diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
index a87d1028..68d3b036 100644
--- a/.github/workflows/ci-ros-lint.yml
+++ b/.github/workflows/ci-ros-lint.yml
@@ -2,6 +2,22 @@ name: ROS Lint
 on:
   pull_request:
 
+env:
+  package-name:
+    ros2_control_demo_example_1
+    ros2_control_demo_example_2
+    ros2_control_demo_example_3
+    ros2_control_demo_example_4
+    ros2_control_demo_example_5
+    ros2_control_demo_example_6
+    ros2_control_demo_example_7
+    ros2_control_demo_example_8
+    ros2_control_demo_example_9
+    ros2_control_demo_example_10
+    ros2_control_demo_example_11
+    ros2_control_demo_example_12
+    ros2_control_demo_example_14
+
 jobs:
   ament_lint:
     name: ament_${{ matrix.linter }}
@@ -19,20 +35,7 @@ jobs:
       with:
         distribution: rolling
         linter: ${{ matrix.linter }}
-        package-name:
-          ros2_control_demo_example_1
-          ros2_control_demo_example_2
-          ros2_control_demo_example_3
-          ros2_control_demo_example_4
-          ros2_control_demo_example_5
-          ros2_control_demo_example_6
-          ros2_control_demo_example_7
-          ros2_control_demo_example_8
-          ros2_control_demo_example_9
-          ros2_control_demo_example_10
-          ros2_control_demo_example_11
-          ros2_control_demo_example_12
-          ros2_control_demo_example_14
+        package-name: ${{ env.package-name }}
 
   ament_lint_100:
     name: ament_${{ matrix.linter }}
@@ -49,15 +52,4 @@ jobs:
         distribution: rolling
         linter: cpplint
         arguments: "--linelength=100 --filter=-whitespace/newline"
-        package-name:
-          ros2_control_demo_example_1
-          ros2_control_demo_example_2
-          ros2_control_demo_example_3
-          ros2_control_demo_example_4
-          ros2_control_demo_example_5
-          ros2_control_demo_example_6
-          ros2_control_demo_example_7
-          ros2_control_demo_example_8
-          ros2_control_demo_example_9
-          ros2_control_demo_example_12
-          ros2_control_demo_example_14
+        package-name: ${{ env.package-name }}
diff --git a/example_11/doc/userdoc.rst b/example_11/doc/userdoc.rst
index c2dbb96d..1d40c0ca 100644
--- a/example_11/doc/userdoc.rst
+++ b/example_11/doc/userdoc.rst
@@ -121,10 +121,10 @@ Files used for this demos
 * Controllers yaml: `carlikebot_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/bringup/config/carlikebot_controllers.yaml>`__
 * URDF file: `carlikebot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/description/urdf/carlikebot.urdf.xacro>`__
 
-  * Description: `carlikebot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/description/urdf/carlikebot_description.urdf.xacro>`__
+  * Description: `carlikebot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/description/urdf/carlikebot.urdf.xacro>`__
   * ``ros2_control`` tag: `carlikebot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/description/ros2_control/carlikebot.ros2_control.xacro>`__
 
-* RViz configuration: `carlikebot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/description/rviz/carlikebot.rviz>`__
+* RViz configuration: `carlikebot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/carlikebot/rviz/carlikebot.rviz>`__
 
 * Hardware interface plugin: `carlikebot_system.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/hardware/carlikebot_system.cpp>`__
 
diff --git a/example_11/hardware/include/ros2_control_demo_example_11/carlikebot_system.hpp b/example_11/hardware/include/ros2_control_demo_example_11/carlikebot_system.hpp
index 1fc53933..0043699b 100644
--- a/example_11/hardware/include/ros2_control_demo_example_11/carlikebot_system.hpp
+++ b/example_11/hardware/include/ros2_control_demo_example_11/carlikebot_system.hpp
@@ -45,7 +45,7 @@ struct JointValue
 
 struct Joint
 {
-  Joint(const std::string & name) : joint_name(name)
+  explicit Joint(const std::string & name) : joint_name(name)
   {
     state = JointValue();
     command = JointValue();