diff --git a/rviz_default_plugins/CMakeLists.txt b/rviz_default_plugins/CMakeLists.txt
index 868184054..78feddbda 100644
--- a/rviz_default_plugins/CMakeLists.txt
+++ b/rviz_default_plugins/CMakeLists.txt
@@ -2,6 +2,10 @@ cmake_minimum_required(VERSION 3.10)
 
 project(rviz_default_plugins)
 
+# Limit concurrent link jobs to reduce peak memory usage
+set_property(GLOBAL PROPERTY JOB_POOLS link_job_pool=2)
+set(CMAKE_JOB_POOL_LINK link_job_pool)
+
 # Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
@@ -359,10 +363,27 @@ if(BUILD_TESTING)
   #
   # There are also issues even if we manage to defer the linking, because the fixture class inherits
   # from gtest classes, which are not exported.
-  set(TEST_FIXTURE_SOURCES_WITH_MOCK
+  #
+  # However, an OBJECT library allows us to compile the sources once and reuse them.
+  add_library(test_fixture_objects OBJECT
     test/rviz_default_plugins/displays/display_test_fixture.cpp
     test/rviz_default_plugins/scene_graph_introspection.cpp
   )
+  target_include_directories(test_fixture_objects PRIVATE
+    ${TEST_INCLUDE_DIRS}
+    include
+    ${GMOCK_INCLUDE_DIRS}
+    ${GTEST_INCLUDE_DIRS}
+  )
+  target_link_libraries(test_fixture_objects PUBLIC
+    rclcpp::rclcpp
+    rviz_common::rviz_common
+    rviz_ogre_vendor::OgreMain
+    ogre_testing_environment
+    Qt${QT_VERSION_MAJOR}::Widgets
+  )
+
+  set(TEST_FIXTURE_OBJECTS $<TARGET_OBJECTS:test_fixture_objects>)
 
   set(TEST_FIXTURE_WITH_MOCK_LIBRARIES
     rclcpp::rclcpp
@@ -373,7 +394,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(fps_view_controller_test
     test/rviz_default_plugins/view_controllers/fps/fps_view_controller_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET fps_view_controller_test)
     target_include_directories(fps_view_controller_test PRIVATE ${TEST_INCLUDE_DIRS})
@@ -387,7 +408,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(frame_view_controller_test
     test/rviz_default_plugins/view_controllers/frame/frame_view_controller_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET frame_view_controller_test)
     target_include_directories(frame_view_controller_test PRIVATE ${TEST_INCLUDE_DIRS})
@@ -401,7 +422,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(frame_info_test
     test/rviz_default_plugins/displays/tf/frame_info_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET frame_info_test)
     target_include_directories(frame_info_test PRIVATE test)
@@ -410,7 +431,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(get_transport_from_topic_test
     test/rviz_default_plugins/displays/image/get_transport_from_topic_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK})
+    ${TEST_FIXTURE_OBJECTS})
   if(TARGET get_transport_from_topic_test)
     target_include_directories(get_transport_from_topic_test PRIVATE test)
     target_link_libraries(get_transport_from_topic_test ${TEST_FIXTURE_WITH_MOCK_LIBRARIES} rviz_default_plugins ogre_testing_environment)
@@ -418,7 +439,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(grid_cells_display_test
     test/rviz_default_plugins/displays/grid_cells/grid_cells_display_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET grid_cells_display_test)
     target_include_directories(grid_cells_display_test PRIVATE test)
@@ -427,7 +448,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(image_display_test
     test/rviz_default_plugins/displays/image/image_display_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET image_display_test)
     target_include_directories(image_display_test PRIVATE test)
@@ -457,7 +478,7 @@ if(BUILD_TESTING)
     test/rviz_default_plugins/displays/marker/markers/text_view_facing_marker_test.cpp
     test/rviz_default_plugins/displays/marker/markers/triangle_list_marker_test.cpp
     test/rviz_default_plugins/displays/marker/markers/markers_test_fixture.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET marker_test)
     target_include_directories(marker_test PRIVATE test)
@@ -472,7 +493,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(marker_common_test
     test/rviz_default_plugins/displays/marker/marker_common_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET marker_common_test)
     target_include_directories(marker_common_test PRIVATE test)
@@ -486,7 +507,7 @@ if(BUILD_TESTING)
   endif()
 
