diff --git a/.travis.yml b/.travis.yml
index ad108164..96a94e52 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -11,6 +11,8 @@ env:
   global:
     - NOT_TEST_BUILD=true
     - UPSTREAM_WORKSPACE='dependencies_ros1.rosinstall'
+    - ROSDEP_SKIP_KEYS='iwyu cmake_common_scripts'
+    - ADDITIONAL_DEBS='iwyu'
 
 matrix:
   include:
diff --git a/noether_filtering/package.xml b/noether_filtering/package.xml
index 88641d01..2fb776b2 100644
--- a/noether_filtering/package.xml
+++ b/noether_filtering/package.xml
@@ -7,7 +7,7 @@
   <license>Apache 2.0</license>
   <author email="jrgnichodevel@gmail.com">Jorge Nicho</author>
 
-  <depend>console_bridge</depend>
+  <depend>libconsole-bridge-dev</depend>
   <depend>pluginlib</depend>
   <depend>libpcl-all-dev</depend>
   <export>
diff --git a/vtk_viewer/CMakeLists.txt b/vtk_viewer/CMakeLists.txt
index 60ede11c..271415fa 100644
--- a/vtk_viewer/CMakeLists.txt
+++ b/vtk_viewer/CMakeLists.txt
@@ -20,6 +20,12 @@ endif()
 find_package(Eigen3 REQUIRED)
 find_package(console_bridge REQUIRED)
 
+if(NOETHER_ENABLE_TESTING)
+    set(CLANG_ARGS ${DEFAULT_CLANG_TIDY_ERROR_ARGS})
+else()
+    set(CLANG_ARGS ${DEFAULT_CLANG_TIDY_WARNING_ARGS})
+endif()
+
 add_code_coverage()
 
 add_library(${PROJECT_NAME} SHARED src/mouse_interactor.cpp src/vtk_utils.cpp src/${PROJECT_NAME}.cpp)
@@ -30,9 +36,10 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
     ${EIGEN3_INCLUDE_DIRS}
     ${PCL_INCLUDE_DIRS})
-target_clang_tidy(${PACKAGE_NAME} ${DEFAULT_CLANG_TIDY_ERROR_ARGS})
-target_include_what_you_use(${PACKAGE_NAME} ${DEFAULT_IWYU_ARGS})
-target_cppcheck(${PACKAGE_NAME} ${DEFAULT_CPPCHECK_ARGS})
+target_cxx_version(${PROJECT_NAME} PUBLIC VERSION 14)
+target_clang_tidy(${PROJECT_NAME} ARGUMENTS ${CLANG_ARGS} ENABLE ${NOETHER_ENABLE_TESTING})
+target_include_what_you_use(${PROJECT_NAME} ARGUMENTS ${DEFAULT_IWYU_ARGS} ENABLE ${NOETHER_ENABLE_TESTING})
+target_cppcheck(${PROJECT_NAME} ARGUMENTS ${DEFAULT_CPPCHECK_ARGS} ENABLE ${NOETHER_ENABLE_TESTING})
 
 configure_package(NAMESPACE noether TARGETS ${PROJECT_NAME})
 
diff --git a/vtk_viewer/cmake/vtk_viewer-config.cmake.in b/vtk_viewer/cmake/vtk_viewer-config.cmake.in
index 5bea2682..0a334cef 100644
--- a/vtk_viewer/cmake/vtk_viewer-config.cmake.in
+++ b/vtk_viewer/cmake/vtk_viewer-config.cmake.in
@@ -5,9 +5,8 @@ set_and_check(@PROJECT_NAME@_INCLUDE_DIRS "${PACKAGE_PREFIX_DIR}/include")
 set_and_check(@PROJECT_NAME@_LIBRARIES "${PACKAGE_PREFIX_DIR}/lib")
 
 include(CMakeFindDependencyMacro)
-find_dependency(cmake_common_scripts)
 find_dependency(console_bridge)
-find_dependency(PCL 1.9)
-find_dependency(VTK 7.1)
+find_dependency(PCL)
+find_dependency(VTK)
 
 include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@-targets.cmake")
diff --git a/vtk_viewer/include/vtk_viewer/mouse_interactor.h b/vtk_viewer/include/vtk_viewer/mouse_interactor.h
index 3e7e2524..b100e7f8 100644
--- a/vtk_viewer/include/vtk_viewer/mouse_interactor.h
+++ b/vtk_viewer/include/vtk_viewer/mouse_interactor.h
@@ -54,7 +54,7 @@ class MouseInteractorStyle : public vtkInteractorStyleTrackballCamera
      * @brief getSaveLocation Get the current pathway used to save polydata to
      * @return The current pathway for saving data
      */
-    std::string getSaveLocation(){return save_location_.str().c_str();}
+    std::string getSaveLocation(){return save_location_.str();}
 
