diff --git a/.bazelrc b/.bazelrc
index f2d06137d..0371eb488 100644
--- a/.bazelrc
+++ b/.bazelrc
@@ -10,3 +10,5 @@ build --strip=never
 build --strict_system_includes
 build --fission=dbg
 build --features=per_object_debug_info
+
+import %workspace%/tools/bazel.rc
diff --git a/BUILD.bazel b/BUILD.bazel
index 280adfd4a..1336c2b93 100644
--- a/BUILD.bazel
+++ b/BUILD.bazel
@@ -4,7 +4,11 @@ load("@rules_license//rules:license.bzl", "license")
 
 package(
     default_applicable_licenses = [":license"],
-    features = ["layering_check"],
+    default_visibility = ["__subpackages__"],
+    features = [
+        "layering_check",
+        "parse_headers",
+    ],
 )
 
 license(
@@ -121,15 +125,24 @@ cc_library(
         "@gz-math//:Cylinder",
         "@gz-math//:Ellipsoid",
         "@gz-math//:Graph",
+        "@gz-math//:Helpers",
         "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Material",
+        "@gz-math//:Plane",
         "@gz-math//:Pose3",
+        "@gz-math//:Quaternion",
         "@gz-math//:SemanticVersion",
         "@gz-math//:Sphere",
         "@gz-math//:SphericalCoordinates",
         "@gz-math//:Temperature",
         "@gz-math//:Vector2",
+        "@gz-math//:Vector3",
         "@gz-utils//:Environment",
         "@gz-utils//:ImplPtr",
+        "@gz-utils//:NeverDestroyed",
+        "@gz-utils//:SuppressWarning",
+        "@tinyxml2",
     ],
 )
 
@@ -140,7 +153,9 @@ cc_test(
     ],
     deps = [
         ":sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
     ],
 )
 
@@ -152,6 +167,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -163,6 +179,7 @@ cc_test(
     ],
     deps = [
         ":sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -175,6 +192,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -187,7 +205,10 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Temperature",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -199,7 +220,12 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -210,6 +236,7 @@ cc_test(
     ],
     deps = [
         ":sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -222,7 +249,12 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -234,7 +266,12 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -246,7 +283,12 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -257,14 +299,18 @@ cc_test(
     ],
     deps = [
         ":sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-utils//:Environment",
     ],
 )
 
 cc_test(
     name = "Converter_TEST",
     srcs = [
+        "src/Converter.hh",
         "src/Converter_TEST.cc",
+        "src/XmlUtils.hh",
     ],
     data = [
         "sdf/1.10/1_9.convert",
@@ -276,6 +322,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -287,7 +334,9 @@ cc_test(
     ],
     deps = [
         ":sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -299,7 +348,12 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -311,6 +365,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -323,7 +378,12 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -333,8 +393,10 @@ cc_test(
         "src/Error_TEST.cc",
     ],
     deps = [
+        ":Config",
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -346,6 +408,7 @@ cc_test(
     ],
     deps = [
         ":sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -357,7 +420,9 @@ cc_test(
     ],
     deps = [
         ":sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-utils//:Environment",
     ],
 )
 
@@ -369,6 +434,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -381,6 +447,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -388,15 +455,20 @@ cc_test(
 cc_test(
     name = "FrameSemantics_TEST",
     srcs = [
+        "src/FrameSemantics.hh",
         "src/FrameSemantics_TEST.cc",
+        "src/ScopedGraph.hh",
     ],
     data = [
         "//test:sdf",
     ],
     deps = [
+        ":Config",
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Helpers",
     ],
 )
 
@@ -408,7 +480,12 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -420,6 +497,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -445,6 +523,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -457,6 +536,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -469,7 +549,9 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
     ],
 )
 
@@ -481,7 +563,9 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
     ],
 )
 
@@ -493,6 +577,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -505,7 +590,9 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Angle",
     ],
 )
 
@@ -517,7 +604,9 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
     ],
 )
 
@@ -529,7 +618,11 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Inertial",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -541,6 +634,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -553,7 +647,9 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Color",
     ],
 )
 
@@ -565,7 +661,11 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -577,7 +677,9 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
     ],
 )
 
@@ -589,6 +691,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -601,6 +704,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -613,6 +717,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -625,18 +730,24 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Angle",
+        "@gz-math//:Color",
+        "@gz-math//:Pose3",
     ],
 )
 
 cc_test(
     name = "ParamPassing_TEST",
     srcs = [
+        "src/ParamPassing.hh",
         "src/ParamPassing_TEST.cc",
     ],
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -653,18 +764,22 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-utils//:Environment",
     ],
 )
 
 cc_test(
     name = "parser_urdf_TEST",
     srcs = [
+        "src/parser_urdf.hh",
         "src/parser_urdf_TEST.cc",
     ],
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -680,6 +795,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -692,6 +808,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -704,7 +821,9 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Color",
     ],
 )
 
