diff --git a/canopen_motor_node/include/canopen_motor_node/handle_layer.h b/canopen_motor_node/include/canopen_motor_node/handle_layer.h
index 931ef37a0..13617609a 100644
--- a/canopen_motor_node/include/canopen_motor_node/handle_layer.h
+++ b/canopen_motor_node/include/canopen_motor_node/handle_layer.h
@@ -7,7 +7,12 @@
 #include <atomic>
 #include <functional>
 #include <boost/thread/mutex.hpp>
+#include <ros/common.h>  // for ROS_VERSION_MINIMUM
+#if ROS_VERSION_MINIMUM(1, 15, 0)
+#include <filters/filter_chain.hpp>
+#else
 #include <filters/filter_chain.h>
+#endif
 #include <hardware_interface/joint_command_interface.h>
 #include <hardware_interface/joint_state_interface.h>
 #include <joint_limits_interface/joint_limits_interface.h>
diff --git a/socketcan_interface/include/socketcan_interface/socketcan.h b/socketcan_interface/include/socketcan_interface/socketcan.h
index 691ff5da9..10dd7868f 100644
--- a/socketcan_interface/include/socketcan_interface/socketcan.h
+++ b/socketcan_interface/include/socketcan_interface/socketcan.h
@@ -47,7 +47,7 @@ class SocketCANInterface : public AsioDriver<boost::asio::posix::stream_descript
     : loopback_(false), sc_(-1), error_mask_(0), fatal_error_mask_(0)
     {}
 
-    virtual bool doesLoopBack() const{
+    bool doesLoopBack() const override{
         return loopback_;
     }
 
@@ -82,14 +82,14 @@ class SocketCANInterface : public AsioDriver<boost::asio::posix::stream_descript
       return init(device, loopback, error_mask, fatal_error_mask);
     }
 
-    virtual bool recover(){
+    bool recover() override{
         if(!getState().isReady()){
             shutdown();
             return init(device_, loopback_, error_mask_, fatal_error_mask_);
         }
         return getState().isReady();
     }
-    virtual bool translateError(unsigned int internal_error, std::string & str){
+    bool translateError(unsigned int internal_error, std::string & str) override{
 
         bool ret = false;
         if(!internal_error){
@@ -205,12 +205,12 @@ class SocketCANInterface : public AsioDriver<boost::asio::posix::stream_descript
         return getState().isReady();
     }
 
-    virtual void triggerReadSome(){
+    void triggerReadSome() override{
         boost::mutex::scoped_lock lock(send_mutex_);
         socket_.async_read_some(boost::asio::buffer(&frame_, sizeof(frame_)), boost::bind( &SocketCANInterface::readFrame,this, boost::asio::placeholders::error));
     }
 
-    virtual bool enqueue(const Frame & msg){
+    bool enqueue(const Frame & msg) override{
         boost::mutex::scoped_lock lock(send_mutex_); //TODO: timed try lock
 
         can_frame frame = {0};
diff --git a/socketcan_interface/include/socketcan_interface/threading.h b/socketcan_interface/include/socketcan_interface/threading.h
index 58a796ce9..62eb45c2f 100644
--- a/socketcan_interface/include/socketcan_interface/threading.h
+++ b/socketcan_interface/include/socketcan_interface/threading.h
@@ -49,7 +49,7 @@ template<typename WrappedInterface> class ThreadedInterface : public WrappedInte
         }
     }
 public:
-    [[deprecated("provide settings explicitly")]] virtual bool init(const std::string &device, bool loopback) override {
+    [[deprecated("provide settings explicitly")]] bool init(const std::string &device, bool loopback) override {
         #pragma GCC diagnostic push
         #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
         if(!thread_ && WrappedInterface::init(device, loopback)){
@@ -60,7 +60,7 @@ template<typename WrappedInterface> class ThreadedInterface : public WrappedInte
         return WrappedInterface::getState().isReady();
         #pragma GCC diagnostic pop
     }
-    virtual bool init(const std::string &device, bool loopback, SettingsConstSharedPtr settings) override {
+    bool init(const std::string &device, bool loopback, SettingsConstSharedPtr settings) override {
         if(!thread_ && WrappedInterface::init(device, loopback, settings)){
             StateWaiter waiter(this);
             thread_.reset(new boost::thread(&ThreadedInterface::run_thread, this));
@@ -69,7 +69,7 @@ template<typename WrappedInterface> class ThreadedInterface : public WrappedInte
         return WrappedInterface::getState().isReady();
     }
 
-    virtual void shutdown(){
+    void shutdown() override{
         WrappedInterface::shutdown();
         shutdown_internal();
     }