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/dependencies_ros1.rosinstall b/dependencies_ros1.rosinstall
index ce8894c1..564833af 100644
--- a/dependencies_ros1.rosinstall
+++ b/dependencies_ros1.rosinstall
@@ -1,2 +1,3 @@
 # PCL ros tools, this is required because using custom version of PCL and VTK
 - git: {local-name: perception_pcl, uri: 'https://github.com/ros-perception/perception_pcl.git', version: 1.7.1}
+- git: {local-name: cmake_common_scripts, uri: 'https://github.com/ros-industrial/cmake_common_scripts.git', version: master}
diff --git a/mesh_segmenter/CMakeLists.txt b/mesh_segmenter/CMakeLists.txt
index 292d41bf..f3c152c0 100644
--- a/mesh_segmenter/CMakeLists.txt
+++ b/mesh_segmenter/CMakeLists.txt
@@ -13,6 +13,7 @@ else()
 endif()
 
 find_package(catkin REQUIRED)
+find_package(vtk_viewer REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS
@@ -21,6 +22,7 @@ catkin_package(
     ${PROJECT_NAME}
   DEPENDS
     VTK
+    vtk_viewer
 )
 
 include_directories(
@@ -34,6 +36,7 @@ add_library(${PROJECT_NAME}
 target_link_libraries(${PROJECT_NAME}
     ${catkin_LIBRARIES}
     ${VTK_LIBRARIES}
+    noether::vtk_viewer
 )
 add_dependencies(${PROJECT_NAME}
   ${catkin_EXPORTED_TARGETS}
@@ -58,7 +61,7 @@ install(DIRECTORY include/${PROJECT_NAME}/
 ## Testing ##
 #############
 if(CATKIN_ENABLE_TESTING)
-  find_package(catkin REQUIRED COMPONENTS vtk_viewer)
+  find_package(vtk_viewer REQUIRED)
   include_directories(
     include
     ${catkin_INCLUDE_DIRS}
diff --git a/mesh_segmenter/package.xml b/mesh_segmenter/package.xml
index 6fe02259..e1284895 100644
--- a/mesh_segmenter/package.xml
+++ b/mesh_segmenter/package.xml
@@ -8,6 +8,6 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <test_depend>vtk_viewer</test_depend>
+  <depend>vtk_viewer</depend>
 
 </package>
diff --git a/mesh_segmenter/src/mesh_segmenter.cpp b/mesh_segmenter/src/mesh_segmenter.cpp
index d9659467..97132b1b 100644
--- a/mesh_segmenter/src/mesh_segmenter.cpp
+++ b/mesh_segmenter/src/mesh_segmenter.cpp
@@ -12,24 +12,10 @@
 
 #include <mesh_segmenter/mesh_segmenter.h>
 
-#include <log4cxx/basicconfigurator.h>
-#include <log4cxx/patternlayout.h>
-#include <log4cxx/consoleappender.h>
-
-log4cxx::LoggerPtr createConsoleLogger(const std::string& logger_name)
-{
-  using namespace log4cxx;
-  PatternLayoutPtr pattern_layout(new PatternLayout("[\%-5p] [\%c](L:\%L): \%m\%n"));
-  ConsoleAppenderPtr console_appender(new ConsoleAppender(pattern_layout));
-  log4cxx::LoggerPtr logger(Logger::getLogger(logger_name));
-  logger->addAppender(console_appender);
-  logger->setLevel(Level::getInfo());
-  return logger;
-}
+#include <console_bridge/console.h>
 
 namespace mesh_segmenter
 {
-static log4cxx::LoggerPtr SEGMENTATION_LOGGER = createConsoleLogger("SegmentationLogger");
 
 void MeshSegmenter::setInputMesh(vtkSmartPointer<vtkPolyData> mesh)
 {
@@ -48,9 +34,9 @@ std::vector<vtkSmartPointer<vtkPolyData> > MeshSegmenter::getMeshSegments()
   vtkSmartPointer<vtkPolyData> input_copy = vtkSmartPointer<vtkPolyData>::New();
   input_copy->DeepCopy(input_mesh_);
   std::vector<vtkSmartPointer<vtkPolyData> > meshes;
-  for (int i = 0; i < included_indices_.size(); ++i)
+  for (std::size_t i = 0; i < included_indices_.size(); ++i)
   {
-    LOG4CXX_INFO(SEGMENTATION_LOGGER, "Segment " << i << " size: " << included_indices_.at(i)->GetNumberOfIds());
+    CONSOLE_BRIDGE_logInform(("Segment " + std::to_string(i) + " size: " + std::to_string(included_indices_.at(i)->GetNumberOfIds())).c_str());
 
     vtkSmartPointer<vtkPolyData> mesh = vtkSmartPointer<vtkPolyData>::New();
     // Create new pointer to a new copy of input_mesh_
@@ -72,7 +58,7 @@ std::vector<vtkSmartPointer<vtkPolyData> > MeshSegmenter::getMeshSegments()
 
     if (mesh->GetNumberOfCells() <= 1)
     {
-      LOG4CXX_WARN(SEGMENTATION_LOGGER, "NOT ENOUGH CELLS FOR SEGMENTATION");
+      CONSOLE_BRIDGE_logWarn("NOT ENOUGH CELLS FOR SEGMENTATION");
       continue;
     }
     meshes.push_back(mesh);
@@ -138,10 +124,10 @@ void MeshSegmenter::segmentMesh()
   }
   included_indices_.push_back(edge_cells);
 
-  LOG4CXX_INFO(SEGMENTATION_LOGGER, "Found " << included_indices_.size() << " segments");
-  LOG4CXX_INFO(SEGMENTATION_LOGGER, "Total mesh size: " << size);
-  LOG4CXX_INFO(SEGMENTATION_LOGGER, "Used cells size: " << used_cells->GetNumberOfIds());
-  LOG4CXX_INFO(SEGMENTATION_LOGGER, "Edge cells size: " << edge_cells->GetNumberOfIds());
+  CONSOLE_BRIDGE_logInform("Found %d segments", included_indices_.size());
+  CONSOLE_BRIDGE_logInform("Total mesh size: %d", size);
+  CONSOLE_BRIDGE_logInform("Used cells size: %d", used_cells->GetNumberOfIds());
+  CONSOLE_BRIDGE_logInform("Edge cells size: %d",  edge_cells->GetNumberOfIds());
 }
 
 vtkSmartPointer<vtkIdList> MeshSegmenter::segmentMesh(int start_cell)
diff --git a/noether/CMakeLists.txt b/noether/CMakeLists.txt
index 413ae8e1..76947b96 100644
--- a/noether/CMakeLists.txt
+++ b/noether/CMakeLists.txt
@@ -31,9 +31,10 @@ find_package(catkin REQUIRED COMPONENTS
   pcl_conversions
   roscpp
   tool_path_planner
-  vtk_viewer
 )
 
