diff --git a/.clang-tidy b/.clang-tidy
index 830da525463..b90b8f8f1ed 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -21,9 +21,13 @@ Checks: >
     misc-*,
     -misc-non-private-member-variables-in-classes,
     -misc-no-recursion,
+    -misc-const-correctness,
+    -misc-include-cleaner,
+    -misc-use-internal-linkage,
     modernize-*,
     -modernize-use-trailing-return-type,
     -modernize-use-nodiscard,
+    -modernize-type-traits,
     performance-*,
     readability-*,
     -readability-braces-around-statements,
@@ -56,9 +60,13 @@ WarningsAsErrors: >
     misc-*,
     -misc-non-private-member-variables-in-classes,
     -misc-no-recursion,
+    -misc-const-correctness,
+    -misc-include-cleaner,
+    -misc-use-internal-linkage,
     modernize-*,
     -modernize-use-trailing-return-type,
     -modernize-use-nodiscard,
+    -modernize-type-traits,
     performance-*,
     readability-*,
     -readability-braces-around-statements,
@@ -80,4 +88,6 @@ CheckOptions:
     value:           '1'
   - key:             cppcoreguidelines-pro-type-member-init.IgnoreArrays
     value:           '1'
+ExtraArgs:
+  - '-std=c++17'
 ...
diff --git a/tesseract_collision/bullet/include/tesseract_collision/bullet/bullet_collision_shape_cache.h b/tesseract_collision/bullet/include/tesseract_collision/bullet/bullet_collision_shape_cache.h
index 4352462a716..7e309bed043 100644
--- a/tesseract_collision/bullet/include/tesseract_collision/bullet/bullet_collision_shape_cache.h
+++ b/tesseract_collision/bullet/include/tesseract_collision/bullet/bullet_collision_shape_cache.h
@@ -74,9 +74,9 @@ class BulletCollisionShapeCache
 
 private:
   /** @brief The static cache */
-  static std::map<boost::uuids::uuid, std::weak_ptr<BulletCollisionShape>> cache_;
+  static std::map<boost::uuids::uuid, std::weak_ptr<BulletCollisionShape>> cache_;  // NOLINT
   /** @brief The shared mutex for thread safety */
-  static std::mutex mutex_;
+  static std::mutex mutex_;  // NOLINT
 };
 }  // namespace tesseract_collision::tesseract_collision_bullet
 
diff --git a/tesseract_collision/bullet/src/bullet_collision_shape_cache.cpp b/tesseract_collision/bullet/src/bullet_collision_shape_cache.cpp
index 7e950870db8..db1e38ccd6c 100644
--- a/tesseract_collision/bullet/src/bullet_collision_shape_cache.cpp
+++ b/tesseract_collision/bullet/src/bullet_collision_shape_cache.cpp
@@ -32,7 +32,9 @@
 namespace tesseract_collision::tesseract_collision_bullet
 {
 // Static member definitions
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 std::map<boost::uuids::uuid, std::weak_ptr<BulletCollisionShape>> BulletCollisionShapeCache::cache_;
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 std::mutex BulletCollisionShapeCache::mutex_;
 
 BulletCollisionShape::BulletCollisionShape(std::shared_ptr<btCollisionShape> top_level_)
diff --git a/tesseract_collision/bullet/src/bullet_utils.cpp b/tesseract_collision/bullet/src/bullet_utils.cpp
index 82e1d55875a..0117f5dd59a 100644
--- a/tesseract_collision/bullet/src/bullet_utils.cpp
+++ b/tesseract_collision/bullet/src/bullet_utils.cpp
@@ -127,23 +127,23 @@ std::shared_ptr<BulletCollisionShape> createShapePrimitive(const tesseract_geome
 
 std::shared_ptr<BulletCollisionShape> createShapePrimitive(const tesseract_geometry::Cylinder::ConstPtr& geom)
 {
-  auto r = static_cast<btScalar>(geom->getRadius());
-  auto l = static_cast<btScalar>(geom->getLength() / 2);
-  return std::make_shared<BulletCollisionShape>(std::make_shared<btCylinderShapeZ>(btVector3(r, r, l)));
+  auto radius = static_cast<btScalar>(geom->getRadius());
+  auto length = static_cast<btScalar>(geom->getLength() / 2);
+  return std::make_shared<BulletCollisionShape>(std::make_shared<btCylinderShapeZ>(btVector3(radius, radius, length)));
 }
 
