diff --git a/bitbots_motion/bitbots_dynamic_kick/src/stabilizer.cpp b/bitbots_motion/bitbots_dynamic_kick/src/stabilizer.cpp
index 84320bfaf..d74688364 100644
--- a/bitbots_motion/bitbots_dynamic_kick/src/stabilizer.cpp
+++ b/bitbots_motion/bitbots_dynamic_kick/src/stabilizer.cpp
@@ -23,8 +23,8 @@ Stabilizer::Stabilizer(std::string ns) {
 
   pid_trunk_fused_pitch_ = std::make_shared<control_toolbox::PidROS>(pitch_node_, "");
   pid_trunk_fused_roll_ = std::make_shared<control_toolbox::PidROS>(roll_node_, "");
-  pid_trunk_fused_pitch_->initPid();
-  pid_trunk_fused_roll_->initPid();
+  pid_trunk_fused_pitch_->initialize_from_ros_parameters();
+  pid_trunk_fused_roll_->initialize_from_ros_parameters();
 
   reset();
 }
@@ -51,8 +51,8 @@ KickPositions Stabilizer::stabilize(const KickPositions &positions, const rclcpp
     cop_x_error = cop_x - positions.trunk_pose.translation().x();
     cop_y_error = cop_y - positions.trunk_pose.translation().y();
 
-    double x_correction = pid_trunk_fused_roll_->computeCommand(cop_x_error, dt);
-    double y_correction = pid_trunk_fused_pitch_->computeCommand(cop_y_error, dt);
+    double x_correction = pid_trunk_fused_roll_->compute_command(cop_x_error, dt);
+    double y_correction = pid_trunk_fused_pitch_->compute_command(cop_y_error, dt);
 
     stabilized_positions.trunk_pose.translation().x() += x_correction;
     stabilized_positions.trunk_pose.translation().y() += y_correction;
diff --git a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_engine.hpp b/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_engine.hpp
index a5a67e9af..5a04b90d7 100644
--- a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_engine.hpp
+++ b/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_engine.hpp
@@ -1,13 +1,13 @@
 #ifndef BITBOTS_DYNUP_INCLUDE_BITBOTS_DYNUP_DYNUP_ENGINE_H_
 #define BITBOTS_DYNUP_INCLUDE_BITBOTS_DYNUP_DYNUP_ENGINE_H_
 
+#include <bitbots_dynup/dynup_parameters.hpp>
 #include <bitbots_dynup/msg/dynup_engine_debug.hpp>
 #include <bitbots_splines/abstract_engine.hpp>
 #include <bitbots_splines/pose_spline.hpp>
 #include <bitbots_splines/smooth_spline.hpp>
 #include <bitbots_splines/spline_container.hpp>
 #include <cmath>
-#include <dynup_parameters.hpp>
 #include <optional>
 #include <rclcpp/rclcpp.hpp>
 #include <string>
diff --git a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp b/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp
index 745c496dc..f14e95c86 100644
--- a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp
+++ b/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp
@@ -2,8 +2,8 @@
 #define BITBOTS_DYNUP_INCLUDE_BITBOTS_DYNUP_DYNUP_IK_H_
 
 #include <bio_ik/bio_ik.hpp>
+#include <bitbots_dynup/dynup_parameters.hpp>
 #include <bitbots_splines/abstract_ik.hpp>
-#include <dynup_parameters.hpp>
 #include <moveit/robot_model_loader/robot_model_loader.hpp>
 #include <moveit/robot_state/robot_state.hpp>
 #include <sensor_msgs/msg/joint_state.hpp>
diff --git a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_node.hpp b/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_node.hpp
index ae214c2ec..028b35f43 100644
--- a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_node.hpp
+++ b/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_node.hpp
@@ -6,6 +6,7 @@
 