+find_package(vtk_viewer REQUIRED)
+
 find_package(noether_filtering)
 if(NOT noether_filtering_FOUND)
   message(WARNING "noether_filtering not found. mesh_filter_server will not be compiled")
@@ -53,10 +54,10 @@ catkin_package(
     pcl_conversions
     roscpp
     tool_path_planner
-    vtk_viewer
   DEPENDS
     VTK
     PCL
+    vtk_viewer
 )
 
 include_directories(include ${catkin_INCLUDE_DIRS})
@@ -68,6 +69,7 @@ add_executable(surface_raster_planner_server
 target_link_libraries(surface_raster_planner_server
   ${catkin_LIBRARIES}
   ${VTK_LIBRARIES}
+  noether::vtk_viewer
 )
 
 add_executable(surface_raster_planner_application
@@ -76,6 +78,7 @@ add_executable(surface_raster_planner_application
 target_link_libraries(surface_raster_planner_application
   ${catkin_LIBRARIES}
   ${VTK_LIBRARIES}
+  noether::vtk_viewer
 )
 
 add_executable(segmentation_server
@@ -84,6 +87,7 @@ add_executable(segmentation_server
 target_link_libraries(segmentation_server
   ${catkin_LIBRARIES}
   ${VTK_LIBRARIES}
+  noether::vtk_viewer
 )
 #There needs to be a better pathing to the library
 add_executable(convex_hull_node
@@ -94,6 +98,7 @@ add_executable(convex_hull_node
 target_link_libraries(convex_hull_node  
   ${catkin_LIBRARIES}
   ${VTK_LIBRARIES}
+  noether::vtk_viewer
 )
 
 if(noether_filtering_FOUND)
@@ -103,6 +108,7 @@ if(noether_filtering_FOUND)
   target_link_libraries(mesh_filter_server PUBLIC
     ${catkin_LIBRARIES}
     noether_filtering::noether_filtering
+    noether::vtk_viewer
   )
 endif()
 
@@ -111,6 +117,7 @@ add_executable(edge_generator_server
 )
 target_link_libraries(edge_generator_server 
   ${catkin_LIBRARIES}
+  noether::vtk_viewer
 )
 
 add_executable(halfedge_boundary_finder_server
@@ -118,6 +125,7 @@ add_executable(halfedge_boundary_finder_server
 )
 target_link_libraries(halfedge_boundary_finder_server 
   ${catkin_LIBRARIES}
+  noether::vtk_viewer
 )
 
 #############
diff --git a/noether/src/surface_raster_planner_application.cpp b/noether/src/surface_raster_planner_application.cpp
index 15a2e502..4f461317 100644
--- a/noether/src/surface_raster_planner_application.cpp
+++ b/noether/src/surface_raster_planner_application.cpp
@@ -8,6 +8,7 @@
 #include <vtkPointData.h>
 #include <ros/ros.h>
 #include <ros/file_log.h>
+#include <console_bridge/console.h>
 
 namespace noether {
 
@@ -148,7 +149,10 @@ int main(int argc, char **argv)
   pnh.param<double>("centroid_y", center[1], 0.0);
   pnh.param<double>("centroid_z", center[2], 0.0);
 
-  vtk_viewer::VTK_LOGGER->setLevel(console_debug_on ? log4cxx::Level::getDebug(): log4cxx::Level::getInfo());
+  if (console_debug_on)
+    console_bridge::setLogLevel(console_bridge::LogLevel::CONSOLE_BRIDGE_LOG_DEBUG);
+  else
+    console_bridge::setLogLevel(console_bridge::LogLevel::CONSOLE_BRIDGE_LOG_INFO);
 
   // load tool config
   tool_path_planner::ProcessTool tool = loadTool(pnh);
diff --git a/noether_examples/CMakeLists.txt b/noether_examples/CMakeLists.txt
index 503c7e41..1355b455 100644
--- a/noether_examples/CMakeLists.txt
+++ b/noether_examples/CMakeLists.txt
@@ -32,9 +32,10 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   roslib
   tool_path_planner
-  vtk_viewer
 )
 
+find_package(vtk_viewer REQUIRED)
+
 catkin_package(
   INCLUDE_DIRS
     include
@@ -48,10 +49,10 @@ catkin_package(
     roscpp
     roslib
     tool_path_planner
-    vtk_viewer
   DEPENDS
     VTK
     PCL
+    vtk_viewer
 )
 
 include_directories(
@@ -61,23 +62,23 @@ include_directories(
 )
 
 add_executable(mesh_segmenter_client_node src/mesh_segmenter_client.cpp)
-target_link_libraries(mesh_segmenter_client_node ${catkin_LIBRARIES} ${VTK_LIBRARIES})
+target_link_libraries(mesh_segmenter_client_node ${catkin_LIBRARIES} ${VTK_LIBRARIES} noether::vtk_viewer)
 list (APPEND PACKAGE_TARGETS mesh_segmenter_client_node)
 
 add_executable(mesh_segmenter_node src/mesh_segmenter_node.cpp)
-target_link_libraries(mesh_segmenter_node ${catkin_LIBRARIES} ${VTK_LIBRARIES})
+target_link_libraries(mesh_segmenter_node ${catkin_LIBRARIES} ${VTK_LIBRARIES} noether::vtk_viewer)
 list (APPEND PACKAGE_TARGETS mesh_segmenter_node)
 
 add_executable(mesh_filtering_client src/mesh_filtering_client.cpp)
-target_link_libraries(mesh_filtering_client ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+target_link_libraries(mesh_filtering_client ${catkin_LIBRARIES} ${PCL_LIBRARIES} noether::vtk_viewer)
 list (APPEND PACKAGE_TARGETS mesh_filtering_client)
 
 add_executable(edge_generator_client src/edge_generator_client.cpp)
-target_link_libraries(edge_generator_client ${catkin_LIBRARIES})
+target_link_libraries(edge_generator_client ${catkin_LIBRARIES} noether::vtk_viewer)
 list (APPEND PACKAGE_TARGETS edge_generator_client)
 
 add_executable(halfedge_finder_node  src/halfedge_finder_node.cpp)
-target_link_libraries(halfedge_finder_node ${catkin_LIBRARIES})
+target_link_libraries(halfedge_finder_node ${catkin_LIBRARIES} noether::vtk_viewer)
 list (APPEND PACKAGE_TARGETS halfedge_finder_node)
 
 #############
diff --git a/noether_filtering/package.xml b/noether_filtering/package.xml
index 2ae74699..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>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <depend>libconsole-bridge-dev</depend>
   <depend>pluginlib</depend>
   <depend>libpcl-all-dev</depend>
   <export>
diff --git a/path_sequence_planner/CMakeLists.txt b/path_sequence_planner/CMakeLists.txt
index 1b7ebca4..d7a964c2 100644
--- a/path_sequence_planner/CMakeLists.txt
+++ b/path_sequence_planner/CMakeLists.txt
@@ -15,9 +15,10 @@ endif()
 
 find_package(catkin REQUIRED COMPONENTS
     tool_path_planner
-    vtk_viewer
 )
 