 std::shared_ptr<BulletCollisionShape> createShapePrimitive(const tesseract_geometry::Cone::ConstPtr& geom)
 {
-  auto r = static_cast<btScalar>(geom->getRadius());
-  auto l = static_cast<btScalar>(geom->getLength());
-  return std::make_shared<BulletCollisionShape>(std::make_shared<btConeShapeZ>(r, l));
+  auto radius = static_cast<btScalar>(geom->getRadius());
+  auto length = static_cast<btScalar>(geom->getLength());
+  return std::make_shared<BulletCollisionShape>(std::make_shared<btConeShapeZ>(radius, length));
 }
 
 std::shared_ptr<BulletCollisionShape> createShapePrimitive(const tesseract_geometry::Capsule::ConstPtr& geom)
 {
-  auto r = static_cast<btScalar>(geom->getRadius());
-  auto l = static_cast<btScalar>(geom->getLength());
-  return std::make_shared<BulletCollisionShape>(std::make_shared<btCapsuleShapeZ>(r, l));
+  auto radius = static_cast<btScalar>(geom->getRadius());
+  auto length = static_cast<btScalar>(geom->getLength());
+  return std::make_shared<BulletCollisionShape>(std::make_shared<btCapsuleShapeZ>(radius, length));
 }
 
 std::shared_ptr<BulletCollisionShape> createShapePrimitive(const tesseract_geometry::Mesh::ConstPtr& geom)
@@ -233,12 +233,12 @@ std::shared_ptr<BulletCollisionShape> createShapePrimitive(const tesseract_geome
           geomTrans.setIdentity();
           geomTrans.setOrigin(btVector3(
               static_cast<btScalar>(it.getX()), static_cast<btScalar>(it.getY()), static_cast<btScalar>(it.getZ())));
-          auto l = static_cast<btScalar>(size / 2.0);
+          auto length = static_cast<btScalar>(size / 2.0);
 
           std::shared_ptr<btCollisionShape> childshape = managed_shapes.at(it.getDepth());
           if (childshape == nullptr)
           {
-            childshape = std::make_shared<btBoxShape>(btVector3(l, l, l));
+            childshape = std::make_shared<btBoxShape>(btVector3(length, length, length));
             childshape->setMargin(BULLET_MARGIN);
             managed_shapes.at(it.getDepth()) = childshape;
           }
diff --git a/tesseract_collision/core/src/contact_managers_plugin_factory.cpp b/tesseract_collision/core/src/contact_managers_plugin_factory.cpp
index fade4cebce5..bb9ab8b65c3 100644
--- a/tesseract_collision/core/src/contact_managers_plugin_factory.cpp
+++ b/tesseract_collision/core/src/contact_managers_plugin_factory.cpp
@@ -32,7 +32,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_collision/core/discrete_contact_manager.h>
 #include <tesseract_collision/core/continuous_contact_manager.h>
 #include <tesseract_common/resource_locator.h>
-#include <tesseract_common/plugin_loader.hpp>
+#include <tesseract_common/plugin_loader.h>
 #include <tesseract_common/yaml_utils.h>
 #include <tesseract_common/yaml_extenstions.h>
 #include <tesseract_collision/core/contact_managers_plugin_factory.h>
diff --git a/tesseract_collision/fcl/include/tesseract_collision/fcl/fcl_collision_geometry_cache.h b/tesseract_collision/fcl/include/tesseract_collision/fcl/fcl_collision_geometry_cache.h
index 260e0dcff30..19e64db1b17 100644
--- a/tesseract_collision/fcl/include/tesseract_collision/fcl/fcl_collision_geometry_cache.h
+++ b/tesseract_collision/fcl/include/tesseract_collision/fcl/fcl_collision_geometry_cache.h
@@ -64,9 +64,9 @@ class FCLCollisionGeometryCache
 