   ament_add_gmock(map_display_test
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     test/rviz_default_plugins/displays/map/map_display_test.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET map_display_test)
@@ -496,7 +517,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(measure_tool_test
     test/rviz_default_plugins/tools/measure/measure_tool_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET measure_tool_test)
     target_include_directories(measure_tool_test PRIVATE test)
@@ -505,7 +526,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(odometry_display_test
     test/rviz_default_plugins/displays/odometry/odometry_display_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET odometry_display_test)
     target_include_directories(odometry_display_test PRIVATE test)
@@ -514,7 +535,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(odometry_ogre_helper_test
     test/rviz_default_plugins/displays/odometry/quaternion_helper_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET odometry_ogre_helper_test)
     target_include_directories(odometry_ogre_helper_test PRIVATE test)
@@ -523,7 +544,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(orbit_view_controller_test
     test/rviz_default_plugins/view_controllers/orbit/orbit_view_controller_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET orbit_view_controller_test)
     target_include_directories(orbit_view_controller_test PRIVATE test)
@@ -537,7 +558,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(ortho_view_controller_test
     test/rviz_default_plugins/view_controllers/ortho/ortho_view_controller_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET ortho_view_controller_test)
     target_include_directories(ortho_view_controller_test PRIVATE test)
@@ -551,7 +572,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(palette_builder_test
     test/rviz_default_plugins/displays/map/palette_builder_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET palette_builder_test)
     target_include_directories(palette_builder_test PRIVATE test)
@@ -560,7 +581,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(path_display_test
     test/rviz_default_plugins/displays/path/path_display_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET path_display_test)
     target_include_directories(path_display_test PRIVATE test)
@@ -583,7 +604,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(point_cloud2_display_test
     test/rviz_default_plugins/displays/pointcloud/point_cloud2_display_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET point_cloud2_display_test)
     target_include_directories(point_cloud2_display_test PRIVATE test)
@@ -597,7 +618,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(point_cloud_common_test
     test/rviz_default_plugins/displays/pointcloud/point_cloud_common_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET point_cloud_common_test)
     target_include_directories(point_cloud_common_test PRIVATE test)
@@ -611,7 +632,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(point_cloud_scalar_display_test
     test/rviz_default_plugins/displays/pointcloud/point_cloud_scalar_display_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET point_cloud_scalar_display_test)
     target_include_directories(point_cloud_scalar_display_test PRIVATE test)
@@ -630,7 +651,7 @@ if(BUILD_TESTING)
     test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/rgb8_pc_transformer_test.cpp
     test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/rgbf32_pc_transformer_test.cpp
     test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/xyz_pc_transformer_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET point_cloud_transformers_test)
     target_include_directories(point_cloud_transformers_test PRIVATE test)
@@ -645,7 +666,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(point_display_test
     test/rviz_default_plugins/displays/point/point_stamped_display_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET point_display_test)
     target_include_directories(point_display_test PRIVATE test)
@@ -659,7 +680,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(pose_array_display_test
     test/rviz_default_plugins/displays/pose_array/pose_array_display_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET pose_array_display_test)
     target_include_directories(pose_array_display_test PRIVATE test)
@@ -668,7 +689,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(pose_tool_test
     test/rviz_default_plugins/tools/pose/pose_tool_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET pose_tool_test)
     target_include_directories(pose_tool_test PRIVATE test)
@@ -677,7 +698,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(range_display_test
     test/rviz_default_plugins/displays/range/range_display_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET range_display_test)
     target_include_directories(range_display_test PRIVATE test)
@@ -686,7 +707,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(robot_test
     test/rviz_default_plugins/robot/robot_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET robot_test)
     target_include_directories(robot_test PRIVATE test)
@@ -701,7 +722,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(ros_image_texture_test
     test/rviz_default_plugins/displays/image/ros_image_texture_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET ros_image_texture_test)
     target_include_directories(ros_image_texture_test PRIVATE test)
@@ -715,7 +736,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(selection_tool_test
     test/rviz_default_plugins/tools/select/selection_tool_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET selection_tool_test)
     target_include_directories(selection_tool_test PRIVATE test)
@@ -724,7 +745,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(xy_orbit_view_controller_test
     test/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET xy_orbit_view_controller_test)
     target_include_directories(xy_orbit_view_controller_test PRIVATE test)
@@ -738,7 +759,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(frame_transformer_tf_test
     test/rviz_default_plugins/transformation/frame_transformer_tf_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET frame_transformer_tf_test)
     target_include_directories(frame_transformer_tf_test PRIVATE test)
@@ -753,7 +774,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(transformer_guard_test
     test/rviz_default_plugins/transformation/transformer_guard_test.cpp
-    ${TEST_FIXTURE_SOURCES_WITH_MOCK}
+    ${TEST_FIXTURE_OBJECTS}
     ${SKIP_DISPLAY_TESTS})
   if(TARGET transformer_guard_test)
     target_include_directories(transformer_guard_test PRIVATE test)
diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/effort/effort_display.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/effort/effort_display.hpp
index c5910e367..93513fcc1 100644
--- a/rviz_default_plugins/include/rviz_default_plugins/displays/effort/effort_display.hpp
+++ b/rviz_default_plugins/include/rviz_default_plugins/displays/effort/effort_display.hpp
@@ -37,7 +37,9 @@
 #include <memory>
 #include <string>
 
-#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/subscription.hpp>
+#include <rclcpp/time.hpp>
+#include <rclcpp/executors/single_threaded_executor.hpp>
 #include <rviz_common/ros_topic_display.hpp>
 #include <rviz_common/properties/bool_property.hpp>
 #include <rviz_common/properties/int_property.hpp>
diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/interactive_markers/interactive_marker_control.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/interactive_markers/interactive_marker_control.hpp
index e46d9cf9d..849960070 100644
--- a/rviz_default_plugins/include/rviz_default_plugins/displays/interactive_markers/interactive_marker_control.hpp
+++ b/rviz_default_plugins/include/rviz_default_plugins/displays/interactive_markers/interactive_marker_control.hpp
@@ -54,7 +54,6 @@
 #include "rviz_common/viewport_mouse_event.hpp"
 
 #include "rviz_default_plugins/displays/marker/markers/marker_base.hpp"
-#include "rviz_default_plugins/displays/marker/markers/points_marker.hpp"
 
 namespace Ogre
 {
@@ -77,6 +76,12 @@ namespace displays
 {
 class InteractiveMarker;
 
+namespace markers
+{
+class PointsMarker;
+class MarkerFactory;
+}
+
 /// A single control element of an InteractiveMarker.
 class InteractiveMarkerControl
   : public Ogre::SceneManager::Listener,
@@ -445,7 +450,7 @@ class InteractiveMarkerControl
 
   std::string name_;
 
-  std::vector<markers::MarkerBase::SharedPtr> markers_;
+  std::vector<std::shared_ptr<markers::MarkerBase>> markers_;
 
   InteractiveMarker * parent_;
 
@@ -456,7 +461,9 @@ class InteractiveMarkerControl
    * regular highlighting method does not work for them.
    * Keep a vector of them so we can call their setHighlightColor() function.
    */
-  std::vector<markers::PointsMarker::SharedPtr> points_markers_;
+  std::vector<std::shared_ptr<markers::PointsMarker>> points_markers_;
+
+  std::unique_ptr<markers::MarkerFactory> marker_factory_;
 
   /// Stores the rotation around the x axis of the control.
   /**
diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/marker/markers/marker_base.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/marker/markers/marker_base.hpp
index 12b765cd0..55472fc10 100644
--- a/rviz_default_plugins/include/rviz_default_plugins/displays/marker/markers/marker_base.hpp
+++ b/rviz_default_plugins/include/rviz_default_plugins/displays/marker/markers/marker_base.hpp
@@ -40,7 +40,7 @@
 #include <OgreVector.h>
 
 #include "visualization_msgs/msg/marker.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/time.hpp"
 
 #include "rviz_common/interaction/forwards.hpp"
 #include "rviz_common/interactive_object.hpp"
diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp
index 0a739e215..776abd427 100644
--- a/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp
+++ b/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp
@@ -45,7 +45,6 @@
 
 //# include <message_filters/time_sequencer.h>
 
-#include "pluginlib/class_loader.hpp"
 #include "rclcpp/clock.hpp"
 #include "rclcpp/time.hpp"
 
