diff --git a/.clang-format b/.clang-format
deleted file mode 100644
index 5bde1c45..00000000
--- a/.clang-format
+++ /dev/null
@@ -1,66 +0,0 @@
----
-BasedOnStyle:  Google
-AccessModifierOffset: -2
-ConstructorInitializerIndentWidth: 2
-AlignEscapedNewlinesLeft: false
-AlignTrailingComments: true
-AllowAllParametersOfDeclarationOnNextLine: false
-AllowShortIfStatementsOnASingleLine: false
-AllowShortLoopsOnASingleLine: false
-AllowShortFunctionsOnASingleLine: None
-AllowShortLoopsOnASingleLine: false
-AlwaysBreakTemplateDeclarations: true
-AlwaysBreakBeforeMultilineStrings: false
-BreakBeforeBinaryOperators: false
-BreakBeforeTernaryOperators: false
-BreakConstructorInitializersBeforeComma: true
-BinPackParameters: true
-ColumnLimit:    100
-ConstructorInitializerAllOnOneLineOrOnePerLine: true
-DerivePointerBinding: false
-PointerBindsToType: true
-ExperimentalAutoDetectBinPacking: false
-IndentCaseLabels: true
-MaxEmptyLinesToKeep: 1
-NamespaceIndentation: None
-ObjCSpaceBeforeProtocolList: true
-PenaltyBreakBeforeFirstCallParameter: 19
-PenaltyBreakComment: 60
-PenaltyBreakString: 100
-PenaltyBreakFirstLessLess: 1000
-PenaltyExcessCharacter: 1000
-PenaltyReturnTypeOnItsOwnLine: 70
-SpacesBeforeTrailingComments: 2
-Cpp11BracedListStyle: false
-Standard:        Auto
-IndentWidth:     2
-TabWidth:        2
-UseTab:          Never
-IndentFunctionDeclarationAfterType: false
-SpacesInParentheses: false
-SpacesInAngles:  false
-SpaceInEmptyParentheses: false
-SpacesInCStyleCastParentheses: false
-SpaceAfterControlStatementKeyword: true
-SpaceBeforeAssignmentOperators: true
-ContinuationIndentWidth: 4
-SortIncludes: false
-SpaceAfterCStyleCast: false
-
-# Configure each individual brace in BraceWrapping
-BreakBeforeBraces: Custom
-
-# Control of individual brace wrapping cases
-BraceWrapping: {
-    AfterClass: 'true'
-    AfterControlStatement: 'true'
-    AfterEnum : 'true'
-    AfterFunction : 'true'
-    AfterNamespace : 'true'
-    AfterStruct : 'true'
-    AfterUnion : 'true'
-    BeforeCatch : 'true'
-    BeforeElse : 'true'
-    IndentBraces : 'false'
-}
-...
diff --git a/.clang-tidy b/.clang-tidy
deleted file mode 100644
index 7fae3668..00000000
--- a/.clang-tidy
+++ /dev/null
@@ -1,50 +0,0 @@
----
-Checks:          '-*,
-                  performance-*,
-                  llvm-namespace-comment,
-                  modernize-redundant-void-arg,
-                  modernize-use-nullptr,
-                  modernize-use-default,
-                  modernize-use-override,
-                  modernize-loop-convert,
-                  readability-named-parameter,
-                  readability-redundant-smartptr-get,
-                  readability-redundant-string-cstr,
-                  readability-simplify-boolean-expr,
-                  readability-container-size-empty,
-                  readability-identifier-naming,
-                  '
-HeaderFilterRegex: ''
-AnalyzeTemporaryDtors: false
-CheckOptions:
-  - key:             llvm-namespace-comment.ShortNamespaceLines
-    value:           '10'
-  - key:             llvm-namespace-comment.SpacesBeforeComments
-    value:           '2'
-  - key:             readability-braces-around-statements.ShortStatementLines
-    value:           '2'
-  # type names
-  - key:             readability-identifier-naming.ClassCase
-    value:           CamelCase
-  - key:             readability-identifier-naming.EnumCase
-    value:           CamelCase
-  - key:             readability-identifier-naming.UnionCase
-    value:           CamelCase
-  # method names
-  - key:             readability-identifier-naming.MethodCase
-    value:           camelBack
-  # variable names
-  - key:             readability-identifier-naming.VariableCase
-    value:           lower_case
-  - key:             readability-identifier-naming.ClassMemberSuffix
-    value:           '_'
-  # const static or global variables are UPPER_CASE
-  - key:             readability-identifier-naming.EnumConstantCase
-    value:           UPPER_CASE
-  - key:             readability-identifier-naming.StaticConstantCase
-    value:           UPPER_CASE
-  - key:             readability-identifier-naming.ClassConstantCase
-    value:           UPPER_CASE
-  - key:             readability-identifier-naming.GlobalVariableCase
-    value:           UPPER_CASE
-...
diff --git a/.travis.yml b/.travis.yml
index 7b6c851f..051d3f06 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,26 +1,23 @@
-# This config file for Travis CI utilizes https://github.com/ros-planning/moveit_ci package.
-sudo: required
-dist: xenial  # distro used by Travis, moveit_ci uses the docker image's distro
+language: generic
 services:
   - docker
-language: cpp
-compiler: gcc
-cache: ccache
+
+cache:
+  directories:
+    - $HOME/.ccache
+
+git:
+  quiet: true
 
 env:
   global:
-    - ROS_DISTRO=eloquent
     - ROS_REPO=ros
-    - CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-unused-parameter -Wno-unused-function"
-    - WARNINGS_OK=false
+    - CCACHE_DIR=$HOME/.ccache
+    - UPSTREAM_WORKSPACE="rviz_visual_tools.repos"
   matrix:
-    - TEST="clang-format" # TODO(davetcoleman): enable catkin_lint in the future
-    - TEST=clang-tidy-fix
-    - TEST=clang-tidy-check
-    - ROS_DISTRO=eloquent
-
-before_script:
-  - git clone -q -b ros2 --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci
+    - ROS_DISTRO="eloquent"
 
+install:
+  - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci -b master
 script:
-  - .moveit_ci/travis.sh
+  - .industrial_ci/travis.sh
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d82f6e51..674cb43f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -230,6 +230,10 @@ ament_export_libraries(
 ## TEST ##
 ##########
 if (BUILD_TESTING)
+  # ROS2 linters
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
   # Run tests
   find_package(ament_cmake_gtest REQUIRED)
   ament_add_gtest(${PROJECT_NAME}_rvt_test
@@ -244,4 +248,4 @@ if (BUILD_TESTING)
   )
 endif()
 
-ament_package()
\ No newline at end of file
+ament_package()
diff --git a/include/rviz_visual_tools/remote_control.hpp b/include/rviz_visual_tools/remote_control.hpp
index bfd9fc42..01b078e5 100644
--- a/include/rviz_visual_tools/remote_control.hpp
+++ b/include/rviz_visual_tools/remote_control.hpp
@@ -47,6 +47,7 @@
 // ROS
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/joy.hpp>
+#include <utility>
 
 namespace rviz_visual_tools
 {
@@ -121,7 +122,7 @@ class RemoteControl
 
   void setDisplayWaitingState(DisplayWaitingState displayWaitingState)
   {
-    displayWaitingState_ = displayWaitingState;
+    displayWaitingState_ = std::move(displayWaitingState);
   }
 
 private:
diff --git a/include/rviz_visual_tools/rviz_visual_tools.hpp b/include/rviz_visual_tools/rviz_visual_tools.hpp
index 25816d5c..1ea77f0d 100644
--- a/include/rviz_visual_tools/rviz_visual_tools.hpp
+++ b/include/rviz_visual_tools/rviz_visual_tools.hpp
@@ -84,7 +84,7 @@ static const double SMALL_SCALE = 0.001;
 static const double LARGE_SCALE = 100;
 
 // Note: when adding new colors to colors, also add them to getRandColor() function
-enum colors
+enum Colors
 {
   BLACK = 0,
   BROWN = 1,
@@ -109,7 +109,7 @@ enum colors
   DEFAULT = 20  // i.e. 'do not change default color'
 };
 
-enum scales
+enum Scales
 {
   XXXXSMALL = 1,
   XXXSMALL = 2,
@@ -301,23 +301,23 @@ class RvizVisualTools
    * \brief Get a random color from the list of hardcoded enum color types
    * \return Random color from colors
    */
-  static colors getRandColor();
+  static Colors getRandColor();
 
   /**
    * \brief Get the RGB value of standard colors
    * \param color - an enum pre-defined name of a color
    * \return the RGB message equivalent
    */
-  std_msgs::msg::ColorRGBA getColor(colors color) const;
+  std_msgs::msg::ColorRGBA getColor(Colors color) const;
 
   /** \brief Used by interfaces that do not directly depend on Rviz Visual Tools, such as OMPL */
-  static colors intToRvizColor(std::size_t color);
+  static Colors intToRvizColor(std::size_t color);
 
   /** \brief Used by interfaces that do not directly depend on Rviz Visual Tools, such as OMPL */
-  static rviz_visual_tools::scales intToRvizScale(std::size_t scale);
+  static rviz_visual_tools::Scales intToRvizScale(std::size_t scale);
 
   /** \brief Convert an enum to its string name equivalent */
-  static std::string scaleToString(scales scale);
+  static std::string scaleToString(Scales scale);
 
   /**
    * \brief Create a random color that is not too light
@@ -343,7 +343,7 @@ class RvizVisualTools
    * \param marker_scale - amount to scale the scale for accounting for different types of markers
    * \return vector of 3 scales
    */
-  geometry_msgs::msg::Vector3 getScale(scales scale, double marker_scale = 1.0) const;
+  geometry_msgs::msg::Vector3 getScale(Scales scale, double marker_scale = 1.0) const;
 
   /**
    * \brief Create a vector that points from point a to point b
@@ -446,9 +446,9 @@ class RvizVisualTools
    * \param scale - size of the cone
    * \return true on success
    */
-  bool publishCone(const Eigen::Isometry3d& pose, double angle, colors color = TRANSLUCENT,
+  bool publishCone(const Eigen::Isometry3d& pose, double angle, Colors color = TRANSLUCENT,
                    double scale = 1.0);
-  bool publishCone(const geometry_msgs::msg::Pose& pose, double angle, colors color = TRANSLUCENT,
+  bool publishCone(const geometry_msgs::msg::Pose& pose, double angle, Colors color = TRANSLUCENT,
                    double scale = 1.0);
 
