diff --git a/panther_gazebo/CMakeLists.txt b/panther_gazebo/CMakeLists.txt
index 2e5604e0c..31dc77d04 100644
--- a/panther_gazebo/CMakeLists.txt
+++ b/panther_gazebo/CMakeLists.txt
@@ -49,13 +49,13 @@ ament_target_dependencies(
 target_link_libraries(panther_simulation_plugins ignition-gazebo6::core)
 
 set(CMAKE_AUTOMOC ON)
-qt5_add_resources(resources_rcc src/plugins/Estop.qrc)
+qt5_add_resources(resources_rcc src/plugins/EStop.qrc)
 
-add_library(Estop SHARED include/panther_gazebo/plugins/e_stop.hpp
+add_library(EStop SHARED include/panther_gazebo/plugins/e_stop.hpp
                          src/plugins/e_stop.cpp ${resources_rcc})
-ament_target_dependencies(Estop ignition-common4 ignition-gazebo6
+ament_target_dependencies(EStop ignition-common4 ignition-gazebo6
                           ignition-plugin1 rclcpp std_srvs)
-target_link_libraries(Estop ${Qt5Core_LIBRARIES} ${Qt5Qml_LIBRARIES}
+target_link_libraries(EStop ${Qt5Core_LIBRARIES} ${Qt5Qml_LIBRARIES}
                       ${Qt5Quick_LIBRARIES} ${Qt5QuickControls2_LIBRARIES})
 
 install(TARGETS gz_led_strip_manager DESTINATION lib/${PROJECT_NAME})
@@ -67,7 +67,7 @@ install(
   ARCHIVE DESTINATION lib)
 
 install(
-  TARGETS Estop
+  TARGETS EStop
   RUNTIME DESTINATION bin
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib)
diff --git a/panther_gazebo/README.md b/panther_gazebo/README.md
index 9116b0d5e..17c974b4f 100644
--- a/panther_gazebo/README.md
+++ b/panther_gazebo/README.md
@@ -18,9 +18,9 @@ The package contains a launch file and source files used to run the robot simula
 
 ## ROS Nodes
 
-### Estop
+### EStop
 
-`Estop` is a Gazebo GUI plugin responsible for easy and convenient changing of the robot's E-stop state.
+`EStop` is a Gazebo GUI plugin responsible for easy and convenient changing of the robot's E-stop state.
 
 #### Service Clients
 
diff --git a/panther_gazebo/config/teleop_with_estop.config b/panther_gazebo/config/teleop_with_estop.config
index 05046bec5..3bdf8538a 100644
--- a/panther_gazebo/config/teleop_with_estop.config
+++ b/panther_gazebo/config/teleop_with_estop.config
@@ -1126,7 +1126,7 @@
         <property key="pluginToolBarTextColor" type="string">#fafafa</property>
     </ignition-gui>
 </plugin>
-<plugin filename="Estop">
+<plugin filename="EStop">
     <namespace>{namespace}</namespace>
     <ignition-gui>
         <property key="x" type="double">0</property>
diff --git a/panther_gazebo/include/panther_gazebo/plugins/e_stop.hpp b/panther_gazebo/include/panther_gazebo/plugins/e_stop.hpp
index 77948d8d7..edd563a6c 100644
--- a/panther_gazebo/include/panther_gazebo/plugins/e_stop.hpp
+++ b/panther_gazebo/include/panther_gazebo/plugins/e_stop.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PANTHER_GAZEBO_GUI_ESTOP_HPP_
-#define PANTHER_GAZEBO_GUI_ESTOP_HPP_
+#ifndef PANTHER_GAZEBO_PLUGINS_ESTOP_HPP_
+#define PANTHER_GAZEBO_PLUGINS_ESTOP_HPP_
 
 #include <ignition/gui/qt.h>
 #include <ignition/gui/Plugin.hh>
@@ -26,15 +26,15 @@
 namespace panther_gazebo
 {
 
-class Estop : public ignition::gui::Plugin
+class EStop : public ignition::gui::Plugin
 {
   Q_OBJECT
 
   Q_PROPERTY(QString ns READ GetNamespace WRITE SetNamespace NOTIFY ChangedNamespace)
 
 public:
-  Estop();
-  virtual ~Estop();
+  EStop();
+  virtual ~EStop();
   void LoadConfig(const tinyxml2::XMLElement * plugin_elem) override;
   Q_INVOKABLE QString GetNamespace() const;
 