@@ -57,9 +56,6 @@
 #include "rviz_common/properties/color_property.hpp"
 #include "rviz_rendering/objects/point_cloud.hpp"
 
-#include "point_cloud_transformer.hpp"
-#include "point_cloud_selection_handler.hpp"
-
 #include "rviz_default_plugins/displays/pointcloud/point_cloud_selection_handler.hpp"
 #include "rviz_default_plugins/displays/pointcloud/point_cloud_transformer.hpp"
 #include "rviz_default_plugins/displays/pointcloud/point_cloud_transformer_factory.hpp"
diff --git a/rviz_default_plugins/include/rviz_default_plugins/robot/robot_link.hpp b/rviz_default_plugins/include/rviz_default_plugins/robot/robot_link.hpp
index 8733e4b05..c34015c62 100644
--- a/rviz_default_plugins/include/rviz_default_plugins/robot/robot_link.hpp
+++ b/rviz_default_plugins/include/rviz_default_plugins/robot/robot_link.hpp
@@ -49,10 +49,6 @@
 
 #include <QObject>
 
-#include <urdf_model/pose.h>
-
-#include <urdf/model.hpp>  // can be replaced later by urdf_model/types.h
-
 #include "resource_retriever/retriever.hpp"
 #include "rviz_common/interaction/forwards.hpp"
 #include "rviz_rendering/objects/object.hpp"
@@ -60,6 +56,19 @@
 #include "rviz_default_plugins/robot/robot_element_base_class.hpp"
 #include "rviz_default_plugins/visibility_control.hpp"
 
+namespace urdf
+{
+class Link;
+class Geometry;
+class Pose;
+class Visual;
+class Collision;
+typedef std::shared_ptr<Link> LinkSharedPtr;
+typedef std::shared_ptr<const Link> LinkConstSharedPtr;
+typedef std::shared_ptr<Visual> VisualSharedPtr;
+typedef std::shared_ptr<Collision> CollisionSharedPtr;
+}  // namespace urdf
+
 namespace Ogre
 {
 class SceneManager;
@@ -207,30 +216,7 @@ private Q_SLOTS:
     std::vector<Ogre::Entity *> & meshes_vector,
     const std::vector<T> & visualizables_array,
     const T & visualizable_element,
-    Ogre::SceneNode * scene_node)
-  {
-    bool valid_visualizable_found = false;
-
-    for (const auto & vector_element : visualizables_array) {
-      T link_visual_element = vector_element;
-      if (link_visual_element && link_visual_element->geometry) {
-        Ogre::Entity * mesh = createEntityForGeometryElement(
-          link, *link_visual_element->geometry, link_visual_element->origin, "", scene_node);
-        if (mesh) {
-          meshes_vector.push_back(mesh);
-          valid_visualizable_found = true;
-        }
-      }
-    }
-
-    if (!valid_visualizable_found && visualizable_element && visualizable_element->geometry) {
-      Ogre::Entity * mesh = createEntityForGeometryElement(
-        link, *visualizable_element->geometry, visualizable_element->origin, "", scene_node);
-      if (mesh) {
-        meshes_vector.push_back(mesh);
-      }
-    }
-  }
+    Ogre::SceneNode * scene_node);
 
 protected:
   Ogre::SceneManager * scene_manager_;
diff --git a/rviz_default_plugins/include/rviz_default_plugins/tools/point/point_tool.hpp b/rviz_default_plugins/include/rviz_default_plugins/tools/point/point_tool.hpp
index 248a4721e..00dd6a5d7 100644
--- a/rviz_default_plugins/include/rviz_default_plugins/tools/point/point_tool.hpp
+++ b/rviz_default_plugins/include/rviz_default_plugins/tools/point/point_tool.hpp
@@ -37,7 +37,8 @@
 #include <QObject>  // NOLINT cpplint cannot handle the include order here
 
 #include "geometry_msgs/msg/point_stamped.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/clock.hpp"
 #include "rclcpp/qos.hpp"
 
 #include "rviz_common/tool.hpp"
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/interactive_markers/interactive_marker.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/interactive_markers/interactive_marker.cpp
index 958dc49c6..afb2865b1 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/interactive_markers/interactive_marker.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/interactive_markers/interactive_marker.cpp
@@ -49,7 +49,7 @@
 
 #include "interactive_markers/tools.hpp"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/time.hpp"
 
 #include "rviz_common/display_context.hpp"
 #include "rviz_common/interaction/view_picker_iface.hpp"
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/interactive_markers/interactive_marker_control.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/interactive_markers/interactive_marker_control.cpp
index 233d270dc..38e536f19 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/interactive_markers/interactive_marker_control.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/interactive_markers/interactive_marker_control.cpp
@@ -58,15 +58,8 @@
 #include "rviz_rendering/objects/line.hpp"
 #include "rviz_rendering/render_window.hpp"
 
-#include "rviz_default_plugins/displays/marker/markers/shape_marker.hpp"
-#include "rviz_default_plugins/displays/marker/markers/arrow_marker.hpp"
-#include "rviz_default_plugins/displays/marker/markers/line_list_marker.hpp"
-#include "rviz_default_plugins/displays/marker/markers/line_strip_marker.hpp"
+#include "rviz_default_plugins/displays/marker/markers/marker_factory.hpp"
 #include "rviz_default_plugins/displays/marker/markers/points_marker.hpp"
-#include "rviz_default_plugins/displays/marker/markers/text_view_facing_marker.hpp"
-#include "rviz_default_plugins/displays/marker/markers/mesh_resource_marker.hpp"
-#include "rviz_default_plugins/displays/marker/markers/triangle_list_marker.hpp"
-#include "rviz_default_plugins/displays/marker/markers/marker_base.hpp"
 
 #include "rviz_default_plugins/displays/interactive_markers/interactive_marker.hpp"
 #include "rviz_default_plugins/displays/interactive_markers/interactive_marker_control.hpp"
@@ -101,6 +94,9 @@ InteractiveMarkerControl::InteractiveMarkerControl(
   show_visual_aids_(false),
   line_(new rviz_rendering::Line(context->getSceneManager(), control_frame_node_))
 {
+  marker_factory_ = std::make_unique<markers::MarkerFactory>();
+  marker_factory_->initialize(nullptr, context_, markers_node_);
+
   line_->setVisible(false);
 }
 
