diff --git a/extras/ros/docker-compose.yml b/extras/ros/docker-compose.yml
index 0e239d5..f0e9ca9 100644
--- a/extras/ros/docker-compose.yml
+++ b/extras/ros/docker-compose.yml
@@ -35,7 +35,7 @@ services:
             - DISPLAY
             - QT_X11_NO_MITSHM=1
             - "PYTHONUNBUFFERED=1"
-        command: /bin/bash -i -c 'export ROS_DOMAIN_ID=18 && ros2 run rpt2D_wrapper_cpp rpt2D_wrapper'
+        command: /bin/bash -i -c 'export ROS_DOMAIN_ID=18 && ros2 run rpt2d_wrapper_cpp rpt2d_wrapper'
 
     pose_visualizer:
         image: rapidposetriangulation_ros
@@ -52,7 +52,7 @@ services:
             - DISPLAY
             - QT_X11_NO_MITSHM=1
             - "PYTHONUNBUFFERED=1"
-        command: /bin/bash -i -c 'sleep 2 && export ROS_DOMAIN_ID=18 && ros2 run pose2D_visualizer pose2D_visualizer'
+        command: /bin/bash -i -c 'sleep 2 && export ROS_DOMAIN_ID=18 && ros2 run pose2d_visualizer pose2d_visualizer'
 
     pose_viewer:
         image: rapidposetriangulation_ros
diff --git a/extras/ros/dockerfile b/extras/ros/dockerfile
index 169e0a2..8420926 100644
--- a/extras/ros/dockerfile
+++ b/extras/ros/dockerfile
@@ -62,12 +62,12 @@ RUN pip3 install --no-cache-dir "setuptools<=58.2.0"
 # Copy modules
 COPY ./extras/include/ /RapidPoseTriangulation/extras/include/
 COPY ./scripts/ /RapidPoseTriangulation/scripts/
-COPY ./extras/ros/pose2D_visualizer/ /RapidPoseTriangulation/extras/ros/pose2D_visualizer/
-COPY ./extras/ros/rpt2D_wrapper_cpp/ /RapidPoseTriangulation/extras/ros/rpt2D_wrapper_cpp/
+COPY ./extras/ros/pose2d_visualizer/ /RapidPoseTriangulation/extras/ros/pose2d_visualizer/
+COPY ./extras/ros/rpt2d_wrapper_cpp/ /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/
 
 # Link and build as ros package
-RUN ln -s  /RapidPoseTriangulation/extras/ros/pose2D_visualizer/ /project/dev_ws/src/pose2D_visualizer
-RUN ln -s  /RapidPoseTriangulation/extras/ros/rpt2D_wrapper_cpp/ /project/dev_ws/src/rpt2D_wrapper_cpp
+RUN ln -s  /RapidPoseTriangulation/extras/ros/pose2d_visualizer/ /project/dev_ws/src/pose2d_visualizer
+RUN ln -s  /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/ /project/dev_ws/src/rpt2d_wrapper_cpp
 RUN /bin/bash -i -c 'cd /project/dev_ws/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'
 
