diff --git a/tf/include/tf/tf.h b/tf/include/tf/tf.h
index 83df2420..f706ca1f 100644
--- a/tf/include/tf/tf.h
+++ b/tf/include/tf/tf.h
@@ -57,7 +57,7 @@ std::string resolve(const std::string& prefix, const std::string& frame_name);
 std::string strip_leading_slash(const std::string& frame_name);
 
 /** \deprecated This has been renamed to tf::resolve */
-__attribute__((deprecated)) static inline std::string remap(const std::string& prefix, const std::string& frame_name) { return tf::resolve(prefix, frame_name);} ;
+__attribute__((deprecated)) static inline std::string remap(const std::string& prefix, const std::string& frame_name) { return tf::resolve(prefix, frame_name);}
 
 enum ErrorValues { NO_ERROR = 0, LOOKUP_ERROR, CONNECTIVITY_ERROR, EXTRAPOLATION_ERROR};
 
@@ -409,7 +409,7 @@ inline void assertQuaternionValid(const tf::Quaternion & q)
     ss << "Quaternion malformed, magnitude: " << q.x()*q.x() + q.y()*q.y() + q.z()*q.z() + q.w()*q.w() << " should be 1.0" <<std::endl;
     throw tf::InvalidArgument(ss.str());
   }  //  ROS_ASSERT(std::fabs(q.x()*q.x() + q.y()*q.y() + q.z*q.z() + q.w()*q.w() - 1 < 0.01));
-};
+}
 
 /** \brief Throw InvalidArgument if quaternion is malformed */
 inline void assertQuaternionValid(const geometry_msgs::Quaternion & q)
@@ -427,6 +427,6 @@ inline void assertQuaternionValid(const geometry_msgs::Quaternion & q)
     ss << "Quaternion malformed, magnitude: " << q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w << " should be 1.0" <<std::endl;
     throw tf::InvalidArgument(ss.str());
   }  //  ROS_ASSERT(std::fabs(q.x()*q.x() + q.y()*q.y() + q.z*q.z() + q.w()*q.w() - 1 < 0.01));
-};
+}
 }
 #endif //TF_TF_H
diff --git a/tf/include/tf/transform_datatypes.h b/tf/include/tf/transform_datatypes.h
index a391ffe7..d87ca1fe 100644
--- a/tf/include/tf/transform_datatypes.h
+++ b/tf/include/tf/transform_datatypes.h
@@ -74,7 +74,7 @@ class Stamped : public T{
 template <typename T> 
 bool operator==(const Stamped<T> &a, const Stamped<T> &b) {
   return a.frame_id_ == b.frame_id_ && a.stamp_ == b.stamp_ && static_cast<const T&>(a) == static_cast<const T&>(b);
-};
+}
 
 
 /** \brief The Stamped Transform datatype used by tf */
@@ -98,7 +98,7 @@ class StampedTransform : public tf::Transform
 /** \brief Comparison operator for StampedTransform */
 static inline bool operator==(const StampedTransform &a, const StampedTransform &b) {
   return a.frame_id_ == b.frame_id_ && a.child_frame_id_ == b.child_frame_id_ && a.stamp_ == b.stamp_ && static_cast<const tf::Transform&>(a) == static_cast<const tf::Transform&>(b);
-};
+}
 
 
 /** \brief convert Quaternion msg to Quaternion */
@@ -110,7 +110,7 @@ static inline void quaternionMsgToTF(const geometry_msgs::Quaternion& msg, Quate
       ROS_WARN("MSG to TF: Quaternion Not Properly Normalized");
       bt.normalize();
     }
-};
+}
 /** \brief convert Quaternion to Quaternion msg*/
 static inline void quaternionTFToMsg(const Quaternion& bt, geometry_msgs::Quaternion& msg) 
 {
@@ -125,7 +125,7 @@ static inline void quaternionTFToMsg(const Quaternion& bt, geometry_msgs::Quater
   {
     msg.x = bt.x(); msg.y = bt.y(); msg.z = bt.z();  msg.w = bt.w();
   }
-};
+}
 