+find_package(vtk_viewer REQUIRED)
+
 catkin_package(
   INCLUDE_DIRS
     include
@@ -25,6 +26,7 @@ catkin_package(
     simple_path_sequence_planner
   CATKIN_DEPENDS
     tool_path_planner
+  DEPENDS
     vtk_viewer
 )
 
@@ -39,6 +41,7 @@ add_library(simple_path_sequence_planner
 target_link_libraries(simple_path_sequence_planner
   ${catkin_LIBRARIES}
   ${VTK_LIBRARIES}
+  noether::vtk_viewer
 )
 
 #############
diff --git a/path_sequence_planner/test/utest.cpp b/path_sequence_planner/test/utest.cpp
index cf17cd9b..b26461d6 100644
--- a/path_sequence_planner/test/utest.cpp
+++ b/path_sequence_planner/test/utest.cpp
@@ -148,7 +148,7 @@ TEST(IntersectTest, TestCase1)
 
   #ifdef NDEBUG
   // release build stuff goes here
-  LOG4CXX_ERROR(vtk_viewer::VTK_LOGGER,"noether/path_sequence_planner test: visualization is only available in debug mode");
+  CONSOLE_BRIDGE_logError("noether/path_sequence_planner test: visualization is only available in debug mode");
   #else
   // Debug-specific code goes here
   viz.renderDisplay();
diff --git a/tool_path_planner/CMakeLists.txt b/tool_path_planner/CMakeLists.txt
index dcdd3c57..67eb7c5e 100644
--- a/tool_path_planner/CMakeLists.txt
+++ b/tool_path_planner/CMakeLists.txt
@@ -15,9 +15,10 @@ find_package(catkin REQUIRED COMPONENTS
   rosconsole
   roslib
   shape_msgs
-  vtk_viewer
 )
 
+find_package(vtk_viewer REQUIRED)
+
 find_package(VTK REQUIRED NO_MODULE)
 if(VTK_FOUND AND ("${VTK_VERSION}" VERSION_LESS 7.1))
   message(FATAL_ERROR "The minimum required version of VTK is 7.1, but found ${VTK_VERSION}")
@@ -47,11 +48,11 @@ catkin_package(
     noether_msgs
     rosconsole
     shape_msgs
-    vtk_viewer
   DEPENDS
     EIGEN3
     PCL
     VTK
+    vtk_viewer
 )
 
 include_directories(
@@ -71,6 +72,7 @@ target_link_libraries(${PROJECT_NAME}
     ${catkin_LIBRARIES}
     ${PCL_LIBRARIES}
     ${VTK_LIBRARIES}
+    noether::vtk_viewer
 )
 add_dependencies(${PROJECT_NAME}
   ${catkin_EXPORTED_TARGETS}
diff --git a/tool_path_planner/include/tool_path_planner/raster_tool_path_planner.h b/tool_path_planner/include/tool_path_planner/raster_tool_path_planner.h
index d52bf865..3a35a9b0 100644
--- a/tool_path_planner/include/tool_path_planner/raster_tool_path_planner.h
+++ b/tool_path_planner/include/tool_path_planner/raster_tool_path_planner.h
@@ -29,8 +29,6 @@
 #include <vtkKdTreePointLocator.h>
 #include <vtkCellLocator.h>
 #include <vtkModifiedBSPTree.h>
-#include <log4cxx/logger.h>
-#include <log4cxx/basicconfigurator.h>
 #include <vtk_viewer/vtk_viewer.h>
 #include "tool_path_planner/tool_path_planner_base.h"
 
@@ -39,9 +37,6 @@ namespace tool_path_planner
   class RasterToolPathPlanner : public ToolPathPlannerBase
   {
   public:
-
-    static log4cxx::LoggerPtr RASTER_PATH_PLANNER_LOGGER;
-
     /**
      * @brief constructor
      * @param use_ransac set flag to use ransac plane estimation to determine path normals
diff --git a/tool_path_planner/src/raster_tool_path_planner.cpp b/tool_path_planner/src/raster_tool_path_planner.cpp
index c23e2389..f444962c 100644
--- a/tool_path_planner/src/raster_tool_path_planner.cpp
+++ b/tool_path_planner/src/raster_tool_path_planner.cpp
@@ -33,9 +33,8 @@
 #include <pcl/sample_consensus/ransac.h>
 #include <pcl/sample_consensus/sac_model_plane.h>
 
-#include <log4cxx/basicconfigurator.h>
-#include <log4cxx/patternlayout.h>
-#include <log4cxx/consoleappender.h>
+#include <console_bridge/console.h>
+
 #include <tool_path_planner/raster_tool_path_planner.h>
 #include "tool_path_planner/utilities.h"
 
@@ -45,19 +44,6 @@ static const double ANGLE_CORRECTION_THRESHOLD = (150.0/180.0)*M_PI;
 static const double EXTRUDE_EXTEND_PERCENTAGE = 1.5;
 static const double RAY_INTERSECTION_TOLERANCE = 0.001;
 
-log4cxx::LoggerPtr createConsoleLogger(const std::string& logger_name)
-{
-  using namespace log4cxx;
-  PatternLayoutPtr pattern_layout(new PatternLayout( "[\%-5p] [\%c](L:\%L): \%m\%n"));
-  ConsoleAppenderPtr console_appender(new ConsoleAppender(pattern_layout));
-  log4cxx::LoggerPtr logger(Logger::getLogger(logger_name));
-  logger->addAppender(console_appender);
-  logger->setLevel(Level::getInfo());
-  return logger;
-}
-log4cxx::LoggerPtr tool_path_planner::RasterToolPathPlanner::RASTER_PATH_PLANNER_LOGGER = createConsoleLogger(
-    "RasterPathPlanner");
-
 /**
  * @brief computes the angle between two vectors
  * @param v1
@@ -144,7 +130,7 @@ namespace tool_path_planner
       planPaths(meshes[i], new_path);
       if(new_path.empty())
       {
-        LOG4CXX_WARN(RASTER_PATH_PLANNER_LOGGER, "Could not plan path for mesh " << i);
+        CONSOLE_BRIDGE_logWarn("Could not plan path for mesh %d", i);
       }
       else
       {
@@ -278,7 +264,7 @@ namespace tool_path_planner
     // if paths need to be modified, delete all old paths (starting at the back) and insert new ones
     if(!delete_paths.empty())
     {
-      LOG4CXX_INFO(RASTER_PATH_PLANNER_LOGGER, "Deleting " << delete_paths.size() << " paths");
+      CONSOLE_BRIDGE_logInform("Deleting %d paths", delete_paths.size());
     }
     for(int i = delete_paths.size() - 1; i >=0 ; --i )
     {
@@ -297,7 +283,7 @@ namespace tool_path_planner
         sum_of_normal += current_normal;
       }
       sum_of_normal.normalize(); // this is now the average normal
-      LOG4CXX_DEBUG(RASTER_PATH_PLANNER_LOGGER,"Line Normal = \n" << sum_of_normal);
+      CONSOLE_BRIDGE_logDebug("Line Normal = %d", sum_of_normal);
       vtkDataArray* normals = new_paths[i].line->GetPointData()->GetNormals();
 
