diff --git a/ur_controllers/include/ur_controllers/force_mode_controller.hpp b/ur_controllers/include/ur_controllers/force_mode_controller.hpp
index 9ae45a04b..5ce586f56 100644
--- a/ur_controllers/include/ur_controllers/force_mode_controller.hpp
+++ b/ur_controllers/include/ur_controllers/force_mode_controller.hpp
@@ -37,17 +37,17 @@
 #pragma once
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
-#include <realtime_tools/realtime_buffer.h>
 #include <array>
 #include <memory>
 
 #include <controller_interface/controller_interface.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
+#include <realtime_tools/realtime_buffer.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <std_srvs/srv/trigger.hpp>
 #include <ur_msgs/srv/set_force_mode.hpp>
 
-#include "force_mode_controller_parameters.hpp"
+#include "ur_controllers/force_mode_controller_parameters.hpp"
 
 namespace ur_controllers
 {
diff --git a/ur_controllers/include/ur_controllers/freedrive_mode_controller.hpp b/ur_controllers/include/ur_controllers/freedrive_mode_controller.hpp
index 04e90805e..3b01e358b 100644
--- a/ur_controllers/include/ur_controllers/freedrive_mode_controller.hpp
+++ b/ur_controllers/include/ur_controllers/freedrive_mode_controller.hpp
@@ -53,7 +53,7 @@
 #include <rclcpp/duration.hpp>
 #include "std_msgs/msg/bool.hpp"
 
-#include "freedrive_mode_controller_parameters.hpp"
+#include "ur_controllers/freedrive_mode_controller_parameters.hpp"
 
 namespace ur_controllers
 {
diff --git a/ur_controllers/include/ur_controllers/gpio_controller.hpp b/ur_controllers/include/ur_controllers/gpio_controller.hpp
index b06b5139a..502254a9a 100644
--- a/ur_controllers/include/ur_controllers/gpio_controller.hpp
+++ b/ur_controllers/include/ur_controllers/gpio_controller.hpp
@@ -57,7 +57,7 @@
 #include "rclcpp/time.hpp"
 #include "rclcpp/duration.hpp"
 #include "std_msgs/msg/bool.hpp"
-#include "gpio_controller_parameters.hpp"
+#include "ur_controllers/gpio_controller_parameters.hpp"
 
 namespace ur_controllers
 {
diff --git a/ur_controllers/include/ur_controllers/passthrough_trajectory_controller.hpp b/ur_controllers/include/ur_controllers/passthrough_trajectory_controller.hpp
index a3c91d10f..3d9c785be 100644
--- a/ur_controllers/include/ur_controllers/passthrough_trajectory_controller.hpp
+++ b/ur_controllers/include/ur_controllers/passthrough_trajectory_controller.hpp
@@ -43,9 +43,6 @@
 
 #include <stdint.h>
 
-#include <realtime_tools/realtime_buffer.h>
-#include <realtime_tools/realtime_server_goal_handle.h>
-
 #include <functional>
 #include <limits>
 #include <memory>
@@ -54,6 +51,8 @@
 #include <vector>
 
 #include <controller_interface/controller_interface.hpp>
+#include <realtime_tools/realtime_buffer.hpp>
+#include <realtime_tools/realtime_server_goal_handle.hpp>
 #include <rclcpp_action/server.hpp>
 #include <rclcpp_action/create_server.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -65,7 +64,7 @@
 #include <trajectory_msgs/msg/joint_trajectory.hpp>
 #include <control_msgs/action/follow_joint_trajectory.hpp>
 
-#include "passthrough_trajectory_controller_parameters.hpp"
+#include "ur_controllers/passthrough_trajectory_controller_parameters.hpp"
 
 namespace ur_controllers
 {
diff --git a/ur_controllers/include/ur_controllers/scaled_joint_trajectory_controller.hpp b/ur_controllers/include/ur_controllers/scaled_joint_trajectory_controller.hpp
index 58bd12426..7ec1814f1 100644
--- a/ur_controllers/include/ur_controllers/scaled_joint_trajectory_controller.hpp
+++ b/ur_controllers/include/ur_controllers/scaled_joint_trajectory_controller.hpp
@@ -45,7 +45,7 @@
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp/duration.hpp"
-#include "scaled_joint_trajectory_controller_parameters.hpp"
+#include "ur_controllers/scaled_joint_trajectory_controller_parameters.hpp"
 
