diff --git a/doc/index.rst b/doc/index.rst
index 8a05cc73..97d15038 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -11,7 +11,7 @@ The ``realtime_tools::RealtimePublisher`` allows users that write C++ ros2_contr
 
 .. code-block:: cpp
 
-  #include <realtime_tools/realtime_publisher.h>
+  #include <realtime_tools/realtime_publisher.hpp>
 
   class MyController : public controller_interface::ControllerInterface
   {
diff --git a/include/realtime_tools/realtime_box_best_effort.h b/include/realtime_tools/realtime_box_best_effort.h
index 18b5b9d9..29b3a5aa 100644
--- a/include/realtime_tools/realtime_box_best_effort.h
+++ b/include/realtime_tools/realtime_box_best_effort.h
@@ -31,203 +31,10 @@
 #ifndef REALTIME_TOOLS__REALTIME_BOX_BEST_EFFORT_H_
 #define REALTIME_TOOLS__REALTIME_BOX_BEST_EFFORT_H_
 
-#include <functional>
-#include <initializer_list>
-#include <mutex>
-#include <optional>
-#include <utility>
+#include "realtime_tools/realtime_box_best_effort.hpp"
 
-#include <rcpputils/pointer_traits.hpp>
-
-namespace realtime_tools
-{
-
-template <typename T>
-constexpr auto is_ptr_or_smart_ptr = rcpputils::is_pointer<T>::value;
-
-/*!
-    A Box that ensures thread safe access to the boxed contents.
-    Access is best effort. If it can not lock it will return.
-
-    NOTE about pointers:
-    You can use pointers with this box but the access will be different.
-    Only use the get/set methods that take function pointer for accessing the internal value.
-*/
-template <class T, typename mutex_type = std::mutex>
-class RealtimeBoxBestEffort
-{
-  static_assert(
-    std::is_same_v<mutex_type, std::mutex> || std::is_same_v<mutex_type, std::recursive_mutex>);
-  static_assert(std::is_copy_constructible_v<T>, "Passed type must be copy constructible");
-
-public:
-  using mutex_t = mutex_type;
-  using type = T;
-  // Provide various constructors
-  constexpr explicit RealtimeBoxBestEffort(const T & init = T{}) : value_(init) {}
-  constexpr explicit RealtimeBoxBestEffort(const T && init) : value_(std::move(init)) {}
-
-  // Only enabled for types that can be constructed from an initializer list
-  template <typename U = T>
-  constexpr RealtimeBoxBestEffort(
-    const std::initializer_list<U> & init,
-    std::enable_if_t<std::is_constructible_v<U, std::initializer_list<U>>>)
-  : value_(init)
-  {
-  }
-
-  /**
-   * @brief set a new content with best effort
-   * @return false if mutex could not be locked
-   * @note disabled for pointer types
-   */
-  template <typename U = T>
-  typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, bool> trySet(const T & value)
-  {
-    std::unique_lock<mutex_t> guard(lock_, std::defer_lock);
-    if (!guard.try_lock()) {
-      return false;
-    }
-    value_ = value;
-    return true;
-  }
-  /**
-   * @brief access the content readable with best effort
-   * @return false if the mutex could not be locked
-   * @note only safe way to access pointer type content (rw)
-   */
-  bool trySet(const std::function<void(T &)> & func)
-  {
-    std::unique_lock<mutex_t> guard(lock_, std::defer_lock);
-    if (!guard.try_lock()) {
-      return false;
-    }
-
-    func(value_);
-    return true;
-  }
-  /**
-   * @brief get the content with best effort
-   * @return std::nullopt if content could not be access, otherwise the content is returned
-   */
-  template <typename U = T>
-  [[nodiscard]] typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, std::optional<U>> tryGet() const
-  {
-    std::unique_lock<mutex_t> guard(lock_, std::defer_lock);
-    if (!guard.try_lock()) {
-      return std::nullopt;
-    }
-    return value_;
-  }
-  /**
-   * @brief access the content (r) with best effort
-   * @return false if the mutex could not be locked
-   * @note only safe way to access pointer type content (r)
-   */
-  bool tryGet(const std::function<void(const T &)> & func)
-  {
-    std::unique_lock<mutex_t> guard(lock_, std::defer_lock);
-    if (!guard.try_lock()) {
-      return false;
-    }
-
-    func(value_);
-    return true;
-  }
-
-  /**
-   * @brief set the content and wait until the mutex could be locked (RealtimeBox behavior)
-   * @return true
-   */
-  template <typename U = T>
-  typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, void> set(const T & value)
-  {
-    std::lock_guard<mutex_t> guard(lock_);
-    // cppcheck-suppress missingReturn
-    value_ = value;
-  }
-  /**
-   * @brief access the content (rw) and wait until the mutex could locked
-   */
-  void set(const std::function<void(T &)> & func)
-  {
-    std::lock_guard<mutex_t> guard(lock_);
-    func(value_);
-  }
-
-  /**
-   * @brief get the content and wait until the mutex could be locked (RealtimeBox behaviour)
-   * @return copy of the value
-   */
-  template <typename U = T>
-  [[nodiscard]] typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, U> get() const
-  {
-    std::lock_guard<mutex_t> guard(lock_);
-    return value_;
-  }
-  /**
-   * @brief get the content and wait until the mutex could be locked
-   * @note same signature as in the existing RealtimeBox<T>
-   */
-  template <typename U = T>
-  typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, void> get(T & in) const
-  {
-    std::lock_guard<mutex_t> guard(lock_);
-    // cppcheck-suppress missingReturn
-    in = value_;
-  }
-  /**
-   * @brief access the content (r) and wait until the mutex could be locked
-   * @note only safe way to access pointer type content (r)
-   * @note same signature as in the existing RealtimeBox<T>
-   */
-  void get(const std::function<void(const T &)> & func)
-  {
-    std::lock_guard<mutex_t> guard(lock_);
-    func(value_);
-  }
-
-  /**
-   * @brief provide a custom assignment operator for easier usage
-   * @note only to be used from non-RT!
-   */
-  template <typename U = T>
-  typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, void> operator=(const T & value)
-  {
-    set(value);
-  }
-
-  /**
-   * @brief provide a custom conversion operator
-   * @note Can only be used from non-RT!
-   */
-  template <typename U = T, typename = typename std::enable_if_t<!is_ptr_or_smart_ptr<U>>>
-  [[nodiscard]] operator T() const
-  {
-    // Only makes sense with the getNonRT method otherwise we would return an std::optional
-    return get();
-  }
-  /**
-   * @brief provide a custom conversion operator
-   * @note Can be used from non-RT and RT contexts
-   */
-  template <typename U = T, typename = typename std::enable_if_t<!is_ptr_or_smart_ptr<U>>>
-  [[nodiscard]] operator std::optional<T>() const
-  {
-    return tryGet();
-  }
-
-  // In case one wants to actually use a pointer
-  // in this implementation we allow accessing the lock directly.
-  // Note: Be careful with lock.unlock().
-  // It may only be called from the thread that locked the mutex!
-  [[nodiscard]] const mutex_t & getMutex() const { return lock_; }
-  [[nodiscard]] mutex_t & getMutex() { return lock_; }
-
-private:
-  T value_;
-  mutable mutex_t lock_;
-};
-}  // namespace realtime_tools
+// Deprecation notice
+#pragma message( \
+  "This header include is deprecated. Please update your code to use 'realtime_box_best_effort.hpp' header.")  //NOLINT
 
