b/grid_map_rviz_plugin/src/GridMapVisual.cpp
@@ -54,7 +54,7 @@ void GridMapVisual::setMessage(const grid_map_msgs::GridMap::ConstPtr& msg) {
 
 void GridMapVisual::computeVisualization(float alpha, bool showGridLines, bool flatTerrain, std::string heightLayer, bool flatColor,
                                          bool noColor, Ogre::ColourValue meshColor, bool mapLayerColor, std::string colorLayer,
-                                         std::string colorMap, bool useColorMap, bool invertColorMap, Ogre::ColourValue minColor,
+                                         std::string colorMapStr, bool useColorMap, bool invertColorMap, Ogre::ColourValue minColor,
                                          Ogre::ColourValue maxColor, bool autocomputeIntensity, float minIntensity, float maxIntensity, float gridLineThickness,
                                          int gridCellDecimation) {
   const auto startTime = std::chrono::high_resolution_clock::now();
@@ -130,7 +130,7 @@ void GridMapVisual::computeVisualization(float alpha, bool showGridLines, bool f
     coloringMethod = ColoringMethod::INTENSITY_LAYER_INVERTED_COLORMAP;
   }
 
-  const auto colorValues = computeColorValues(heightData, colorData, coloringMethod, colorMap, meshColor,
+  const auto colorValues = computeColorValues(heightData, colorData, coloringMethod, colorMapStr, meshColor,
                                               minIntensity, maxIntensity, autocomputeIntensity, minColor, maxColor);
 
   // Initialize loop constants.
@@ -171,11 +171,11 @@ void GridMapVisual::computeVisualization(float alpha, bool showGridLines, bool f
       std::vector<int> vertexIndices;
       for (size_t k = 0; k < 2; k++) {
         for (size_t l = 0; l < 2; l++) {
-          grid_map::Index index(i - k, j - l);
-          if (!isValid(index(0), index(1))) {
+          grid_map::Index my_index(i - k, j - l);
+          if (!isValid(my_index(0), my_index(1))) {
             continue;
           }
-          vertexIndices.emplace_back(indexToOgreIndex(index(0), index(1)));
+          vertexIndices.emplace_back(indexToOgreIndex(my_index(0), my_index(1)));
         }
       }
 
diff --git a/grid_map_sdf/include/grid_map_sdf/Gridmap3dLookup.hpp b/grid_map_sdf/include/grid_map_sdf/Gridmap3dLookup.hpp
index 1ef1f5427..d70c73c8b 100644
--- a/grid_map_sdf/include/grid_map_sdf/Gridmap3dLookup.hpp
+++ b/grid_map_sdf/include/grid_map_sdf/Gridmap3dLookup.hpp
@@ -29,7 +29,7 @@ struct Gridmap3dLookup {
     size_t z{0};
 
     size_t_3d() = default;
-    size_t_3d(size_t x, size_t y, size_t z) : x(x), y(y), z(z) {}
+    size_t_3d(size_t in_x, size_t in_y, size_t in_z) : x(in_x), y(in_y), z(in_z) {}
   };
 
   //! 3D size of the grid
diff --git a/grid_map_sdf/src/SignedDistanceField.cpp b/grid_map_sdf/src/SignedDistanceField.cpp
index 16ecd3906..8c07156c2 100644
--- a/grid_map_sdf/src/SignedDistanceField.cpp
+++ b/grid_map_sdf/src/SignedDistanceField.cpp
@@ -166,7 +166,7 @@ void SignedDistanceField::emplacebackLayerData(const Matrix& signedDistance, con
                                                const Matrix& dz) {
   for (size_t colY = 0; colY < gridmap3DLookup_.gridsize_.y; ++colY) {
     for (size_t rowX = 0; rowX < gridmap3DLookup_.gridsize_.x; ++rowX) {
-      data_.emplace_back(node_data_t{signedDistance(rowX, colY), dxTranspose(colY, rowX), dy(rowX, colY), dz(rowX, colY)});
+      data_.emplace_back(node_data_t{{signedDistance(rowX, colY), dxTranspose(colY, rowX), dy(rowX, colY), dz(rowX, colY)}});
     }
   }
 }
diff --git a/grid_map_visualization/CMakeLists.txt b/grid_map_visualization/CMakeLists.txt
index c506948ba..3f3c971c9 100644
--- a/grid_map_visualization/CMakeLists.txt
+++ b/grid_map_visualization/CMakeLists.txt
@@ -98,6 +98,7 @@ install(
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
+install(DIRECTORY ${PROJECT_SOURCE_DIR}/include DESTINATION include)
 
 # Mark other files for installation
 install(