   /**
@@ -465,7 +465,7 @@ class RvizVisualTools
    * \return true on success
    */
   bool publishABCDPlane(const double A, const double B, const double C, const double D,
-                        colors color = TRANSLUCENT, double x_width = 1.0, double y_width = 1.0);
+                        Colors color = TRANSLUCENT, double x_width = 1.0, double y_width = 1.0);
 
   /**
    * \brief Display the XY plane of a given pose
@@ -474,9 +474,9 @@ class RvizVisualTools
    * \param scale - the size of the vizualized plane
    * \return true on success
    */
-  bool publishXYPlane(const Eigen::Isometry3d& pose, colors color = TRANSLUCENT,
+  bool publishXYPlane(const Eigen::Isometry3d& pose, Colors color = TRANSLUCENT,
                       double scale = 1.0);
-  bool publishXYPlane(const geometry_msgs::msg::Pose& pose, colors color = TRANSLUCENT,
+  bool publishXYPlane(const geometry_msgs::msg::Pose& pose, Colors color = TRANSLUCENT,
                       double scale = 1.0);
 
   /**
@@ -486,9 +486,9 @@ class RvizVisualTools
    * \param scale - the size of the vizualized plane
    * \return true on success
    */
-  bool publishXZPlane(const Eigen::Isometry3d& pose, colors color = TRANSLUCENT,
+  bool publishXZPlane(const Eigen::Isometry3d& pose, Colors color = TRANSLUCENT,
                       double scale = 1.0);
-  bool publishXZPlane(const geometry_msgs::msg::Pose& pose, colors color = TRANSLUCENT,
+  bool publishXZPlane(const geometry_msgs::msg::Pose& pose, Colors color = TRANSLUCENT,
                       double scale = 1.0);
 
   /**
@@ -498,9 +498,9 @@ class RvizVisualTools
    * \param scale - the size of the vizualized plane
    * \return true on success
    */
-  bool publishYZPlane(const Eigen::Isometry3d& pose, colors color = TRANSLUCENT,
+  bool publishYZPlane(const Eigen::Isometry3d& pose, Colors color = TRANSLUCENT,
                       double scale = 1.0);
-  bool publishYZPlane(const geometry_msgs::msg::Pose& pose, colors color = TRANSLUCENT,
+  bool publishYZPlane(const geometry_msgs::msg::Pose& pose, Colors color = TRANSLUCENT,
                       double scale = 1.0);
 
   /**
@@ -513,19 +513,19 @@ class RvizVisualTools
    * to incremental counter
    * \return true on success
    */
-  bool publishSphere(const Eigen::Isometry3d& pose, colors color = BLUE, scales scale = MEDIUM,
+  bool publishSphere(const Eigen::Isometry3d& pose, Colors color = BLUE, Scales scale = MEDIUM,
                      const std::string& ns = "Sphere", std::size_t id = 0);
-  bool publishSphere(const Eigen::Vector3d& point, colors color = BLUE, scales scale = MEDIUM,
+  bool publishSphere(const Eigen::Vector3d& point, Colors color = BLUE, Scales scale = MEDIUM,
                      const std::string& ns = "Sphere", std::size_t id = 0);
-  bool publishSphere(const Eigen::Vector3d& point, colors color, double scale,
+  bool publishSphere(const Eigen::Vector3d& point, Colors color, double scale,
                      const std::string& ns = "Sphere", std::size_t id = 0);
-  bool publishSphere(const geometry_msgs::msg::Point& point, colors color = BLUE,
-                     scales scale = MEDIUM, const std::string& ns = "Sphere", std::size_t id = 0);
-  bool publishSphere(const geometry_msgs::msg::Pose& pose, colors color = BLUE,
-                     scales scale = MEDIUM, const std::string& ns = "Sphere", std::size_t id = 0);
-  bool publishSphere(const geometry_msgs::msg::Pose& pose, colors color, double scale,
+  bool publishSphere(const geometry_msgs::msg::Point& point, Colors color = BLUE,
+                     Scales scale = MEDIUM, const std::string& ns = "Sphere", std::size_t id = 0);
+  bool publishSphere(const geometry_msgs::msg::Pose& pose, Colors color = BLUE,
+                     Scales scale = MEDIUM, const std::string& ns = "Sphere", std::size_t id = 0);
+  bool publishSphere(const geometry_msgs::msg::Pose& pose, Colors color, double scale,
                      const std::string& ns = "Sphere", std::size_t id = 0);
-  bool publishSphere(const geometry_msgs::msg::Pose& pose, colors color,
+  bool publishSphere(const geometry_msgs::msg::Pose& pose, Colors color,
                      const geometry_msgs::msg::Vector3 scale, const std::string& ns = "Sphere",
                      std::size_t id = 0);
   bool publishSphere(const geometry_msgs::msg::Pose& pose, const std_msgs::msg::ColorRGBA& color,
@@ -537,7 +537,7 @@ class RvizVisualTools
   bool publishSphere(const Eigen::Vector3d& point, const std_msgs::msg::ColorRGBA& color,
                      const geometry_msgs::msg::Vector3 scale, const std::string& ns = "Sphere",
                      std::size_t id = 0);
-  bool publishSphere(const geometry_msgs::msg::PoseStamped& pose, colors color,
+  bool publishSphere(const geometry_msgs::msg::PoseStamped& pose, Colors color,
                      const geometry_msgs::msg::Vector3 scale, const std::string& ns = "Sphere",
                      std::size_t id = 0);
 
@@ -549,15 +549,15 @@ class RvizVisualTools
    * \param ns - namespace of marker
    * \return true on success
    */
-  bool publishSpheres(const EigenSTL::vector_Vector3d& points, colors color = BLUE,
-                      scales scale = MEDIUM, const std::string& ns = "Spheres");
-  bool publishSpheres(const EigenSTL::vector_Vector3d& points, colors color, double scale = 0.1,
+  bool publishSpheres(const EigenSTL::vector_Vector3d& points, Colors color = BLUE,
+                      Scales scale = MEDIUM, const std::string& ns = "Spheres");
+  bool publishSpheres(const EigenSTL::vector_Vector3d& points, Colors color, double scale = 0.1,
                       const std::string& ns = "Spheres");
-  bool publishSpheres(const std::vector<geometry_msgs::msg::Point>& points, colors color = BLUE,
-                      scales scale = MEDIUM, const std::string& ns = "Spheres");
-  bool publishSpheres(const std::vector<geometry_msgs::msg::Point>& points, colors color = BLUE,
+  bool publishSpheres(const std::vector<geometry_msgs::msg::Point>& points, Colors color = BLUE,
+                      Scales scale = MEDIUM, const std::string& ns = "Spheres");
+  bool publishSpheres(const std::vector<geometry_msgs::msg::Point>& points, Colors color = BLUE,
                       double scale = 0.1, const std::string& ns = "Spheres");
-  bool publishSpheres(const std::vector<geometry_msgs::msg::Point>& points, colors color,
+  bool publishSpheres(const std::vector<geometry_msgs::msg::Point>& points, Colors color,
                       const geometry_msgs::msg::Vector3& scale, const std::string& ns = "Spheres");
 
   /**
@@ -568,8 +568,8 @@ class RvizVisualTools
    * \param ns - namespace of marker
    * \return true on success
    */
-  bool publishSpheres(const EigenSTL::vector_Vector3d& points, const std::vector<colors>& colors,
-                      scales scale = MEDIUM, const std::string& ns = "Spheres");
+  bool publishSpheres(const EigenSTL::vector_Vector3d& points, const std::vector<Colors>& colors,
+                      Scales scale = MEDIUM, const std::string& ns = "Spheres");
   bool publishSpheres(const std::vector<geometry_msgs::msg::Point>& points,
                       const std::vector<std_msgs::msg::ColorRGBA>& colors,
                       const geometry_msgs::msg::Vector3& scale, const std::string& ns = "Spheres");
@@ -582,12 +582,12 @@ class RvizVisualTools
    * \param length - the length of the arrow tail, if zero, will auto set with scale
    * \return true on success
    */
-  bool publishXArrow(const Eigen::Isometry3d& pose, colors color = RED, scales scale = MEDIUM,
+  bool publishXArrow(const Eigen::Isometry3d& pose, Colors color = RED, Scales scale = MEDIUM,
                      double length = 0.0);
-  bool publishXArrow(const geometry_msgs::msg::Pose& pose, colors color = RED,
-                     scales scale = MEDIUM, double length = 0.0);
-  bool publishXArrow(const geometry_msgs::msg::PoseStamped& pose, colors color = RED,
-                     scales scale = MEDIUM, double length = 0.0);
+  bool publishXArrow(const geometry_msgs::msg::Pose& pose, Colors color = RED,
+                     Scales scale = MEDIUM, double length = 0.0);
+  bool publishXArrow(const geometry_msgs::msg::PoseStamped& pose, Colors color = RED,
+                     Scales scale = MEDIUM, double length = 0.0);
 
   /**
    * \brief Display an arrow along the y-axis of a pose
@@ -597,12 +597,12 @@ class RvizVisualTools
    * \param length - the length of the arrow tail, if zero, will auto set with scale
    * \return true on success
    */
-  bool publishYArrow(const Eigen::Isometry3d& pose, colors color = GREEN, scales scale = MEDIUM,
+  bool publishYArrow(const Eigen::Isometry3d& pose, Colors color = GREEN, Scales scale = MEDIUM,
                      double length = 0.0);
-  bool publishYArrow(const geometry_msgs::msg::Pose& pose, colors color = GREEN,
-                     scales scale = MEDIUM, double length = 0.0);
-  bool publishYArrow(const geometry_msgs::msg::PoseStamped& pose, colors color = GREEN,
-                     scales scale = MEDIUM, double length = 0.0);
+  bool publishYArrow(const geometry_msgs::msg::Pose& pose, Colors color = GREEN,
+                     Scales scale = MEDIUM, double length = 0.0);
+  bool publishYArrow(const geometry_msgs::msg::PoseStamped& pose, Colors color = GREEN,
+                     Scales scale = MEDIUM, double length = 0.0);
 