 # Update ros packages -> autocompletion and check
diff --git a/extras/ros/pose2D_visualizer/setup.cfg b/extras/ros/pose2D_visualizer/setup.cfg
deleted file mode 100644
index 924f0ef..0000000
--- a/extras/ros/pose2D_visualizer/setup.cfg
+++ /dev/null
@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/pose2D_visualizer
-[install]
-install_scripts=$base/lib/pose2D_visualizer
diff --git a/extras/ros/pose2D_visualizer/package.xml b/extras/ros/pose2d_visualizer/package.xml
similarity index 94%
rename from extras/ros/pose2D_visualizer/package.xml
rename to extras/ros/pose2d_visualizer/package.xml
index c4a0bb2..5334080 100644
--- a/extras/ros/pose2D_visualizer/package.xml
+++ b/extras/ros/pose2d_visualizer/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>pose2D_visualizer</name>
+  <name>pose2d_visualizer</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="root@todo.todo">root</maintainer>
diff --git a/extras/ros/pose2D_visualizer/pose2D_visualizer/__init__.py b/extras/ros/pose2d_visualizer/pose2d_visualizer/__init__.py
similarity index 100%
rename from extras/ros/pose2D_visualizer/pose2D_visualizer/__init__.py
rename to extras/ros/pose2d_visualizer/pose2d_visualizer/__init__.py
diff --git a/extras/ros/pose2D_visualizer/pose2D_visualizer/pose2D_visualizer.py b/extras/ros/pose2d_visualizer/pose2d_visualizer/pose2d_visualizer.py
similarity index 98%
rename from extras/ros/pose2D_visualizer/pose2D_visualizer/pose2D_visualizer.py
rename to extras/ros/pose2d_visualizer/pose2d_visualizer/pose2d_visualizer.py
index 98b65f5..67e2ec1 100644
--- a/extras/ros/pose2D_visualizer/pose2D_visualizer/pose2D_visualizer.py
+++ b/extras/ros/pose2d_visualizer/pose2d_visualizer/pose2d_visualizer.py
@@ -111,7 +111,7 @@ def main():
 
     # Start node
     rclpy.init(args=sys.argv)
-    node = rclpy.create_node("pose2D_visualizer")
+    node = rclpy.create_node("pose2d_visualizer")
 
     # Quality of service settings
     qos_profile = QoSProfile(
diff --git a/extras/ros/pose2D_visualizer/resource/pose2D_visualizer b/extras/ros/pose2d_visualizer/resource/pose2d_visualizer
similarity index 100%
rename from extras/ros/pose2D_visualizer/resource/pose2D_visualizer
rename to extras/ros/pose2d_visualizer/resource/pose2d_visualizer
diff --git a/extras/ros/pose2d_visualizer/setup.cfg b/extras/ros/pose2d_visualizer/setup.cfg
new file mode 100644
index 0000000..5522611
--- /dev/null
+++ b/extras/ros/pose2d_visualizer/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/pose2d_visualizer
+[install]
+install_scripts=$base/lib/pose2d_visualizer
diff --git a/extras/ros/pose2D_visualizer/setup.py b/extras/ros/pose2d_visualizer/setup.py
similarity index 80%
rename from extras/ros/pose2D_visualizer/setup.py
rename to extras/ros/pose2d_visualizer/setup.py
index 87ca089..ea0f365 100644
--- a/extras/ros/pose2D_visualizer/setup.py
+++ b/extras/ros/pose2d_visualizer/setup.py
@@ -1,6 +1,6 @@
 from setuptools import setup
 
-package_name = "pose2D_visualizer"
+package_name = "pose2d_visualizer"
 
 setup(
     name=package_name,
@@ -18,6 +18,6 @@ setup(
     license="TODO: License declaration",
     tests_require=["pytest"],
     entry_points={
-        "console_scripts": ["pose2D_visualizer = pose2D_visualizer.pose2D_visualizer:main"],
+        "console_scripts": ["pose2d_visualizer = pose2d_visualizer.pose2d_visualizer:main"],
     },
 )
diff --git a/extras/ros/pose2D_visualizer/test/test_copyright.py b/extras/ros/pose2d_visualizer/test/test_copyright.py
similarity index 100%
rename from extras/ros/pose2D_visualizer/test/test_copyright.py
rename to extras/ros/pose2d_visualizer/test/test_copyright.py
diff --git a/extras/ros/pose2D_visualizer/test/test_flake8.py b/extras/ros/pose2d_visualizer/test/test_flake8.py
similarity index 100%
rename from extras/ros/pose2D_visualizer/test/test_flake8.py
rename to extras/ros/pose2d_visualizer/test/test_flake8.py
diff --git a/extras/ros/pose2D_visualizer/test/test_pep257.py b/extras/ros/pose2d_visualizer/test/test_pep257.py
similarity index 100%
rename from extras/ros/pose2D_visualizer/test/test_pep257.py
rename to extras/ros/pose2d_visualizer/test/test_pep257.py
diff --git a/extras/ros/rpt2D_wrapper_cpp/CMakeLists.txt b/extras/ros/rpt2d_wrapper_cpp/CMakeLists.txt
similarity index 84%
rename from extras/ros/rpt2D_wrapper_cpp/CMakeLists.txt
rename to extras/ros/rpt2d_wrapper_cpp/CMakeLists.txt
index 987bcec..20514a8 100644
--- a/extras/ros/rpt2D_wrapper_cpp/CMakeLists.txt
+++ b/extras/ros/rpt2d_wrapper_cpp/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(rpt2D_wrapper_cpp)
+project(rpt2d_wrapper_cpp)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)
@@ -29,13 +29,13 @@ include_directories(/onnxruntime/include/
                     /onnxruntime/include/onnxruntime/core/providers/tensorrt/)
 link_directories(/onnxruntime/build/Linux/Release/)
 
