diff --git a/include/sas_common/sas_object_client.hpp b/include/sas_common/sas_object_client.hpp
index 03df324..9abcc66 100644
--- a/include/sas_common/sas_object_client.hpp
+++ b/include/sas_common/sas_object_client.hpp
@@ -34,7 +34,6 @@
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <sas_core/sas_object.hpp>
 
-using namespace rclcpp;
 using namespace DQ_robotics;
 
 namespace sas
@@ -52,13 +51,13 @@ namespace sas
 class ObjectClient: private sas::Object
 {
 private:
-    std::shared_ptr<Node> node_;
+    std::shared_ptr<rclcpp::Node> node_;
 
     std::atomic_bool enabled_;
     std::string topic_prefix_;
 
-    Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr subscriber_pose_;
-    Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr publisher_pose_;
+    rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr subscriber_pose_;
+    rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr publisher_pose_;
     DQ pose_;
 
     void _callback_pose(const geometry_msgs::msg::PoseStamped& msg);
@@ -72,7 +71,7 @@ class ObjectClient: private sas::Object
      * @param node Shared pointer to the rclcpp::Node used for ROS communications.
      * @param topic_prefix Topic prefix used for publisher/subscriber names. Defaults to "GET_FROM_NODE".
      */
-    ObjectClient(const std::shared_ptr<Node> &node,
+    ObjectClient(const std::shared_ptr<rclcpp::Node> &node,
                  const std::string topic_prefix="GET_FROM_NODE");
 
     /**
diff --git a/include/sas_common/sas_object_server.hpp b/include/sas_common/sas_object_server.hpp
index cb93710..c2145c1 100644
--- a/include/sas_common/sas_object_server.hpp
+++ b/include/sas_common/sas_object_server.hpp
@@ -34,7 +34,6 @@
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <sas_core/sas_object.hpp>
 
-using namespace rclcpp;
 using namespace DQ_robotics;
 
 namespace sas
@@ -52,13 +51,13 @@ namespace sas
 class ObjectServer: private sas::Object
 {
 private:
-    std::shared_ptr<Node> node_;
+    std::shared_ptr<rclcpp::Node> node_;
 
     std::atomic_bool enabled_;
     std::string topic_prefix_;
 
-    Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr subscriber_pose_;
-    Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr publisher_pose_;
+    rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr subscriber_pose_;
+    rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr publisher_pose_;
     DQ target_pose_;
 
     void _callback_target_pose(const geometry_msgs::msg::PoseStamped& msg);
@@ -72,7 +71,7 @@ class ObjectServer: private sas::Object
      * @param node Shared pointer to the rclcpp::Node used for ROS communications.
      * @param topic_prefix Topic prefix used for publisher/subscriber names. Defaults to "GET_FROM_NODE".
      */
-    ObjectServer(const std::shared_ptr<Node> &node,
+    ObjectServer(const std::shared_ptr<rclcpp::Node> &node,
                  const std::string topic_prefix="GET_FROM_NODE");
 
     /**
diff --git a/include/sas_common/sas_simulator_client.hpp b/include/sas_common/sas_simulator_client.hpp
index 8d139cf..0f96a4e 100644
--- a/include/sas_common/sas_simulator_client.hpp
+++ b/include/sas_common/sas_simulator_client.hpp
@@ -32,8 +32,6 @@
 #include <std_srvs/srv/trigger.hpp>
 #include <sas_core/sas_object.hpp>
 
-using namespace rclcpp;
-
 namespace sas
 {
 
@@ -47,13 +45,13 @@ namespace sas
 class SimulatorClient: private sas::Object
 {
 private:
-    std::shared_ptr<Node> node_;
+    std::shared_ptr<rclcpp::Node> node_;
 
     std::atomic_bool enabled_;
     std::string topic_prefix_;
 
-    std::shared_ptr<Client<std_srvs::srv::Trigger>> service_client_start_simulation_;
-    std::shared_ptr<Client<std_srvs::srv::Trigger>> service_client_stop_simulation_;
+    std::shared_ptr<rclcpp::Client<std_srvs::srv::Trigger>> service_client_start_simulation_;
+    std::shared_ptr<rclcpp::Client<std_srvs::srv::Trigger>> service_client_stop_simulation_;
 
 public:
     SimulatorClient() = delete;
@@ -65,7 +63,7 @@ class SimulatorClient: private sas::Object
      * @param node Shared pointer to the rclcpp::Node used for ROS communications.
      * @param topic_prefix Topic/service prefix used to build service names. Defaults to "GET_FROM_NODE".
      */
-    SimulatorClient(const std::shared_ptr<Node> &node,
+    SimulatorClient(const std::shared_ptr<rclcpp::Node> &node,
                     const std::string topic_prefix="GET_FROM_NODE");
 
