diff --git a/cmake/grid_map_core-extras.cmake b/cmake/robot_grid_map_core-extras.cmake
similarity index 78%
rename from cmake/grid_map_core-extras.cmake
rename to cmake/robot_grid_map_core-extras.cmake
index e63eae4..dd2aa78 100644
--- a/cmake/grid_map_core-extras.cmake
+++ b/cmake/robot_grid_map_core-extras.cmake
@@ -1,4 +1,4 @@
-set(EIGEN_FUNCTORS_PLUGIN_PATH "grid_map_core/eigen_plugins/FunctorsPlugin.hpp")
+set(EIGEN_FUNCTORS_PLUGIN_PATH "robot_grid_map_core/eigen_plugins/FunctorsPlugin.hpp")
 if (EIGEN_FUNCTORS_PLUGIN)
   if (NOT EIGEN_FUNCTORS_PLUGIN STREQUAL EIGEN_FUNCTORS_PLUGIN_PATH)
     MESSAGE(FATAL_ERROR "EIGEN_FUNCTORS_PLUGIN already defined!")
@@ -7,7 +7,7 @@ else (EIGEN_FUNCTORS_PLUGIN)
   add_definitions(-DEIGEN_FUNCTORS_PLUGIN=\"${EIGEN_FUNCTORS_PLUGIN_PATH}\")
 endif (EIGEN_FUNCTORS_PLUGIN)
 
-set(EIGEN_DENSEBASE_PLUGIN_PATH "grid_map_core/eigen_plugins/DenseBasePlugin.hpp")
+set(EIGEN_DENSEBASE_PLUGIN_PATH "robot_grid_map_core/eigen_plugins/DenseBasePlugin.hpp")
 if (EIGEN_DENSEBASE_PLUGIN)
   if (NOT EIGEN_DENSEBASE_PLUGIN STREQUAL EIGEN_DENSEBASE_PLUGIN_PATH)
     MESSAGE(FATAL_ERROR "EIGEN_DENSEBASE_PLUGIN already defined!")
diff --git a/include/robot_grid_map_core/BufferRegion.hpp b/include/robot_grid_map_core/BufferRegion.hpp
index 7821c2d..71c12cb 100644
--- a/include/robot_grid_map_core/BufferRegion.hpp
+++ b/include/robot_grid_map_core/BufferRegion.hpp
@@ -8,7 +8,7 @@
 
 #pragma once
 
-#include "grid_map_core/TypeDefs.hpp"
+#include "robot_grid_map_core/TypeDefs.hpp"
 
 namespace grid_map {
 
diff --git a/include/robot_grid_map_core/CubicInterpolation.hpp b/include/robot_grid_map_core/CubicInterpolation.hpp
index 360e384..6f17fe4 100644
--- a/include/robot_grid_map_core/CubicInterpolation.hpp
+++ b/include/robot_grid_map_core/CubicInterpolation.hpp
@@ -11,7 +11,7 @@
 #include <Eigen/Core>
 #include <vector>
 #include <map>
-#include "grid_map_core/TypeDefs.hpp"
+#include "robot_grid_map_core/TypeDefs.hpp"
 
 /*
  * For difference between bicubic convolution interpolation (piecewise cubic)
diff --git a/include/robot_grid_map_core/GridMap.hpp b/include/robot_grid_map_core/GridMap.hpp
index 74a62b7..241180e 100644
--- a/include/robot_grid_map_core/GridMap.hpp
+++ b/include/robot_grid_map_core/GridMap.hpp
@@ -8,9 +8,9 @@
 
 #pragma once
 
-#include "grid_map_core/BufferRegion.hpp"
-#include "grid_map_core/SubmapGeometry.hpp"
-#include "grid_map_core/TypeDefs.hpp"
+#include "robot_grid_map_core/BufferRegion.hpp"
+#include "robot_grid_map_core/SubmapGeometry.hpp"
+#include "robot_grid_map_core/TypeDefs.hpp"
 
