diff --git a/include/rviz_visual_tools/imarker_simple.h b/include/rviz_visual_tools/imarker_simple.h
index 11aa21e..56fb0a2 100644
--- a/include/rviz_visual_tools/imarker_simple.h
+++ b/include/rviz_visual_tools/imarker_simple.h
@@ -54,8 +54,8 @@
 
 namespace rviz_visual_tools
 {
-using visualization_msgs::InteractiveMarkerFeedback;
 using visualization_msgs::InteractiveMarkerControl;
+using visualization_msgs::InteractiveMarkerFeedback;
 
 typedef std::function<void(const visualization_msgs::InteractiveMarkerFeedbackConstPtr&)> IMarkerCallback;
 
@@ -67,7 +67,7 @@ geometry_msgs::Pose getIdentityPose()
   pose.orientation.w = 1.0;
   return pose;
 }
-}
+}  // namespace
 
 class IMarkerSimple
 {
diff --git a/include/rviz_visual_tools/rviz_visual_tools.h b/include/rviz_visual_tools/rviz_visual_tools.h
index 1f7eca1..75da0c1 100644
--- a/include/rviz_visual_tools/rviz_visual_tools.h
+++ b/include/rviz_visual_tools/rviz_visual_tools.h
@@ -726,7 +726,8 @@ class RvizVisualTools
    * \return true on success
    */
   bool publishWireframeCuboid(const Eigen::Isometry3d& pose, double depth, double width, double height,
-                              colors color = BLUE, const std::string& ns = "Wireframe Cuboid", std::size_t id = 0);
+                              colors color = BLUE, scales scale = XXSMALL, const std::string& ns = "Wireframe Cuboid",
+                              std::size_t id = 0);
 
   /**
    * \brief Publish transformed wireframe cuboid. Useful eg to show an oriented bounding box.
@@ -739,7 +740,7 @@ 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, scales scale = XXSMALL,
                               const std::string& ns = "Wireframe Cuboid", std::size_t id = 0);
 
   /**
diff --git a/src/rviz_visual_tools.cpp b/src/rviz_visual_tools.cpp
index 6f5cf36..fb955df 100644
--- a/src/rviz_visual_tools.cpp
+++ b/src/rviz_visual_tools.cpp
@@ -2143,17 +2143,17 @@ bool RvizVisualTools::publishPolygon(const geometry_msgs::Polygon& polygon, colo
 }
 
 bool RvizVisualTools::publishWireframeCuboid(const Eigen::Isometry3d& pose, double depth, double width, double height,
-                                             colors color, const std::string& ns, std::size_t id)
+                                             colors color, scales scale, const std::string& ns, std::size_t id)
 {
   Eigen::Vector3d min_point, max_point;
   min_point << -depth / 2, -width / 2, -height / 2;
   max_point << depth / 2, width / 2, height / 2;
-  return publishWireframeCuboid(pose, min_point, max_point, color, ns, id);
+  return publishWireframeCuboid(pose, min_point, max_point, color, scale, ns, id);
 }
 
 bool RvizVisualTools::publishWireframeCuboid(const Eigen::Isometry3d& pose, const Eigen::Vector3d& min_point,
-                                             const Eigen::Vector3d& max_point, colors color, const std::string& ns,
-                                             std::size_t id)
+                                             const Eigen::Vector3d& max_point, colors color, scales scale,
+                                             const std::string& ns, std::size_t id)
 {
   // Extract 8 cuboid vertices
   Eigen::Vector3d p1(min_point[0], min_point[1], min_point[2]);
@@ -2188,7 +2188,7 @@ bool RvizVisualTools::publishWireframeCuboid(const Eigen::Isometry3d& pose, cons
   }
 
   std_msgs::ColorRGBA this_color = getColor(color);
-  line_list_marker_.scale = getScale(XXSMALL);
+  line_list_marker_.scale = getScale(scale);
   line_list_marker_.scale.y = 0;
   line_list_marker_.scale.z = 0;
   line_list_marker_.color = this_color;