 #include <bitbots_dynup/dynup_engine.hpp>
 #include <bitbots_dynup/dynup_ik.hpp>
+#include <bitbots_dynup/dynup_parameters.hpp>
 #include <bitbots_dynup/dynup_stabilizer.hpp>
 #include <bitbots_dynup/msg/dynup_poses.hpp>
 #include <bitbots_dynup/visualizer.hpp>
@@ -13,7 +14,6 @@
 #include <bitbots_msgs/msg/joint_command.hpp>
 #include <bitbots_utils/utils.hpp>
 #include <cmath>
-#include <dynup_parameters.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/pose_array.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
diff --git a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_stabilizer.hpp b/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_stabilizer.hpp
index 684474572..d4d2b861f 100644
--- a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_stabilizer.hpp
+++ b/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_stabilizer.hpp
@@ -4,9 +4,9 @@
 #include <rot_conv/rot_conv.h>
 
 #include <Eigen/Geometry>
+#include <bitbots_dynup/dynup_parameters.hpp>
 #include <bitbots_splines/abstract_stabilizer.hpp>
 #include <control_toolbox/pid_ros.hpp>
-#include <dynup_parameters.hpp>
 #include <optional>
 #include <sensor_msgs/msg/imu.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
diff --git a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/visualizer.hpp b/bitbots_motion/bitbots_dynup/include/bitbots_dynup/visualizer.hpp
index 571757923..35a8195dd 100644
--- a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/visualizer.hpp
+++ b/bitbots_motion/bitbots_dynup/include/bitbots_dynup/visualizer.hpp
@@ -1,13 +1,13 @@
 #ifndef BITBOTS_DYNUP_INCLUDE_BITBOTS_DYNUP_VISUALIZER_H_
 #define BITBOTS_DYNUP_INCLUDE_BITBOTS_DYNUP_VISUALIZER_H_
 
+#include <bitbots_dynup/dynup_parameters.hpp>
 #include <bitbots_dynup/dynup_utils.hpp>
 #include <bitbots_dynup/msg/dynup_ik_offset.hpp>
 #include <bitbots_splines/abstract_ik.hpp>
 #include <bitbots_splines/abstract_visualizer.hpp>
 #include <bitbots_splines/smooth_spline.hpp>
 #include <bitbots_splines/spline_container.hpp>
-#include <dynup_parameters.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <moveit/robot_model/robot_model.hpp>
 #include <moveit/robot_state/robot_state.hpp>
diff --git a/bitbots_motion/bitbots_dynup/src/dynup_stabilizer.cpp b/bitbots_motion/bitbots_dynup/src/dynup_stabilizer.cpp
index a44f34d15..92cb29805 100644
--- a/bitbots_motion/bitbots_dynup/src/dynup_stabilizer.cpp
+++ b/bitbots_motion/bitbots_dynup/src/dynup_stabilizer.cpp
@@ -6,8 +6,8 @@ Stabilizer::Stabilizer(rclcpp::Node::SharedPtr node, bitbots_dynup::Params::Stab
     : params_(params),
       pid_trunk_pitch_(node, "stabilizer.trunk_pid.pitch"),
       pid_trunk_roll_(node, "stabilizer.trunk_pid.roll") {
-  pid_trunk_pitch_.initPid();
-  pid_trunk_roll_.initPid();
+  pid_trunk_pitch_.initialize_from_ros_parameters();
+  pid_trunk_roll_.initialize_from_ros_parameters();
 
   reset();
 }
@@ -43,8 +43,8 @@ DynupResponse Stabilizer::stabilize(const DynupResponse &ik_goals, const rclcpp:
 
     // Adapt trunk based on PID controller
     goal_fused.fusedPitch +=
-        pid_trunk_pitch_.computeCommand(goal_fused.fusedPitch - current_orientation.fusedPitch, dt);
-    goal_fused.fusedRoll += pid_trunk_roll_.computeCommand(goal_fused.fusedRoll - current_orientation.fusedRoll, dt);
+        pid_trunk_pitch_.compute_command(goal_fused.fusedPitch - current_orientation.fusedPitch, dt);
+    goal_fused.fusedRoll += pid_trunk_roll_.compute_command(goal_fused.fusedRoll - current_orientation.fusedRoll, dt);
 