 private:
   /** @brief The static cache */
-  static std::map<boost::uuids::uuid, std::weak_ptr<fcl::CollisionGeometryd>> cache_;
+  static std::map<boost::uuids::uuid, std::weak_ptr<fcl::CollisionGeometryd>> cache_;  // NOLINT
   /** @brief The shared mutex for thread safety */
-  static std::mutex mutex_;
+  static std::mutex mutex_;  // NOLINT
 };
 }  // namespace tesseract_collision::tesseract_collision_fcl
 
diff --git a/tesseract_collision/fcl/src/fcl_collision_geometry_cache.cpp b/tesseract_collision/fcl/src/fcl_collision_geometry_cache.cpp
index 34c0c6c2d1c..53c81d69d5a 100644
--- a/tesseract_collision/fcl/src/fcl_collision_geometry_cache.cpp
+++ b/tesseract_collision/fcl/src/fcl_collision_geometry_cache.cpp
@@ -32,7 +32,9 @@
 namespace tesseract_collision::tesseract_collision_fcl
 {
 // Static member definitions
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 std::map<boost::uuids::uuid, std::weak_ptr<fcl::CollisionGeometryd>> FCLCollisionGeometryCache::cache_;
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 std::mutex FCLCollisionGeometryCache::mutex_;
 
 void FCLCollisionGeometryCache::insert(const std::shared_ptr<const tesseract_geometry::Geometry>& key,
diff --git a/tesseract_common/include/tesseract_common/class_loader.hpp b/tesseract_common/include/tesseract_common/class_loader.hpp
index f3a46fc0c48..9f4f220e2c6 100644
--- a/tesseract_common/include/tesseract_common/class_loader.hpp
+++ b/tesseract_common/include/tesseract_common/class_loader.hpp
@@ -37,8 +37,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <console_bridge/console.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_common/class_loader.h>
-
 namespace tesseract_common
 {
 template <class ClassBase>
diff --git a/tesseract_common/include/tesseract_common/plugin_loader.hpp b/tesseract_common/include/tesseract_common/plugin_loader.hpp
index 21e9bbddca7..4fc0aea14de 100644
--- a/tesseract_common/include/tesseract_common/plugin_loader.hpp
+++ b/tesseract_common/include/tesseract_common/plugin_loader.hpp
@@ -33,7 +33,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <ostream>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_common/plugin_loader.h>
 #include <tesseract_common/class_loader.h>
 
 namespace tesseract_common
diff --git a/tesseract_common/include/tesseract_common/serialization.h b/tesseract_common/include/tesseract_common/serialization.h
index 242b61d9e96..b893fcd3454 100644
--- a/tesseract_common/include/tesseract_common/serialization.h
+++ b/tesseract_common/include/tesseract_common/serialization.h
@@ -197,7 +197,7 @@ struct Serialization
     }
 
     std::string data = ss.str();
-    return std::vector<std::uint8_t>(data.begin(), data.end());
+    return { data.begin(), data.end() };
   }
 
   template <typename SerializableType>
diff --git a/tesseract_common/include/tesseract_common/utils.h b/tesseract_common/include/tesseract_common/utils.h
index 679ffb3337c..43785c29576 100644
--- a/tesseract_common/include/tesseract_common/utils.h
+++ b/tesseract_common/include/tesseract_common/utils.h
@@ -44,7 +44,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tinyxml2
 {
-class XMLElement;
+class XMLElement;  // NOLINT
 class XMLAttribute;
 }  // namespace tinyxml2
 