@@ -716,6 +835,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -728,7 +848,10 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Vector2",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -740,6 +863,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -752,6 +876,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -764,6 +889,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -776,6 +902,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -789,8 +916,10 @@ cc_test(
         "//test:sdf",
     ],
     deps = [
+        ":Config",
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -803,6 +932,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -815,10 +945,14 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
         "@gz-math//:Color",
         "@gz-math//:Pose3",
         "@gz-math//:Vector2",
+        "@gz-math//:Vector3",
+        "@gz-utils//:Environment",
+        "@gz-utils//:SuppressWarning",
     ],
 )
 
@@ -830,7 +964,9 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
     ],
 )
 
@@ -842,6 +978,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -854,6 +991,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -866,7 +1004,12 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -878,7 +1021,9 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -890,6 +1035,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -897,12 +1043,15 @@ cc_test(
 cc_test(
     name = "Utils_TEST",
     srcs = [
+        "src/Utils.hh",
         "src/Utils_TEST.cc",
     ],
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
     ],
 )
 
@@ -914,6 +1063,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -926,19 +1076,29 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Color",
+        "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Pose3",
+        "@gz-math//:SphericalCoordinates",
+        "@gz-math//:Vector3",
     ],
 )
 
 cc_test(
     name = "XmlUtils_TEST",
     srcs = [
+        "src/XmlUtils.hh",
         "src/XmlUtils_TEST.cc",
     ],
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@tinyxml2",
     ],
 )
 
diff --git a/MODULE.bazel b/MODULE.bazel
index 5fa4ee358..5d554a9ac 100644
--- a/MODULE.bazel
+++ b/MODULE.bazel
@@ -14,14 +14,24 @@ bazel_dep(name = "rules_gazebo", version = "0.0.2")
 bazel_dep(name = "gz-utils")
 bazel_dep(name = "gz-math")
 
-archive_override(
+local_path_override(
     module_name = "gz-utils",
-    strip_prefix = "gz-utils-gz-utils3",
-    urls = ["https://github.com/gazebosim/gz-utils/archive/refs/heads/gz-utils3.tar.gz"],
+    path = "/usr/local/google/home/mjcarroll/workspaces/gz_ionic_bazel/gz-utils",
 )
 
-archive_override(
+local_path_override(
     module_name = "gz-math",
-    strip_prefix = "gz-math-gz-math8",
-    urls = ["https://github.com/gazebosim/gz-math/archive/refs/heads/gz-math8.tar.gz"],
+    path = "/usr/local/google/home/mjcarroll/workspaces/gz_ionic_bazel/gz-math",
 )
+
+#archive_override(
+#    module_name = "gz-utils",
+#    strip_prefix = "gz-utils-gz-utils3",
+#    urls = ["https://github.com/gazebosim/gz-utils/archive/refs/heads/gz-utils3.tar.gz"],
+#)
+
+#archive_override(
+#    module_name = "gz-math",
+#    strip_prefix = "gz-math-gz-math8",
+#    urls = ["https://github.com/gazebosim/gz-math/archive/refs/heads/gz-math8.tar.gz"],
+#)
diff --git a/include/sdf/sdf.hh b/include/sdf/sdf.hh
index 900a12a04..f527e37f3 100644
--- a/include/sdf/sdf.hh
+++ b/include/sdf/sdf.hh
@@ -20,6 +20,6 @@
 
 // This file is kept for backwards compatibility.
 // Use sdformat.hh directly instead.
-#include <sdformat.hh>
+//#include <sdformat.hh>
 
 #endif
diff --git a/src/Converter.hh b/src/Converter.hh
index 27865a934..0c0551aff 100644
--- a/src/Converter.hh
+++ b/src/Converter.hh
@@ -25,6 +25,7 @@
 #include <sdf/config.hh>
 #include <sdf/Types.hh>
 #include "sdf/system_util.hh"
+#include <sdf/ParserConfig.hh>
 
 namespace sdf
 {
diff --git a/src/SDFImplPrivate.hh b/src/SDFImplPrivate.hh
index eefc57fcd..382718147 100644
--- a/src/SDFImplPrivate.hh
+++ b/src/SDFImplPrivate.hh
@@ -20,6 +20,7 @@
 #include <string>
 
 #include "sdf/Types.hh"
+#include "sdf/Element.hh"
 
 /// \ingroup sdf_parser
 /// \brief namespace for Simulation Description Format parser
diff --git a/test/BUILD.bazel b/test/BUILD.bazel
index 1c48caa3f..1a6e82814 100644
--- a/test/BUILD.bazel
+++ b/test/BUILD.bazel
@@ -41,6 +41,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -56,6 +57,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -71,6 +73,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -87,6 +90,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -102,6 +106,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -118,6 +123,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -133,6 +139,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -149,6 +156,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -165,6 +173,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -197,6 +206,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -212,6 +222,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -230,6 +241,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -245,6 +257,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -260,7 +273,9 @@ cc_test(
     ],
     deps = [
         ":test_utils",
+        "//:Config",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -276,6 +291,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -291,6 +307,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -306,6 +323,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -327,7 +345,9 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
     ],
 )
 