 // STL
 #include <unordered_map>
diff --git a/include/robot_grid_map_core/GridMapMath.hpp b/include/robot_grid_map_core/GridMapMath.hpp
index fb1a38e..fc63b9b 100644
--- a/include/robot_grid_map_core/GridMapMath.hpp
+++ b/include/robot_grid_map_core/GridMapMath.hpp
@@ -8,8 +8,8 @@
 
 #pragma once
 
-#include "grid_map_core/TypeDefs.hpp"
-#include "grid_map_core/BufferRegion.hpp"
+#include "robot_grid_map_core/TypeDefs.hpp"
+#include "robot_grid_map_core/BufferRegion.hpp"
 
 #include <Eigen/Core>
 #include <vector>
diff --git a/include/robot_grid_map_core/Polygon.hpp b/include/robot_grid_map_core/Polygon.hpp
index d7720fb..8b5d60e 100644
--- a/include/robot_grid_map_core/Polygon.hpp
+++ b/include/robot_grid_map_core/Polygon.hpp
@@ -8,7 +8,7 @@
 
 #pragma once
 
-#include <grid_map_core/TypeDefs.hpp>
+#include <robot_grid_map_core/TypeDefs.hpp>
 
 // STD
 #include <vector>
diff --git a/include/robot_grid_map_core/SubmapGeometry.hpp b/include/robot_grid_map_core/SubmapGeometry.hpp
index 3e7b048..dac043c 100644
--- a/include/robot_grid_map_core/SubmapGeometry.hpp
+++ b/include/robot_grid_map_core/SubmapGeometry.hpp
@@ -8,7 +8,7 @@
 
 #pragma once
 
-#include <grid_map_core/GridMap.hpp>
+#include <robot_grid_map_core/GridMap.hpp>
 
 namespace grid_map {
 
diff --git a/include/robot_grid_map_core/grid_map_core.hpp b/include/robot_grid_map_core/grid_map_core.hpp
index d714311..57e8a29 100644
--- a/include/robot_grid_map_core/grid_map_core.hpp
+++ b/include/robot_grid_map_core/grid_map_core.hpp
@@ -8,11 +8,11 @@
 
 #pragma once
 
-#include "grid_map_core/TypeDefs.hpp"
-#include "grid_map_core/GridMap.hpp"
-#include "grid_map_core/SubmapGeometry.hpp"
-#include "grid_map_core/GridMapMath.hpp"
-#include "grid_map_core/BufferRegion.hpp"
-#include "grid_map_core/Polygon.hpp"
-#include "grid_map_core/iterators/iterators.hpp"
-#include "grid_map_core/eigen_plugins/Functors.hpp"
+#include "robot_grid_map_core/TypeDefs.hpp"
+#include "robot_grid_map_core/GridMap.hpp"
+#include "robot_grid_map_core/SubmapGeometry.hpp"
+#include "robot_grid_map_core/GridMapMath.hpp"
+#include "robot_grid_map_core/BufferRegion.hpp"
+#include "robot_grid_map_core/Polygon.hpp"
+#include "robot_grid_map_core/iterators/iterators.hpp"
+#include "robot_grid_map_core/eigen_plugins/Functors.hpp"
diff --git a/include/robot_grid_map_core/iterators/CircleIterator.hpp b/include/robot_grid_map_core/iterators/CircleIterator.hpp
index 14f2713..ace89ca 100644
--- a/include/robot_grid_map_core/iterators/CircleIterator.hpp
+++ b/include/robot_grid_map_core/iterators/CircleIterator.hpp
@@ -8,8 +8,8 @@
 
 #pragma once
 
-#include "grid_map_core/GridMap.hpp"
-#include "grid_map_core/iterators/SubmapIterator.hpp"
+#include "robot_grid_map_core/GridMap.hpp"
+#include "robot_grid_map_core/iterators/SubmapIterator.hpp"
 