@@ -61,4 +61,4 @@ protected slots:
 };
 }  // namespace panther_gazebo
 
-#endif  // PANTHER_GAZEBO_GUI_ESTOP_HPP_
+#endif  // PANTHER_GAZEBO_PLUGINS_ESTOP_HPP_
diff --git a/panther_gazebo/src/plugins/Estop.qml b/panther_gazebo/src/plugins/EStop.qml
similarity index 95%
rename from panther_gazebo/src/plugins/Estop.qml
rename to panther_gazebo/src/plugins/EStop.qml
index 3c13b8031..e45dc0aa1 100644
--- a/panther_gazebo/src/plugins/Estop.qml
+++ b/panther_gazebo/src/plugins/EStop.qml
@@ -47,11 +47,11 @@ Rectangle {
       id: namespaceField
       width: 175
       Layout.fillWidth: true
-      text: Estop.ns
+      text: EStop.ns
       placeholderText: qsTr("Robot namespace")
       Layout.alignment: Qt.AlignLeft
       onEditingFinished: {
-        Estop.SetNamespace(text)
+        EStop.SetNamespace(text)
       }
     }
   }
@@ -82,7 +82,7 @@ Rectangle {
       }
     }
     onPressed: {
-      Estop.buttonPressed(eStopButton.checked);
+      EStop.buttonPressed(eStopButton.checked);
     }
   }
 }
diff --git a/panther_gazebo/src/plugins/EStop.qrc b/panther_gazebo/src/plugins/EStop.qrc
new file mode 100644
index 000000000..9f7d7c41e
--- /dev/null
+++ b/panther_gazebo/src/plugins/EStop.qrc
@@ -0,0 +1,5 @@
+<!DOCTYPE RCC><RCC version="1.0">
+  <qresource prefix="EStop/">
+    <file>EStop.qml</file>
+  </qresource>
+</RCC>
diff --git a/panther_gazebo/src/plugins/Estop.config b/panther_gazebo/src/plugins/Estop.config
deleted file mode 100644
index 1f3d990a2..000000000
--- a/panther_gazebo/src/plugins/Estop.config
+++ /dev/null
@@ -1,2 +0,0 @@
-<plugin filename="Estop">
-</plugin>
diff --git a/panther_gazebo/src/plugins/Estop.qrc b/panther_gazebo/src/plugins/Estop.qrc
deleted file mode 100644
index bea09b329..000000000
--- a/panther_gazebo/src/plugins/Estop.qrc
+++ /dev/null
@@ -1,5 +0,0 @@
-<!DOCTYPE RCC><RCC version="1.0">
-  <qresource prefix="Estop/">
-    <file>Estop.qml</file>
-  </qresource>
-</RCC>
diff --git a/panther_gazebo/src/plugins/e_stop.cpp b/panther_gazebo/src/plugins/e_stop.cpp
index 7f78f7222..2e6856473 100644
--- a/panther_gazebo/src/plugins/e_stop.cpp
+++ b/panther_gazebo/src/plugins/e_stop.cpp
@@ -21,11 +21,11 @@
 namespace panther_gazebo
 {
 
-Estop::Estop() : ignition::gui::Plugin() { rclcpp::init(0, nullptr); }
+EStop::EStop() : ignition::gui::Plugin() { rclcpp::init(0, nullptr); }
 
-Estop::~Estop() { rclcpp::shutdown(); }
+EStop::~EStop() { rclcpp::shutdown(); }
 
-void Estop::LoadConfig(const tinyxml2::XMLElement * plugin_elem)
+void EStop::LoadConfig(const tinyxml2::XMLElement * plugin_elem)
 {
   node_ = rclcpp::Node::make_shared("gz_estop_gui");
   e_stop_reset_client_ = node_->create_client<std_srvs::srv::Trigger>(e_stop_reset_service_);
@@ -43,7 +43,7 @@ void Estop::LoadConfig(const tinyxml2::XMLElement * plugin_elem)
   }
 }
 
-void Estop::buttonPressed(bool pressed)
+void EStop::buttonPressed(bool pressed)
 {
   auto request = std::make_shared<std_srvs::srv::Trigger::Request>();
 
@@ -67,12 +67,12 @@ void Estop::buttonPressed(bool pressed)
   if (!result->success) {
     ignwarn << "Service call did not succeed: " << result->message << std::endl;
   }
-  ignmsg << "Estop: " << result->message << std::endl;
+  ignmsg << "EStop: " << result->message << std::endl;
 }
 
-QString Estop::GetNamespace() const { return QString::fromStdString(namespace_); }
+QString EStop::GetNamespace() const { return QString::fromStdString(namespace_); }
 
-void Estop::SetNamespace(const QString & ns)
+void EStop::SetNamespace(const QString & ns)
 {
   namespace_ = ns.toStdString();
   e_stop_reset_service_ = namespace_ + kDefaultEStopResetService;
@@ -87,4 +87,4 @@ void Estop::SetNamespace(const QString & ns)
 
 }  // namespace panther_gazebo
 
-IGNITION_ADD_PLUGIN(panther_gazebo::Estop, ignition::gui::Plugin)
+IGNITION_ADD_PLUGIN(panther_gazebo::EStop, ignition::gui::Plugin)