   /**
    * \brief Display an arrow along the z-axis of a pose
@@ -612,14 +612,14 @@ class RvizVisualTools
    * \param length - the length of the arrow tail, if zero, will auto set with scale
    * \return true on success
    */
-  bool publishZArrow(const Eigen::Isometry3d& pose, colors color = BLUE, scales scale = MEDIUM,
+  bool publishZArrow(const Eigen::Isometry3d& pose, Colors color = BLUE, Scales scale = MEDIUM,
                      double length = 0.0, std::size_t id = 0);
-  bool publishZArrow(const geometry_msgs::msg::Pose& pose, colors color = BLUE,
-                     scales scale = MEDIUM, double length = 0.0);
-  bool publishZArrow(const geometry_msgs::msg::PoseStamped& pose, colors color = BLUE,
-                     scales scale = MEDIUM, double length = 0.0);
-  bool publishZArrow(const geometry_msgs::msg::PoseStamped& pose, colors color = BLUE,
-                     scales scale = MEDIUM, double length = 0.0, std::size_t id = 0);
+  bool publishZArrow(const geometry_msgs::msg::Pose& pose, Colors color = BLUE,
+                     Scales scale = MEDIUM, double length = 0.0);
+  bool publishZArrow(const geometry_msgs::msg::PoseStamped& pose, Colors color = BLUE,
+                     Scales scale = MEDIUM, double length = 0.0);
+  bool publishZArrow(const geometry_msgs::msg::PoseStamped& pose, Colors color = BLUE,
+                     Scales scale = MEDIUM, double length = 0.0, std::size_t id = 0);
 
   /**
    * \brief Display an arrow along the x-axis of a pose
@@ -631,14 +631,14 @@ class RvizVisualTools
    * \param end - the ending point of the arrow
    * \return true on success
    */
-  bool publishArrow(const Eigen::Isometry3d& pose, colors color = BLUE, scales scale = MEDIUM,
+  bool publishArrow(const Eigen::Isometry3d& pose, Colors color = BLUE, Scales scale = MEDIUM,
                     double length = 0.0, std::size_t id = 0);
-  bool publishArrow(const geometry_msgs::msg::Pose& pose, colors color = BLUE,
-                    scales scale = MEDIUM, double length = 0.0, std::size_t id = 0);
-  bool publishArrow(const geometry_msgs::msg::PoseStamped& pose, colors color = BLUE,
-                    scales scale = MEDIUM, double length = 0.0, std::size_t id = 0);
+  bool publishArrow(const geometry_msgs::msg::Pose& pose, Colors color = BLUE,
+                    Scales scale = MEDIUM, double length = 0.0, std::size_t id = 0);
+  bool publishArrow(const geometry_msgs::msg::PoseStamped& pose, Colors color = BLUE,
+                    Scales scale = MEDIUM, double length = 0.0, std::size_t id = 0);
   bool publishArrow(const geometry_msgs::msg::Point& start, const geometry_msgs::msg::Point& end,
-                    colors color = BLUE, scales scale = MEDIUM, std::size_t id = 0);
+                    Colors color = BLUE, Scales scale = MEDIUM, std::size_t id = 0);
 
   /**
    * \brief Display a rectangular cuboid
@@ -648,9 +648,9 @@ class RvizVisualTools
    * \return true on success
    */
   bool publishCuboid(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2,
-                     colors color = BLUE);
+                     Colors color = BLUE);
   bool publishCuboid(const geometry_msgs::msg::Point& point1,
-                     const geometry_msgs::msg::Point& point2, colors color = BLUE,
+                     const geometry_msgs::msg::Point& point2, Colors color = BLUE,
                      const std::string& ns = "Cuboid", std::size_t id = 0);
 
   /**
@@ -663,9 +663,9 @@ class RvizVisualTools
    * \return true on success
    */
   bool publishCuboid(const geometry_msgs::msg::Pose& pose, double depth, double width,
-                     double height, colors color = BLUE);
+                     double height, Colors color = BLUE);
   bool publishCuboid(const Eigen::Isometry3d& pose, double depth, double width, double height,
-                     colors color = BLUE);
+                     Colors color = BLUE);
 
   /**
    * \brief Display a marker of line
@@ -676,19 +676,19 @@ class RvizVisualTools
    * \return true on success
    */
   bool publishLine(const Eigen::Isometry3d& point1, const Eigen::Isometry3d& point2,
-                   colors color = BLUE, scales scale = MEDIUM);
+                   Colors color = BLUE, Scales scale = MEDIUM);
   bool publishLine(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2,
-                   colors color = BLUE, scales scale = MEDIUM);
-  bool publishLine(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2, colors color,
+                   Colors color = BLUE, Scales scale = MEDIUM);
+  bool publishLine(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2, Colors color,
                    double radius);
   bool publishLine(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2,
-                   const std_msgs::msg::ColorRGBA& color, scales scale = MEDIUM);
+                   const std_msgs::msg::ColorRGBA& color, Scales scale = MEDIUM);
   bool publishLine(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2,
                    const std_msgs::msg::ColorRGBA& color, double radius);
   bool publishLine(const geometry_msgs::msg::Point& point1, const geometry_msgs::msg::Point& point2,
-                   colors color = BLUE, scales scale = MEDIUM);
+                   Colors color = BLUE, Scales scale = MEDIUM);
   bool publishLine(const geometry_msgs::msg::Point& point1, const geometry_msgs::msg::Point& point2,
-                   const std_msgs::msg::ColorRGBA& color, scales scale = MEDIUM);
+                   const std_msgs::msg::ColorRGBA& color, Scales scale = MEDIUM);
   bool publishLine(const geometry_msgs::msg::Point& point1, const geometry_msgs::msg::Point& point2,
                    const std_msgs::msg::ColorRGBA& color, const geometry_msgs::msg::Vector3& scale);
 
@@ -701,8 +701,8 @@ class RvizVisualTools
    * \return true on success
    */
   bool publishLines(const EigenSTL::vector_Vector3d& aPoints,
-                    const EigenSTL::vector_Vector3d& bPoints, const std::vector<colors>& colors,
-                    scales scale = MEDIUM);
+                    const EigenSTL::vector_Vector3d& bPoints, const std::vector<Colors>& colors,
+                    Scales scale = MEDIUM);
   bool publishLines(const std::vector<geometry_msgs::msg::Point>& aPoints,
                     const std::vector<geometry_msgs::msg::Point>& bPoints,
                     const std::vector<std_msgs::msg::ColorRGBA>& colors,
@@ -717,8 +717,8 @@ class RvizVisualTools
    * \param ns - namespace of marker
    * \return true on success
    */
-  bool publishLineStrip(const std::vector<geometry_msgs::msg::Point>& path, colors color = RED,
-                        scales scale = MEDIUM, const std::string& ns = "Path");
+  bool publishLineStrip(const std::vector<geometry_msgs::msg::Point>& path, Colors color = RED,
+                        Scales scale = MEDIUM, const std::string& ns = "Path");
 
   /**
    * \brief Display a marker of a series of connected cylinders
@@ -728,19 +728,19 @@ class RvizVisualTools
    * \param ns - namespace of marker
    * \return true on success
    */
-  bool publishPath(const std::vector<geometry_msgs::msg::Pose>& path, colors color = RED,
-                   scales scale = MEDIUM, const std::string& ns = "Path");
-  bool publishPath(const std::vector<geometry_msgs::msg::Point>& path, colors color, scales scale,
+  bool publishPath(const std::vector<geometry_msgs::msg::Pose>& path, Colors color = RED,
+                   Scales scale = MEDIUM, const std::string& ns = "Path");
+  bool publishPath(const std::vector<geometry_msgs::msg::Point>& path, Colors color, Scales scale,
                    const std::string& ns = "Path");
-  bool publishPath(const EigenSTL::vector_Isometry3d& path, colors color, scales scale,
+  bool publishPath(const EigenSTL::vector_Isometry3d& path, Colors color, Scales scale,
                    const std::string& ns = "Path");
-  bool publishPath(const EigenSTL::vector_Vector3d& path, colors color, scales scale,
+  bool publishPath(const EigenSTL::vector_Vector3d& path, Colors color, Scales scale,
                    const std::string& ns = "Path");
-  bool publishPath(const std::vector<geometry_msgs::msg::Point>& path, colors color = RED,
+  bool publishPath(const std::vector<geometry_msgs::msg::Point>& path, Colors color = RED,
                    double radius = 0.01, const std::string& ns = "Path");
-  bool publishPath(const EigenSTL::vector_Vector3d& path, colors color = RED, double radius = 0.01,
+  bool publishPath(const EigenSTL::vector_Vector3d& path, Colors color = RED, double radius = 0.01,
                    const std::string& ns = "Path");
-  bool publishPath(const EigenSTL::vector_Isometry3d& path, colors color = RED,
+  bool publishPath(const EigenSTL::vector_Isometry3d& path, Colors color = RED,
                    double radius = 0.01, const std::string& ns = "Path");
 
   /**
@@ -752,7 +752,7 @@ class RvizVisualTools
    * \return true on success
    * \note path and colors vectors must be the same size
    */
-  bool publishPath(const EigenSTL::vector_Vector3d& path, const std::vector<colors>& colors,
+  bool publishPath(const EigenSTL::vector_Vector3d& path, const std::vector<Colors>& colors,
                    double radius = 0.01, const std::string& ns = "Path");
 
   bool publishPath(const EigenSTL::vector_Vector3d& path,
@@ -767,8 +767,8 @@ class RvizVisualTools
    * \param ns - namespace of marker
    * \return true on success
    */
-  bool publishPolygon(const geometry_msgs::msg::Polygon& polygon, colors color = RED,
-                      scales scale = MEDIUM, const std::string& ns = "Polygon");
+  bool publishPolygon(const geometry_msgs::msg::Polygon& polygon, Colors color = RED,
+                      Scales scale = MEDIUM, const std::string& ns = "Polygon");
 