@@ -108,63 +104,14 @@ void InteractiveMarkerControl::makeMarkers(
   const visualization_msgs::msg::InteractiveMarkerControl & message)
 {
   for (const auto & message_marker : message.markers) {
-    markers::MarkerBase::SharedPtr marker;
-
-    // create a marker with the given type
-    switch (message_marker.type) {
-      case visualization_msgs::msg::Marker::CUBE:
-      case visualization_msgs::msg::Marker::CYLINDER:
-      case visualization_msgs::msg::Marker::SPHERE:
-        {
-          marker.reset(new markers::ShapeMarker(nullptr, context_, markers_node_));
-        }
-        break;
-
-      case visualization_msgs::msg::Marker::ARROW:
-        {
-          marker.reset(new markers::ArrowMarker(nullptr, context_, markers_node_));
-        }
-        break;
-
-      case visualization_msgs::msg::Marker::LINE_STRIP:
-        {
-          marker.reset(new markers::LineStripMarker(nullptr, context_, markers_node_));
-        }
-        break;
-      case visualization_msgs::msg::Marker::LINE_LIST:
-        {
-          marker.reset(new markers::LineListMarker(nullptr, context_, markers_node_));
-        }
-        break;
-      case visualization_msgs::msg::Marker::SPHERE_LIST:
-      case visualization_msgs::msg::Marker::CUBE_LIST:
-      case visualization_msgs::msg::Marker::POINTS:
-        {
-          auto points_marker = std::make_shared<markers::PointsMarker>(
-            nullptr, context_, markers_node_);
-          points_markers_.push_back(points_marker);
-          marker = points_marker;
-        }
-        break;
-      case visualization_msgs::msg::Marker::TEXT_VIEW_FACING:
-        {
-          marker.reset(new markers::TextViewFacingMarker(nullptr, context_, markers_node_));
-        }
-        break;
-      case visualization_msgs::msg::Marker::MESH_RESOURCE:
-        {
-          marker.reset(new markers::MeshResourceMarker(nullptr, context_, markers_node_));
-        }
-        break;
+    auto marker = marker_factory_->createMarkerForType(message_marker.type);
+    if (!marker) {
+      continue;
+    }
 
-      case visualization_msgs::msg::Marker::TRIANGLE_LIST:
-        {
-          marker.reset(new markers::TriangleListMarker(nullptr, context_, markers_node_));
-        }
-        break;
-      default:
-        RVIZ_COMMON_LOG_ERROR_STREAM("Unknown marker type: " << message_marker.type);
-        break;
+    auto points_marker = std::dynamic_pointer_cast<markers::PointsMarker>(marker);
+    if (points_marker) {
+      points_markers_.push_back(points_marker);
     }
 
     auto marker_msg = std::make_shared<visualization_msgs::msg::Marker>(message_marker);
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/marker_base.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/marker_base.cpp
index 555ddd0f3..660a24848 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/marker_base.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/marker_base.cpp
@@ -40,7 +40,7 @@
 #include <OgreSceneManager.h>
 #include <OgreSharedPtr.h>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/time.hpp"
 
 #include "rviz_common/display_context.hpp"
 #include "rviz_common/frame_manager_iface.hpp"
diff --git a/rviz_default_plugins/src/rviz_default_plugins/robot/robot_link.cpp b/rviz_default_plugins/src/rviz_default_plugins/robot/robot_link.cpp
index f84d4b306..036b1f6c2 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/robot/robot_link.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/robot/robot_link.cpp
@@ -31,6 +31,9 @@
 
 #include "rviz_default_plugins/robot/robot_link.hpp"
 
+#include <urdf_model/pose.h>
+#include <urdf/model.hpp>
+
 #define _USE_MATH_DEFINES
 #include <cmath>
 #include <map>
@@ -934,5 +937,50 @@ void RobotLink::createSelection()
   }
 }
 
+template<typename T>
+void RobotLink::createVisualizable(
+  const urdf::LinkConstSharedPtr & link,
+  std::vector<Ogre::Entity *> & meshes_vector,
+  const std::vector<T> & visualizables_array,
+  const T & visualizable_element,
+  Ogre::SceneNode * scene_node)
+{
+  bool valid_visualizable_found = false;
+
+  for (const auto & vector_element : visualizables_array) {
+    T link_visual_element = vector_element;
+    if (link_visual_element && link_visual_element->geometry) {
+      Ogre::Entity * mesh = createEntityForGeometryElement(
+        link, *link_visual_element->geometry, link_visual_element->origin, "", scene_node);
+      if (mesh) {
+        meshes_vector.push_back(mesh);
+        valid_visualizable_found = true;
+      }
+    }
+  }
+
+  if (!valid_visualizable_found && visualizable_element && visualizable_element->geometry) {
+    Ogre::Entity * mesh = createEntityForGeometryElement(
+      link, *visualizable_element->geometry, visualizable_element->origin, "", scene_node);
+    if (mesh) {
+      meshes_vector.push_back(mesh);
+    }
+  }
+}
+
+template void RobotLink::createVisualizable<urdf::VisualSharedPtr>(
+  const urdf::LinkConstSharedPtr & link,
+  std::vector<Ogre::Entity *> & meshes_vector,
+  const std::vector<urdf::VisualSharedPtr> & visualizables_array,
+  const urdf::VisualSharedPtr & visualizable_element,
+  Ogre::SceneNode * scene_node);
+
+template void RobotLink::createVisualizable<urdf::CollisionSharedPtr>(
+  const urdf::LinkConstSharedPtr & link,
+  std::vector<Ogre::Entity *> & meshes_vector,
+  const std::vector<urdf::CollisionSharedPtr> & visualizables_array,
+  const urdf::CollisionSharedPtr & visualizable_element,
+  Ogre::SceneNode * scene_node);
+
 }  // namespace robot
 }  // namespace rviz_default_plugins
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/accel/accel_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/accel/accel_display_visual_test.cpp
index ff729113f..daea1e65a 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/accel/accel_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/accel/accel_display_visual_test.cpp
@@ -36,6 +36,7 @@
 
 #include "../../page_objects/accel_display_page_object.hpp"
 #include "../../publishers/accel_publisher.hpp"
+namespace accel_display_visual_test {
 