-add_executable(rpt2D_wrapper src/rpt2D_wrapper.cpp)
-ament_target_dependencies(rpt2D_wrapper rclcpp std_msgs sensor_msgs cv_bridge)
-target_include_directories(rpt2D_wrapper PUBLIC
+add_executable(rpt2d_wrapper src/rpt2d_wrapper.cpp)
+ament_target_dependencies(rpt2d_wrapper rclcpp std_msgs sensor_msgs cv_bridge)
+target_include_directories(rpt2d_wrapper PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
 
-target_link_libraries(rpt2D_wrapper
+target_link_libraries(rpt2d_wrapper
   ${OpenCV_LIBS}
   onnxruntime_providers_tensorrt
   onnxruntime_providers_shared
@@ -43,12 +43,12 @@ target_link_libraries(rpt2D_wrapper
   onnxruntime
 )
 
-set_target_properties(rpt2D_wrapper PROPERTIES
+set_target_properties(rpt2d_wrapper PROPERTIES
   BUILD_WITH_INSTALL_RPATH TRUE
   INSTALL_RPATH "/onnxruntime/build/Linux/Release"
 )
 
-install(TARGETS rpt2D_wrapper
+install(TARGETS rpt2d_wrapper
   DESTINATION lib/${PROJECT_NAME})
 
 if(BUILD_TESTING)
diff --git a/extras/ros/rpt2D_wrapper_cpp/package.xml b/extras/ros/rpt2d_wrapper_cpp/package.xml
similarity index 95%
rename from extras/ros/rpt2D_wrapper_cpp/package.xml
rename to extras/ros/rpt2d_wrapper_cpp/package.xml
index c818ba0..53e24cc 100644
--- a/extras/ros/rpt2D_wrapper_cpp/package.xml
+++ b/extras/ros/rpt2d_wrapper_cpp/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>rpt2D_wrapper_cpp</name>
+  <name>rpt2d_wrapper_cpp</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="root@todo.todo">root</maintainer>
diff --git a/extras/ros/rpt2D_wrapper_cpp/src/rpt2D_wrapper.cpp b/extras/ros/rpt2d_wrapper_cpp/src/rpt2d_wrapper.cpp
similarity index 99%
rename from extras/ros/rpt2D_wrapper_cpp/src/rpt2D_wrapper.cpp
rename to extras/ros/rpt2d_wrapper_cpp/src/rpt2d_wrapper.cpp
index cc5b627..a5ecfce 100644
--- a/extras/ros/rpt2D_wrapper_cpp/src/rpt2D_wrapper.cpp
+++ b/extras/ros/rpt2d_wrapper_cpp/src/rpt2d_wrapper.cpp
@@ -222,7 +222,7 @@ int main(int argc, char **argv)
 {
     rclcpp::init(argc, argv);
 
-    auto node = std::make_shared<Rpt2DWrapperNode>("rpt2D_wrapper");
+    auto node = std::make_shared<Rpt2DWrapperNode>("rpt2d_wrapper");
     rclcpp::spin(node);
 
     rclcpp::shutdown();