diff --git a/tesseract_common/src/allowed_collision_matrix.cpp b/tesseract_common/src/allowed_collision_matrix.cpp
index b1585b9f04e..f4343220423 100644
--- a/tesseract_common/src/allowed_collision_matrix.cpp
+++ b/tesseract_common/src/allowed_collision_matrix.cpp
@@ -122,7 +122,7 @@ void AllowedCollisionMatrix::serialize(Archive& ar, const unsigned int /*version
 std::ostream& operator<<(std::ostream& os, const AllowedCollisionMatrix& acm)
 {
   for (const auto& pair : acm.getAllAllowedCollisions())
-    os << "link=" << pair.first.first << " link=" << pair.first.second << " reason=" << pair.second << std::endl;
+    os << "link=" << pair.first.first << " link=" << pair.first.second << " reason=" << pair.second << "\n";
   return os;
 }
 }  // namespace tesseract_common
diff --git a/tesseract_common/src/collision_margin_data.cpp b/tesseract_common/src/collision_margin_data.cpp
index 63b9d384c57..0aa0206509a 100644
--- a/tesseract_common/src/collision_margin_data.cpp
+++ b/tesseract_common/src/collision_margin_data.cpp
@@ -157,10 +157,7 @@ void CollisionMarginData::updateMaxCollisionMargin()
 {
   max_collision_margin_ = default_collision_margin_;
   for (const auto& p : lookup_table_)
-  {
-    if (p.second > max_collision_margin_)
-      max_collision_margin_ = p.second;
-  }
+    max_collision_margin_ = std::max(p.second, max_collision_margin_);
 }
 
 bool CollisionMarginData::operator==(const CollisionMarginData& rhs) const
diff --git a/tesseract_common/src/joint_state.cpp b/tesseract_common/src/joint_state.cpp
index 6cc6b7812ec..a867c1c659f 100644
--- a/tesseract_common/src/joint_state.cpp
+++ b/tesseract_common/src/joint_state.cpp
@@ -134,7 +134,10 @@ JointTrajectory::const_reference JointTrajectory::operator[](size_type pos) cons
 ///////////////
 void JointTrajectory::clear() { states.clear(); }
 JointTrajectory::iterator JointTrajectory::insert(const_iterator p, const value_type& x) { return states.insert(p, x); }
-JointTrajectory::iterator JointTrajectory::insert(const_iterator p, value_type&& x) { return states.insert(p, x); }
+JointTrajectory::iterator JointTrajectory::insert(const_iterator p, value_type&& x)
+{
+  return states.insert(p, std::move(x));
+}
 JointTrajectory::iterator JointTrajectory::insert(const_iterator p, std::initializer_list<value_type> l)
 {
   return states.insert(p, l);
diff --git a/tesseract_common/src/resource_locator.cpp b/tesseract_common/src/resource_locator.cpp
index 39c7f3817e4..e37eb59d4b3 100644
--- a/tesseract_common/src/resource_locator.cpp
+++ b/tesseract_common/src/resource_locator.cpp
@@ -332,7 +332,7 @@ std::shared_ptr<std::istream> BytesResource::getResourceContentStream() const
 {
   std::shared_ptr<std::stringstream> o = std::make_shared<std::stringstream>();
   o->write((const char*)&bytes_.at(0), static_cast<std::streamsize>(bytes_.size()));  // NOLINT
-  o->seekg(0, o->beg);
+  o->seekg(0, std::stringstream::beg);
   return o;
 }
 