 #include <Eigen/Core>
 
diff --git a/include/robot_grid_map_core/iterators/EllipseIterator.hpp b/include/robot_grid_map_core/iterators/EllipseIterator.hpp
index 06be4d4..d015409 100644
--- a/include/robot_grid_map_core/iterators/EllipseIterator.hpp
+++ b/include/robot_grid_map_core/iterators/EllipseIterator.hpp
@@ -8,8 +8,8 @@
 
 #pragma once
 
-#include "grid_map_core/GridMap.hpp"
-#include "grid_map_core/iterators/SubmapIterator.hpp"
+#include "robot_grid_map_core/GridMap.hpp"
+#include "robot_grid_map_core/iterators/SubmapIterator.hpp"
 
 #include <Eigen/Core>
 
diff --git a/include/robot_grid_map_core/iterators/GridMapIterator.hpp b/include/robot_grid_map_core/iterators/GridMapIterator.hpp
index 3a3443b..d99dfd1 100644
--- a/include/robot_grid_map_core/iterators/GridMapIterator.hpp
+++ b/include/robot_grid_map_core/iterators/GridMapIterator.hpp
@@ -8,7 +8,7 @@
 
 #pragma once
 
-#include "grid_map_core/GridMap.hpp"
+#include "robot_grid_map_core/GridMap.hpp"
 
 // Eigen
 #include <Eigen/Core>
diff --git a/include/robot_grid_map_core/iterators/LineIterator.hpp b/include/robot_grid_map_core/iterators/LineIterator.hpp
index ffbdc9c..4e57dab 100644
--- a/include/robot_grid_map_core/iterators/LineIterator.hpp
+++ b/include/robot_grid_map_core/iterators/LineIterator.hpp
@@ -8,8 +8,8 @@
 
 #pragma once
 
-#include "grid_map_core/GridMap.hpp"
-#include "grid_map_core/iterators/SubmapIterator.hpp"
+#include "robot_grid_map_core/GridMap.hpp"
+#include "robot_grid_map_core/iterators/SubmapIterator.hpp"
 
 #include <Eigen/Core>
 
diff --git a/include/robot_grid_map_core/iterators/PolygonIterator.hpp b/include/robot_grid_map_core/iterators/PolygonIterator.hpp
index 6027670..e4032ed 100644
--- a/include/robot_grid_map_core/iterators/PolygonIterator.hpp
+++ b/include/robot_grid_map_core/iterators/PolygonIterator.hpp
@@ -8,9 +8,9 @@
 
 #pragma once
 
-#include "grid_map_core/GridMap.hpp"
-#include "grid_map_core/Polygon.hpp"
-#include "grid_map_core/iterators/SubmapIterator.hpp"
+#include "robot_grid_map_core/GridMap.hpp"
+#include "robot_grid_map_core/Polygon.hpp"
+#include "robot_grid_map_core/iterators/SubmapIterator.hpp"
 
 #include <memory>
 
diff --git a/include/robot_grid_map_core/iterators/SlidingWindowIterator.hpp b/include/robot_grid_map_core/iterators/SlidingWindowIterator.hpp
index 42b2a95..cd2d52a 100644
--- a/include/robot_grid_map_core/iterators/SlidingWindowIterator.hpp
+++ b/include/robot_grid_map_core/iterators/SlidingWindowIterator.hpp
@@ -8,9 +8,9 @@
 
 #pragma once
 
-#include "grid_map_core/GridMap.hpp"
+#include "robot_grid_map_core/GridMap.hpp"
 
-#include "grid_map_core/iterators/GridMapIterator.hpp"
+#include "robot_grid_map_core/iterators/GridMapIterator.hpp"
 
 #include <Eigen/Core>
 
diff --git a/include/robot_grid_map_core/iterators/SpiralIterator.hpp b/include/robot_grid_map_core/iterators/SpiralIterator.hpp
index f1c3966..e77516e 100644
--- a/include/robot_grid_map_core/iterators/SpiralIterator.hpp
+++ b/include/robot_grid_map_core/iterators/SpiralIterator.hpp
@@ -8,7 +8,7 @@
 
 #pragma once
 
-#include "grid_map_core/GridMap.hpp"
+#include "robot_grid_map_core/GridMap.hpp"
 