 TEST_F(VisualTestFixture, accels_are_displayed) {
   auto accel_publisher = std::make_shared<nodes::AccelPublisher>();
@@ -60,3 +61,4 @@ TEST_F(VisualTestFixture, accels_are_displayed) {
 
   assertScreenShotsIdentity();
 }
+}  // namespace accel_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/axes/axes_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/axes/axes_display_visual_test.cpp
index c1c0f056c..5d217bd8a 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/axes/axes_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/axes/axes_display_visual_test.cpp
@@ -35,6 +35,7 @@
 #include "rviz_visual_testing_framework/visual_test_publisher.hpp"
 
 #include "../../page_objects/axes_display_page_object.hpp"
+namespace axes_display_visual_test {
 
 TEST_F(VisualTestFixture, axes_display_visual_test) {
   // we need tf data to display axes - this can be achieved via a dummy publisher
@@ -51,3 +52,4 @@ TEST_F(VisualTestFixture, axes_display_visual_test) {
 
   assertMainWindowIdentity();
 }
+}  // namespace axes_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/camera/camera_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/camera/camera_display_visual_test.cpp
index c3993dc6f..15760a598 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/camera/camera_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/camera/camera_display_visual_test.cpp
@@ -40,6 +40,7 @@
 #include "../../publishers/image_publisher.hpp"
 #include "../../page_objects/point_cloud_common_page_object.hpp"
 #include "../../publishers/point_cloud_publisher.hpp"
+namespace camera_display_visual_test {
 
 class PointCloudDisplayPageObject
   : public PointCloudCommonPageObject
@@ -76,3 +77,4 @@ TEST_F(VisualTestFixture, test_camera_display_with_published_image) {
 
   assertScreenShotsIdentity();
 }
+}  // namespace camera_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/camera_info/camera_info_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/camera_info/camera_info_display_visual_test.cpp
index 23f1afb29..89c860500 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/camera_info/camera_info_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/camera_info/camera_info_display_visual_test.cpp
@@ -38,6 +38,7 @@
 
 #include "../../publishers/camera_info_publisher.hpp"
 #include "../../page_objects/camera_info_display_page_object.hpp"
+namespace camera_info_display_visual_test {
 
 TEST_F(VisualTestFixture, camera_info_displayed) {
   std::vector<PublisherWithFrame> publishers = {
@@ -56,3 +57,4 @@ TEST_F(VisualTestFixture, camera_info_displayed) {
 
   assertScreenShotsIdentity();
 }
+}  // namespace camera_info_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/depth_cloud/depth_cloud_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/depth_cloud/depth_cloud_display_visual_test.cpp
index 22b4823a9..8fa1bd66b 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/depth_cloud/depth_cloud_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/depth_cloud/depth_cloud_display_visual_test.cpp
@@ -38,6 +38,7 @@
 #include "../../publishers/camera_info_publisher.hpp"
 #include "../../publishers/image_publisher.hpp"
 #include "../../page_objects/depth_cloud_page_object.hpp"
+namespace depth_cloud_display_visual_test {
 
 TEST_F(VisualTestFixture, test_depth_cloud_display_with_published_image) {
   std::vector<PublisherWithFrame> publishers = {
@@ -66,3 +67,4 @@ TEST_F(VisualTestFixture, test_depth_cloud_display_with_published_image) {
   /// Compare test screenshots with the reference ones (if in TEST mode):
   assertScreenShotsIdentity();
 }
+}  // namespace depth_cloud_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/effort/effort_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/effort/effort_display_visual_test.cpp
index 5952632fa..5ee263513 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/effort/effort_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/effort/effort_display_visual_test.cpp
@@ -36,6 +36,7 @@
 
 #include "../../page_objects/effort_display_page_object.hpp"
 #include "../../publishers/effort_publisher.hpp"
+namespace effort_display_visual_test {
 
 TEST_F(VisualTestFixture, wrenches_are_displayed) {
   auto effort_publisher = std::make_shared<nodes::EffortPublisher>();
@@ -58,3 +59,4 @@ TEST_F(VisualTestFixture, wrenches_are_displayed) {
 
   assertScreenShotsIdentity();
 }
+}  // namespace effort_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/fluid_pressure/fluid_pressure_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/fluid_pressure/fluid_pressure_display_visual_test.cpp
index 2269c9ce7..6339c6de6 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/fluid_pressure/fluid_pressure_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/fluid_pressure/fluid_pressure_display_visual_test.cpp
@@ -37,6 +37,7 @@
 
 #include "../../page_objects/point_cloud_common_page_object.hpp"
 #include "../../publishers/fluid_pressure_publisher.hpp"
+namespace fluid_pressure_display_visual_test {
 
 class FluidPressureDisplayPageObject
   : public PointCloudCommonPageObject
@@ -73,3 +74,4 @@ TEST_F(VisualTestFixture, sphere_changes_color_depending_on_fluid_pressure) {
   captureMainWindow("fluid_pressure_display_high_fluid_pressure");
   assertScreenShotsIdentity();
 }
+}  // namespace fluid_pressure_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/grid/grid_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/grid/grid_display_visual_test.cpp
index 2c3f3e3a8..0c1c25e0f 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/grid/grid_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/grid/grid_display_visual_test.cpp
@@ -34,6 +34,7 @@
 #include "rviz_visual_testing_framework/visual_test_fixture.hpp"
 
 #include "../../page_objects/grid_display_page_object.hpp"
+namespace grid_display_visual_test {
 
 TEST_F(VisualTestFixture, grid_visual_test) {
   setCamPose(Ogre::Vector3(10, 0, 0));
@@ -51,3 +52,4 @@ TEST_F(VisualTestFixture, grid_visual_test) {
 
   assertScreenShotsIdentity();
 }
+}  // namespace grid_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/grid_cells/grid_cells_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/grid_cells/grid_cells_display_visual_test.cpp
index 80a5d2d36..d6ba064df 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/grid_cells/grid_cells_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/grid_cells/grid_cells_display_visual_test.cpp
@@ -36,6 +36,7 @@
 
 #include "../../page_objects/grid_cells_display_page_object.hpp"
 #include "../../publishers/grid_cells_publisher.hpp"
+namespace grid_cells_display_visual_test {
 