diff --git a/tesseract_common/src/utils.cpp b/tesseract_common/src/utils.cpp
index b68e832ebda..a4cfb7aac7e 100644
--- a/tesseract_common/src/utils.cpp
+++ b/tesseract_common/src/utils.cpp
@@ -183,10 +183,10 @@ Eigen::VectorXd calcJacobianTransformErrorDiff(const Eigen::Isometry3d& target,
   Eigen::VectorXd perturbed_err;
   if (perturbed_pose_rotation_err.second > M_PI_2 && pose_rotation_err.second < -M_PI_2)
     perturbed_err = concat(perturbed_pose_err.translation(),
-                           perturbed_pose_rotation_err.first * (perturbed_pose_rotation_err.second - 2 * M_PI));
+                           perturbed_pose_rotation_err.first * (perturbed_pose_rotation_err.second - (2 * M_PI)));
   else if (perturbed_pose_rotation_err.second < -M_PI_2 && pose_rotation_err.second > M_PI_2)
     perturbed_err = concat(perturbed_pose_err.translation(),
-                           perturbed_pose_rotation_err.first * (perturbed_pose_rotation_err.second + 2 * M_PI));
+                           perturbed_pose_rotation_err.first * (perturbed_pose_rotation_err.second + (2 * M_PI)));
   else
     perturbed_err = concat(perturbed_pose_err.translation(),
                            perturbed_pose_rotation_err.first * perturbed_pose_rotation_err.second);
@@ -217,10 +217,10 @@ Eigen::VectorXd calcJacobianTransformErrorDiff(const Eigen::Isometry3d& target,
   Eigen::VectorXd perturbed_err;
   if (perturbed_pose_rotation_err.second > M_PI_2 && pose_rotation_err.second < -M_PI_2)
     perturbed_err = concat(perturbed_pose_err.translation(),
-                           perturbed_pose_rotation_err.first * (perturbed_pose_rotation_err.second - 2 * M_PI));
+                           perturbed_pose_rotation_err.first * (perturbed_pose_rotation_err.second - (2 * M_PI)));
   else if (perturbed_pose_rotation_err.second < -M_PI_2 && pose_rotation_err.second > M_PI_2)
     perturbed_err = concat(perturbed_pose_err.translation(),
-                           perturbed_pose_rotation_err.first * (perturbed_pose_rotation_err.second + 2 * M_PI));
+                           perturbed_pose_rotation_err.first * (perturbed_pose_rotation_err.second + (2 * M_PI)));
   else
     perturbed_err = concat(perturbed_pose_err.translation(),
                            perturbed_pose_rotation_err.first * perturbed_pose_rotation_err.second);
@@ -245,7 +245,7 @@ Eigen::Vector4d computeRandomColor()
 
 void printNestedException(const std::exception& e, int level)  // NOLINT(misc-no-recursion)
 {
-  std::cerr << std::string(static_cast<unsigned>(2 * level), ' ') << "exception: " << e.what() << std::endl;
+  std::cerr << std::string(static_cast<unsigned>(2 * level), ' ') << "exception: " << e.what() << "\n";
   try
   {
     my_rethrow_if_nested(e);
@@ -254,7 +254,7 @@ void printNestedException(const std::exception& e, int level)  // NOLINT(misc-no
   {
     printNestedException(e, level + 1);
   }
-  catch (...)
+  catch (...)  // NOLINT
   {
   }
 }
@@ -274,7 +274,7 @@ bool isNumeric(const std::string& s)
   double out{ 0 };
   ss >> out;
 
-  return !(ss.fail() || !ss.eof());
+  return !ss.fail() && ss.eof();
 }
 
 bool isNumeric(const std::vector<std::string>& sv)
diff --git a/tesseract_common/test/plugin_loader_unit.cpp b/tesseract_common/test/plugin_loader_unit.cpp
index e6facbe084c..df6af4c9c38 100644
--- a/tesseract_common/test/plugin_loader_unit.cpp
+++ b/tesseract_common/test/plugin_loader_unit.cpp
@@ -58,7 +58,7 @@ TEST(TesseractClassLoaderUnit, LoadTestPlugin)  // NOLINT
   const std::string symbol_name = "plugin";
 
   {
-    std::vector<std::string> sections = ClassLoader::getAvailableSections(lib_name, lib_dir);
+    std::vector<std::string> sections = ClassLoader::getAvailableSections(lib_name, lib_dir);  // NOLINT
     EXPECT_EQ(sections.size(), 1);
     EXPECT_EQ(sections.at(0), "TestBase");
 
diff --git a/tesseract_common/test/tesseract_common_unit.cpp b/tesseract_common/test/tesseract_common_unit.cpp
index 22b6fab9e48..269118feeed 100644
--- a/tesseract_common/test/tesseract_common_unit.cpp
+++ b/tesseract_common/test/tesseract_common_unit.cpp
@@ -39,7 +39,6 @@ class TestResourceLocator : public tesseract_common::ResourceLocator
       if (pos == std::string::npos)
         return nullptr;
 
