diff --git a/l3xz-leg-ctrl-firmware.ino b/l3xz-leg-ctrl-firmware.ino
index a945d9b..d9418b9 100644
--- a/l3xz-leg-ctrl-firmware.ino
+++ b/l3xz-leg-ctrl-firmware.ino
@@ -87,15 +87,15 @@ ArduinoMCP2515 mcp2515([]()
                        [](MCP2515::EFLG const err_flag) { DBG_ERROR("MCP2515::OnError, error code = \"%s\"", MCP2515::toStr(err_flag)); },
                        [](MCP2515::EFLG const err_flag) { DBG_ERROR("MCP2515::OnWarning, warning code = \"%s\"", MCP2515::toStr(err_flag)); });
 
-Node::Heap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
-Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
+cyphal::Node::Heap<cyphal::Node::DEFAULT_O1HEAP_SIZE> node_heap;
+cyphal::Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
 
-Publisher<uavcan::node::Heartbeat_1_0> heartbeat_pub = node_hdl.create_publisher<uavcan::node::Heartbeat_1_0>(1*1000*1000UL /* = 1 sec in usecs. */);
-Publisher<uavcan::si::unit::angle::Scalar_1_0> as5048a_pub;
-Publisher<uavcan::si::unit::angle::Scalar_1_0> as5048b_pub;
-Publisher<uavcan::primitive::scalar::Bit_1_0> bumper_pub;
+cyphal::Publisher<uavcan::node::Heartbeat_1_0> heartbeat_pub = node_hdl.create_publisher<uavcan::node::Heartbeat_1_0>(1*1000*1000UL /* = 1 sec in usecs. */);
+cyphal::Publisher<uavcan::si::unit::angle::Scalar_1_0> as5048a_pub;
+cyphal::Publisher<uavcan::si::unit::angle::Scalar_1_0> as5048b_pub;
+cyphal::Publisher<uavcan::primitive::scalar::Bit_1_0> bumper_pub;
 
-ServiceServer execute_command_srv = node_hdl.create_service_server<uavcan::node::ExecuteCommand::Request_1_1, uavcan::node::ExecuteCommand::Response_1_1>(2*1000*1000UL, onExecuteCommand_1_1_Request_Received);
+cyphal::ServiceServer execute_command_srv = node_hdl.create_service_server<uavcan::node::ExecuteCommand::Request_1_1, uavcan::node::ExecuteCommand::Response_1_1>(2*1000*1000UL, onExecuteCommand_1_1_Request_Received);
 
 ArduinoAS504x angle_A_pos_sensor([]() { SPI.beginTransaction(AS504x_SPI_SETTING); },
                                  []() { SPI.endTransaction(); },