 /** \brief Helper function for getting yaw from a Quaternion */
 static inline double getYaw(const Quaternion& bt_q){
@@ -195,68 +195,68 @@ static inline tf::Quaternion createIdentityQuaternion()
   Quaternion q;
   q.setRPY(0,0,0);
   return q;
-};
+}
 
 /** \brief convert QuaternionStamped msg to Stamped<Quaternion> */
 static inline void quaternionStampedMsgToTF(const geometry_msgs::QuaternionStamped & msg, Stamped<Quaternion>& bt)
-{quaternionMsgToTF(msg.quaternion, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;};
+{quaternionMsgToTF(msg.quaternion, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;}
 /** \brief convert Stamped<Quaternion> to QuaternionStamped msg*/
 static inline void quaternionStampedTFToMsg(const Stamped<Quaternion>& bt, geometry_msgs::QuaternionStamped & msg)
-{quaternionTFToMsg(bt, msg.quaternion); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;};
+{quaternionTFToMsg(bt, msg.quaternion); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;}
 
 /** \brief convert Vector3 msg to Vector3 */
-static inline void vector3MsgToTF(const geometry_msgs::Vector3& msg_v, Vector3& bt_v) {bt_v = Vector3(msg_v.x, msg_v.y, msg_v.z);};
+static inline void vector3MsgToTF(const geometry_msgs::Vector3& msg_v, Vector3& bt_v) {bt_v = Vector3(msg_v.x, msg_v.y, msg_v.z);}
 /** \brief convert Vector3 to Vector3 msg*/
-static inline void vector3TFToMsg(const Vector3& bt_v, geometry_msgs::Vector3& msg_v) {msg_v.x = bt_v.x(); msg_v.y = bt_v.y(); msg_v.z = bt_v.z();};
+static inline void vector3TFToMsg(const Vector3& bt_v, geometry_msgs::Vector3& msg_v) {msg_v.x = bt_v.x(); msg_v.y = bt_v.y(); msg_v.z = bt_v.z();}
 
 /** \brief convert Vector3Stamped msg to Stamped<Vector3> */
 static inline void vector3StampedMsgToTF(const geometry_msgs::Vector3Stamped & msg, Stamped<Vector3>& bt)
-{vector3MsgToTF(msg.vector, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;};
+{vector3MsgToTF(msg.vector, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;}
 /** \brief convert Stamped<Vector3> to Vector3Stamped msg*/
 static inline void vector3StampedTFToMsg(const Stamped<Vector3>& bt, geometry_msgs::Vector3Stamped & msg)
-{vector3TFToMsg(bt, msg.vector); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;};
+{vector3TFToMsg(bt, msg.vector); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;}
 
 
 /** \brief convert Point msg to Point */
-static inline void pointMsgToTF(const geometry_msgs::Point& msg_v, Point& bt_v) {bt_v = Vector3(msg_v.x, msg_v.y, msg_v.z);};
+static inline void pointMsgToTF(const geometry_msgs::Point& msg_v, Point& bt_v) {bt_v = Vector3(msg_v.x, msg_v.y, msg_v.z);}
 /** \brief convert Point to Point msg*/
-static inline void pointTFToMsg(const Point& bt_v, geometry_msgs::Point& msg_v) {msg_v.x = bt_v.x(); msg_v.y = bt_v.y(); msg_v.z = bt_v.z();};
+static inline void pointTFToMsg(const Point& bt_v, geometry_msgs::Point& msg_v) {msg_v.x = bt_v.x(); msg_v.y = bt_v.y(); msg_v.z = bt_v.z();}
 