   /**
    * \brief Publish transformed wireframe cuboid. Useful eg to show an oriented bounding box.
@@ -783,7 +783,7 @@ class RvizVisualTools
    * \return true on success
    */
   bool publishWireframeCuboid(const Eigen::Isometry3d& pose, double depth, double width,
-                              double height, colors color = BLUE,
+                              double height, Colors color = BLUE,
                               const std::string& ns = "Wireframe Cuboid", std::size_t id = 0);
 
   /**
@@ -798,7 +798,7 @@ class RvizVisualTools
    * \return true on success
    */
   bool publishWireframeCuboid(const Eigen::Isometry3d& pose, const Eigen::Vector3d& min_point,
-                              const Eigen::Vector3d& max_point, colors color = BLUE,
+                              const Eigen::Vector3d& max_point, Colors color = BLUE,
                               const std::string& ns = "Wireframe Cuboid", std::size_t id = 0);
 
   /**
@@ -812,10 +812,10 @@ class RvizVisualTools
    * \return true on success
    */
   bool publishWireframeRectangle(const Eigen::Isometry3d& pose, double height, double width,
-                                 colors color = BLUE, scales scale = MEDIUM, std::size_t id = 0);
+                                 Colors color = BLUE, Scales scale = MEDIUM, std::size_t id = 0);
   bool publishWireframeRectangle(const Eigen::Isometry3d& pose, const Eigen::Vector3d& p1_in,
                                  const Eigen::Vector3d& p2_in, const Eigen::Vector3d& p3_in,
-                                 const Eigen::Vector3d& p4_in, colors color, scales scale);
+                                 const Eigen::Vector3d& p4_in, Colors color, Scales scale);
   /**
    * \brief Display a marker of a coordinate frame axis with a text label describing it
    * \param pose - the location to publish the marker with respect to the base frame
@@ -825,9 +825,9 @@ class RvizVisualTools
    * \return true on success
    */
   bool publishAxisLabeled(const Eigen::Isometry3d& pose, const std::string& label,
-                          scales scale = MEDIUM, colors color = WHITE);
+                          Scales scale = MEDIUM, Colors color = WHITE);
   bool publishAxisLabeled(const geometry_msgs::msg::Pose& pose, const std::string& label,
-                          scales scale = MEDIUM, colors color = WHITE);
+                          Scales scale = MEDIUM, Colors color = WHITE);
 
   /**
    * \brief Display a red/green/blue coordinate frame axis
@@ -838,9 +838,9 @@ class RvizVisualTools
    * \param ns - namespace
    * \return true on success
    */
-  bool publishAxis(const geometry_msgs::msg::Pose& pose, scales scale = MEDIUM,
+  bool publishAxis(const geometry_msgs::msg::Pose& pose, Scales scale = MEDIUM,
                    const std::string& ns = "Axis");
-  bool publishAxis(const Eigen::Isometry3d& pose, scales scale = MEDIUM,
+  bool publishAxis(const Eigen::Isometry3d& pose, Scales scale = MEDIUM,
                    const std::string& ns = "Axis");
   bool publishAxis(const geometry_msgs::msg::Pose& pose, double length, double radius = 0.01,
                    const std::string& ns = "Axis");
@@ -869,7 +869,7 @@ class RvizVisualTools
    * \param ns - namespace
    * \return true on success
    */
-  bool publishAxisPath(const EigenSTL::vector_Isometry3d& path, scales scale = MEDIUM,
+  bool publishAxisPath(const EigenSTL::vector_Isometry3d& path, Scales scale = MEDIUM,
                        const std::string& ns = "Axis Path");
   bool publishAxisPath(const EigenSTL::vector_Isometry3d& path, double length = 0.1,
                        double radius = 0.01, const std::string& ns = "Axis Path");
@@ -883,9 +883,9 @@ class RvizVisualTools
    * \return true on success
    */
   bool publishCylinder(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2,
-                       colors color = BLUE, scales scale = MEDIUM,
+                       Colors color = BLUE, Scales scale = MEDIUM,
                        const std::string& ns = "Cylinder");
-  bool publishCylinder(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2, colors color,
+  bool publishCylinder(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2, Colors color,
                        double radius = 0.01, const std::string& ns = "Cylinder");
   bool publishCylinder(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2,
                        const std_msgs::msg::ColorRGBA& color, double radius = 0.01,
@@ -899,9 +899,9 @@ class RvizVisualTools
    * \param radius - geometry of cylinder
    * \return true on success
    */
-  bool publishCylinder(const Eigen::Isometry3d& pose, colors color = BLUE, double height = 0.1,
+  bool publishCylinder(const Eigen::Isometry3d& pose, Colors color = BLUE, double height = 0.1,
                        double radius = 0.01, const std::string& ns = "Cylinder");
-  bool publishCylinder(const geometry_msgs::msg::Pose& pose, colors color = BLUE,
+  bool publishCylinder(const geometry_msgs::msg::Pose& pose, Colors color = BLUE,
                        double height = 0.1, double radius = 0.01,
                        const std::string& ns = "Cylinder");
   bool publishCylinder(const geometry_msgs::msg::Pose& pose, const std_msgs::msg::ColorRGBA& color,
@@ -920,10 +920,10 @@ class RvizVisualTools
    * \return true on success
    */
   bool publishMesh(const Eigen::Isometry3d& pose, const std::string& file_name,
-                   colors color = CLEAR, double scale = 1, const std::string& ns = "mesh",
+                   Colors color = CLEAR, double scale = 1, const std::string& ns = "mesh",
                    std::size_t id = 0);
   bool publishMesh(const geometry_msgs::msg::Pose& pose, const std::string& file_name,
-                   colors color = CLEAR, double scale = 1, const std::string& ns = "mesh",
+                   Colors color = CLEAR, double scale = 1, const std::string& ns = "mesh",
                    std::size_t id = 0);
 
   /**
@@ -938,10 +938,10 @@ class RvizVisualTools
    * \return true on success
    */
   bool publishMesh(const Eigen::Isometry3d& pose, const shape_msgs::msg::Mesh& mesh,
-                   colors color = CLEAR, double scale = 1, const std::string& ns = "mesh",
+                   Colors color = CLEAR, double scale = 1, const std::string& ns = "mesh",
                    std::size_t id = 0);
   bool publishMesh(const geometry_msgs::msg::Pose& pose, const shape_msgs::msg::Mesh& mesh,
-                   colors color = CLEAR, double scale = 1, const std::string& ns = "mesh",
+                   Colors color = CLEAR, double scale = 1, const std::string& ns = "mesh",
                    std::size_t id = 0);
 
   /**
@@ -952,7 +952,7 @@ class RvizVisualTools
    * \return true on success
    */
   // TODO(mlautman): port graph_msgs
-  // bool publishGraph(const graph_msgs::msg::GeometryGraph& graph, colors color, double radius);
+  // bool publishGraph(const graph_msgs::msg::GeometryGraph& graph, Colors color, double radius);
 
   /**
    * \brief Display a marker of a text
@@ -963,13 +963,13 @@ class RvizVisualTools
    * \param static_id - if true, only one text can be published at a time
    * \return true on success
    */
-  bool publishText(const Eigen::Isometry3d& pose, const std::string& text, colors color = WHITE,
-                   scales scale = MEDIUM, bool static_id = true);
-  bool publishText(const Eigen::Isometry3d& pose, const std::string& text, colors color,
+  bool publishText(const Eigen::Isometry3d& pose, const std::string& text, Colors color = WHITE,
+                   Scales scale = MEDIUM, bool static_id = true);
+  bool publishText(const Eigen::Isometry3d& pose, const std::string& text, Colors color,
                    const geometry_msgs::msg::Vector3 scale, bool static_id = true);
   bool publishText(const geometry_msgs::msg::Pose& pose, const std::string& text,
-                   colors color = WHITE, scales scale = MEDIUM, bool static_id = true);
-  bool publishText(const geometry_msgs::msg::Pose& pose, const std::string& text, colors color,
+                   Colors color = WHITE, Scales scale = MEDIUM, bool static_id = true);
+  bool publishText(const geometry_msgs::msg::Pose& pose, const std::string& text, Colors color,
                    const geometry_msgs::msg::Vector3 scale, bool static_id = true);
 
   /**
@@ -1228,7 +1228,7 @@ class RvizVisualTools
   bool psychedelic_mode_ = false;
 
   // Chose random colors from this list
-  static const std::array<colors, 14> ALL_RAND_COLORS;
+  static const std::array<Colors, 14> ALL_RAND_COLORS;
 
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW  // http://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
diff --git a/package.xml b/package.xml
index af2a8226..28b3bec2 100644
--- a/package.xml
+++ b/package.xml
@@ -1,10 +1,11 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>rviz_visual_tools</name>
   <version>3.7.0</version>
   <description>Utility functions for displaying and debugging data in Rviz via published markers</description>
 
   <maintainer email="mike@picknik.ai">Mike Lautman</maintainer>
+  <author email="mike@picknik.ai">Mike Lautman</author>
 
   <license>BSD</license>
 
@@ -12,11 +13,8 @@
   <url type="butracker">https://github.com/PickNikRobotics/rviz_visual_tools/issues</url>
   <url type="repository">https://github.com/PickNikRobotics/rviz_visual_tools/</url>
 
-  <author email="mike@picknik.ai">Mike Lautman</author>
-
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
-
   <buildtool_export_depend>eigen3_cmake_module</buildtool_export_depend>
 
   <depend>rclcpp</depend>
@@ -54,7 +52,8 @@
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_clang_format</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/rviz_visual_tools.repos b/rviz_visual_tools.repos
index 070727ed..eb8d6bb7 100644
--- a/rviz_visual_tools.repos
+++ b/rviz_visual_tools.repos
@@ -1,5 +1,5 @@
 repositories:
-#  rviz_visual_tools:
-#    type: git
-#    url: https://github.com/PickNikRobotics/rviz_visual_tools.git
-#    version: eloquent-devel
+  joint_state_publisher:
+    type: git
+    url: https://github.com/ros/joint_state_publisher
+    version: ros2
diff --git a/src/rviz_visual_tools.cpp b/src/rviz_visual_tools.cpp
index bade4efb..56fc7eda 100644
--- a/src/rviz_visual_tools.cpp
+++ b/src/rviz_visual_tools.cpp
@@ -61,7 +61,7 @@ namespace rviz_visual_tools
 {
 const std::string LOGNAME = "visual_tools";
 