 #include <Eigen/Core>
 #include <memory>
diff --git a/include/robot_grid_map_core/iterators/SubmapIterator.hpp b/include/robot_grid_map_core/iterators/SubmapIterator.hpp
index 3cf1a1a..b8a8ec8 100644
--- a/include/robot_grid_map_core/iterators/SubmapIterator.hpp
+++ b/include/robot_grid_map_core/iterators/SubmapIterator.hpp
@@ -8,9 +8,9 @@
 
 #pragma once
 
-#include "grid_map_core/GridMap.hpp"
-#include "grid_map_core/SubmapGeometry.hpp"
-#include "grid_map_core/BufferRegion.hpp"
+#include "robot_grid_map_core/GridMap.hpp"
+#include "robot_grid_map_core/SubmapGeometry.hpp"
+#include "robot_grid_map_core/BufferRegion.hpp"
 
 #include <Eigen/Core>
 
diff --git a/include/robot_grid_map_core/iterators/iterators.hpp b/include/robot_grid_map_core/iterators/iterators.hpp
index 1d919aa..9e6c778 100644
--- a/include/robot_grid_map_core/iterators/iterators.hpp
+++ b/include/robot_grid_map_core/iterators/iterators.hpp
@@ -8,11 +8,11 @@
 
 #pragma once
 
-#include "grid_map_core/iterators/GridMapIterator.hpp"
-#include "grid_map_core/iterators/SubmapIterator.hpp"
-#include "grid_map_core/iterators/CircleIterator.hpp"
-#include "grid_map_core/iterators/EllipseIterator.hpp"
-#include "grid_map_core/iterators/SpiralIterator.hpp"
-#include "grid_map_core/iterators/LineIterator.hpp"
-#include "grid_map_core/iterators/PolygonIterator.hpp"
-#include "grid_map_core/iterators/SlidingWindowIterator.hpp"
+#include "robot_grid_map_core/iterators/GridMapIterator.hpp"
+#include "robot_grid_map_core/iterators/SubmapIterator.hpp"
+#include "robot_grid_map_core/iterators/CircleIterator.hpp"
+#include "robot_grid_map_core/iterators/EllipseIterator.hpp"
+#include "robot_grid_map_core/iterators/SpiralIterator.hpp"
+#include "robot_grid_map_core/iterators/LineIterator.hpp"
+#include "robot_grid_map_core/iterators/PolygonIterator.hpp"
+#include "robot_grid_map_core/iterators/SlidingWindowIterator.hpp"
diff --git a/package.xml b/package.xml
index ac020f6..24b0c63 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>grid_map_core</name>
+  <name>robot_grid_map_core</name>
   <version>1.7.18</version>
   <description>Universal grid map library to manage two-dimensional grid maps with multiple data layers.</description>
   <maintainer email="mwulf@anybotics.com">Maximilian Wulf</maintainer>
diff --git a/src/BufferRegion.cpp b/src/BufferRegion.cpp
index 4c1e8e6..8925920 100644
--- a/src/BufferRegion.cpp
+++ b/src/BufferRegion.cpp
@@ -5,7 +5,7 @@
  *      Author: Péter Fankhauser
  *   Institute: ETH Zurich, ANYbotics
  */
-#include <grid_map_core/BufferRegion.hpp>
+#include <robot_grid_map_core/BufferRegion.hpp>
 
 namespace grid_map {
 
diff --git a/src/CubicInterpolation.cpp b/src/CubicInterpolation.cpp
index d9eb2fc..caf09fb 100644
--- a/src/CubicInterpolation.cpp
+++ b/src/CubicInterpolation.cpp
@@ -6,9 +6,9 @@
  *      Institute: ETH Zurich, Robotic Systems Lab
  */
 
-#include "grid_map_core/CubicInterpolation.hpp"
+#include "robot_grid_map_core/CubicInterpolation.hpp"
 