     /**
      * @brief OnLeftButtonDown Callback function for handling left mouse button click events, selects an actor in a window
diff --git a/vtk_viewer/include/vtk_viewer/vtk_viewer.h b/vtk_viewer/include/vtk_viewer/vtk_viewer.h
index 805d2c09..48434560 100644
--- a/vtk_viewer/include/vtk_viewer/vtk_viewer.h
+++ b/vtk_viewer/include/vtk_viewer/vtk_viewer.h
@@ -46,7 +46,7 @@ namespace vtk_viewer
      * @param polydata The polydata to be displayed
      * @param color The color to use for rendering the data
      */
-    void addPolyDataDisplay(vtkPolyData* polydata, std::vector<float> color);
+    void addPolyDataDisplay(vtkPolyData* polydata, const std::vector<float>& color);
 
     /**
      * @brief addPolyNormalsDisplay Add a renderer and actor for a polydata
@@ -55,14 +55,14 @@ namespace vtk_viewer
      * @param color The color to use for rendering the data
      * @param scale The size to scale and show the arrows at
      */
-    void addPolyNormalsDisplay(vtkPolyData* polydata, std::vector<float> color, double scale);
+    void addPolyNormalsDisplay(vtkPolyData* polydata, const std::vector<float>& color, double scale);
 
     /**
      * @brief addPointDataDisplay Add a renderer and actor for a point data object
      * @param points The point data to be displayed
      * @param color The color to use for rendering the data
      */
-    void addPointDataDisplay(vtkPoints* points, std::vector<float> color);
+    void addPointDataDisplay(vtkPoints* points, const std::vector<float>& color);
 
     /**
      * @brief addCellNormalDisplay Displays the normals for a mesh object
@@ -70,7 +70,7 @@ namespace vtk_viewer
      * @param color The color to use for rendering the data
      * @param scale The size to scale and show the arrows at
      */
-    void addCellNormalDisplay(vtkPolyData* polydata, std::vector<float> color, double scale);
+    void addCellNormalDisplay(vtkPolyData* polydata, const std::vector<float>& color, double scale);
 
     /**
      * @brief renderDisplay Calls the VTK window Render() command to visualize
@@ -83,7 +83,7 @@ namespace vtk_viewer
      * objects currently being displayed
      * @return The number of actor objects
      */
-    int getNumberOfDisplayObjects(){return actors_.size();}
+    std::size_t getNumberOfDisplayObjects(){return actors_.size();}
 
     /**
      * @brief removeObjectDisplay Remove an object from the list of objects
diff --git a/vtk_viewer/package.xml b/vtk_viewer/package.xml
index 5be9774d..fdc6a5ee 100644
--- a/vtk_viewer/package.xml
+++ b/vtk_viewer/package.xml
@@ -8,7 +8,7 @@
 
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>cmake_common_scripts</build_depend>
-  <depend>console_bridge</depend>
+  <depend>libconsole-bridge-dev</depend>
   <depend>libpcl-all-dev</depend>
 
   <test_depend>rosunit</test_depend>
diff --git a/vtk_viewer/src/vtk_viewer.cpp b/vtk_viewer/src/vtk_viewer.cpp
index 696923d6..86a6b642 100644
--- a/vtk_viewer/src/vtk_viewer.cpp
+++ b/vtk_viewer/src/vtk_viewer.cpp
@@ -54,7 +54,7 @@ namespace vtk_viewer
     this->iren_->Start();
   }
 
-  void VTKViewer::addPointDataDisplay(vtkPoints* points, std::vector<float> color)
+  void VTKViewer::addPointDataDisplay(vtkPoints* points, const std::vector<float>& color)
   {
     // Add the grid points to a polydata object
     vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New();
@@ -81,7 +81,7 @@ namespace vtk_viewer
 