     /**
diff --git a/include/sas_common/sas_simulator_server.hpp b/include/sas_common/sas_simulator_server.hpp
index d3f5bef..15bdbbc 100644
--- a/include/sas_common/sas_simulator_server.hpp
+++ b/include/sas_common/sas_simulator_server.hpp
@@ -33,8 +33,6 @@
 #include <std_srvs/srv/trigger.hpp>
 #include <sas_core/sas_object.hpp>
 
-using namespace rclcpp;
-
 namespace sas
 {
 
@@ -49,13 +47,13 @@ namespace sas
 class SimulatorServer: private sas::Object
 {
 private:
-    std::shared_ptr<Node> node_;
+    std::shared_ptr<rclcpp::Node> node_;
 
     std::atomic_bool enabled_;
     std::string topic_prefix_;
 
-    std::shared_ptr<Service<std_srvs::srv::Trigger>> service_server_start_simulation_;
-    std::shared_ptr<Service<std_srvs::srv::Trigger>> service_server_stop_simulation_;
+    std::shared_ptr<rclcpp::Service<std_srvs::srv::Trigger>> service_server_start_simulation_;
+    std::shared_ptr<rclcpp::Service<std_srvs::srv::Trigger>> service_server_stop_simulation_;
 
     std::function<void()> start_simulation_callback_;
     void start_simulation_callback_ros_(
@@ -77,7 +75,7 @@ class SimulatorServer: private sas::Object
      * @param node Shared pointer to the rclcpp::Node used for ROS communications.
      * @param topic_prefix Topic/service prefix used to build service names. Defaults to "GET_FROM_NODE".
      */
-    SimulatorServer(const std::shared_ptr<Node> &node,
+    SimulatorServer(const std::shared_ptr<rclcpp::Node> &node,
                     const std::string topic_prefix="GET_FROM_NODE");
 
     /**
diff --git a/src/sas_object_client.cpp b/src/sas_object_client.cpp
index 8bbdee2..57e9def 100644
--- a/src/sas_object_client.cpp
+++ b/src/sas_object_client.cpp
@@ -40,7 +40,7 @@ void ObjectClient::_callback_pose(const geometry_msgs::msg::PoseStamped& msg)
 }
 
 
-ObjectClient::ObjectClient(const std::shared_ptr<Node> &node,
+ObjectClient::ObjectClient(const std::shared_ptr<rclcpp::Node> &node,
                            const std::string topic_prefix):
     sas::Object("sas::ObjectClient"),
     node_(node),
diff --git a/src/sas_object_server.cpp b/src/sas_object_server.cpp
index 2424405..bc3f7ca 100644
--- a/src/sas_object_server.cpp
+++ b/src/sas_object_server.cpp
@@ -40,7 +40,7 @@ void ObjectServer::_callback_target_pose(const geometry_msgs::msg::PoseStamped&
 }
 
 
-ObjectServer::ObjectServer(const std::shared_ptr<Node> &node,
+ObjectServer::ObjectServer(const std::shared_ptr<rclcpp::Node> &node,
                            const std::string topic_prefix):
     sas::Object("sas::ObjectServer"),
     node_(node),
diff --git a/src/sas_simulator_client.cpp b/src/sas_simulator_client.cpp
index f7d2de8..b695961 100644
--- a/src/sas_simulator_client.cpp
+++ b/src/sas_simulator_client.cpp
@@ -33,7 +33,7 @@
 namespace sas
 {
 
-SimulatorClient::SimulatorClient(const std::shared_ptr<Node> &node,
+SimulatorClient::SimulatorClient(const std::shared_ptr<rclcpp::Node> &node,
                                  const std::string topic_prefix):
     sas::Object("sas::SimulatorClient"),
     node_(node),
diff --git a/src/sas_simulator_server.cpp b/src/sas_simulator_server.cpp
index 105446f..aab24a6 100644
--- a/src/sas_simulator_server.cpp
+++ b/src/sas_simulator_server.cpp
@@ -35,7 +35,7 @@ using namespace std::placeholders;
 namespace sas
 {
 
-SimulatorServer::SimulatorServer(const std::shared_ptr<Node> &node,
+SimulatorServer::SimulatorServer(const std::shared_ptr<rclcpp::Node> &node,
                                  const std::string topic_prefix):
     sas::Object("sas::SimulatorServer"),
     node_(node),