-const std::array<colors, 14> RvizVisualTools::ALL_RAND_COLORS = {
+const std::array<Colors, 14> RvizVisualTools::ALL_RAND_COLORS = {
   RED,    GREEN, BLUE, GREY,       DARK_GREY, WHITE, ORANGE,
   YELLOW, BROWN, PINK, LIME_GREEN, PURPLE,    CYAN,  MAGENTA
 };
@@ -406,13 +406,13 @@ void RvizVisualTools::setLifetime(double lifetime)
   text_marker_.lifetime = marker_lifetime_;
 }
 
-colors RvizVisualTools::getRandColor()
+Colors RvizVisualTools::getRandColor()
 {
   const int rand_num = iRand(0, ALL_RAND_COLORS.size() - 1);
   return ALL_RAND_COLORS[rand_num];
 }
 
-std_msgs::msg::ColorRGBA RvizVisualTools::getColor(colors color) const
+std_msgs::msg::ColorRGBA RvizVisualTools::getColor(Colors color) const
 {
   std_msgs::msg::ColorRGBA result;
 
@@ -557,7 +557,7 @@ std_msgs::msg::ColorRGBA RvizVisualTools::getColor(colors color) const
   return result;
 }
 
-colors RvizVisualTools::intToRvizColor(std::size_t color)
+Colors RvizVisualTools::intToRvizColor(std::size_t color)
 {
   // clang-format off
   switch (color)
@@ -588,7 +588,7 @@ colors RvizVisualTools::intToRvizColor(std::size_t color)
   return DEFAULT;
 }
 
-scales RvizVisualTools::intToRvizScale(std::size_t scale)
+Scales RvizVisualTools::intToRvizScale(std::size_t scale)
 {
   // clang-format off
   switch (scale)
@@ -610,7 +610,7 @@ scales RvizVisualTools::intToRvizScale(std::size_t scale)
   return MEDIUM;  // dumy value
 }
 
-std::string RvizVisualTools::scaleToString(scales scale)
+std::string RvizVisualTools::scaleToString(Scales scale)
 {
   // clang-format off
   switch (scale)
@@ -718,7 +718,7 @@ std_msgs::msg::ColorRGBA RvizVisualTools::getColorScale(double value) const
   return result;
 }
 
-geometry_msgs::msg::Vector3 RvizVisualTools::getScale(scales scale, double marker_scale) const
+geometry_msgs::msg::Vector3 RvizVisualTools::getScale(Scales scale, double marker_scale) const
 {
   geometry_msgs::msg::Vector3 result;
   double val(0.0);
@@ -1011,13 +1011,13 @@ bool RvizVisualTools::publishMarkers(visualization_msgs::msg::MarkerArray& marke
   return true;
 }
 
-bool RvizVisualTools::publishCone(const Eigen::Isometry3d& pose, double angle, colors color,
+bool RvizVisualTools::publishCone(const Eigen::Isometry3d& pose, double angle, Colors color,
                                   double scale)
 {
   return publishCone(convertPose(pose), angle, color, scale);
 }
 
-bool RvizVisualTools::publishCone(const geometry_msgs::msg::Pose& pose, double angle, colors color,
+bool RvizVisualTools::publishCone(const geometry_msgs::msg::Pose& pose, double angle, Colors color,
                                   double scale)
 {
   triangle_marker_.header.stamp = clock_interface_->get_clock()->now();
@@ -1060,7 +1060,7 @@ bool RvizVisualTools::publishCone(const geometry_msgs::msg::Pose& pose, double a
 }
 
 bool RvizVisualTools::publishABCDPlane(const double A, const double B, const double C,
-                                       const double D, colors color, double x_width, double y_width)
+                                       const double D, Colors color, double x_width, double y_width)
 {
   // The coefficients A,B,C give the normal to the plane.
   Eigen::Vector3d n(A, B, C);
@@ -1083,12 +1083,12 @@ bool RvizVisualTools::publishABCDPlane(const double A, const double B, const dou
   return true;
 }
 
-bool RvizVisualTools::publishXYPlane(const Eigen::Isometry3d& pose, colors color, double scale)
+bool RvizVisualTools::publishXYPlane(const Eigen::Isometry3d& pose, Colors color, double scale)
 {
   return publishXYPlane(convertPose(pose), color, scale);
 }
 
-bool RvizVisualTools::publishXYPlane(const geometry_msgs::msg::Pose& pose, colors color,
+bool RvizVisualTools::publishXYPlane(const geometry_msgs::msg::Pose& pose, Colors color,
                                      double scale)
 {
   triangle_marker_.header.stamp = clock_interface_->get_clock()->now();
@@ -1130,12 +1130,12 @@ bool RvizVisualTools::publishXYPlane(const geometry_msgs::msg::Pose& pose, color
   return publishMarker(triangle_marker_);
 }
 
-bool RvizVisualTools::publishXZPlane(const Eigen::Isometry3d& pose, colors color, double scale)
+bool RvizVisualTools::publishXZPlane(const Eigen::Isometry3d& pose, Colors color, double scale)
 {
   return publishXZPlane(convertPose(pose), color, scale);
 }
 
-bool RvizVisualTools::publishXZPlane(const geometry_msgs::msg::Pose& pose, colors color,
+bool RvizVisualTools::publishXZPlane(const geometry_msgs::msg::Pose& pose, Colors color,
                                      double scale)
 {
   triangle_marker_.header.stamp = clock_interface_->get_clock()->now();
@@ -1177,12 +1177,12 @@ bool RvizVisualTools::publishXZPlane(const geometry_msgs::msg::Pose& pose, color
   return publishMarker(triangle_marker_);
 }
 
-bool RvizVisualTools::publishYZPlane(const Eigen::Isometry3d& pose, colors color, double scale)
+bool RvizVisualTools::publishYZPlane(const Eigen::Isometry3d& pose, Colors color, double scale)
 {
   return publishYZPlane(convertPose(pose), color, scale);
 }
 
-bool RvizVisualTools::publishYZPlane(const geometry_msgs::msg::Pose& pose, colors color,
+bool RvizVisualTools::publishYZPlane(const geometry_msgs::msg::Pose& pose, Colors color,
                                      double scale)
 {
   triangle_marker_.header.stamp = clock_interface_->get_clock()->now();
@@ -1224,13 +1224,13 @@ bool RvizVisualTools::publishYZPlane(const geometry_msgs::msg::Pose& pose, color
   return publishMarker(triangle_marker_);
 }
 
-bool RvizVisualTools::publishSphere(const Eigen::Isometry3d& pose, colors color, scales scale,
+bool RvizVisualTools::publishSphere(const Eigen::Isometry3d& pose, Colors color, Scales scale,
                                     const std::string& ns, std::size_t id)
 {
   return publishSphere(convertPose(pose), color, scale, ns, id);
 }
 
-bool RvizVisualTools::publishSphere(const Eigen::Vector3d& point, colors color, scales scale,
+bool RvizVisualTools::publishSphere(const Eigen::Vector3d& point, Colors color, Scales scale,
                                     const std::string& ns, std::size_t id)
 {
   geometry_msgs::msg::Pose pose_msg;
@@ -1238,7 +1238,7 @@ bool RvizVisualTools::publishSphere(const Eigen::Vector3d& point, colors color,
   return publishSphere(pose_msg, color, scale, ns, id);
 }
 
-bool RvizVisualTools::publishSphere(const Eigen::Vector3d& point, colors color, double scale,
+bool RvizVisualTools::publishSphere(const Eigen::Vector3d& point, Colors color, double scale,
                                     const std::string& ns, std::size_t id)
 {
   geometry_msgs::msg::Pose pose_msg = getIdentityPose();
@@ -1246,21 +1246,21 @@ bool RvizVisualTools::publishSphere(const Eigen::Vector3d& point, colors color,
   return publishSphere(pose_msg, color, scale, ns, id);
 }
 
-bool RvizVisualTools::publishSphere(const geometry_msgs::msg::Point& point, colors color,
-                                    scales scale, const std::string& ns, std::size_t id)
+bool RvizVisualTools::publishSphere(const geometry_msgs::msg::Point& point, Colors color,
+                                    Scales scale, const std::string& ns, std::size_t id)
 {
   geometry_msgs::msg::Pose pose_msg = getIdentityPose();
   pose_msg.position = point;
   return publishSphere(pose_msg, color, scale, ns, id);
 }
 
-bool RvizVisualTools::publishSphere(const geometry_msgs::msg::Pose& pose, colors color,
-                                    scales scale, const std::string& ns, std::size_t id)
+bool RvizVisualTools::publishSphere(const geometry_msgs::msg::Pose& pose, Colors color,
+                                    Scales scale, const std::string& ns, std::size_t id)
 {
   return publishSphere(pose, color, getScale(scale), ns, id);
 }
 
-bool RvizVisualTools::publishSphere(const geometry_msgs::msg::Pose& pose, colors color,
+bool RvizVisualTools::publishSphere(const geometry_msgs::msg::Pose& pose, Colors color,
                                     double scale, const std::string& ns, std::size_t id)
 {
   geometry_msgs::msg::Vector3 scale_msg;
@@ -1270,7 +1270,7 @@ bool RvizVisualTools::publishSphere(const geometry_msgs::msg::Pose& pose, colors
   return publishSphere(pose, color, scale_msg, ns, id);
 }
 
-bool RvizVisualTools::publishSphere(const geometry_msgs::msg::Pose& pose, colors color,
+bool RvizVisualTools::publishSphere(const geometry_msgs::msg::Pose& pose, Colors color,
                                     const geometry_msgs::msg::Vector3 scale, const std::string& ns,
                                     std::size_t id)
 {
@@ -1322,7 +1322,7 @@ bool RvizVisualTools::publishSphere(const geometry_msgs::msg::Pose& pose,
   return publishMarker(sphere_marker_);
 }
 
