diff --git a/nao_dcm_apps/nao_dcm_camera/include/nao_dcm_camera/nao_camera.h b/nao_dcm_apps/nao_dcm_camera/include/nao_dcm_camera/nao_camera.h
index 4e616d1..e5346ad 100644
--- a/nao_dcm_apps/nao_dcm_camera/include/nao_dcm_camera/nao_camera.h
+++ b/nao_dcm_apps/nao_dcm_camera/include/nao_dcm_camera/nao_camera.h
@@ -49,7 +49,7 @@ OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISE
 #include <dynamic_reconfigure/server.h>
 #include <nao_dcm_camera/NaoDCMCameraConfig.h>
 
-using std::string;
+using etk::String;
 using std::cerr;
 using std::endl;
 
@@ -92,7 +92,7 @@ private:
     AL::ALVideoDeviceProxy video_proxy_;
 public:
     // Constructor/Destructor
-    NaoCamera(boost::shared_ptr<AL::ALBroker> broker, const std::string& name);
+    NaoCamera(boost::shared_ptr<AL::ALBroker> broker, const etk::String& name);
     ~NaoCamera();
 
     bool initialize();
diff --git a/nao_dcm_apps/nao_dcm_camera/src/nao_camera.cpp b/nao_dcm_apps/nao_dcm_camera/src/nao_camera.cpp
index f51dccf..d10cbfa 100644
--- a/nao_dcm_apps/nao_dcm_camera/src/nao_camera.cpp
+++ b/nao_dcm_apps/nao_dcm_camera/src/nao_camera.cpp
@@ -23,7 +23,7 @@ OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISE
 #include <iostream>
 #include "nao_dcm_camera/nao_camera.h"
 
-using std::vector;
+using etk::Vector;
 
 NaoCamera::NaoCamera(boost::shared_ptr<AL::ALBroker> broker, const string &name)
     : AL::ALModule(broker,name),is_connected_(false),reconfiguring_(false)
diff --git a/nao_dcm_robot/nao_dcm_driver/include/nao_dcm_driver/nao.h b/nao_dcm_robot/nao_dcm_driver/include/nao_dcm_driver/nao.h
index bb5528b..d8e309a 100644
--- a/nao_dcm_robot/nao_dcm_driver/include/nao_dcm_driver/nao.h
+++ b/nao_dcm_robot/nao_dcm_driver/include/nao_dcm_driver/nao.h
@@ -61,8 +61,8 @@ OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISE
 
 #include <diagnostic_updater/diagnostic_updater.h>
 
-using std::string;
-using std::vector;
+using etk::String;
+using etk::Vector;
 
 namespace AL
 {
@@ -131,36 +131,36 @@ private:
     AL::DCMProxy dcm_proxy_;
 
     // IMU
-    vector<string> imu_names_;
+    vector<etk/String.hpp> imu_names_;
     // Sonars
-    vector<string> sonar_names_;
+    vector<etk/String.hpp> sonar_names_;
     // FSRs
-    vector<string> fsr_names_;
+    vector<etk/String.hpp> fsr_names_;
     // Tactile
-    vector<string> tactile_names_;
+    vector<etk/String.hpp> tactile_names_;
     // Bumper
-    vector<string> bumper_names_;
+    vector<etk/String.hpp> bumper_names_;
     // Joints
-    vector<string> joints_names_;
-    vector<string> joint_temperature_names_;
+    vector<etk/String.hpp> joints_names_;
+    vector<etk/String.hpp> joint_temperature_names_;
     // Battery
-    vector<string> battery_names_;
+    vector<etk/String.hpp> battery_names_;
     // LEDs
-    vector<string> led_names_;
+    vector<etk/String.hpp> led_names_;
 