-      std::string package = mod_url.substr(0, pos);
       mod_url.erase(0, pos);
 
       tesseract_common::fs::path file_path(__FILE__);
@@ -263,10 +262,9 @@ TEST(TesseractCommonUnit, sfinaeHasMemberFunctionSignature)  // NOLINT
 TEST(TesseractCommonUnit, bytesResource)  // NOLINT
 {
   std::vector<uint8_t> data;
+  data.reserve(8);
   for (uint8_t i = 0; i < 8; i++)
-  {
     data.push_back(i);
-  }
 
   std::shared_ptr<tesseract_common::BytesResource> bytes_resource =
       std::make_shared<tesseract_common::BytesResource>("package://test_package/data.bin", data);
@@ -466,7 +464,7 @@ template <typename T>
 void runAnyPolyUnorderedMapIntegralTest(T value, const std::string& type_str)
 {
   std::unordered_map<std::string, T> data;
-  data["test"] = value;
+  data["test"] = std::move(value);
   tesseract_common::AnyPoly any_type{ data };
   EXPECT_TRUE(any_type.getType() == std::type_index(typeid(std::unordered_map<std::string, T>)));
   bool check = any_type.as<std::unordered_map<std::string, T>>() == data;
diff --git a/tesseract_geometry/include/tesseract_geometry/impl/capsule.h b/tesseract_geometry/include/tesseract_geometry/impl/capsule.h
index 2c974dcbfe6..7d00900e49a 100644
--- a/tesseract_geometry/include/tesseract_geometry/impl/capsule.h
+++ b/tesseract_geometry/include/tesseract_geometry/impl/capsule.h
@@ -47,7 +47,7 @@ class Capsule : public Geometry
   using Ptr = std::shared_ptr<Capsule>;
   using ConstPtr = std::shared_ptr<const Capsule>;
 
-  Capsule(double r, double l);
+  Capsule(double radius, double length);
   Capsule() = default;
   ~Capsule() override = default;
 
diff --git a/tesseract_geometry/include/tesseract_geometry/impl/cone.h b/tesseract_geometry/include/tesseract_geometry/impl/cone.h
index f4bfb0ff505..c9b7edc9ed9 100644
--- a/tesseract_geometry/include/tesseract_geometry/impl/cone.h
+++ b/tesseract_geometry/include/tesseract_geometry/impl/cone.h
@@ -47,7 +47,7 @@ class Cone : public Geometry
   using Ptr = std::shared_ptr<Cone>;
   using ConstPtr = std::shared_ptr<const Cone>;
 
-  Cone(double r, double l);
+  Cone(double radius, double length);
   Cone() = default;
   ~Cone() override = default;
 
diff --git a/tesseract_geometry/include/tesseract_geometry/impl/cylinder.h b/tesseract_geometry/include/tesseract_geometry/impl/cylinder.h
index 363201593c7..daeb5666e52 100644
--- a/tesseract_geometry/include/tesseract_geometry/impl/cylinder.h
+++ b/tesseract_geometry/include/tesseract_geometry/impl/cylinder.h
@@ -47,7 +47,7 @@ class Cylinder : public Geometry
   using Ptr = std::shared_ptr<Cylinder>;
   using ConstPtr = std::shared_ptr<const Cylinder>;
 
-  Cylinder(double r, double l);
+  Cylinder(double radius, double length);
   Cylinder() = default;
   ~Cylinder() override = default;
 
diff --git a/tesseract_geometry/src/geometries/capsule.cpp b/tesseract_geometry/src/geometries/capsule.cpp
index f5d250a9b35..08828c7b8e9 100644
--- a/tesseract_geometry/src/geometries/capsule.cpp
+++ b/tesseract_geometry/src/geometries/capsule.cpp
@@ -34,7 +34,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_geometry
 {
-Capsule::Capsule(double r, double l) : Geometry(GeometryType::CAPSULE), r_(r), l_(l) {}
+Capsule::Capsule(double radius, double length) : Geometry(GeometryType::CAPSULE), r_(radius), l_(length) {}
 
 double Capsule::getRadius() const { return r_; }
 double Capsule::getLength() const { return l_; }
diff --git a/tesseract_geometry/src/geometries/cone.cpp b/tesseract_geometry/src/geometries/cone.cpp
index f73bf65c9df..1b8c394b83b 100644
--- a/tesseract_geometry/src/geometries/cone.cpp
+++ b/tesseract_geometry/src/geometries/cone.cpp
@@ -34,7 +34,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_geometry
 {
-Cone::Cone(double r, double l) : Geometry(GeometryType::CONE), r_(r), l_(l) {}
+Cone::Cone(double radius, double length) : Geometry(GeometryType::CONE), r_(radius), l_(length) {}
 