-bool RvizVisualTools::publishSphere(const geometry_msgs::msg::PoseStamped& pose, colors color,
+bool RvizVisualTools::publishSphere(const geometry_msgs::msg::PoseStamped& pose, Colors color,
                                     const geometry_msgs::msg::Vector3 scale, const std::string& ns,
                                     std::size_t id)
 {
@@ -1350,41 +1350,41 @@ bool RvizVisualTools::publishSphere(const geometry_msgs::msg::PoseStamped& pose,
   return true;
 }
 
-bool RvizVisualTools::publishXArrow(const Eigen::Isometry3d& pose, colors color, scales scale,
+bool RvizVisualTools::publishXArrow(const Eigen::Isometry3d& pose, Colors color, Scales scale,
                                     double length)
 {
   return publishArrow(convertPose(pose), color, scale, length);
 }
 
-bool RvizVisualTools::publishXArrow(const geometry_msgs::msg::Pose& pose, colors color,
-                                    scales scale, double length)
+bool RvizVisualTools::publishXArrow(const geometry_msgs::msg::Pose& pose, Colors color,
+                                    Scales scale, double length)
 {
   return publishArrow(pose, color, scale, length);
 }
 
-bool RvizVisualTools::publishXArrow(const geometry_msgs::msg::PoseStamped& pose, colors color,
-                                    scales scale, double length)
+bool RvizVisualTools::publishXArrow(const geometry_msgs::msg::PoseStamped& pose, Colors color,
+                                    Scales scale, double length)
 {
   return publishArrow(pose, color, scale, length);
 }
 
-bool RvizVisualTools::publishYArrow(const Eigen::Isometry3d& pose, colors color, scales scale,
+bool RvizVisualTools::publishYArrow(const Eigen::Isometry3d& pose, Colors color, Scales scale,
                                     double length)
 {
   Eigen::Isometry3d arrow_pose = pose * Eigen::AngleAxisd(M_PI / 2, Eigen::Vector3d::UnitZ());
   return publishArrow(convertPose(arrow_pose), color, scale, length);
 }
 
-bool RvizVisualTools::publishYArrow(const geometry_msgs::msg::Pose& pose, colors color,
-                                    scales scale, double length)
+bool RvizVisualTools::publishYArrow(const geometry_msgs::msg::Pose& pose, Colors color,
+                                    Scales scale, double length)
 {
   Eigen::Isometry3d arrow_pose =
       convertPose(pose) * Eigen::AngleAxisd(M_PI / 2, Eigen::Vector3d::UnitZ());
   return publishArrow(convertPose(arrow_pose), color, scale, length);
 }
 
-bool RvizVisualTools::publishYArrow(const geometry_msgs::msg::PoseStamped& pose, colors color,
-                                    scales scale, double length)
+bool RvizVisualTools::publishYArrow(const geometry_msgs::msg::PoseStamped& pose, Colors color,
+                                    Scales scale, double length)
 {
   Eigen::Isometry3d arrow_pose =
       convertPose(pose.pose) * Eigen::AngleAxisd(M_PI / 2, Eigen::Vector3d::UnitZ());
@@ -1393,23 +1393,23 @@ bool RvizVisualTools::publishYArrow(const geometry_msgs::msg::PoseStamped& pose,
   return publishArrow(new_pose, color, scale, length);
 }
 
-bool RvizVisualTools::publishZArrow(const Eigen::Isometry3d& pose, colors color, scales scale,
+bool RvizVisualTools::publishZArrow(const Eigen::Isometry3d& pose, Colors color, Scales scale,
                                     double length, std::size_t id)
 {
   Eigen::Isometry3d arrow_pose = pose * Eigen::AngleAxisd(-M_PI / 2, Eigen::Vector3d::UnitY());
   return publishArrow(convertPose(arrow_pose), color, scale, length, id);
 }
 
-bool RvizVisualTools::publishZArrow(const geometry_msgs::msg::Pose& pose, colors color,
-                                    scales scale, double length)
+bool RvizVisualTools::publishZArrow(const geometry_msgs::msg::Pose& pose, Colors color,
+                                    Scales scale, double length)
 {
   Eigen::Isometry3d arrow_pose =
       convertPose(pose) * Eigen::AngleAxisd(-M_PI / 2, Eigen::Vector3d::UnitY());
   return publishArrow(convertPose(arrow_pose), color, scale, length);
 }
 
-bool RvizVisualTools::publishZArrow(const geometry_msgs::msg::PoseStamped& pose, colors color,
-                                    scales scale, double length)
+bool RvizVisualTools::publishZArrow(const geometry_msgs::msg::PoseStamped& pose, Colors color,
+                                    Scales scale, double length)
 {
   Eigen::Isometry3d arrow_pose =
       convertPose(pose.pose) * Eigen::AngleAxisd(-M_PI / 2, Eigen::Vector3d::UnitY());
@@ -1418,8 +1418,8 @@ bool RvizVisualTools::publishZArrow(const geometry_msgs::msg::PoseStamped& pose,
   return publishArrow(new_pose, color, scale, length);
 }
 
-bool RvizVisualTools::publishZArrow(const geometry_msgs::msg::PoseStamped& pose, colors color,
-                                    scales scale, double length, std::size_t id)
+bool RvizVisualTools::publishZArrow(const geometry_msgs::msg::PoseStamped& pose, Colors color,
+                                    Scales scale, double length, std::size_t id)
 {
   Eigen::Isometry3d arrow_pose =
       convertPose(pose.pose) * Eigen::AngleAxisd(-M_PI / 2, Eigen::Vector3d::UnitY());
@@ -1428,13 +1428,13 @@ bool RvizVisualTools::publishZArrow(const geometry_msgs::msg::PoseStamped& pose,
   return publishArrow(new_pose, color, scale, length, id);
 }
 
-bool RvizVisualTools::publishArrow(const Eigen::Isometry3d& pose, colors color, scales scale,
+bool RvizVisualTools::publishArrow(const Eigen::Isometry3d& pose, Colors color, Scales scale,
                                    double length, std::size_t id)
 {
   return publishArrow(convertPose(pose), color, scale, length, id);
 }
 
-bool RvizVisualTools::publishArrow(const geometry_msgs::msg::Pose& pose, colors color, scales scale,
+bool RvizVisualTools::publishArrow(const geometry_msgs::msg::Pose& pose, Colors color, Scales scale,
                                    double length, std::size_t id)
 {
   // Set the frame ID and timestamp.
@@ -1468,8 +1468,8 @@ bool RvizVisualTools::publishArrow(const geometry_msgs::msg::Pose& pose, colors
   return publishMarker(arrow_marker_);
 }
 
-bool RvizVisualTools::publishArrow(const geometry_msgs::msg::PoseStamped& pose, colors color,
-                                   scales scale, double length, std::size_t id)
+bool RvizVisualTools::publishArrow(const geometry_msgs::msg::PoseStamped& pose, Colors color,
+                                   Scales scale, double length, std::size_t id)
 {
   // Set the frame ID and timestamp.
   arrow_marker_.header = pose.header;
@@ -1505,7 +1505,7 @@ bool RvizVisualTools::publishArrow(const geometry_msgs::msg::PoseStamped& pose,
 }
 
 bool RvizVisualTools::publishArrow(const geometry_msgs::msg::Point& start,
-                                   const geometry_msgs::msg::Point& end, colors color, scales scale,
+                                   const geometry_msgs::msg::Point& end, Colors color, Scales scale,
                                    std::size_t id)
 {
   // Set the frame ID and timestamp.
@@ -1539,13 +1539,13 @@ bool RvizVisualTools::publishArrow(const geometry_msgs::msg::Point& start,
 }
 
 bool RvizVisualTools::publishAxisLabeled(const Eigen::Isometry3d& pose, const std::string& label,
-                                         scales scale, colors color)
+                                         Scales scale, Colors color)
 {
   return publishAxisLabeled(convertPose(pose), label, scale, color);
 }
 
 bool RvizVisualTools::publishAxisLabeled(const geometry_msgs::msg::Pose& pose,
-                                         const std::string& label, scales scale, colors color)
+                                         const std::string& label, Scales scale, Colors color)
 {
   publishAxis(pose, scale, label);
 
@@ -1554,18 +1554,18 @@ bool RvizVisualTools::publishAxisLabeled(const geometry_msgs::msg::Pose& pose,
   pose_shifted.position.x -= 0.05;
   pose_shifted.position.y -= 0.05;
   pose_shifted.position.z -= 0.05;
-  publishText(pose_shifted, label, color, static_cast<scales>(static_cast<int>(scale) + 1), false);
+  publishText(pose_shifted, label, color, static_cast<Scales>(static_cast<int>(scale) + 1), false);
   return true;
 }
 
-bool RvizVisualTools::publishAxis(const geometry_msgs::msg::Pose& pose, scales scale,
+bool RvizVisualTools::publishAxis(const geometry_msgs::msg::Pose& pose, Scales scale,
                                   const std::string& ns)
 {
   double radius = getScale(scale).x;
   return publishAxis(pose, radius * 10.0, radius, ns);
 }
 
-bool RvizVisualTools::publishAxis(const Eigen::Isometry3d& pose, scales scale,
+bool RvizVisualTools::publishAxis(const Eigen::Isometry3d& pose, Scales scale,
                                   const std::string& ns)
 {
   double radius = getScale(scale).x;
@@ -1613,7 +1613,7 @@ bool RvizVisualTools::publishAxisInternal(const Eigen::Isometry3d& pose, double
   return true;
 }
 
-bool RvizVisualTools::publishAxisPath(const EigenSTL::vector_Isometry3d& path, scales scale,
+bool RvizVisualTools::publishAxisPath(const EigenSTL::vector_Isometry3d& path, Scales scale,
                                       const std::string& ns)
 {
   // Create the cylinders
@@ -1639,14 +1639,14 @@ bool RvizVisualTools::publishAxisPath(const EigenSTL::vector_Isometry3d& path, d
 }
 
 bool RvizVisualTools::publishCylinder(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2,
-                                      colors color, scales scale, const std::string& ns)
+                                      Colors color, Scales scale, const std::string& ns)
 {
   double radius = getScale(scale).x;
   return publishCylinder(point1, point2, getColor(color), radius, ns);
 }
 
 bool RvizVisualTools::publishCylinder(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2,
-                                      colors color, double radius, const std::string& ns)
+                                      Colors color, double radius, const std::string& ns)
 {
   return publishCylinder(point1, point2, getColor(color), radius, ns);
 }
@@ -1674,13 +1674,13 @@ bool RvizVisualTools::publishCylinder(const Eigen::Vector3d& point1, const Eigen
   return publishCylinder(convertPose(pose), color, height, radius, ns);
 }
 