       // flip normal directions if it is in a different direction from the average of normal for the line
@@ -309,10 +295,10 @@ namespace tool_path_planner
         Eigen::Vector3d current_normal = Eigen::Vector3d::Zero();
         new_paths[i].line->GetPointData()->GetNormals()->GetTuple(j,current_normal.data());
         double dp = current_normal.dot(sum_of_normal);
-        LOG4CXX_DEBUG(RASTER_PATH_PLANNER_LOGGER,"Line " << i <<" waypoint "<< j << " dot product: " << dp);
+        CONSOLE_BRIDGE_logDebug("Line %d waypoint %d dot product: %d", i, j, dp);
         if(dp < 0)
         {
-          LOG4CXX_DEBUG(RASTER_PATH_PLANNER_LOGGER,"Flipping line " << i <<" waypoint "<< j);
+          CONSOLE_BRIDGE_logDebug("Flipping line %d waypoint $d", i, j);
           double* pt = line_normals ->GetTuple(i);
           pt[0] *= -1;
           pt[1] *= -1;
@@ -354,7 +340,7 @@ namespace tool_path_planner
       }
       else
       {
-        LOG4CXX_ERROR(RASTER_PATH_PLANNER_LOGGER, "Failed to generate path off leading edge");
+        CONSOLE_BRIDGE_logError("Failed to generate path off leading edge");
       }
       if (getExtraPath(last, last_path, tool_.line_spacing))
       {
@@ -362,7 +348,7 @@ namespace tool_path_planner
       }
       else
       {
-        LOG4CXX_ERROR(RASTER_PATH_PLANNER_LOGGER, "Failed to generate path off trailing edge");
+        CONSOLE_BRIDGE_logError("Failed to generate path off trailing edge");
       }
     }
 
@@ -411,7 +397,7 @@ namespace tool_path_planner
 
     if(!findIntersectionLine(cutting_mesh, intersection_line, spline))
     {
-      LOG4CXX_DEBUG(RASTER_PATH_PLANNER_LOGGER,"No intersection found");
+      CONSOLE_BRIDGE_logDebug("No intersection found");
       return false;
     }
 
@@ -434,7 +420,7 @@ namespace tool_path_planner
   {
     if(dist == 0.0 && this_path.intersection_plane->GetPoints()->GetNumberOfPoints() < 2)
     {
-      LOG4CXX_DEBUG(RASTER_PATH_PLANNER_LOGGER,"No path offset and no intersection plane given. Cannot generate next path");
+      CONSOLE_BRIDGE_logDebug("No path offset and no intersection plane given. Cannot generate next path");
       return false;
     }
 
@@ -492,7 +478,7 @@ namespace tool_path_planner
 
     if(!findIntersectionLine(next_path.intersection_plane, intersection_line, spline))
     {
-      LOG4CXX_DEBUG(RASTER_PATH_PLANNER_LOGGER,"No intersection found for creating spline");
+      CONSOLE_BRIDGE_logDebug("No intersection found for creating spline");
       return false;
     }
 
@@ -509,7 +495,7 @@ namespace tool_path_planner
       intersection_filter->Update();
       if(intersection_filter->GetOutput()->GetPoints()->GetNumberOfPoints() > 0)
       {
-        LOG4CXX_DEBUG(RASTER_PATH_PLANNER_LOGGER,"Self intersection found with back path");
+        CONSOLE_BRIDGE_logDebug("Self intersection found with back path");
         return false;
       }
 
@@ -517,7 +503,7 @@ namespace tool_path_planner
       intersection_filter->Update();
       if(intersection_filter->GetOutput()->GetPoints()->GetNumberOfPoints() > 0)
       {
-        LOG4CXX_DEBUG(RASTER_PATH_PLANNER_LOGGER, "Self intersection found with front path");
+        CONSOLE_BRIDGE_logDebug("Self intersection found with front path");
         return false;
       }
     }
@@ -554,7 +540,7 @@ namespace tool_path_planner
 
     if(points->GetPoints()->GetNumberOfPoints() < 2)
     {
-      LOG4CXX_DEBUG(RASTER_PATH_PLANNER_LOGGER,"Number of points after smoothing is less than 2, skip computing path data");
+      CONSOLE_BRIDGE_logDebug("Number of points after smoothing is less than 2, skip computing path data");
       return false;
     }
     next_path.line = points;
@@ -587,7 +573,7 @@ namespace tool_path_planner
   {
     if (std::fabs(dist) == 0.0)
     {
-      LOG4CXX_ERROR(RASTER_PATH_PLANNER_LOGGER, "No offset given. Cannot generate extra path");
+      CONSOLE_BRIDGE_logError("No offset given. Cannot generate extra path");
       return false;
     }
 
@@ -711,7 +697,7 @@ namespace tool_path_planner
           }
           else
           {
-            LOG4CXX_DEBUG(RASTER_PATH_PLANNER_LOGGER,"Hole segment has less than 2 points, skipping resampling");
+            CONSOLE_BRIDGE_logDebug("Hole segment has less than 2 points, skipping resampling");
           }
 
           new_line->SetPoints(new_points);
@@ -938,8 +924,7 @@ namespace tool_path_planner
     // Check to make sure that the input cut surface contains a valid mesh
     if(cut_surface->GetNumberOfCells() < 1)
     {
-      LOG4CXX_ERROR(RASTER_PATH_PLANNER_LOGGER,
-                    "Number of input cells for calculating intersection is less than 1, cannot compute intersection");
+      CONSOLE_BRIDGE_logError("Number of input cells for calculating intersection is less than 1, cannot compute intersection");
       return false;
     }
 
@@ -977,7 +962,7 @@ namespace tool_path_planner
 
     if(temp_pts->GetNumberOfPoints() == 0)
     {
-      LOG4CXX_ERROR(RASTER_PATH_PLANNER_LOGGER, "No connected lines were found");
+      CONSOLE_BRIDGE_logError("No connected lines were found");
       return false;
     }
 