 /** \brief convert PointStamped msg to Stamped<Point> */
 static inline void pointStampedMsgToTF(const geometry_msgs::PointStamped & msg, Stamped<Point>& bt)
-{pointMsgToTF(msg.point, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;};
+{pointMsgToTF(msg.point, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;}
 /** \brief convert Stamped<Point> to PointStamped msg*/
 static inline void pointStampedTFToMsg(const Stamped<Point>& bt, geometry_msgs::PointStamped & msg)
-{pointTFToMsg(bt, msg.point); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;};
+{pointTFToMsg(bt, msg.point); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;}
 
 
 /** \brief convert Transform msg to Transform */
 static inline void transformMsgToTF(const geometry_msgs::Transform& msg, Transform& bt)
-{bt = Transform(Quaternion(msg.rotation.x, msg.rotation.y, msg.rotation.z, msg.rotation.w), Vector3(msg.translation.x, msg.translation.y, msg.translation.z));};
+{bt = Transform(Quaternion(msg.rotation.x, msg.rotation.y, msg.rotation.z, msg.rotation.w), Vector3(msg.translation.x, msg.translation.y, msg.translation.z));}
 /** \brief convert Transform to Transform msg*/
 static inline void transformTFToMsg(const Transform& bt, geometry_msgs::Transform& msg)
-{vector3TFToMsg(bt.getOrigin(), msg.translation);  quaternionTFToMsg(bt.getRotation(), msg.rotation);};
+{vector3TFToMsg(bt.getOrigin(), msg.translation);  quaternionTFToMsg(bt.getRotation(), msg.rotation);}
 
 /** \brief convert TransformStamped msg to tf::StampedTransform */
 static inline void transformStampedMsgToTF(const geometry_msgs::TransformStamped & msg, StampedTransform& bt)
-{transformMsgToTF(msg.transform, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id; bt.child_frame_id_ = msg.child_frame_id;};
+{transformMsgToTF(msg.transform, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id; bt.child_frame_id_ = msg.child_frame_id;}
 /** \brief convert tf::StampedTransform to TransformStamped msg*/
 static inline void transformStampedTFToMsg(const StampedTransform& bt, geometry_msgs::TransformStamped & msg)
-{transformTFToMsg(bt, msg.transform); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_; msg.child_frame_id = bt.child_frame_id_;};
+{transformTFToMsg(bt, msg.transform); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_; msg.child_frame_id = bt.child_frame_id_;}
 
 /** \brief convert Pose msg to Pose */
 static inline void poseMsgToTF(const geometry_msgs::Pose& msg, Pose& bt)
-{bt = Transform(Quaternion(msg.orientation.x, msg.orientation.y, msg.orientation.z, msg.orientation.w), Vector3(msg.position.x, msg.position.y, msg.position.z));};
+{bt = Transform(Quaternion(msg.orientation.x, msg.orientation.y, msg.orientation.z, msg.orientation.w), Vector3(msg.position.x, msg.position.y, msg.position.z));}
 /** \brief convert Pose to Pose msg*/
 static inline void poseTFToMsg(const Pose& bt, geometry_msgs::Pose& msg)
-{pointTFToMsg(bt.getOrigin(), msg.position);  quaternionTFToMsg(bt.getRotation(), msg.orientation);};
+{pointTFToMsg(bt.getOrigin(), msg.position);  quaternionTFToMsg(bt.getRotation(), msg.orientation);}
 
 /** \brief convert PoseStamped msg to Stamped<Pose> */
 static inline void poseStampedMsgToTF(const geometry_msgs::PoseStamped & msg, Stamped<Pose>& bt)
-{poseMsgToTF(msg.pose, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;};
+{poseMsgToTF(msg.pose, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;}
 /** \brief convert Stamped<Pose> to PoseStamped msg*/
 static inline void poseStampedTFToMsg(const Stamped<Pose>& bt, geometry_msgs::PoseStamped & msg)
-{poseTFToMsg(bt, msg.pose); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;};
+{poseTFToMsg(bt, msg.pose); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;}