   }
 
-  void VTKViewer::addPolyDataDisplay(vtkPolyData* polydata , std::vector<float> color)
+  void VTKViewer::addPolyDataDisplay(vtkPolyData* polydata, const std::vector<float>& color)
   {
     // create mapper and add to list
     vtkSmartPointer<vtkPolyDataMapper> triangulated_mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
@@ -144,7 +144,7 @@ namespace vtk_viewer
     glyph->Update();
   }
 
-  void VTKViewer::addPolyNormalsDisplay(vtkPolyData* polydata, std::vector<float> color, double scale)
+  void VTKViewer::addPolyNormalsDisplay(vtkPolyData* polydata, const std::vector<float>& color, double scale)
   {
     VTK_SP(vtkGlyph3D, glyph);
     makeGlyphs(polydata, false, glyph, scale);
@@ -166,7 +166,7 @@ namespace vtk_viewer
     this->renderer_->AddActor(actors_.back());
   }
 
-  void VTKViewer::addCellNormalDisplay(vtkPolyData *polydata, std::vector<float> color, double scale)
+  void VTKViewer::addCellNormalDisplay(vtkPolyData *polydata, const std::vector<float>& color, double scale)
   {
     // get cell and point data
 
diff --git a/vtk_viewer/test/CMakeLists.txt b/vtk_viewer/test/CMakeLists.txt
index f545416c..2c569f8c 100644
--- a/vtk_viewer/test/CMakeLists.txt
+++ b/vtk_viewer/test/CMakeLists.txt
@@ -1,9 +1,12 @@
 find_package(GTest REQUIRED)
 
 add_executable(${PROJECT_NAME}_unit utest.cpp)
-target_link_libraries(${PROJECT_NAME}_unit PRIVATE GTest::GTest GTest::Main ${PROJECT_NAME})
+target_link_libraries(${PROJECT_NAME}_unit PRIVATE GTest::GTest GTest::Main ${PROJECT_NAME} ${PCL_LIBRARIES} ${VTK_LIBRARIES})
 target_clang_tidy(${PROJECT_NAME}_unit)
+target_cxx_version(${PROJECT_NAME} PRIVATE VERSION 14)
+target_include_what_you_use(${PROJECT_NAME})
+target_cppcheck(${PROJECT_NAME})
 add_code_coverage(${PROJECT_NAME}_unit ALL EXCLUDE ${COVERAGE_EXCLUDE})
 add_gtest_discover_tests(${PROJECT_NAME}_unit)
-add_dependencies(${PROJECT_NAME}_unit ${PROJECT_NAME}_unit)
+add_dependencies(${PROJECT_NAME}_unit ${PROJECT_NAME})
 add_dependencies(run_tests ${PROJECT_NAME}_unit)
diff --git a/vtk_viewer/test/utest.cpp b/vtk_viewer/test/utest.cpp
index ed72e9ae..8c8d4fe4 100644
--- a/vtk_viewer/test/utest.cpp
+++ b/vtk_viewer/test/utest.cpp
@@ -39,27 +39,25 @@ TEST(ViewerTest, TestCase1)
   cout << "cutter points: " << cut->GetPoints()->GetNumberOfPoints() << "\n";
   cout << "cutter lines: " << cut->GetNumberOfLines() << "\n";
 
-
-
   vtk_viewer::VTKViewer viz;
   std::vector<float> color(3);
 
   // Display mesh results
-  color[0] = 0.2;
-  color[1] = 0.9;
-  color[2] = 0.9;
+  color[0] = 0.2f;
+  color[1] = 0.9f;
+  color[2] = 0.9f;
 
   viz.addPointDataDisplay(points, color);
 
   // Display mesh results
-  color[0] = 0.2;
-  color[1] = 0.2;
-  color[2] = 0.9;
+  color[0] = 0.2f;
+  color[1] = 0.2f;
+  color[2] = 0.9f;
   //viz.addPolyDataDisplay(data, color);
 
-  color[0] = 0.1;
-  color[1] = 0.9;
-  color[2] = 0.1;
+  color[0] = 0.1f;
+  color[1] = 0.9f;
+  color[2] = 0.1f;
   //viz.addCellNormalDisplay(data, color, 1.0);
 
   viz.addPolyDataDisplay(cut,color);