-#include "grid_map_core/GridMap.hpp"
+#include "robot_grid_map_core/GridMap.hpp"
 
 namespace grid_map {
 
diff --git a/src/GridMap.cpp b/src/GridMap.cpp
index b72ea4c..34b7ec1 100644
--- a/src/GridMap.cpp
+++ b/src/GridMap.cpp
@@ -6,12 +6,12 @@
  *	 Institute: ETH Zurich, ANYbotics
  */
 
-#include "grid_map_core/GridMap.hpp"
+#include "robot_grid_map_core/GridMap.hpp"
 
-#include "grid_map_core/CubicInterpolation.hpp"
-#include "grid_map_core/GridMapMath.hpp"
-#include "grid_map_core/SubmapGeometry.hpp"
-#include "grid_map_core/iterators/GridMapIterator.hpp"
+#include "robot_grid_map_core/CubicInterpolation.hpp"
+#include "robot_grid_map_core/GridMapMath.hpp"
+#include "robot_grid_map_core/SubmapGeometry.hpp"
+#include "robot_grid_map_core/iterators/GridMapIterator.hpp"
 
 #include <cmath>
 #include <algorithm>
diff --git a/src/GridMapMath.cpp b/src/GridMapMath.cpp
index b56d618..9e6df80 100644
--- a/src/GridMapMath.cpp
+++ b/src/GridMapMath.cpp
@@ -6,7 +6,7 @@
  *	 Institute: ETH Zurich, ANYbotics
  */
 
-#include "grid_map_core/GridMapMath.hpp"
+#include "robot_grid_map_core/GridMapMath.hpp"
 
 // fabs
 #include <cmath>
diff --git a/src/Polygon.cpp b/src/Polygon.cpp
index 3ab234c..6328b42 100644
--- a/src/Polygon.cpp
+++ b/src/Polygon.cpp
@@ -6,7 +6,7 @@
  *   Institute: ETH Zurich, ANYbotics
  */
 
-#include <grid_map_core/Polygon.hpp>
+#include <robot_grid_map_core/Polygon.hpp>
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
diff --git a/src/SubmapGeometry.cpp b/src/SubmapGeometry.cpp
index 065adac..a1d5bcc 100644
--- a/src/SubmapGeometry.cpp
+++ b/src/SubmapGeometry.cpp
@@ -6,8 +6,8 @@
  *   Institute: ETH Zurich, ANYbotics
  */
 
-#include <grid_map_core/GridMapMath.hpp>
-#include <grid_map_core/SubmapGeometry.hpp>
+#include <robot_grid_map_core/GridMapMath.hpp>
+#include <robot_grid_map_core/SubmapGeometry.hpp>
 
 namespace grid_map {
 
diff --git a/src/iterators/CircleIterator.cpp b/src/iterators/CircleIterator.cpp
index b681b33..e7d14ef 100644
--- a/src/iterators/CircleIterator.cpp
+++ b/src/iterators/CircleIterator.cpp
@@ -6,10 +6,10 @@
  *   Institute: ETH Zurich, ANYbotics
  */
 
-#include "grid_map_core/iterators/CircleIterator.hpp"
+#include "robot_grid_map_core/iterators/CircleIterator.hpp"
 
 #include <memory>
-#include "grid_map_core/GridMapMath.hpp"
+#include "robot_grid_map_core/GridMapMath.hpp"
 
 namespace grid_map {
 
diff --git a/src/iterators/EllipseIterator.cpp b/src/iterators/EllipseIterator.cpp
index 7fe7632..677564b 100644
--- a/src/iterators/EllipseIterator.cpp
+++ b/src/iterators/EllipseIterator.cpp
@@ -6,8 +6,8 @@
  *   Institute: ETH Zurich, ANYbotics
  */
 
-#include "grid_map_core/iterators/EllipseIterator.hpp"
-#include "grid_map_core/GridMapMath.hpp"
+#include "robot_grid_map_core/iterators/EllipseIterator.hpp"
+#include "robot_grid_map_core/GridMapMath.hpp"
 