     // Joint States
     hardware_interface::JointStateInterface jnt_state_interface_;
     hardware_interface::PositionJointInterface jnt_pos_interface_;
 
     int number_of_joints_;
-    vector<string> joint_names_;
+    vector<etk/String.hpp> joint_names_;
     vector<double> joint_commands_;
     vector<double> joint_angles_;
     vector<double> joint_velocities_;
     vector<double> joint_efforts_;
 public:
     // Constructor/Destructor
-    Nao(boost::shared_ptr<AL::ALBroker> broker, const std::string& name);
+    Nao(boost::shared_ptr<AL::ALBroker> broker, const etk::String& name);
     ~Nao();
 
     bool initialize();
@@ -188,10 +188,10 @@ public:
     // ALMemoryProxy Wrapper Methods
     void insertDataToMemory(const string& key, const AL::ALValue& value);
     AL::ALValue getDataFromMemory(const string& key);
-    void subscribeToEvent(const std::string& name, const std::string& callback_module,
-                          const std::string& callback_method);
-    void subscribeToMicroEvent(const std::string& name, const std::string& callback_module,
-                               const std::string& callback_method, const string& callback_message="");
+    void subscribeToEvent(const etk::String& name, const etk::String& callback_module,
+                          const etk::String& callback_method);
+    void subscribeToMicroEvent(const etk::String& name, const etk::String& callback_module,
+                               const etk::String& callback_method, const string& callback_message="");
     void unsubscribeFromEvent(const string& name, const string& callback_module);
     void unsubscribeFromMicroEvent(const string& name, const string& callback_module);
     void raiseEvent(const string& name, const AL::ALValue& value);
diff --git a/nao_dcm_robot/nao_dcm_driver/src/nao.cpp b/nao_dcm_robot/nao_dcm_driver/src/nao.cpp
index 0d31e2f..3004622 100644
--- a/nao_dcm_robot/nao_dcm_driver/src/nao.cpp
+++ b/nao_dcm_robot/nao_dcm_driver/src/nao.cpp
@@ -53,7 +53,7 @@ bool Nao::initialize()
                                     "Device/SubDeviceList/InertialSensor/AccelerometerX/Sensor/Value",
                                     "Device/SubDeviceList/InertialSensor/AccelerometerY/Sensor/Value",
                                     "Device/SubDeviceList/InertialSensor/AccelerometerZ/Sensor/Value"};
-    imu_names_ = vector<string>(imu, end(imu));
+    imu_names_ = vector<etk/String.hpp>(imu, end(imu));
 
     // Sonar Memory Keys
     const char* sonar[] = {"Device/SubDeviceList/US/Left/Sensor/Value",
@@ -76,7 +76,7 @@ bool Nao::initialize()
                                       "Device/SubDeviceList/US/Right/Sensor/Value7",
                                       "Device/SubDeviceList/US/Right/Sensor/Value8",
                                       "Device/SubDeviceList/US/Right/Sensor/Value9"};
-    sonar_names_ = vector<string>(sonar, end(sonar));
+    sonar_names_ = vector<etk/String.hpp>(sonar, end(sonar));
 
     // Foot Contact Memory Keys
     const char* fsr[] = {"Device/SubDeviceList/LFoot/FSR/FrontLeft/Sensor/Value",
@@ -93,7 +93,7 @@ bool Nao::initialize()
                                     "Device/SubDeviceList/LFoot/FSR/CenterOfPressure/Y/Sensor/Value",
                                     "Device/SubDeviceList/RFoot/FSR/CenterOfPressure/X/Sensor/Value",
                                     "Device/SubDeviceList/RFoot/FSR/CenterOfPressure/Y/Sensor/Value"};
-    fsr_names_ = vector<string>(fsr, end(fsr));
+    fsr_names_ = vector<etk/String.hpp>(fsr, end(fsr));
 
     // Tactile Memory Keys
     const char* tactile[] = {"Device/SubDeviceList/Head/Touch/Front/Sensor/Value",
@@ -105,19 +105,19 @@ bool Nao::initialize()
                                         "Device/SubDeviceList/RHand/Touch/Back/Sensor/Value",
                                         "Device/SubDeviceList/RHand/Touch/Left/Sensor/Value",
                                         "Device/SubDeviceList/RHand/Touch/Right/Sensor/Value"};
-    tactile_names_ = vector<string>(tactile, end(tactile));
+    tactile_names_ = vector<etk/String.hpp>(tactile, end(tactile));
 
     // Bumper Memory Keys
     const char* bumper[] = {"Device/SubDeviceList/LFoot/Bumper/Left/Sensor/Value",
                                        "Device/SubDeviceList/LFoot/Bumper/Right/Sensor/Value",
                                        "Device/SubDeviceList/RFoot/Bumper/Left/Sensor/Value",
                                        "Device/SubDeviceList/RFoot/Bumper/Right/Sensor/Value"};
-    bumper_names_ = vector<string>(bumper, end(bumper));
+    bumper_names_ = vector<etk/String.hpp>(bumper, end(bumper));
 