 #endif  // REALTIME_TOOLS__REALTIME_BOX_BEST_EFFORT_H_
diff --git a/include/realtime_tools/realtime_box_best_effort.hpp b/include/realtime_tools/realtime_box_best_effort.hpp
new file mode 100644
index 00000000..bd2b6304
--- /dev/null
+++ b/include/realtime_tools/realtime_box_best_effort.hpp
@@ -0,0 +1,233 @@
+// Copyright (c) 2024, Lennart Nachtigall
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Willow Garage, Inc. nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+// Author: Lennart Nachtigall
+
+#ifndef REALTIME_TOOLS__REALTIME_BOX_BEST_EFFORT_HPP_
+#define REALTIME_TOOLS__REALTIME_BOX_BEST_EFFORT_HPP_
+
+#include <functional>
+#include <initializer_list>
+#include <mutex>
+#include <optional>
+#include <utility>
+
+#include <rcpputils/pointer_traits.hpp>
+
+namespace realtime_tools
+{
+
+template <typename T>
+constexpr auto is_ptr_or_smart_ptr = rcpputils::is_pointer<T>::value;
+
+/*!
+    A Box that ensures thread safe access to the boxed contents.
+    Access is best effort. If it can not lock it will return.
+
+    NOTE about pointers:
+    You can use pointers with this box but the access will be different.
+    Only use the get/set methods that take function pointer for accessing the internal value.
+*/
+template <class T, typename mutex_type = std::mutex>
+class RealtimeBoxBestEffort
+{
+  static_assert(
+    std::is_same_v<mutex_type, std::mutex> || std::is_same_v<mutex_type, std::recursive_mutex>);
+  static_assert(std::is_copy_constructible_v<T>, "Passed type must be copy constructible");
+
+public:
+  using mutex_t = mutex_type;
+  using type = T;
+  // Provide various constructors
+  constexpr explicit RealtimeBoxBestEffort(const T & init = T{}) : value_(init) {}
+  constexpr explicit RealtimeBoxBestEffort(const T && init) : value_(std::move(init)) {}
+
+  // Only enabled for types that can be constructed from an initializer list
+  template <typename U = T>
+  constexpr RealtimeBoxBestEffort(
+    const std::initializer_list<U> & init,
+    std::enable_if_t<std::is_constructible_v<U, std::initializer_list<U>>>)
+  : value_(init)
+  {
+  }
+
+  /**
+   * @brief set a new content with best effort
+   * @return false if mutex could not be locked
+   * @note disabled for pointer types
+   */
+  template <typename U = T>
+  typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, bool> trySet(const T & value)
+  {
+    std::unique_lock<mutex_t> guard(lock_, std::defer_lock);
+    if (!guard.try_lock()) {
+      return false;
+    }
+    value_ = value;
+    return true;
+  }
+  /**
+   * @brief access the content readable with best effort
+   * @return false if the mutex could not be locked
+   * @note only safe way to access pointer type content (rw)
+   */
+  bool trySet(const std::function<void(T &)> & func)
+  {
+    std::unique_lock<mutex_t> guard(lock_, std::defer_lock);
+    if (!guard.try_lock()) {
+      return false;
+    }
+
+    func(value_);
+    return true;
+  }
+  /**
+   * @brief get the content with best effort
+   * @return std::nullopt if content could not be access, otherwise the content is returned
+   */
+  template <typename U = T>
+  [[nodiscard]] typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, std::optional<U>> tryGet() const
+  {
+    std::unique_lock<mutex_t> guard(lock_, std::defer_lock);
+    if (!guard.try_lock()) {
+      return std::nullopt;
+    }
+    return value_;
+  }
+  /**
+   * @brief access the content (r) with best effort
+   * @return false if the mutex could not be locked
+   * @note only safe way to access pointer type content (r)
+   */
+  bool tryGet(const std::function<void(const T &)> & func)
+  {