@@ -1470,7 +1455,7 @@ namespace tool_path_planner
       cell_locator_->FindClosestPoint(query_point.data(),closest_point.data(),cell_id,sub_index,dist);
       if(cell_id < 0)
       {
-        LOG4CXX_ERROR(RASTER_PATH_PLANNER_LOGGER,"FindClosestPoint returned an invalid cell id");
+        CONSOLE_BRIDGE_logError("FindClosestPoint returned an invalid cell id");
         return false;
       }
 
@@ -1495,13 +1480,13 @@ namespace tool_path_planner
     // If normal or derivative data does not exist, or number of normals and derivatives do not match, return a null pointer
     if(!normals || !ders || normals->GetNumberOfTuples() != ders->GetNumberOfTuples())
     {
-      LOG4CXX_ERROR(RASTER_PATH_PLANNER_LOGGER,"Could not create offset line");
+      CONSOLE_BRIDGE_logError("Could not create offset line");
       return new_points;
     }
 
     if(normals->GetNumberOfTuples() != line->GetNumberOfPoints())
     {
-      LOG4CXX_DEBUG(RASTER_PATH_PLANNER_LOGGER,"ERROR IN CALC OFFSET LINE");
+      CONSOLE_BRIDGE_logDebug("ERROR IN CALC OFFSET LINE");
       return new_points;
     }
 
@@ -1588,7 +1573,7 @@ namespace tool_path_planner
 
     if(!normals)
     {
-      LOG4CXX_ERROR(RASTER_PATH_PLANNER_LOGGER,"no normals, cannot create surface from spline");
+      CONSOLE_BRIDGE_logError("No normals, cannot create surface from spline");
       return new_surface;
     }
 
@@ -1676,7 +1661,7 @@ namespace tool_path_planner
 
     if(!normals)
     {
-      LOG4CXX_ERROR(RASTER_PATH_PLANNER_LOGGER,"no normals, cannot create surface from spline");
+      CONSOLE_BRIDGE_logError("No normals, cannot create surface from spline");
       return new_surface;
     }
 
@@ -1735,7 +1720,10 @@ namespace tool_path_planner
 
   void RasterToolPathPlanner::enableConsoleDebug(bool enable)
   {
-    RASTER_PATH_PLANNER_LOGGER->setLevel(enable ? log4cxx::Level::getDebug() : log4cxx::Level::getInfo());
+    if (enable)
+      console_bridge::setLogLevel(console_bridge::LogLevel::CONSOLE_BRIDGE_LOG_DEBUG);
+    else
+      console_bridge::setLogLevel(console_bridge::LogLevel::CONSOLE_BRIDGE_LOG_INFO);
   }
 
 }
diff --git a/tool_path_planner/test/utest.cpp b/tool_path_planner/test/utest.cpp
index 138838dd..a594b4a6 100644
--- a/tool_path_planner/test/utest.cpp
+++ b/tool_path_planner/test/utest.cpp
@@ -115,8 +115,7 @@ TEST(IntersectTest, RasterRotationTest)
 
 #ifdef NDEBUG
     // release build stuff goes here
-    LOG4CXX_ERROR(tool_path_planner::RasterToolPathPlanner::RASTER_PATH_PLANNER_LOGGER,
-                  "noether/tool_path_planner test: visualization is only available in debug mode");
+    CONSOLE_BRIDGE_logError("noether/tool_path_planner test: visualization is only available in debug mode");
 #else
     // Debug-specific code goes here
     viz.renderDisplay();
@@ -224,7 +223,7 @@ TEST(IntersectTest, TestCase1)
 
   #ifdef NDEBUG
   // release build stuff goes here
-  LOG4CXX_ERROR(tool_path_planner::RasterToolPathPlanner::RASTER_PATH_PLANNER_LOGGER, "noether/tool_path_planner test: visualization is only available in debug mode");
+  CONSOLE_BRIDGE_logError("noether/tool_path_planner test: visualization is only available in debug mode");
   #else
   // Debug-specific code goes here
   viz.renderDisplay();
@@ -325,7 +324,7 @@ TEST(IntersectTest, TestCaseRansac)
 
   #ifdef NDEBUG
   // release build stuff goes here
-  LOG4CXX_ERROR(tool_path_planner::RasterToolPathPlanner::RASTER_PATH_PLANNER_LOGGER, "noether/tool_path_planner test: visualization is only available in debug mode");
+  CONSOLE_BRIDGE_logError("noether/tool_path_planner test: visualization is only available in debug mode");
   #else
   // Debug-specific code goes here
   viz.renderDisplay();
@@ -393,7 +392,7 @@ TEST(IntersectTest, ExtraRasterTest)
 
 #ifdef NDEBUG
   // release build stuff goes here
-  LOG4CXX_INFO(tool_path_planner::RasterToolPathPlanner::RASTER_PATH_PLANNER_LOGGER, "noether/tool_path_planner test: visualization is only available in debug mode");
+  CONSOLE_BRIDGE_logInform("noether/tool_path_planner test: visualization is only available in debug mode");
 
 #else
   // Debug-specific code goes here
diff --git a/vtk_viewer/CMakeLists.txt b/vtk_viewer/CMakeLists.txt
index 7e0b9e0f..271415fa 100644
--- a/vtk_viewer/CMakeLists.txt
+++ b/vtk_viewer/CMakeLists.txt
@@ -1,23 +1,13 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5.0)
+project(vtk_viewer VERSION 0.1.0)
 
-## Compile as C++14, 
-add_compile_options(-std=c++14)
-
-project(vtk_viewer)
-
-find_package(catkin REQUIRED COMPONENTS
-  cmake_modules
-  rosconsole
-)
+find_package(cmake_common_scripts REQUIRED)
 
 find_package(VTK REQUIRED NO_MODULE)
 if(VTK_FOUND AND ("${VTK_VERSION}" VERSION_LESS 7.1))
   message(FATAL_ERROR "The minimum required version of VTK is 7.1, but found ${VTK_VERSION}")
   set(VTK_FOUND FALSE)
 endif()
-#else()
-#  include(${VTK_USE_FILE})
-#endif()
 
 find_package(PCL REQUIRED)
 if(PCL_FOUND AND ("${PCL_VERSION}" VERSION_LESS 1.9))
@@ -28,54 +18,40 @@ else()
 endif()
 
 find_package(Eigen3 REQUIRED)
+find_package(console_bridge REQUIRED)
 
-catkin_package(
-  INCLUDE_DIRS
-    include
-  LIBRARIES
-    ${PROJECT_NAME}
-  DEPENDS
-    EIGEN3
-    PCL
-    VTK
-)
-
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIRS}
-  ${PCL_INCLUDE_DIRS}
-)
-
-add_library(${PROJECT_NAME}
-  src/mouse_interactor.cpp
-  src/vtk_utils.cpp
-  src/${PROJECT_NAME}.cpp
-)
-target_link_libraries(${PROJECT_NAME}
-  ${catkin_LIBRARIES}
-  ${PCL_LIBRARIES}
-  ${VTK_LIBRARIES}
-)
-
-install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+if(NOETHER_ENABLE_TESTING)
+    set(CLANG_ARGS ${DEFAULT_CLANG_TIDY_ERROR_ARGS})
+else()
+    set(CLANG_ARGS ${DEFAULT_CLANG_TIDY_WARNING_ARGS})
+endif()
 