 TEST_F(VisualTestFixture, grid_cells_display_visual_test) {
   auto grid_cells_publisher = std::make_unique<VisualTestPublisher>(
@@ -55,3 +56,4 @@ TEST_F(VisualTestFixture, grid_cells_display_visual_test) {
 
   assertScreenShotsIdentity();
 }
+}  // namespace grid_cells_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/illuminance/illuminance_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/illuminance/illuminance_display_visual_test.cpp
index ab8de5a61..55ad8a553 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/illuminance/illuminance_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/illuminance/illuminance_display_visual_test.cpp
@@ -37,6 +37,7 @@
 
 #include "../../page_objects/point_cloud_common_page_object.hpp"
 #include "../../publishers/illuminance_publisher.hpp"
+namespace illuminance_display_visual_test {
 
 class IlluminanceDisplayPageObject
   : public PointCloudCommonPageObject
@@ -73,3 +74,4 @@ TEST_F(VisualTestFixture, sphere_changes_color_depending_on_illuminance) {
   captureMainWindow("illuminance_display_high_illuminance");
   assertScreenShotsIdentity();
 }
+}  // namespace illuminance_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/image/image_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/image/image_display_visual_test.cpp
index a2ef35fbb..49a85080d 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/image/image_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/image/image_display_visual_test.cpp
@@ -36,6 +36,7 @@
 
 #include "../../page_objects/image_display_page_object.hpp"
 #include "../../publishers/image_publisher.hpp"
+namespace image_display_visual_test {
 
 TEST_F(VisualTestFixture, test_image_display_with_published_image) {
   auto path_publisher = std::make_unique<VisualTestPublisher>(
@@ -51,3 +52,4 @@ TEST_F(VisualTestFixture, test_image_display_with_published_image) {
 
   assertScreenShotsIdentity();
 }
+}  // namespace image_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/laser_scan/laser_scan_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/laser_scan/laser_scan_display_visual_test.cpp
index 01a7e35a0..b6ddebc1f 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/laser_scan/laser_scan_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/laser_scan/laser_scan_display_visual_test.cpp
@@ -36,6 +36,7 @@
 
 #include "../../page_objects/point_cloud_common_page_object.hpp"
 #include "../../publishers/laser_scan_publisher.hpp"
+namespace laser_scan_display_visual_test {
 
 class LaserScanDisplayPageObject
   : public PointCloudCommonPageObject
@@ -63,3 +64,4 @@ TEST_F(VisualTestFixture, laser_scan_display) {
 
   assertMainWindowIdentity();
 }
+}  // namespace laser_scan_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_visual_test.cpp
index 184b690da..8fcb79bab 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_visual_test.cpp
@@ -39,6 +39,7 @@
 #include "../../page_objects/marker_display_page_object.hpp"
 #include "../../publishers/map_publisher.hpp"
 #include "../../publishers/single_marker_publisher.hpp"
+namespace map_display_visual_test {
 
 TEST_F(VisualTestFixture, test_map_display_with_large_map) {
   auto publishers = std::vector<PublisherWithFrame>();
@@ -74,3 +75,4 @@ TEST_F(VisualTestFixture, test_map_display_with_large_map) {
 
   assertScreenShotsIdentity();
 }
+}  // namespace map_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_display_visual_test.cpp
index 5a090e6bf..3cd0d2226 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_display_visual_test.cpp
@@ -37,6 +37,7 @@
 #include "../../page_objects/marker_display_page_object.hpp"
 #include "../../publishers/marker_array_publisher.hpp"
 #include "../../publishers/marker_publisher.hpp"
+namespace marker_display_visual_test {
 
 TEST_F(VisualTestFixture, test_marker_with_multiple_marker_types) {
   auto marker_publisher = std::make_unique<VisualTestPublisher>(
@@ -65,3 +66,4 @@ TEST_F(VisualTestFixture, test_marker_with_marker_array) {
 
   assertMainWindowIdentity();
 }
+}  // namespace marker_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/marker_array/marker_array_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/marker_array/marker_array_display_visual_test.cpp
index 9a0311fe6..d0940d43e 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/marker_array/marker_array_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/marker_array/marker_array_display_visual_test.cpp
@@ -36,6 +36,7 @@
 
 #include "../../page_objects/marker_array_display_page_object.hpp"
 #include "../../publishers/marker_array_publisher.hpp"
+namespace marker_array_display_visual_test {
 
 TEST_F(VisualTestFixture, test_marker_array_with_three_marker_types) {
   auto marker_array_publisher = std::make_unique<VisualTestPublisher>(
@@ -50,3 +51,4 @@ TEST_F(VisualTestFixture, test_marker_array_with_three_marker_types) {
 
   assertMainWindowIdentity();
 }
+}  // namespace marker_array_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/odometry/odometry_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/odometry/odometry_display_visual_test.cpp
index c9a738bed..f448066a0 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/odometry/odometry_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/odometry/odometry_display_visual_test.cpp
@@ -36,6 +36,7 @@
 
 #include "../../page_objects/odometry_display_page_object.hpp"
 #include "../../publishers/odometry_publisher.hpp"
+namespace odometry_display_visual_test {
 
 TEST_F(VisualTestFixture, test_odometry_display) {
   auto odometry = std::make_shared<nodes::OdometryPublisher>();
@@ -81,3 +82,4 @@ TEST_F(VisualTestFixture, test_odometry_display) {
 
   assertScreenShotsIdentity();
 }
+}  // namespace odometry_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/path/path_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/path/path_display_visual_test.cpp
index 96368242b..4f7293dab 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/path/path_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/path/path_display_visual_test.cpp
@@ -36,6 +36,7 @@
 
 #include "../../page_objects/path_display_page_object.hpp"
 #include "../../publishers/path_publisher.hpp"
+namespace path_display_visual_test {
 
 TEST_F(VisualTestFixture, test_with_path) {
   auto path_publisher = std::make_unique<VisualTestPublisher>(
@@ -55,3 +56,4 @@ TEST_F(VisualTestFixture, test_with_path) {
 
   assertMainWindowIdentity();
 }
+}  // namespace path_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/point/point_stamped_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/point/point_stamped_display_visual_test.cpp
index c5babc950..d63b09931 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/point/point_stamped_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/point/point_stamped_display_visual_test.cpp
@@ -36,6 +36,7 @@
 
 #include "../../page_objects/point_display_page_object.hpp"
 #include "../../publishers/point_stamped_publisher.hpp"
+namespace point_stamped_display_visual_test {
 