 double Cone::getRadius() const { return r_; }
 double Cone::getLength() const { return l_; }
diff --git a/tesseract_geometry/src/geometries/cylinder.cpp b/tesseract_geometry/src/geometries/cylinder.cpp
index 210c5468cb6..8f636e5d06c 100644
--- a/tesseract_geometry/src/geometries/cylinder.cpp
+++ b/tesseract_geometry/src/geometries/cylinder.cpp
@@ -34,7 +34,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_geometry
 {
-Cylinder::Cylinder(double r, double l) : Geometry(GeometryType::CYLINDER), r_(r), l_(l) {}
+Cylinder::Cylinder(double radius, double length) : Geometry(GeometryType::CYLINDER), r_(radius), l_(length) {}
 
 double Cylinder::getRadius() const { return r_; }
 double Cylinder::getLength() const { return l_; }
diff --git a/tesseract_geometry/src/geometry.cpp b/tesseract_geometry/src/geometry.cpp
index 63cbf9b8663..31492c820c7 100644
--- a/tesseract_geometry/src/geometry.cpp
+++ b/tesseract_geometry/src/geometry.cpp
@@ -55,4 +55,3 @@ void Geometry::serialize(Archive& ar, const unsigned int /*version*/)
 }  // namespace tesseract_geometry
 
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_geometry::Geometry)
-#include <tesseract_common/serialization.h>
diff --git a/tesseract_kinematics/core/src/kinematics_plugin_factory.cpp b/tesseract_kinematics/core/src/kinematics_plugin_factory.cpp
index 7a26455fa41..e7c5b9c9202 100644
--- a/tesseract_kinematics/core/src/kinematics_plugin_factory.cpp
+++ b/tesseract_kinematics/core/src/kinematics_plugin_factory.cpp
@@ -33,7 +33,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_scene_graph/graph.h>
 #include <tesseract_scene_graph/scene_state.h>
 #include <tesseract_common/resource_locator.h>
-#include <tesseract_common/plugin_loader.hpp>
+#include <tesseract_common/plugin_loader.h>
 #include <tesseract_common/yaml_utils.h>
 #include <tesseract_common/yaml_extenstions.h>
 #include <tesseract_kinematics/core/kinematics_plugin_factory.h>
diff --git a/tesseract_scene_graph/src/graph.cpp b/tesseract_scene_graph/src/graph.cpp
index bd87dbeec69..23613fe175c 100644
--- a/tesseract_scene_graph/src/graph.cpp
+++ b/tesseract_scene_graph/src/graph.cpp
@@ -66,7 +66,7 @@ struct cycle_detector : public boost::dfs_visitor<>
   }
 
 protected:
-  bool& ascyclic_;
+  bool& ascyclic_;  // NOLINT(cppcoreguidelines-avoid-const-or-ref-data-members)
 };
 
 struct tree_detector : public boost::dfs_visitor<>
@@ -109,7 +109,7 @@ struct tree_detector : public boost::dfs_visitor<>
   }
 
 protected:
-  bool& tree_;
+  bool& tree_;  // NOLINT(cppcoreguidelines-avoid-const-or-ref-data-members)
   bool found_root_{ false };
 };
 
@@ -124,7 +124,7 @@ struct children_detector : public boost::default_bfs_visitor
   }
 
 protected:
-  std::vector<std::string>& children_;
+  std::vector<std::string>& children_;  // NOLINT(cppcoreguidelines-avoid-const-or-ref-data-members)
 };
 
 struct adjacency_detector : public boost::default_bfs_visitor
@@ -159,10 +159,12 @@ struct adjacency_detector : public boost::default_bfs_visitor
   }
 
 protected:
+  // NOLINTNEXTLINE(cppcoreguidelines-avoid-const-or-ref-data-members)
   std::unordered_map<std::string, std::string>& adjacency_map_;
+  // NOLINTNEXTLINE(cppcoreguidelines-avoid-const-or-ref-data-members)
   std::map<SceneGraph::Vertex, boost::default_color_type>& color_map_;
-  const std::string& base_link_name_;
-  const std::vector<std::string>& terminate_on_links_;
+  const std::string& base_link_name_;                   // NOLINT(cppcoreguidelines-avoid-const-or-ref-data-members)
+  const std::vector<std::string>& terminate_on_links_;  // NOLINT(cppcoreguidelines-avoid-const-or-ref-data-members)
 };
 
 using UGraph =
@@ -190,7 +192,7 @@ SceneGraph::SceneGraph(const std::string& name) : acm_(std::make_shared<tesserac
 }
 