 #include <cmath>
 #include <Eigen/Geometry>
diff --git a/src/iterators/GridMapIterator.cpp b/src/iterators/GridMapIterator.cpp
index 756c103..47ae20c 100644
--- a/src/iterators/GridMapIterator.cpp
+++ b/src/iterators/GridMapIterator.cpp
@@ -6,8 +6,8 @@
  *   Institute: ETH Zurich, ANYbotics
  */
 
-#include "grid_map_core/iterators/GridMapIterator.hpp"
-#include "grid_map_core/GridMapMath.hpp"
+#include "robot_grid_map_core/iterators/GridMapIterator.hpp"
+#include "robot_grid_map_core/GridMapMath.hpp"
 
 namespace grid_map {
 
diff --git a/src/iterators/LineIterator.cpp b/src/iterators/LineIterator.cpp
index 2c6337d..8484ce4 100644
--- a/src/iterators/LineIterator.cpp
+++ b/src/iterators/LineIterator.cpp
@@ -6,8 +6,8 @@
  *   Institute: ETH Zurich, ANYbotics
  */
 
-#include "grid_map_core/iterators/LineIterator.hpp"
-#include "grid_map_core/GridMapMath.hpp"
+#include "robot_grid_map_core/iterators/LineIterator.hpp"
+#include "robot_grid_map_core/GridMapMath.hpp"
 
 namespace grid_map {
 
diff --git a/src/iterators/PolygonIterator.cpp b/src/iterators/PolygonIterator.cpp
index 733a842..a2d07b4 100644
--- a/src/iterators/PolygonIterator.cpp
+++ b/src/iterators/PolygonIterator.cpp
@@ -8,8 +8,8 @@
 
 #include <memory>
 
-#include "grid_map_core/iterators/PolygonIterator.hpp"
-#include "grid_map_core/GridMapMath.hpp"
+#include "robot_grid_map_core/iterators/PolygonIterator.hpp"
+#include "robot_grid_map_core/GridMapMath.hpp"
 
 namespace grid_map {
 
diff --git a/src/iterators/SlidingWindowIterator.cpp b/src/iterators/SlidingWindowIterator.cpp
index c1ba2a4..d6be4f1 100644
--- a/src/iterators/SlidingWindowIterator.cpp
+++ b/src/iterators/SlidingWindowIterator.cpp
@@ -6,8 +6,8 @@
  *   Institute: ETH Zurich, ANYbotics
  */
 
-#include "grid_map_core/iterators/SlidingWindowIterator.hpp"
-#include "grid_map_core/GridMapMath.hpp"
+#include "robot_grid_map_core/iterators/SlidingWindowIterator.hpp"
+#include "robot_grid_map_core/GridMapMath.hpp"
 
 #include <iostream>
 
diff --git a/src/iterators/SpiralIterator.cpp b/src/iterators/SpiralIterator.cpp
index 9ee5b3c..4844bd6 100644
--- a/src/iterators/SpiralIterator.cpp
+++ b/src/iterators/SpiralIterator.cpp
@@ -6,8 +6,8 @@
  *   Institute: ETH Zurich, ANYbotics
  */
 
-#include "grid_map_core/iterators/SpiralIterator.hpp"
-#include "grid_map_core/GridMapMath.hpp"
+#include "robot_grid_map_core/iterators/SpiralIterator.hpp"
+#include "robot_grid_map_core/GridMapMath.hpp"
 
 #include <cmath>
 #include <utility>
diff --git a/src/iterators/SubmapIterator.cpp b/src/iterators/SubmapIterator.cpp
index 12fb120..0a878cc 100644
--- a/src/iterators/SubmapIterator.cpp
+++ b/src/iterators/SubmapIterator.cpp
@@ -6,8 +6,8 @@
  *   Institute: ETH Zurich, ANYbotics
  */
 
-#include "grid_map_core/iterators/SubmapIterator.hpp"
-#include "grid_map_core/GridMapMath.hpp"
+#include "robot_grid_map_core/iterators/SubmapIterator.hpp"
+#include "robot_grid_map_core/GridMapMath.hpp"