 TEST_F(VisualTestFixture, test_with_three_points) {
   auto point_publisher = std::make_unique<VisualTestPublisher>(
@@ -53,3 +54,4 @@ TEST_F(VisualTestFixture, test_with_three_points) {
 
   assertMainWindowIdentity();
 }
+}  // namespace point_stamped_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud2_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud2_display_visual_test.cpp
index 2ecb3c870..1930bcee4 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud2_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud2_display_visual_test.cpp
@@ -35,6 +35,7 @@
 
 #include "../../page_objects/point_cloud_common_page_object.hpp"
 #include "../../publishers/point_cloud2_publisher.hpp"
+namespace point_cloud2_display_visual_test {
 
 class PointCloud2DisplayPageObject
   : public PointCloudCommonPageObject
@@ -61,3 +62,4 @@ TEST_F(VisualTestFixture, pointcloud2_containing_one_big_point) {
 
   assertMainWindowIdentity();
 }
+}  // namespace point_cloud2_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_common_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_common_test.cpp
index 745c3551e..f6d3ceba8 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_common_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_common_test.cpp
@@ -235,9 +235,3 @@ TEST_F(
   ASSERT_THAT(point_clouds.size(), Eq(0u));
 }
 
-int main(int argc, char ** argv)
-{
-  QApplication app(argc, argv);
-  InitGoogleMock(&argc, argv);
-  return RUN_ALL_TESTS();
-}
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_display_visual_test.cpp
index 3ba24beee..61f456978 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_display_visual_test.cpp
@@ -35,6 +35,7 @@
 
 #include "../../page_objects/point_cloud_common_page_object.hpp"
 #include "../../publishers/point_cloud_publisher.hpp"
+namespace point_cloud_display_visual_test {
 
 class PointCloudDisplayPageObject
   : public PointCloudCommonPageObject
@@ -65,3 +66,4 @@ TEST_F(VisualTestFixture, pointcloud_containing_one_big_point) {
   /// Compare test screenshots with the reference ones (if in TEST mode):
   assertScreenShotsIdentity();
 }
+}  // namespace point_cloud_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/pose/pose_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/pose/pose_display_visual_test.cpp
index 1d1b86203..9125a6cca 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/pose/pose_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/pose/pose_display_visual_test.cpp
@@ -36,6 +36,7 @@
 
 #include "../../page_objects/pose_display_page_object.hpp"
 #include "../../publishers/pose_publisher.hpp"
+namespace pose_display_visual_test {
 
 TEST_F(VisualTestFixture, pose_visual_test) {
   auto path_publisher = std::make_unique<VisualTestPublisher>(
@@ -62,3 +63,4 @@ TEST_F(VisualTestFixture, pose_visual_test) {
 
   assertScreenShotsIdentity();
 }
+}  // namespace pose_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/pose_array/pose_array_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/pose_array/pose_array_display_visual_test.cpp
index b3e0f668a..c203a3bd7 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/pose_array/pose_array_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/pose_array/pose_array_display_visual_test.cpp
@@ -36,6 +36,7 @@
 
 #include "../../page_objects/pose_array_display_page_object.hpp"
 #include "../../publishers/pose_array_publisher.hpp"
+namespace pose_array_display_visual_test {
 
 TEST_F(VisualTestFixture, pose_array_visual_test) {
   auto path_publisher = std::make_unique<VisualTestPublisher>(
@@ -64,3 +65,4 @@ TEST_F(VisualTestFixture, pose_array_visual_test) {
 
   assertScreenShotsIdentity();
 }
+}  // namespace pose_array_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/pose_covariance/pose_with_covariance_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/pose_covariance/pose_with_covariance_display_visual_test.cpp
index 82fd54d2f..c9836f2e8 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/pose_covariance/pose_with_covariance_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/pose_covariance/pose_with_covariance_display_visual_test.cpp
@@ -39,6 +39,7 @@
 
 #include "../../page_objects/pose_with_covariance_display_page_object.hpp"
 #include "../../publishers/pose_with_covariance_publisher.hpp"
+namespace pose_with_covariance_display_visual_test {
 
 TEST_F(VisualTestFixture, test_pose_with_covariance_display) {
   auto pose_with_covariance_publisher = std::make_unique<VisualTestPublisher>(
@@ -76,3 +77,4 @@ TEST_F(VisualTestFixture, test_pose_with_covariance_display) {
 
   assertScreenShotsIdentity();
 }
+}  // namespace pose_with_covariance_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/range/range_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/range/range_display_visual_test.cpp
index 63252ea04..a39801108 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/range/range_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/range/range_display_visual_test.cpp
@@ -35,6 +35,7 @@
 
 #include "../../page_objects/range_display_page_object.hpp"
 #include "../../publishers/range_publisher.hpp"
+namespace range_display_visual_test {
 
 TEST_F(VisualTestFixture, range_display_visual_test) {
   auto range_publisher = std::make_unique<VisualTestPublisher>(
@@ -54,3 +55,4 @@ TEST_F(VisualTestFixture, range_display_visual_test) {
 
   assertScreenShotsIdentity();
 }
+}  // namespace range_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/relative_humidity/relative_humidity_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/relative_humidity/relative_humidity_display_visual_test.cpp
index 57785690b..835dd039a 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/relative_humidity/relative_humidity_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/relative_humidity/relative_humidity_display_visual_test.cpp
@@ -37,6 +37,7 @@
 
 #include "../../page_objects/point_cloud_common_page_object.hpp"
 #include "../../publishers/relative_humidity_publisher.hpp"
+namespace relative_humidity_display_visual_test {
 
 class RelativeHumidityDisplayPageObject
   : public PointCloudCommonPageObject
@@ -73,3 +74,4 @@ TEST_F(VisualTestFixture, sphere_changes_color_depending_on_relative_humidity) {
   captureMainWindow("relative_humidity_display_high_relative_humidity");
   assertScreenShotsIdentity();
 }
+}  // namespace relative_humidity_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/robot_model/robot_model_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/robot_model/robot_model_display_visual_test.cpp
index 2f3982cc7..0318c4926 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/robot_model/robot_model_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/robot_model/robot_model_display_visual_test.cpp
@@ -41,6 +41,7 @@
 #include "rviz_visual_testing_framework/transform_publisher.hpp"
 