 namespace ur_controllers
 {
diff --git a/ur_controllers/include/ur_controllers/speed_scaling_state_broadcaster.hpp b/ur_controllers/include/ur_controllers/speed_scaling_state_broadcaster.hpp
index 4778f7ce1..d2cf62e08 100644
--- a/ur_controllers/include/ur_controllers/speed_scaling_state_broadcaster.hpp
+++ b/ur_controllers/include/ur_controllers/speed_scaling_state_broadcaster.hpp
@@ -48,7 +48,7 @@
 #include "rclcpp/time.hpp"
 #include "rclcpp/duration.hpp"
 #include "std_msgs/msg/float64.hpp"
-#include "speed_scaling_state_broadcaster_parameters.hpp"
+#include "ur_controllers/speed_scaling_state_broadcaster_parameters.hpp"
 
 namespace ur_controllers
 {
diff --git a/ur_controllers/include/ur_controllers/ur_configuration_controller.hpp b/ur_controllers/include/ur_controllers/ur_configuration_controller.hpp
index 3775ee72c..067742eb5 100644
--- a/ur_controllers/include/ur_controllers/ur_configuration_controller.hpp
+++ b/ur_controllers/include/ur_controllers/ur_configuration_controller.hpp
@@ -43,14 +43,14 @@
 
 // TODO(fmauch): Currently, the realtime_box_best_effort doesn't include this
 #include <functional>
-#include <realtime_tools/realtime_box_best_effort.h>  // NOLINT
 
 #include <memory>
 
 #include <controller_interface/controller_interface.hpp>
+#include <realtime_tools/realtime_box_best_effort.hpp>
 
 #include "ur_msgs/srv/get_robot_software_version.hpp"
-#include "ur_configuration_controller_parameters.hpp"
+#include "ur_controllers/ur_configuration_controller_parameters.hpp"
 
 namespace ur_controllers
 {
diff --git a/ur_controllers/package.xml b/ur_controllers/package.xml
index 5ffeea8bb..f6f169934 100644
--- a/ur_controllers/package.xml
+++ b/ur_controllers/package.xml
@@ -24,6 +24,7 @@
 
   <depend>angles</depend>
   <depend>controller_interface</depend>
+  <depend>generate_parameter_library</depend>
   <depend>geometry_msgs</depend>
   <depend>hardware_interface</depend>
   <depend>joint_trajectory_controller</depend>
diff --git a/ur_controllers/src/gpio_controller.cpp b/ur_controllers/src/gpio_controller.cpp
index 188542d0e..3fadbd3db 100644
--- a/ur_controllers/src/gpio_controller.cpp
+++ b/ur_controllers/src/gpio_controller.cpp
@@ -407,7 +407,7 @@ bool GPIOController::setAnalogOutput(ur_msgs::srv::SetAnalogOutput::Request::Sha
       return false;
   }
 
-  if (req->data.pin < 0 || req->data.pin > 1) {
+  if (!(req->data.pin == 0 || req->data.pin == 1)) {
     RCLCPP_ERROR(get_node()->get_logger(), "Invalid pin selected. Only pins 0 and 1 are allowed.");
     resp->success = false;
     return false;
diff --git a/ur_controllers/src/ur_configuration_controller.cpp b/ur_controllers/src/ur_configuration_controller.cpp
index a6ec2d24b..48f909a0f 100644
--- a/ur_controllers/src/ur_configuration_controller.cpp
+++ b/ur_controllers/src/ur_configuration_controller.cpp
@@ -39,7 +39,7 @@
 //----------------------------------------------------------------------
 
 #include <ur_controllers/ur_configuration_controller.hpp>
-#include <realtime_tools/realtime_box.h>
+#include <realtime_tools/realtime_box.hpp>
 namespace ur_controllers
 {
 
diff --git a/ur_robot_driver/src/ur_ros2_control_node.cpp b/ur_robot_driver/src/ur_ros2_control_node.cpp
index 5cce2c044..0db64afef 100644
--- a/ur_robot_driver/src/ur_ros2_control_node.cpp
+++ b/ur_robot_driver/src/ur_ros2_control_node.cpp
@@ -41,7 +41,7 @@
 // ROS includes
 #include "controller_manager/controller_manager.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "realtime_tools/thread_priority.hpp"
+#include "realtime_tools/realtime_helpers.hpp"
 
 // code is inspired by
 // https://github.com/ros-controls/ros2_control/blob/master/controller_manager/src/ros2_control_node.cpp