@@ -344,6 +364,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -359,6 +380,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -371,6 +393,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -387,6 +410,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -402,6 +426,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -417,7 +442,9 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
     ],
 )
 
@@ -429,7 +456,9 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Color",
     ],
 )
 
@@ -444,6 +473,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -456,6 +486,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -471,7 +502,9 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Color",
     ],
 )
 
@@ -486,6 +519,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -502,7 +536,10 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -517,6 +554,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -536,7 +574,10 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -552,6 +593,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -573,6 +615,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -589,6 +632,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -601,6 +645,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -616,7 +661,9 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -628,6 +675,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -639,6 +687,7 @@ cc_test(
     ],
     deps = [
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -654,6 +703,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -670,7 +720,11 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Angle",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -681,6 +735,7 @@ cc_test(
     ],
     deps = [
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -697,6 +752,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -712,7 +768,9 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -727,6 +785,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -742,6 +801,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -757,6 +817,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -772,7 +833,9 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Color",
     ],
 )
 
@@ -800,6 +863,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -816,6 +880,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -831,6 +896,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -846,6 +912,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -861,6 +928,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -876,6 +944,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -894,6 +963,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -909,6 +979,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -926,6 +997,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -941,6 +1013,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -957,6 +1030,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -972,6 +1046,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
diff --git a/tools/BUILD.bazel b/tools/BUILD.bazel
new file mode 100644
index 000000000..65eee96bb
--- /dev/null
+++ b/tools/BUILD.bazel
@@ -0,0 +1,5 @@
+sh_binary(
+    name = "asan",
+    srcs = ["asan.sh"],
+    data = ["asan.supp"],
+)
diff --git a/tools/asan.sh b/tools/asan.sh
new file mode 100755
index 000000000..130b6698c
--- /dev/null
+++ b/tools/asan.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+me=$(python3 -c 'import os; print(os.path.realpath("'"$0"'"))')
+mydir=$(dirname "$me")
+export ASAN_OPTIONS="$ASAN_OPTIONS:check_initialization_order=1:detect_container_overflow=0:detect_invalid_pointer_pairs=1:detect_stack_use_after_return=1:strict_init_order=1:strict_string_checks=1:strip_path_prefix=/proc/self/cwd/:suppressions=$mydir/asan.supp"
+# LSan is run with ASan by default, ASAN_OPTIONS can't be used to suppress LSan
+# errors
+export LSAN_OPTIONS="$LSAN_OPTIONS:strip_path_prefix=/proc/self/cwd/:suppressions=$mydir/lsan.supp"
+# Ensure executable named llvm-symbolizer is on the PATH.
+export PATH="$PATH:/usr/lib/llvm-14/bin:/usr/lib/llvm-12/bin:/usr/local/opt/llvm/bin"
+"$@"
diff --git a/tools/asan.supp b/tools/asan.supp
new file mode 100644
index 000000000..e69de29bb
diff --git a/tools/bazel.rc b/tools/bazel.rc
new file mode 100644
index 000000000..f4eaee24a
--- /dev/null
+++ b/tools/bazel.rc
@@ -0,0 +1,36 @@
+common:clang --repo_env=CC=clang-15
+common:clang --repo_env=CXX=clang++-15
+build:clang --action_env=CC=clang-15
+build:clang --action_env=CXX=clang++-15
+build:clang --host_action_env=CC=clang-15
+build:clang --host_action_env=CXX=clang++-15
+
+### ASan build. Clang only. ###
+build:asan --build_tests_only
+build:asan --copt=-g
+# https://github.com/google/sanitizers/wiki/AddressSanitizer#faq
+build:asan --copt=-fno-common
+build:asan --copt=-fsanitize=address
+build:asan --copt=-fsanitize-address-use-after-scope
+build:asan --copt=-fstandalone-debug
+build:asan --copt=-O0
+build:asan --copt=-fno-omit-frame-pointer
+build:asan --linkopt=-fsanitize=address
+build:asan --linkopt=-fsanitize-address-use-after-scope
+build:asan --run_under=//tools:asan
+build:asan --test_env=ASAN_OPTIONS
+build:asan --test_env=LSAN_OPTIONS
+build:asan --test_env=ASAN_SYMBOLIZER_PATH
+build:asan --test_env=LSAN_SYMBOLIZER_PATH
+# LSan is run with ASan by default
+build:asan --test_tag_filters=-gurobi,-mosek,-snopt,-no_asan,-no_lsan
+build:asan --test_lang_filters=-sh,-py
+# Typical slowdown introduced by AddressSanitizer is 2x.
+# See https://clang.llvm.org/docs/AddressSanitizer.html
+build:asan --test_timeout=150,750,2250,9000  # 2.5x
+build:asan --define=USING_SANITIZER=ON
+# Due to https://sourceware.org/bugzilla/show_bug.cgi?id=25975, we see ...
+#  ld.gold: warning: Cannot export local symbol __asan_extra_spill_area
+# ... spammed millions of times in ASan builds. The only way to silence that
+# warning is to silence ALL WARNINGS AT ALL EVER in ASan builds.
+build:asan --auto_output_filter=all