 #include "../../page_objects/robot_model_display_page_object.hpp"
+namespace robot_model_display_visual_test {
 
 TEST_F(VisualTestFixture, robot_model_display_test) {
   std::vector<StaticTransform> transforms;
@@ -72,3 +73,4 @@ TEST_F(VisualTestFixture, robot_model_display_test) {
 
   assertScreenShotsIdentity();
 }
+}  // namespace robot_model_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/temperature/temperature_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/temperature/temperature_display_visual_test.cpp
index 13888e6c6..fefef5f63 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/temperature/temperature_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/temperature/temperature_display_visual_test.cpp
@@ -37,6 +37,7 @@
 
 #include "../../page_objects/point_cloud_common_page_object.hpp"
 #include "../../publishers/temperature_publisher.hpp"
+namespace temperature_display_visual_test {
 
 class TemperatureDisplayPageObject
   : public PointCloudCommonPageObject
@@ -73,3 +74,4 @@ TEST_F(VisualTestFixture, sphere_changes_color_depending_on_temperature) {
   captureMainWindow("temperature_display_high_temperature");
   assertScreenShotsIdentity();
 }
+}  // namespace temperature_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/tf/tf_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/tf/tf_display_visual_test.cpp
index e5bc812a8..2f7d83189 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/tf/tf_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/tf/tf_display_visual_test.cpp
@@ -35,6 +35,7 @@
 #include "rviz_visual_testing_framework/transform_publisher.hpp"
 
 #include "../../page_objects/tf_display_page_object.hpp"
+namespace tf_display_visual_test {
 
 TEST_F(VisualTestFixture, tf_visual_test) {
   auto transform_publisher = std::make_unique<TransformPublisher>("tf_frame", 1, 0, 0, 0, 0, 0);
@@ -56,3 +57,4 @@ TEST_F(VisualTestFixture, tf_visual_test) {
 
   assertScreenShotsIdentity();
 }
+}  // namespace tf_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/twist/twist_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/twist/twist_display_visual_test.cpp
index 324c0e0a0..c7a511118 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/twist/twist_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/twist/twist_display_visual_test.cpp
@@ -36,6 +36,7 @@
 
 #include "../../page_objects/twist_display_page_object.hpp"
 #include "../../publishers/twist_publisher.hpp"
+namespace twist_display_visual_test {
 
 TEST_F(VisualTestFixture, twists_are_displayed) {
   auto twist_publisher = std::make_shared<nodes::TwistPublisher>();
@@ -60,3 +61,4 @@ TEST_F(VisualTestFixture, twists_are_displayed) {
 
   assertScreenShotsIdentity();
 }
+}  // namespace twist_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/wrench/wrench_stamped_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/wrench/wrench_stamped_display_visual_test.cpp
index aa8f2173b..ed4b24e9d 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/wrench/wrench_stamped_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/wrench/wrench_stamped_display_visual_test.cpp
@@ -36,6 +36,7 @@
 
 #include "../../page_objects/wrench_display_page_object.hpp"
 #include "../../publishers/wrench_publisher.hpp"
+namespace wrench_stamped_display_visual_test {
 
 TEST_F(VisualTestFixture, wrenches_are_displayed) {
   auto wrench_publisher = std::make_shared<nodes::WrenchPublisher>();
@@ -60,3 +61,4 @@ TEST_F(VisualTestFixture, wrenches_are_displayed) {
 
   assertScreenShotsIdentity();
 }
+}  // namespace wrench_stamped_display_visual_test
diff --git a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/fps/fps_view_controller_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/fps/fps_view_controller_test.cpp
index 734141521..2447fb778 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/fps/fps_view_controller_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/fps/fps_view_controller_test.cpp
@@ -215,9 +215,3 @@ TEST_F(FPSViewControllerTestFixture, mimic_does_not_change_view_when_given_any_v
   EXPECT_THAT(z_position->getValue().toFloat(), FloatNear(orbit_camera_position.z, 0.001f));
 }
 
-int main(int argc, char ** argv)
-{
-  QApplication app(argc, argv);
-  InitGoogleMock(&argc, argv);
-  return RUN_ALL_TESTS();
-}
diff --git a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/frame/frame_view_controller_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/frame/frame_view_controller_test.cpp
index 21da5dcc4..22f0c4012 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/frame/frame_view_controller_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/frame/frame_view_controller_test.cpp
@@ -251,9 +251,3 @@ TEST_F(FrameViewControllerTestFixture,
   checkCameraLooksAlong(Ogre::Vector3(0, 0, -1));
 }
 
-int main(int argc, char ** argv)
-{
-  QApplication app(argc, argv);
-  InitGoogleMock(&argc, argv);
-  return RUN_ALL_TESTS();
-}
diff --git a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/orbit/orbit_view_controller_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/orbit/orbit_view_controller_test.cpp
index 3cc277868..300491bc4 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/orbit/orbit_view_controller_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/orbit/orbit_view_controller_test.cpp
@@ -246,9 +246,3 @@ TEST_F(OrbitViewControllerTestFixture, mimic_does_not_move_camera_when_given_sam
   EXPECT_THAT(pitch_property->getValue().toFloat(), FloatNear(0.5f, 0.001f));
 }
 
-int main(int argc, char ** argv)
-{
-  QApplication app(argc, argv);
-  InitGoogleMock(&argc, argv);
-  return RUN_ALL_TESTS();
-}
diff --git a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/ortho/ortho_view_controller_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/ortho/ortho_view_controller_test.cpp
index 1d300b717..44c492e07 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/ortho/ortho_view_controller_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/ortho/ortho_view_controller_test.cpp
@@ -201,9 +201,3 @@ TEST_F(
   EXPECT_THAT(y_property->getValue().toFloat(), FloatNear(0, 0.001f));
 }
 
-int main(int argc, char ** argv)
-{
-  QApplication app(argc, argv);
-  InitGoogleMock(&argc, argv);
-  return RUN_ALL_TESTS();
-}
diff --git a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller_test.cpp
index 7b2d50b2a..f7f7d350d 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller_test.cpp
@@ -308,9 +308,3 @@ TEST_F(
   EXPECT_THAT(motion_magnitude, Le(1.1f));
 }
 
-int main(int argc, char ** argv)
-{
-  QApplication app(argc, argv);
-  InitGoogleMock(&argc, argv);
-  return RUN_ALL_TESTS();
-}