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+add_code_coverage()
+
+add_library(${PROJECT_NAME} SHARED src/mouse_interactor.cpp src/vtk_utils.cpp src/${PROJECT_NAME}.cpp)
+target_link_libraries(${PROJECT_NAME} PUBLIC ${PCL_LIBRARIES} ${VTK_LIBRARIES} console_bridge)
+target_include_directories(${PROJECT_NAME} PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
+target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+    ${EIGEN3_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS})
+target_cxx_version(${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 ${PROJECT_NAME})
+
+# Mark header files for installation
+install(DIRECTORY include/${PROJECT_NAME}
+  DESTINATION include
+  FILES_MATCHING PATTERN "*.h"
   PATTERN ".svn" EXCLUDE
 )
 
-if (CATKIN_ENABLE_TESTING)
-  catkin_add_gtest(${PROJECT_NAME}-test
-    test/utest.cpp
-  )
-  if(TARGET ${PROJECT_NAME}-test)
-    target_link_libraries(${PROJECT_NAME}-test
-      ${PROJECT_NAME}
-    )
-  endif()
+if (NOETHER_ENABLE_TESTING)
+  enable_testing()
+  add_run_tests_target()
+  add_subdirectory(test)
 endif()
diff --git a/vtk_viewer/cmake/vtk_viewer-config.cmake.in b/vtk_viewer/cmake/vtk_viewer-config.cmake.in
new file mode 100644
index 00000000..0a334cef
--- /dev/null
+++ b/vtk_viewer/cmake/vtk_viewer-config.cmake.in
@@ -0,0 +1,12 @@
+@PACKAGE_INIT@
+
+set(@PROJECT_NAME@_FOUND ON)
+set_and_check(@PROJECT_NAME@_INCLUDE_DIRS "${PACKAGE_PREFIX_DIR}/include")
+set_and_check(@PROJECT_NAME@_LIBRARIES "${PACKAGE_PREFIX_DIR}/lib")
+
+include(CMakeFindDependencyMacro)
+find_dependency(console_bridge)
+find_dependency(PCL)
+find_dependency(VTK)
+
+include("${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_utils.h b/vtk_viewer/include/vtk_viewer/vtk_utils.h
index 8421b86b..98bec731 100644
--- a/vtk_viewer/include/vtk_viewer/vtk_utils.h
+++ b/vtk_viewer/include/vtk_viewer/vtk_utils.h
@@ -30,14 +30,8 @@
 #include <vtkPolyData.h>
 #include <vtkCutter.h>
 
-#include <log4cxx/logger.h>
-
 namespace vtk_viewer
 {
-
-
-  extern log4cxx::LoggerPtr VTK_LOGGER;
-
   /**
    * @brief Enum used to define the type of plane generated by createPlane
    */
@@ -73,7 +67,7 @@ namespace vtk_viewer
    * @param neighborhood_size The number of points to consider for determining cell size and orientation
    * @return The mesh object after triangulation
    */
-  vtkSmartPointer<vtkPolyData> createMesh(vtkSmartPointer<vtkPoints> points, double sample_spacing, double neigborhood_size);
+  vtkSmartPointer<vtkPolyData> createMesh(vtkSmartPointer<vtkPoints> points, double sample_spacing, int neigborhood_size);
 
   /**
    * @brief cleanMesh Given a mesh, removes cells that do not have enough point data nearby (called after createMesh)
@@ -126,7 +120,7 @@ namespace vtk_viewer
    * @param file The input file to load
    * @param polydata [output] The VTK object to return
    * @param background Optional point cloud to be used to perform background subtraction
-   * @param return_mesh If true, computes and returns a mesh, if false, will only return the point data
+   * @param return_mesh [currently unused] If true, computes and returns a mesh, if false, will only return the point data
    * @return True if the file exists and was loaded, False if there was an error
    */
   bool loadPCDFile(std::string file, vtkSmartPointer<vtkPolyData>& polydata, std::string background = "", bool return_mesh = true);
diff --git a/vtk_viewer/include/vtk_viewer/vtk_viewer.h b/vtk_viewer/include/vtk_viewer/vtk_viewer.h
index 1a816baa..48434560 100644
--- a/vtk_viewer/include/vtk_viewer/vtk_viewer.h
+++ b/vtk_viewer/include/vtk_viewer/vtk_viewer.h
@@ -32,8 +32,6 @@
 
 namespace vtk_viewer
 {
-
-
   class VTKViewer
   {
   public:
@@ -48,7 +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
@@ -57,14 +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
@@ -72,7 +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
@@ -85,7 +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
@@ -94,7 +92,7 @@ namespace vtk_viewer
      * @return True if the index of the item to remove exists and was removed,
      * false if the index exceeds the list of items available
      */
-    bool removeObjectDisplay(int index);
+    bool removeObjectDisplay(std::size_t index);
 
     /**
      * @brief removeAllDisplays Removes all displays from the renderer
diff --git a/vtk_viewer/package.xml b/vtk_viewer/package.xml
index 657ef455..fdc6a5ee 100644
--- a/vtk_viewer/package.xml
+++ b/vtk_viewer/package.xml
@@ -7,8 +7,8 @@
   <license>Apache 2.0</license>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>cmake_modules</build_depend>
-  <depend>rosconsole</depend>
+  <build_depend>cmake_common_scripts</build_depend>
+  <depend>libconsole-bridge-dev</depend>
   <depend>libpcl-all-dev</depend>
 
   <test_depend>rosunit</test_depend>
diff --git a/vtk_viewer/src/vtk_utils.cpp b/vtk_viewer/src/vtk_utils.cpp
index a7685ed1..dd0e2932 100644
--- a/vtk_viewer/src/vtk_utils.cpp
+++ b/vtk_viewer/src/vtk_utils.cpp
@@ -49,24 +49,10 @@
 #include <vtkImplicitSelectionLoop.h>
 #include <vtkClipPolyData.h>
 