-bool RvizVisualTools::publishCylinder(const Eigen::Isometry3d& pose, colors color, double height,
+bool RvizVisualTools::publishCylinder(const Eigen::Isometry3d& pose, Colors color, double height,
                                       double radius, const std::string& ns)
 {
   return publishCylinder(convertPose(pose), color, height, radius, ns);
 }
 
-bool RvizVisualTools::publishCylinder(const geometry_msgs::msg::Pose& pose, colors color,
+bool RvizVisualTools::publishCylinder(const geometry_msgs::msg::Pose& pose, Colors color,
                                       double height, double radius, const std::string& ns)
 {
   return publishCylinder(pose, getColor(color), height, radius, ns);
@@ -1711,13 +1711,13 @@ bool RvizVisualTools::publishCylinder(const geometry_msgs::msg::Pose& pose,
 }
 
 bool RvizVisualTools::publishMesh(const Eigen::Isometry3d& pose, const std::string& file_name,
-                                  colors color, double scale, const std::string& ns, std::size_t id)
+                                  Colors color, double scale, const std::string& ns, std::size_t id)
 {
   return publishMesh(convertPose(pose), file_name, color, scale, ns, id);
 }
 
 bool RvizVisualTools::publishMesh(const geometry_msgs::msg::Pose& pose,
-                                  const std::string& file_name, colors color, double scale,
+                                  const std::string& file_name, Colors color, double scale,
                                   const std::string& ns, std::size_t id)
 {
   // Set the timestamp
@@ -1756,13 +1756,13 @@ bool RvizVisualTools::publishMesh(const geometry_msgs::msg::Pose& pose,
 }
 
 bool RvizVisualTools::publishMesh(const Eigen::Isometry3d& pose, const shape_msgs::msg::Mesh& mesh,
-                                  colors color, double scale, const std::string& ns, std::size_t id)
+                                  Colors color, double scale, const std::string& ns, std::size_t id)
 {
   return publishMesh(convertPose(pose), mesh, color, scale, ns, id);
 }
 
 bool RvizVisualTools::publishMesh(const geometry_msgs::msg::Pose& pose,
-                                  const shape_msgs::msg::Mesh& mesh, colors color, double scale,
+                                  const shape_msgs::msg::Mesh& mesh, Colors color, double scale,
                                   const std::string& ns, std::size_t id)
 {
   triangle_marker_.header.stamp = clock_interface_->get_clock()->now();
@@ -1802,7 +1802,7 @@ bool RvizVisualTools::publishMesh(const geometry_msgs::msg::Pose& pose,
 }
 
 // TODO(mlautman): port graph_msgs
-// bool RvizVisualTools::publishGraph(const graph_msgs::msg::GeometryGraph& graph, colors color,
+// bool RvizVisualTools::publishGraph(const graph_msgs::msg::GeometryGraph& graph, Colors color,
 // double radius)
 // {
 //   // Track which pairs of nodes we've already connected since graph is
@@ -1836,13 +1836,13 @@ bool RvizVisualTools::publishMesh(const geometry_msgs::msg::Pose& pose,
 // }
 
 bool RvizVisualTools::publishCuboid(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2,
-                                    colors color)
+                                    Colors color)
 {
   return publishCuboid(convertPoint(point1), convertPoint(point2), color);
 }
 
 bool RvizVisualTools::publishCuboid(const geometry_msgs::msg::Point& point1,
-                                    const geometry_msgs::msg::Point& point2, colors color,
+                                    const geometry_msgs::msg::Point& point2, Colors color,
                                     const std::string& ns, std::size_t id)
 {
   // Set the timestamp
@@ -1891,13 +1891,13 @@ bool RvizVisualTools::publishCuboid(const geometry_msgs::msg::Point& point1,
 }
 
 bool RvizVisualTools::publishCuboid(const Eigen::Isometry3d& pose, double depth, double width,
-                                    double height, colors color)
+                                    double height, Colors color)
 {
   return publishCuboid(convertPose(pose), depth, width, height, color);
 }
 
 bool RvizVisualTools::publishCuboid(const geometry_msgs::msg::Pose& pose, double depth,
-                                    double width, double height, colors color)
+                                    double width, double height, Colors color)
 {
   cuboid_marker_.header.stamp = clock_interface_->get_clock()->now();
 
@@ -1938,18 +1938,18 @@ bool RvizVisualTools::publishCuboid(const geometry_msgs::msg::Pose& pose, double
 }
 
 bool RvizVisualTools::publishLine(const Eigen::Isometry3d& point1, const Eigen::Isometry3d& point2,
-                                  colors color, scales scale)
+                                  Colors color, Scales scale)
 {
   return publishLine(convertPoseToPoint(point1), convertPoseToPoint(point2), color, scale);
 }
 
 bool RvizVisualTools::publishLine(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2,
-                                  colors color, scales scale)
+                                  Colors color, Scales scale)
 {
   return publishLine(convertPoint(point1), convertPoint(point2), color, scale);
 }
 bool RvizVisualTools::publishLine(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2,
-                                  colors color, double radius)
+                                  Colors color, double radius)
 {
   geometry_msgs::msg::Vector3 scale;
   scale.x = radius * global_scale_;
@@ -1959,7 +1959,7 @@ bool RvizVisualTools::publishLine(const Eigen::Vector3d& point1, const Eigen::Ve
 }
 
 bool RvizVisualTools::publishLine(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2,
-                                  const std_msgs::msg::ColorRGBA& color, scales scale)
+                                  const std_msgs::msg::ColorRGBA& color, Scales scale)
 {
   return publishLine(convertPoint(point1), convertPoint(point2), color, scale);
 }
@@ -1975,15 +1975,15 @@ bool RvizVisualTools::publishLine(const Eigen::Vector3d& point1, const Eigen::Ve
 }
 
 bool RvizVisualTools::publishLine(const geometry_msgs::msg::Point& point1,
-                                  const geometry_msgs::msg::Point& point2, colors color,
-                                  scales scale)
+                                  const geometry_msgs::msg::Point& point2, Colors color,
+                                  Scales scale)
 {
   return publishLine(point1, point2, getColor(color), scale);
 }
 
 bool RvizVisualTools::publishLine(const geometry_msgs::msg::Point& point1,
                                   const geometry_msgs::msg::Point& point2,
-                                  const std_msgs::msg::ColorRGBA& color, scales scale)
+                                  const std_msgs::msg::ColorRGBA& color, Scales scale)
 {
   return publishLine(point1, point2, color, getScale(scale));
 }
@@ -2012,7 +2012,7 @@ bool RvizVisualTools::publishLine(const geometry_msgs::msg::Point& point1,
 
 bool RvizVisualTools::publishLines(const EigenSTL::vector_Vector3d& aPoints,
                                    const EigenSTL::vector_Vector3d& bPoints,
-                                   const std::vector<colors>& colors, scales scale)
+                                   const std::vector<Colors>& colors, Scales scale)
 {
   assertm(aPoints.size() == bPoints.size() && bPoints.size() == colors.size(),
           "Mismatching vector sizes: "
@@ -2076,7 +2076,7 @@ bool RvizVisualTools::publishLines(const std::vector<geometry_msgs::msg::Point>&
 }
 
 bool RvizVisualTools::publishLineStrip(const std::vector<geometry_msgs::msg::Point>& path,
-                                       colors color, scales scale, const std::string& ns)
+                                       Colors color, Scales scale, const std::string& ns)
 {
   if (path.size() < 2)
   {
@@ -2113,8 +2113,8 @@ bool RvizVisualTools::publishLineStrip(const std::vector<geometry_msgs::msg::Poi
   return publishMarker(line_strip_marker_);
 }
 
-bool RvizVisualTools::publishPath(const std::vector<geometry_msgs::msg::Pose>& path, colors color,
-                                  scales scale, const std::string& ns)
+bool RvizVisualTools::publishPath(const std::vector<geometry_msgs::msg::Pose>& path, Colors color,
+                                  Scales scale, const std::string& ns)
 {
   std::vector<geometry_msgs::msg::Point> point_path(path.size());
   for (std::size_t i = 0; i < path.size(); ++i)
@@ -2125,25 +2125,25 @@ bool RvizVisualTools::publishPath(const std::vector<geometry_msgs::msg::Pose>& p
   return publishPath(point_path, color, getScale(scale).x, ns);
 }
 
-bool RvizVisualTools::publishPath(const std::vector<geometry_msgs::msg::Point>& path, colors color,
-                                  scales scale, const std::string& ns)
+bool RvizVisualTools::publishPath(const std::vector<geometry_msgs::msg::Point>& path, Colors color,
+                                  Scales scale, const std::string& ns)
 {
   return publishPath(path, color, getScale(scale).x, ns);
 }
 
-bool RvizVisualTools::publishPath(const EigenSTL::vector_Isometry3d& path, colors color,
-                                  scales scale, const std::string& ns)
+bool RvizVisualTools::publishPath(const EigenSTL::vector_Isometry3d& path, Colors color,
+                                  Scales scale, const std::string& ns)
 {
   return publishPath(path, color, getScale(scale).x, ns);
 }
 
-bool RvizVisualTools::publishPath(const EigenSTL::vector_Vector3d& path, colors color, scales scale,
+bool RvizVisualTools::publishPath(const EigenSTL::vector_Vector3d& path, Colors color, Scales scale,
                                   const std::string& ns)
 {
   return publishPath(path, color, getScale(scale).x, ns);
 }
 
-bool RvizVisualTools::publishPath(const std::vector<geometry_msgs::msg::Point>& path, colors color,
+bool RvizVisualTools::publishPath(const std::vector<geometry_msgs::msg::Point>& path, Colors color,
                                   double radius, const std::string& ns)
 {
   if (path.size() < 2)
@@ -2163,7 +2163,7 @@ bool RvizVisualTools::publishPath(const std::vector<geometry_msgs::msg::Point>&
   return true;
 }
 