     // Check if the trunk is stable, meaning it isn't leaning too much
     // TODO it would be better to use the rotational velocity of the imu to determine stability
diff --git a/bitbots_motion/bitbots_head_mover/src/move_head.cpp b/bitbots_motion/bitbots_head_mover/src/move_head.cpp
index 47f24d05c..01758e2eb 100644
--- a/bitbots_motion/bitbots_head_mover/src/move_head.cpp
+++ b/bitbots_motion/bitbots_head_mover/src/move_head.cpp
@@ -3,6 +3,7 @@
 
 #include <bio_ik/bio_ik.hpp>
 #include <bio_ik_msgs/msg/ik_response.hpp>
+#include <bitbots_head_mover/head_parameters.hpp>
 #include <bitbots_msgs/action/look_at.hpp>
 #include <bitbots_msgs/msg/head_mode.hpp>
 #include <bitbots_msgs/msg/joint_command.hpp>
@@ -10,7 +11,6 @@
 #include <cmath>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
-#include <head_parameters.hpp>
 #include <iostream>
 #include <memory>
 #include <moveit/planning_scene/planning_scene.hpp>
diff --git a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_engine.hpp b/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_engine.hpp
index afc46b373..5b9cf96cd 100644
--- a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_engine.hpp
+++ b/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_engine.hpp
@@ -6,8 +6,8 @@ The original files can be found at:
 #ifndef BITBOTS_QUINTIC_WALK_INCLUDE_BITBOTS_QUINTIC_WALK_WALK_ENGINE_H_
 #define BITBOTS_QUINTIC_WALK_INCLUDE_BITBOTS_QUINTIC_WALK_WALK_ENGINE_H_
 
+#include <bitbots_quintic_walk/bitbots_quintic_walk_parameters.hpp>
 #include <bitbots_quintic_walk/walk_utils.hpp>
-#include <bitbots_quintic_walk_parameters.hpp>
 #include <bitbots_splines/abstract_engine.hpp>
 #include <bitbots_splines/pose_spline.hpp>
 #include <bitbots_splines/smooth_spline.hpp>
diff --git a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_ik.hpp b/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_ik.hpp
index c71d492e9..20da32c54 100644
--- a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_ik.hpp
+++ b/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_ik.hpp
@@ -1,7 +1,7 @@
 #ifndef BITBOTS_QUINTIC_WALK_INCLUDE_BITBOTS_QUINTIC_WALK_WALK_IK_H_
 #define BITBOTS_QUINTIC_WALK_INCLUDE_BITBOTS_QUINTIC_WALK_WALK_IK_H_
+#include <bitbots_quintic_walk/bitbots_quintic_walk_parameters.hpp>
 #include <bitbots_quintic_walk/walk_utils.hpp>
-#include <bitbots_quintic_walk_parameters.hpp>
 #include <bitbots_splines/abstract_ik.hpp>
 #include <moveit/robot_state/robot_state.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
diff --git a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp b/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp
index 02945b294..9b847ba28 100644
--- a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp
+++ b/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp
@@ -14,11 +14,11 @@ The original files can be found at:
 #include <bitbots_msgs/msg/foot_pressure.hpp>
 #include <bitbots_msgs/msg/joint_command.hpp>
 #include <bitbots_msgs/msg/robot_control_state.hpp>
+#include <bitbots_quintic_walk/bitbots_quintic_walk_parameters.hpp>
 #include <bitbots_quintic_walk/walk_engine.hpp>
 #include <bitbots_quintic_walk/walk_ik.hpp>
 #include <bitbots_quintic_walk/walk_stabilizer.hpp>
 #include <bitbots_quintic_walk/walk_visualizer.hpp>
-#include <bitbots_quintic_walk_parameters.hpp>
 #include <bitbots_splines/abstract_ik.hpp>
 #include <chrono>
 #include <control_toolbox/pid_ros.hpp>
diff --git a/bitbots_motion/bitbots_quintic_walk/src/walk_stabilizer.cpp b/bitbots_motion/bitbots_quintic_walk/src/walk_stabilizer.cpp
index 7a54551a5..abf539ae1 100644
--- a/bitbots_motion/bitbots_quintic_walk/src/walk_stabilizer.cpp
+++ b/bitbots_motion/bitbots_quintic_walk/src/walk_stabilizer.cpp
@@ -4,8 +4,8 @@ namespace bitbots_quintic_walk {
 