-#include <log4cxx/basicconfigurator.h>
-#include <log4cxx/patternlayout.h>
-#include <log4cxx/consoleappender.h>
-
-log4cxx::LoggerPtr createConsoleLogger(const std::string& logger_name)
-{
-  using namespace log4cxx;
-  PatternLayoutPtr pattern_layout(new PatternLayout("[\%-5p] [\%c](L:\%L): \%m\%n"));
-  ConsoleAppenderPtr console_appender(new ConsoleAppender(pattern_layout));
-  log4cxx::LoggerPtr logger(Logger::getLogger(logger_name));
-  logger->addAppender(console_appender);
-  logger->setLevel(Level::getInfo());
-  return logger;
-}
+#include <console_bridge/console.h>
 
 namespace vtk_viewer
 {
-log4cxx::LoggerPtr VTK_LOGGER = createConsoleLogger("VTK_VIEWER");
 
 vtkSmartPointer<vtkPoints> createPlane(unsigned int grid_size_x, unsigned int grid_size_y, vtk_viewer::plane_type type)
 {
@@ -102,7 +88,7 @@ vtkSmartPointer<vtkPoints> createPlane(unsigned int grid_size_x, unsigned int gr
 
 vtkSmartPointer<vtkPolyData> createMesh(vtkSmartPointer<vtkPoints> points,
                                         double sample_spacing,
-                                        double neigborhood_size)
+                                        int neigborhood_size)
 {
   if (!points)
   {
@@ -148,7 +134,8 @@ void cleanMesh(const vtkSmartPointer<vtkPoints>& points, vtkSmartPointer<vtkPoly
   kd_tree->BuildLocator();
 
   vtkSmartPointer<vtkCellArray> cells = mesh->GetPolys();
-  int size = cells->GetNumberOfCells();
+  assert(cells->GetNumberOfCells() < std::numeric_limits<int>::max());
+  int size = static_cast<int>(cells->GetNumberOfCells());
   // loop through all cells, mark cells for deletion if they do not have enough points nearby
   for (int i = 0; i < size; ++i)
   {
@@ -234,7 +221,7 @@ vtkSmartPointer<vtkPolyData> readSTLFile(std::string file)
   return reader->GetOutput();
 }
 
-bool loadPCDFile(std::string file, vtkSmartPointer<vtkPolyData>& polydata, std::string background, bool return_mesh)
+bool loadPCDFile(std::string file, vtkSmartPointer<vtkPolyData>& polydata, std::string background, bool /*return_mesh*/)
 {
   pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
 
@@ -277,7 +264,7 @@ void vtkSurfaceReconstructionMesh(const pcl::PointCloud<pcl::PointXYZ>::Ptr clou
   // Set parameters (TODO: Make these parameters configurable)
   mls.setComputeNormals(false);
   mls.setInputCloud(cloud);
-  mls.setPolynomialFit(true);
+  mls.setPolynomialOrder(2);
   mls.setSearchMethod(tree);
   mls.setSearchRadius(0.01);
 
@@ -304,10 +291,10 @@ void removeBackground(pcl::PointCloud<pcl::PointXYZ>& cloud, const pcl::PointClo
     return;
   }
 
-  for (int i = 0; i < cloud.points.size(); ++i)
+  for (std::size_t i = 0; i < cloud.points.size(); ++i)
   {
-    if (fabs(cloud.points[i].z - background.points[i].z) < 0.05 || std::isnan(background.points[i].z) ||
-        cloud.points[i].y > 0.75)
+    if (fabs(cloud.points[i].z - background.points[i].z) < 0.05f || std::isnan(background.points[i].z) ||
+        cloud.points[i].y > 0.75f)
     {
       cloud.points[i].x = NAN;
       cloud.points[i].y = NAN;
@@ -317,7 +304,7 @@ void removeBackground(pcl::PointCloud<pcl::PointXYZ>& cloud, const pcl::PointClo
 
   // create new point cloud with NaN's removed
   pcl::PointCloud<pcl::PointXYZ> cloud2;
-  for (int i = 0; i < cloud.points.size(); ++i)
+  for (std::size_t i = 0; i < cloud.points.size(); ++i)
   {
     if (!std::isnan(cloud.points[i].x))
     {
@@ -334,7 +321,7 @@ void removeBackground(pcl::PointCloud<pcl::PointXYZ>& cloud, const pcl::PointClo
 void PCLtoVTK(const pcl::PointCloud<pcl::PointXYZ>& cloud, vtkPolyData* const pdata)
 {
   vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
-  for (int i = 0; i < cloud.points.size(); ++i)
+  for (std::size_t i = 0; i < cloud.points.size(); ++i)
   {
     if (std::isnan(cloud.points[i].x) || std::isnan(cloud.points[i].y) || std::isnan(cloud.points[i].z))
     {
@@ -353,18 +340,18 @@ void PCLtoVTK(const pcl::PointCloud<pcl::PointXYZ>& cloud, vtkPolyData* const pd
 
 void VTKtoPCL(vtkPolyData* const pdata, pcl::PointCloud<pcl::PointNormal>& cloud)
 {
-  for (int i = 0; i < pdata->GetPoints()->GetNumberOfPoints(); ++i)
+  for (long i = 0; i < pdata->GetPoints()->GetNumberOfPoints(); ++i)
   {
     pcl::PointNormal pt;
     double* ptr = pdata->GetPoints()->GetPoint(i);
-    pt.x = ptr[0];
-    pt.y = ptr[1];
-    pt.z = ptr[2];
+    pt.x = static_cast<float>(ptr[0]);
+    pt.y = static_cast<float>(ptr[1]);
+    pt.z = static_cast<float>(ptr[2]);
 
     double* norm = pdata->GetPointData()->GetNormals()->GetTuple(i);
-    pt.normal_x = norm[0];
-    pt.normal_y = norm[1];
-    pt.normal_z = norm[2];
+    pt.normal_x = static_cast<float>(norm[0]);
+    pt.normal_y = static_cast<float>(norm[1]);
+    pt.normal_z = static_cast<float>(norm[2]);
 
     cloud.push_back(pt);
   }
@@ -397,8 +384,8 @@ vtkSmartPointer<vtkPolyData> estimateCurvature(vtkSmartPointer<vtkPolyData> mesh
 bool embedRightHandRuleNormals(vtkSmartPointer<vtkPolyData>& data)
 {
   bool success = true;
-  LOG4CXX_DEBUG(VTK_LOGGER, "Embedding mesh normals from right hand rule");
-  int size = data->GetNumberOfCells();
+  CONSOLE_BRIDGE_logDebug("Embedding mesh normals from right hand rule");
+  int size = static_cast<int>(data->GetNumberOfCells());
   vtkDoubleArray* cell_normals = vtkDoubleArray::New();
 
   cell_normals->SetNumberOfComponents(3);
@@ -475,7 +462,7 @@ bool embedRightHandRuleNormals(vtkSmartPointer<vtkPolyData>& data)
     }
   }
   if (bad_cells > 0)
-    LOG4CXX_ERROR(VTK_LOGGER, "Could not embed normals on " << bad_cells << "cells");
+    CONSOLE_BRIDGE_logError("Could not embed normals on %d cells", bad_cells);
 