-bool RvizVisualTools::publishPath(const EigenSTL::vector_Vector3d& path, colors color,
+bool RvizVisualTools::publishPath(const EigenSTL::vector_Vector3d& path, Colors color,
                                   double radius, const std::string& ns)
 {
   if (path.size() < 2)
@@ -2183,7 +2183,7 @@ bool RvizVisualTools::publishPath(const EigenSTL::vector_Vector3d& path, colors
   return true;
 }
 
-bool RvizVisualTools::publishPath(const EigenSTL::vector_Isometry3d& path, colors color,
+bool RvizVisualTools::publishPath(const EigenSTL::vector_Isometry3d& path, Colors color,
                                   double radius, const std::string& ns)
 {
   if (path.size() < 2)
@@ -2204,7 +2204,7 @@ bool RvizVisualTools::publishPath(const EigenSTL::vector_Isometry3d& path, color
 }
 
 bool RvizVisualTools::publishPath(const EigenSTL::vector_Vector3d& path,
-                                  const std::vector<colors>& colors, double radius,
+                                  const std::vector<Colors>& colors, double radius,
                                   const std::string& ns)
 {
   if (path.size() < 2)
@@ -2261,8 +2261,8 @@ bool RvizVisualTools::publishPath(const EigenSTL::vector_Vector3d& path,
   return true;
 }
 
-bool RvizVisualTools::publishPolygon(const geometry_msgs::msg::Polygon& polygon, colors color,
-                                     scales scale, const std::string& ns)
+bool RvizVisualTools::publishPolygon(const geometry_msgs::msg::Polygon& polygon, Colors color,
+                                     Scales scale, const std::string& ns)
 {
   std::vector<geometry_msgs::msg::Point> points;
   geometry_msgs::msg::Point temp;
@@ -2286,7 +2286,7 @@ bool RvizVisualTools::publishPolygon(const geometry_msgs::msg::Polygon& polygon,
 }
 
 bool RvizVisualTools::publishWireframeCuboid(const Eigen::Isometry3d& pose, double depth,
-                                             double width, double height, colors color,
+                                             double width, double height, Colors color,
                                              const std::string& ns, std::size_t id)
 {
   Eigen::Vector3d min_point, max_point;
@@ -2297,7 +2297,7 @@ bool RvizVisualTools::publishWireframeCuboid(const Eigen::Isometry3d& pose, doub
 
 bool RvizVisualTools::publishWireframeCuboid(const Eigen::Isometry3d& pose,
                                              const Eigen::Vector3d& min_point,
-                                             const Eigen::Vector3d& max_point, colors color,
+                                             const Eigen::Vector3d& max_point, Colors color,
                                              const std::string& ns, std::size_t id)
 {
   // Extract 8 cuboid vertices
@@ -2406,7 +2406,7 @@ bool RvizVisualTools::publishWireframeCuboid(const Eigen::Isometry3d& pose,
 }
 
 bool RvizVisualTools::publishWireframeRectangle(const Eigen::Isometry3d& pose, double height,
-                                                double width, colors color, scales scale,
+                                                double width, Colors color, Scales scale,
                                                 std::size_t id)
 {
   if (id == 0)
@@ -2469,7 +2469,7 @@ bool RvizVisualTools::publishWireframeRectangle(const Eigen::Isometry3d& pose, d
 
 bool RvizVisualTools::publishWireframeRectangle(
     const Eigen::Isometry3d& pose, const Eigen::Vector3d& p1_in, const Eigen::Vector3d& p2_in,
-    const Eigen::Vector3d& p3_in, const Eigen::Vector3d& p4_in, colors color, scales scale)
+    const Eigen::Vector3d& p3_in, const Eigen::Vector3d& p4_in, Colors color, Scales scale)
 {
   Eigen::Vector3d p1;
   Eigen::Vector3d p2;
@@ -2522,8 +2522,8 @@ bool RvizVisualTools::publishWireframeRectangle(
   return publishMarker(line_list_marker_);
 }
 
-bool RvizVisualTools::publishSpheres(const EigenSTL::vector_Vector3d& points, colors color,
-                                     scales scale, const std::string& ns)
+bool RvizVisualTools::publishSpheres(const EigenSTL::vector_Vector3d& points, Colors color,
+                                     Scales scale, const std::string& ns)
 {
   std::vector<geometry_msgs::msg::Point> points_msg;
 
@@ -2535,7 +2535,7 @@ bool RvizVisualTools::publishSpheres(const EigenSTL::vector_Vector3d& points, co
   return publishSpheres(points_msg, color, scale, ns);
 }
 
-bool RvizVisualTools::publishSpheres(const EigenSTL::vector_Vector3d& points, colors color,
+bool RvizVisualTools::publishSpheres(const EigenSTL::vector_Vector3d& points, Colors color,
                                      double scale, const std::string& ns)
 {
   std::vector<geometry_msgs::msg::Point> points_msg;
@@ -2549,7 +2549,7 @@ bool RvizVisualTools::publishSpheres(const EigenSTL::vector_Vector3d& points, co
 }
 
 bool RvizVisualTools::publishSpheres(const std::vector<geometry_msgs::msg::Point>& points,
-                                     colors color, double scale, const std::string& ns)
+                                     Colors color, double scale, const std::string& ns)
 {
   geometry_msgs::msg::Vector3 scale_vector;
   scale_vector.x = scale * global_scale_;
@@ -2559,13 +2559,13 @@ bool RvizVisualTools::publishSpheres(const std::vector<geometry_msgs::msg::Point
 }
 
 bool RvizVisualTools::publishSpheres(const std::vector<geometry_msgs::msg::Point>& points,
-                                     colors color, scales scale, const std::string& ns)
+                                     Colors color, Scales scale, const std::string& ns)
 {
   return publishSpheres(points, color, getScale(scale), ns);
 }
 
 bool RvizVisualTools::publishSpheres(const std::vector<geometry_msgs::msg::Point>& points,
-                                     colors color, const geometry_msgs::msg::Vector3& scale,
+                                     Colors color, const geometry_msgs::msg::Vector3& scale,
                                      const std::string& ns)
 {
   spheres_marker_.header.stamp = builtin_interfaces::msg::Time();
@@ -2592,7 +2592,7 @@ bool RvizVisualTools::publishSpheres(const std::vector<geometry_msgs::msg::Point
 }
 
 bool RvizVisualTools::publishSpheres(const EigenSTL::vector_Vector3d& points,
-                                     const std::vector<colors>& colors, scales scale,
+                                     const std::vector<Colors>& colors, Scales scale,
                                      const std::string& ns)
 {
   assertm(points.size() == colors.size(), "Mismatching vector sizes: points and colors");
@@ -2631,26 +2631,26 @@ bool RvizVisualTools::publishSpheres(const std::vector<geometry_msgs::msg::Point
 }
 
 bool RvizVisualTools::publishText(const Eigen::Isometry3d& pose, const std::string& text,
-                                  colors color, scales scale, bool static_id)
+                                  Colors color, Scales scale, bool static_id)
 {
   return publishText(convertPose(pose), text, color, getScale(scale), static_id);
 }
 
 bool RvizVisualTools::publishText(const Eigen::Isometry3d& pose, const std::string& text,
-                                  colors color, const geometry_msgs::msg::Vector3 scale,
+                                  Colors color, const geometry_msgs::msg::Vector3 scale,
                                   bool static_id)
 {
   return publishText(convertPose(pose), text, color, scale, static_id);
 }
 
 bool RvizVisualTools::publishText(const geometry_msgs::msg::Pose& pose, const std::string& text,
-                                  colors color, scales scale, bool static_id)
+                                  Colors color, Scales scale, bool static_id)
 {
   return publishText(pose, text, color, getScale(scale), static_id);
 }
 
 bool RvizVisualTools::publishText(const geometry_msgs::msg::Pose& pose, const std::string& text,
-                                  colors color, const geometry_msgs::msg::Vector3 scale,
+                                  Colors color, const geometry_msgs::msg::Vector3 scale,
                                   bool static_id)
 {
   // Save the ID if this is a static ID or keep incrementing ID if not static
diff --git a/src/rviz_visual_tools_demo.cpp b/src/rviz_visual_tools_demo.cpp
index af5f4b80..767a3bd6 100644
--- a/src/rviz_visual_tools_demo.cpp
+++ b/src/rviz_visual_tools_demo.cpp
@@ -394,7 +394,7 @@ class RvizVisualToolsDemo : public rclcpp::Node
     step = 0.1;
 
     EigenSTL::vector_Vector3d path;
-    std::vector<rviz_visual_tools::colors> colors;
+    std::vector<rviz_visual_tools::Colors> colors;
     unsigned index(0);
     for (double i = 0; i < 1.0; i += step)
     {
@@ -453,14 +453,14 @@ class RvizVisualToolsDemo : public rclcpp::Node
   }
 
   /** \brief Compare sizes of markers using all MEDIUM-scale markers */
-  void testSize(double& x_location, scales scale)
+  void testSize(double& x_location, Scales scale)
   {
     // Create pose
     Eigen::Isometry3d pose1 = Eigen::Isometry3d::Identity();
     Eigen::Isometry3d pose2 = Eigen::Isometry3d::Identity();
 
     // Reusable vector of 2 colors
-    std::vector<colors> colors;
+    std::vector<Colors> colors;
     colors.push_back(RED);
     colors.push_back(GREEN);
 
@@ -599,7 +599,7 @@ class RvizVisualToolsDemo : public rclcpp::Node
     pose2.translation().x() = x_location;
 
     // Sphere
-    for (scales scale = XXXXSMALL; scale <= XXXXLARGE; /*inline*/)
+    for (Scales scale = XXXXSMALL; scale <= XXXXLARGE; /*inline*/)
     {
       pose1.translation().y() += visual_tools_->getScale(scale).x + 0.1;
 
@@ -617,7 +617,7 @@ class RvizVisualToolsDemo : public rclcpp::Node
       visual_tools_->publishText(pose2, "Size " + visual_tools_->scaleToString(scale), WHITE, scale,
                                  false);
 
-      scale = static_cast<scales>(static_cast<int>(scale) + 1);
+      scale = static_cast<Scales>(static_cast<int>(scale) + 1);
     }
 
     // Display test