     // Battery Memory Keys
     const char* battery[] = {"Device/SubDeviceList/Battery/Charge/Sensor/Value",
                                         "Device/SubDeviceList/Battery/Temperature/Sensor/Value"};
-    battery_names_ = vector<string>(battery, end(battery));
+    battery_names_ = vector<etk/String.hpp>(battery, end(battery));
 
     // LED Memory Keys
     const char* led[] = {"Device/SubDeviceList/ChestBoard/Led/Blue/Actuator/Value",
@@ -209,7 +209,7 @@ bool Nao::initialize()
                                         "Device/SubDeviceList/RFoot/Led/Blue/Actuator/Value",
                                         "Device/SubDeviceList/RFoot/Led/Green/Actuator/Value",
                                         "Device/SubDeviceList/RFoot/Led/Red/Actuator/Value"};
-    led_names_ = vector<string>(led, end(led));
+    led_names_ = vector<etk/String.hpp>(led, end(led));
 
     // Joints Initialization
     const char* joint[] = {"HeadYaw",
@@ -238,9 +238,9 @@ bool Nao::initialize()
                             "RKneePitch",
                             "RAnklePitch",
                             "RAnkleRoll"};
-    joint_names_ = vector<string>(joint, end(joint));
+    joint_names_ = vector<etk/String.hpp>(joint, end(joint));
     
-    for(vector<string>::iterator it=joint_names_.begin();it!=joint_names_.end();it++)
+    for(vector<etk/String.hpp>::iterator it=joint_names_.begin();it!=joint_names_.end();it++)
     {
         if((*it=="RHand" || *it=="LHand" || *it == "RWristYaw" || *it == "LWristYaw") && (body_type_ == "H21"))
         {
@@ -248,10 +248,10 @@ bool Nao::initialize()
             it--;
             continue;
         }
-        joints_names_.push_back("Device/SubDeviceList/"+(*it)+"/Position/Sensor/Value");
+        joints_names_.pushBack("Device/SubDeviceList/"+(*it)+"/Position/Sensor/Value");
         if(*it!="RHipYawPitch")
         {
-            joint_temperature_names_.push_back("Device/SubDeviceList/"+(*it)+"/Temperature/Sensor/Value");
+            joint_temperature_names_.pushBack("Device/SubDeviceList/"+(*it)+"/Temperature/Sensor/Value");
         }
     }
     number_of_joints_ = joint_names_.size();
@@ -847,7 +847,7 @@ void Nao::publishBaseFootprint(const ros::Time &ts)
     }
 
     tf::Vector3 new_origin = (tf_odom_to_right_foot.getOrigin() + tf_odom_to_left_foot.getOrigin())/2.0;
-    double height = std::min(tf_odom_to_left_foot.getOrigin().getZ(), tf_odom_to_right_foot.getOrigin().getZ());
+    double height = etk::min(tf_odom_to_left_foot.getOrigin().getZ(), tf_odom_to_right_foot.getOrigin().getZ());
     new_origin.setZ(height);
 
     double roll, pitch, yaw;
@@ -1115,7 +1115,7 @@ void Nao::checkBattery(diagnostic_updater::DiagnosticStatusWrapper &stat)
         return;
     }
     int status = 0;
-    string message = "Battery: "+boost::lexical_cast<string>(float(batt[0])*100.0f)+"\% charged!  ";
+    string message = "Battery: "+boost::lexical_cast<etk/String.hpp>(float(batt[0])*100.0f)+"\% charged!  ";
     if(float(batt[0])*100.0f<50.0f)
         status = 1;
     else if(float(batt[0])*100.0f<20.0f)
diff --git a/nao_dcm_robot/nao_dcm_driver/src/nao_driver.cpp b/nao_dcm_robot/nao_dcm_driver/src/nao_driver.cpp
index d79589b..2c435a6 100644
--- a/nao_dcm_robot/nao_dcm_driver/src/nao_driver.cpp
+++ b/nao_dcm_robot/nao_dcm_driver/src/nao_driver.cpp
@@ -25,7 +25,7 @@ OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISE
 #include <alcommon/albroker.h>
 #include <alcommon/albrokermanager.h>
 
-using std::string;
+using etk::String;
 using std::cerr;
 using std::endl;