 WalkStabilizer::WalkStabilizer(rclcpp::Node::SharedPtr node)
     : pid_trunk_fused_pitch_(node, "node.trunk_pid.pitch"), pid_trunk_fused_roll_(node, "node.trunk_pid.roll") {
-  pid_trunk_fused_pitch_.initPid();
-  pid_trunk_fused_roll_.initPid();
+  pid_trunk_fused_pitch_.initialize_from_ros_parameters();
+  pid_trunk_fused_roll_.initialize_from_ros_parameters();
 
   reset();
 }
@@ -29,9 +29,9 @@ WalkResponse WalkStabilizer::stabilize(const WalkResponse& response, const rclcp
 
   // adapt trunk values based on PID controllers
   double fused_roll_correction =
-      pid_trunk_fused_roll_.computeCommand(goal_fused.fusedRoll - response.current_fused_roll, dt);
+      pid_trunk_fused_roll_.compute_command(goal_fused.fusedRoll - response.current_fused_roll, dt);
   double fused_pitch_correction =
-      pid_trunk_fused_pitch_.computeCommand(goal_fused.fusedPitch - response.current_fused_pitch, dt);
+      pid_trunk_fused_pitch_.compute_command(goal_fused.fusedPitch - response.current_fused_pitch, dt);
 
   // Change trunk x offset (in the trunks frame of reference) based on the PID controllers
   WalkResponse stabilized_response{response};
diff --git a/bitbots_navigation/bitbots_localization/include/bitbots_localization/ObservationModel.hpp b/bitbots_navigation/bitbots_localization/include/bitbots_localization/ObservationModel.hpp
index 30ecaf993..f6c53a97b 100644
--- a/bitbots_navigation/bitbots_localization/include/bitbots_localization/ObservationModel.hpp
+++ b/bitbots_navigation/bitbots_localization/include/bitbots_localization/ObservationModel.hpp
@@ -8,9 +8,9 @@
 #include <tf2_ros/buffer.h>
 
 #include <bitbots_localization/RobotState.hpp>
+#include <bitbots_localization/localization_parameters.hpp>
 #include <bitbots_localization/map.hpp>
 #include <bitbots_localization/tools.hpp>
-#include <localization_parameters.hpp>
 #include <particle_filter/ParticleFilter.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
diff --git a/bitbots_navigation/bitbots_localization/include/bitbots_localization/localization.hpp b/bitbots_navigation/bitbots_localization/include/bitbots_localization/localization.hpp
index 95f3521a1..b0309060b 100644
--- a/bitbots_navigation/bitbots_localization/include/bitbots_localization/localization.hpp
+++ b/bitbots_navigation/bitbots_localization/include/bitbots_localization/localization.hpp
@@ -17,6 +17,7 @@
 #include <bitbots_localization/Resampling.hpp>
 #include <bitbots_localization/RobotState.hpp>
 #include <bitbots_localization/StateDistribution.hpp>
+#include <bitbots_localization/localization_parameters.hpp>
 #include <bitbots_localization/map.hpp>
 #include <bitbots_localization/srv/reset_filter.hpp>
 #include <bitbots_localization/srv/set_paused.hpp>
@@ -35,7 +36,6 @@
 #include <geometry_msgs/msg/twist.hpp>
 #include <image_transport/image_transport.hpp>
 #include <iterator>
-#include <localization_parameters.hpp>
 #include <memory>
 #include <particle_filter/CRandomNumberGenerator.hpp>
 #include <particle_filter/ParticleFilter.hpp>