 SceneGraph::SceneGraph(SceneGraph&& other) noexcept
-  : Graph(std::forward<Graph>(other))
+  : Graph(std::move(static_cast<Graph>(other)))
   , link_map_(std::move(other.link_map_))
   , joint_map_(std::move(other.joint_map_))
   , acm_(std::move(other.acm_))
@@ -1342,17 +1344,20 @@ void SceneGraph::serialize(Archive& ar, const unsigned int version)
 
 std::ostream& operator<<(std::ostream& os, const ShortestPath& path)
 {
-  os << "Links:" << std::endl;
+  os << "Links:"
+     << "\n";
   for (const auto& l : path.links)
-    os << "  " << l << std::endl;
+    os << "  " << l << "\n";
 
-  os << "Joints:" << std::endl;
+  os << "Joints:"
+     << "\n";
   for (const auto& j : path.joints)
-    os << "  " << j << std::endl;
+    os << "  " << j << "\n";
 
-  os << "Active Joints:" << std::endl;
+  os << "Active Joints:"
+     << "\n";
   for (const auto& j : path.active_joints)
-    os << "  " << j << std::endl;
+    os << "  " << j << "\n";
   return os;
 }
 
diff --git a/tesseract_scene_graph/src/kdl_parser.cpp b/tesseract_scene_graph/src/kdl_parser.cpp
index 63ad237e409..566613ec9d7 100644
--- a/tesseract_scene_graph/src/kdl_parser.cpp
+++ b/tesseract_scene_graph/src/kdl_parser.cpp
@@ -290,7 +290,7 @@ struct kdl_tree_builder : public boost::dfs_visitor<>
   }
 
 protected:
-  KDLTreeData& data_;
+  KDLTreeData& data_;  // NOLINT(cppcoreguidelines-avoid-const-or-ref-data-members)
 };
 
 /**
@@ -443,14 +443,16 @@ struct kdl_sub_tree_builder : public boost::dfs_visitor<>
   }
 
 protected:
-  KDLTreeData& data_;
+  KDLTreeData& data_;  // NOLINT(cppcoreguidelines-avoid-const-or-ref-data-members)
   int search_cnt_{ -1 };
   bool started_{ false };
   std::map<std::string, KDL::Frame> segment_transforms_;
   std::vector<std::string> link_names_;
 
-  const std::vector<std::string>& joint_names_;
+  const std::vector<std::string>& joint_names_;  // NOLINT(cppcoreguidelines-avoid-const-or-ref-data-members)
+  // NOLINTNEXTLINE(cppcoreguidelines-avoid-const-or-ref-data-members)
   const std::unordered_map<std::string, double>& joint_values_;
+  // NOLINTNEXTLINE(cppcoreguidelines-avoid-const-or-ref-data-members)
   const tesseract_common::TransformMap& floating_joint_values_;
 };
 
diff --git a/tesseract_srdf/test/tesseract_srdf_unit.cpp b/tesseract_srdf/test/tesseract_srdf_unit.cpp
index c2d66d96bdb..4bcaeb44b6b 100644
--- a/tesseract_srdf/test/tesseract_srdf_unit.cpp
+++ b/tesseract_srdf/test/tesseract_srdf_unit.cpp
@@ -12,7 +12,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_common/collision_margin_data.h>
 #include <tesseract_common/yaml_utils.h>
 #include <tesseract_common/yaml_extenstions.h>
-#include <tesseract_scene_graph/graph.h>
 #include <tesseract_srdf/collision_margins.h>
 #include <tesseract_srdf/configs.h>
 #include <tesseract_srdf/disabled_collisions.h>