   // We have looped over every cell. Now embed the normals
   data->GetCellData()->SetNormals(cell_normals);
@@ -487,8 +474,8 @@ void generateNormals(vtkSmartPointer<vtkPolyData>& data, int flip_normals)
   // If point data exists but cell data does not, iterate through the cells and generate normals manually
   if (data->GetPointData()->GetNormals() && !data->GetCellData()->GetNormals())
   {
-    LOG4CXX_DEBUG(VTK_LOGGER, "Generating Mesh Normals manually");
-    int size = data->GetNumberOfCells();
+    CONSOLE_BRIDGE_logDebug("Generating Mesh Normals manually");
+    int size = static_cast<int>(data->GetNumberOfCells());
     vtkDoubleArray* cell_normals = vtkDoubleArray::New();
 
     cell_normals->SetNumberOfComponents(3);
@@ -530,7 +517,7 @@ void generateNormals(vtkSmartPointer<vtkPolyData>& data, int flip_normals)
   }
   else
   {
-    LOG4CXX_DEBUG(VTK_LOGGER, "Recomputing Mesh normals");
+    CONSOLE_BRIDGE_logDebug("Recomputing Mesh normals");
     vtkSmartPointer<vtkPolyDataNormals> normal_generator = vtkSmartPointer<vtkPolyDataNormals>::New();
     normal_generator->SetInputData(data);
     normal_generator->ComputePointNormalsOn();
@@ -545,23 +532,23 @@ void generateNormals(vtkSmartPointer<vtkPolyData>& data, int flip_normals)
     if (!data->GetPointData()->GetNormals())
     {
       normal_generator->SetComputePointNormals(1);
-      LOG4CXX_DEBUG(VTK_LOGGER, "Point Normals Computation ON");
+      CONSOLE_BRIDGE_logDebug("Point Normals Computation ON");
     }
     else
     {
       normal_generator->SetComputePointNormals(0);
-      LOG4CXX_DEBUG(VTK_LOGGER, "Point Normals Computation OFF");
+      CONSOLE_BRIDGE_logDebug("Point Normals Computation OFF");
     }
 
     if (!data->GetCellData()->GetNormals())
     {
       normal_generator->SetComputeCellNormals(1);
-      LOG4CXX_DEBUG(VTK_LOGGER, "Cell Normals Computation ON");
+      CONSOLE_BRIDGE_logDebug("Cell Normals Computation ON");
     }
     else
     {
       normal_generator->SetComputeCellNormals(0);
-      LOG4CXX_DEBUG(VTK_LOGGER, "Cell Normals Computation OFF");
+      CONSOLE_BRIDGE_logDebug("Cell Normals Computation OFF");
     }
 
     normal_generator->SetFlipNormals(0);
diff --git a/vtk_viewer/src/vtk_viewer.cpp b/vtk_viewer/src/vtk_viewer.cpp
index 3dad2f8d..86a6b642 100644
--- a/vtk_viewer/src/vtk_viewer.cpp
+++ b/vtk_viewer/src/vtk_viewer.cpp
@@ -3,7 +3,6 @@
  * All rights reserved.
  *
  */
-
 #include "vtk_viewer/vtk_viewer.h"
 #include <vtkProperty.h>
 #include <vtkVertexGlyphFilter.h>
@@ -55,7 +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();
@@ -73,7 +72,7 @@ namespace vtk_viewer
     vtkSmartPointer<vtkActor> points_actor = vtkSmartPointer<vtkActor>::New();
     points_actor->SetMapper(poly_mappers_.back());
     points_actor->GetProperty()->SetPointSize(20);
-    points_actor->GetProperty()->SetColor(color[0],color[1],color[2]);
+    points_actor->GetProperty()->SetColor(static_cast<double>(color[0]), static_cast<double>(color[1]), static_cast<double>(color[2]));
 
     this->actors_.push_back(points_actor);
 
@@ -82,7 +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();
@@ -92,7 +91,7 @@ namespace vtk_viewer
     // create actor and add to list
     vtkSmartPointer<vtkActor> triangulated_actor = vtkSmartPointer<vtkActor>::New();
     triangulated_actor->SetMapper(poly_mappers_.back());
-    triangulated_actor->GetProperty()->SetColor(color[0],color[1],color[2]);
+    triangulated_actor->GetProperty()->SetColor(static_cast<double>(color[0]), static_cast<double>(color[1]), static_cast<double>(color[2]));
 
     this->actors_.push_back(triangulated_actor);
 
@@ -145,7 +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);
@@ -159,7 +158,7 @@ namespace vtk_viewer
     // create actor and add to list
     vtkSmartPointer<vtkActor> triangulated_actor = vtkSmartPointer<vtkActor>::New();
     triangulated_actor->SetMapper(poly_mappers_.back());
-    triangulated_actor->GetProperty()->SetColor(color[0],color[1],color[2]);
+    triangulated_actor->GetProperty()->SetColor(static_cast<double>(color[0]), static_cast<double>(color[1]), static_cast<double>(color[2]));
 
     this->actors_.push_back(triangulated_actor);
 
@@ -167,7 +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
 
@@ -203,7 +202,7 @@ namespace vtk_viewer
     addPolyNormalsDisplay(centroid_polydata, color, scale);
   }
 
-  bool VTKViewer::removeObjectDisplay(int index)
+  bool VTKViewer::removeObjectDisplay(std::size_t index)
   {
     if(index >= actors_.size())
     {
@@ -214,8 +213,9 @@ namespace vtk_viewer
     renderer_->RemoveActor(actors_[index]);
 
     // Delete the actor then the mapper associated with the data
-    actors_.erase(actors_.begin() + index);
-    poly_mappers_.erase(poly_mappers_.begin() + index);
+    actors_.erase(actors_.begin() + static_cast<long>(index));
+    poly_mappers_.erase(poly_mappers_.begin() + static_cast<long>(index));
+    return true;
   }
 
   void VTKViewer::removeAllDisplays()
diff --git a/vtk_viewer/test/CMakeLists.txt b/vtk_viewer/test/CMakeLists.txt
new file mode 100644
index 00000000..2c569f8c
--- /dev/null
+++ b/vtk_viewer/test/CMakeLists.txt
@@ -0,0 +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} ${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})
+add_dependencies(run_tests ${PROJECT_NAME}_unit)
diff --git a/vtk_viewer/test/utest.cpp b/vtk_viewer/test/utest.cpp
index 55e709c1..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);
@@ -67,7 +65,7 @@ TEST(ViewerTest, TestCase1)
 
   #ifdef NDEBUG
   // release build stuff goes here
-  LOG4CXX_ERROR(vtk_viewer::VTK_LOGGER,"noether/vtk_viewer: visualization is only available in debug mode");
+   CONSOLE_BRIDGE_logError("noether/vtk_viewer: visualization is only available in debug mode");
   #else
   // Debug-specific code goes here
   viz.renderDisplay();