+    std::unique_lock<mutex_t> guard(lock_, std::defer_lock);
+    if (!guard.try_lock()) {
+      return false;
+    }
+
+    func(value_);
+    return true;
+  }
+
+  /**
+   * @brief set the content and wait until the mutex could be locked (RealtimeBox behavior)
+   * @return true
+   */
+  template <typename U = T>
+  typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, void> set(const T & value)
+  {
+    std::lock_guard<mutex_t> guard(lock_);
+    // cppcheck-suppress missingReturn
+    value_ = value;
+  }
+  /**
+   * @brief access the content (rw) and wait until the mutex could locked
+   */
+  void set(const std::function<void(T &)> & func)
+  {
+    std::lock_guard<mutex_t> guard(lock_);
+    func(value_);
+  }
+
+  /**
+   * @brief get the content and wait until the mutex could be locked (RealtimeBox behaviour)
+   * @return copy of the value
+   */
+  template <typename U = T>
+  [[nodiscard]] typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, U> get() const
+  {
+    std::lock_guard<mutex_t> guard(lock_);
+    return value_;
+  }
+  /**
+   * @brief get the content and wait until the mutex could be locked
+   * @note same signature as in the existing RealtimeBox<T>
+   */
+  template <typename U = T>
+  typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, void> get(T & in) const
+  {
+    std::lock_guard<mutex_t> guard(lock_);
+    // cppcheck-suppress missingReturn
+    in = value_;
+  }
+  /**
+   * @brief access the content (r) and wait until the mutex could be locked
+   * @note only safe way to access pointer type content (r)
+   * @note same signature as in the existing RealtimeBox<T>
+   */
+  void get(const std::function<void(const T &)> & func)
+  {
+    std::lock_guard<mutex_t> guard(lock_);
+    func(value_);
+  }
+
+  /**
+   * @brief provide a custom assignment operator for easier usage
+   * @note only to be used from non-RT!
+   */
+  template <typename U = T>
+  typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, void> operator=(const T & value)
+  {
+    set(value);
+  }
+
+  /**
+   * @brief provide a custom conversion operator
+   * @note Can only be used from non-RT!
+   */
+  template <typename U = T, typename = typename std::enable_if_t<!is_ptr_or_smart_ptr<U>>>
+  [[nodiscard]] operator T() const
+  {
+    // Only makes sense with the getNonRT method otherwise we would return an std::optional
+    return get();
+  }
+  /**
+   * @brief provide a custom conversion operator
+   * @note Can be used from non-RT and RT contexts
+   */
+  template <typename U = T, typename = typename std::enable_if_t<!is_ptr_or_smart_ptr<U>>>
+  [[nodiscard]] operator std::optional<T>() const
+  {
+    return tryGet();
+  }
+
+  // In case one wants to actually use a pointer
+  // in this implementation we allow accessing the lock directly.
+  // Note: Be careful with lock.unlock().
+  // It may only be called from the thread that locked the mutex!
+  [[nodiscard]] const mutex_t & getMutex() const { return lock_; }
+  [[nodiscard]] mutex_t & getMutex() { return lock_; }
+
+private:
+  T value_;
+  mutable mutex_t lock_;
+};
+}  // namespace realtime_tools
+
+#endif  // REALTIME_TOOLS__REALTIME_BOX_BEST_EFFORT_HPP_
diff --git a/test/realtime_box_best_effort_tests.cpp b/test/realtime_box_best_effort_tests.cpp
index 5f1da7cb..2c0785ca 100644
--- a/test/realtime_box_best_effort_tests.cpp
+++ b/test/realtime_box_best_effort_tests.cpp
@@ -29,7 +29,7 @@
 // Author: Lennart Nachtigall
 
 #include <gmock/gmock.h>
-#include <realtime_tools/realtime_box_best_effort.h>
+#include <realtime_tools/realtime_box_best_effort.hpp>
 
 struct DefaultConstructable
 {