diff --git a/nav2_behavior_tree/test/plugins/condition/test_is_battery_charging.cpp b/nav2_behavior_tree/test/plugins/condition/test_is_battery_charging.cpp
index 46af6d5c6e0..89befdcc357 100644
--- a/nav2_behavior_tree/test/plugins/condition/test_is_battery_charging.cpp
+++ b/nav2_behavior_tree/test/plugins/condition/test_is_battery_charging.cpp
@@ -20,7 +20,7 @@
 
 #include "sensor_msgs/msg/battery_state.hpp"
 
-#include "utils/test_behavior_tree_fixture.hpp"
+#include "../../test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/condition/is_battery_charging_condition.hpp"
 
 class IsBatteryChargingConditionTestFixture : public ::testing::Test
diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/pointcloud.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/pointcloud.hpp
index d5af32c2772..8e1d1caf43a 100644
--- a/nav2_collision_monitor/include/nav2_collision_monitor/pointcloud.hpp
+++ b/nav2_collision_monitor/include/nav2_collision_monitor/pointcloud.hpp
@@ -20,6 +20,7 @@
 #include <string>
 
 #include "sensor_msgs/msg/point_cloud2.hpp"
+#include "nav2_util/robot_utils.hpp"
 
 #include "nav2_collision_monitor/source.hpp"
 
diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/range.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/range.hpp
index 777b8e404ce..1deb80a448b 100644
--- a/nav2_collision_monitor/include/nav2_collision_monitor/range.hpp
+++ b/nav2_collision_monitor/include/nav2_collision_monitor/range.hpp
@@ -20,6 +20,7 @@
 #include <string>
 
 #include "sensor_msgs/msg/range.hpp"
+#include "nav2_util/robot_utils.hpp"
 
 #include "nav2_collision_monitor/source.hpp"
 
diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/scan.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/scan.hpp
index c3f7a11f3fa..690a22564e5 100644
--- a/nav2_collision_monitor/include/nav2_collision_monitor/scan.hpp
+++ b/nav2_collision_monitor/include/nav2_collision_monitor/scan.hpp
@@ -20,6 +20,7 @@
 #include <vector>
 
 #include "sensor_msgs/msg/laser_scan.hpp"
+#include "nav2_util/robot_utils.hpp"
 
 #include "nav2_collision_monitor/source.hpp"
 
diff --git a/nav2_costmap_2d/test/unit/costmap_filter_test.cpp b/nav2_costmap_2d/test/unit/costmap_filter_test.cpp
index 6aaabe297a2..68037bfe8a9 100644
--- a/nav2_costmap_2d/test/unit/costmap_filter_test.cpp
+++ b/nav2_costmap_2d/test/unit/costmap_filter_test.cpp
@@ -75,15 +75,15 @@ TEST(CostmapFilter, testWorldToMask)
   unsigned int mx, my;
   // Point inside mask
   ASSERT_TRUE(cf.worldToMask(mask, 4.0, 5.0, mx, my));
-  ASSERT_EQ(mx, 1);
-  ASSERT_EQ(my, 2);
+  ASSERT_EQ(mx, 1u);
+  ASSERT_EQ(my, 2u);
   // Corner cases
   ASSERT_TRUE(cf.worldToMask(mask, 3.0, 3.0, mx, my));
-  ASSERT_EQ(mx, 0);
-  ASSERT_EQ(my, 0);
+  ASSERT_EQ(mx, 0u);
+  ASSERT_EQ(my, 0u);
   ASSERT_TRUE(cf.worldToMask(mask, 5.9, 5.9, mx, my));
-  ASSERT_EQ(mx, 2);
-  ASSERT_EQ(my, 2);
+  ASSERT_EQ(mx, 2u);
+  ASSERT_EQ(my, 2u);
   // Point outside mask
   ASSERT_FALSE(cf.worldToMask(mask, 2.9, 2.9, mx, my));
   ASSERT_FALSE(cf.worldToMask(mask, 6.0, 6.0, mx, my));