diff --git a/examples/custom_scene_viewer/ManualSceneDemo.hh b/examples/custom_scene_viewer/ManualSceneDemo.hh
index 766a9ad19..cee290d1b 100644
--- a/examples/custom_scene_viewer/ManualSceneDemo.hh
+++ b/examples/custom_scene_viewer/ManualSceneDemo.hh
@@ -21,7 +21,7 @@
 #include <gz/rendering.hh>
 #include "TestTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/examples/custom_scene_viewer/SceneBuilder.hh b/examples/custom_scene_viewer/SceneBuilder.hh
index 8674336fa..42362ccd9 100644
--- a/examples/custom_scene_viewer/SceneBuilder.hh
+++ b/examples/custom_scene_viewer/SceneBuilder.hh
@@ -20,7 +20,7 @@
 #include <string>
 #include "TestTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/examples/custom_scene_viewer/TestTypes.hh b/examples/custom_scene_viewer/TestTypes.hh
index 020cbb40c..41e1dd3ed 100644
--- a/examples/custom_scene_viewer/TestTypes.hh
+++ b/examples/custom_scene_viewer/TestTypes.hh
@@ -20,7 +20,7 @@
 #include <vector>
 #include <gz/rendering.hh>
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/examples/gazebo_scene_viewer/CameraWindow.hh b/examples/gazebo_scene_viewer/CameraWindow.hh
index 0ed0bb3e4..e554bc0c8 100644
--- a/examples/gazebo_scene_viewer/CameraWindow.hh
+++ b/examples/gazebo_scene_viewer/CameraWindow.hh
@@ -20,8 +20,6 @@
 #include <vector>
 #include "gz/rendering/RenderTypes.hh"
 
-namespace gz = gz::rendering;
-
 void GlutRun(std::vector<gz::CameraPtr> _cameras);
 
 void GlutDisplay();
diff --git a/examples/gazebo_scene_viewer/GazeboDemo.cc b/examples/gazebo_scene_viewer/GazeboDemo.cc
index 06d613a4c..14b3bace6 100644
--- a/examples/gazebo_scene_viewer/GazeboDemo.cc
+++ b/examples/gazebo_scene_viewer/GazeboDemo.cc
@@ -28,9 +28,9 @@ using namespace rendering;
 
 void Connect()
 {
-  sim::common::Console::SetQuiet(false);
-  sim::transport::init();
-  sim::transport::run();
+  gazebo::common::Console::SetQuiet(false);
+  gazebo::transport::init();
+  gazebo::transport::run();
 
   SceneManager* manager = SceneManager::Instance();
   manager->Load();
diff --git a/examples/gazebo_scene_viewer/GazeboWorldDemo.cc b/examples/gazebo_scene_viewer/GazeboWorldDemo.cc
index 57a758095..253ffde48 100644
--- a/examples/gazebo_scene_viewer/GazeboWorldDemo.cc
+++ b/examples/gazebo_scene_viewer/GazeboWorldDemo.cc
@@ -29,8 +29,8 @@ using namespace rendering;
 void Connect()
 {
   common::Console::SetVerbosity(4);
-  sim::transport::init();
-  sim::transport::run();
+  gazebo::transport::init();
+  gazebo::transport::run();
 
   SceneManager* manager = SceneManager::Instance();
   manager->Load();
diff --git a/examples/gazebo_scene_viewer/SceneManager.cc b/examples/gazebo_scene_viewer/SceneManager.cc
index 3c603583a..5e7fc7f15 100644
--- a/examples/gazebo_scene_viewer/SceneManager.cc
+++ b/examples/gazebo_scene_viewer/SceneManager.cc
@@ -166,17 +166,17 @@ void SceneManagerPrivate::Load()
 void SceneManagerPrivate::Init()
 {
   // listen for pre-render events
-  this->preRenderConn = sim::event::Events::ConnectPreRender(
+  this->preRenderConn = gazebo::event::Events::ConnectPreRender(
         std::bind(&SceneManagerPrivate::UpdateScenes, this));
 
   // setup transport communication node
-  this->transportNode = sim::transport::NodePtr(
-      new sim::transport::Node());
+  this->transportNode = gazebo::transport::NodePtr(
+      new gazebo::transport::Node());
   this->transportNode->Init();
 
   // create publisher for sending scene request
   this->requestPub =
-      this->transportNode->Advertise<sim::msgs::Request>("~/request");
+      this->transportNode->Advertise<gazebo::msgs::Request>("~/request");
 
   // listen for deletion requests
   this->requestSub = this->transportNode->Subscribe("~/request",
@@ -364,7 +364,7 @@ void SceneManagerPrivate::UpdateScenes()
 //////////////////////////////////////////////////
 void SceneManagerPrivate::SendSceneRequest()
 {
-  sim::msgs::Request *request = sim::msgs::CreateRequest("scene_info");
+  gazebo::msgs::Request *request = gazebo::msgs::CreateRequest("scene_info");
   this->sceneRequestId = request->id();
   this->requestPub->Publish(*request);
 }
@@ -871,33 +871,33 @@ void SubSceneManager::ClearMessages()
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessLight(const sim::msgs::Light &_lightMsg)
+void SubSceneManager::ProcessLight(const gazebo::msgs::Light &_lightMsg)
 {
   // TODO(anyone): get parent when protobuf message is updated
   this->ProcessLight(_lightMsg, this->activeScene->RootVisual());
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessLight(const sim::msgs::Light &_lightMsg,
+void SubSceneManager::ProcessLight(const gazebo::msgs::Light &_lightMsg,
     VisualPtr _parent)
 {
   // check if type specified
   if (_lightMsg.has_type())
   {
-    sim::msgs::Light::LightType type = _lightMsg.type();
+    gazebo::msgs::Light::LightType type = _lightMsg.type();
 
     // determine light type
     switch (_lightMsg.type())
     {
-      case sim::msgs::Light::POINT:
+      case gazebo::msgs::Light::POINT:
         this->ProcessPointLight(_lightMsg, _parent);
         return;
 
-      case sim::msgs::Light::SPOT:
+      case gazebo::msgs::Light::SPOT:
         this->ProcessSpotLight(_lightMsg, _parent);
         return;
 
-      case sim::msgs::Light::DIRECTIONAL:
+      case gazebo::msgs::Light::DIRECTIONAL:
         this->ProcessDirectionalLight(_lightMsg, _parent);
         return;
 
@@ -915,7 +915,7 @@ void SubSceneManager::ProcessLight(const sim::msgs::Light &_lightMsg,
 
 //////////////////////////////////////////////////
 void SubSceneManager::ProcessDirectionalLight(
-    const sim::msgs::Light &_lightMsg, VisualPtr _parent)
+    const gazebo::msgs::Light &_lightMsg, VisualPtr _parent)
 {
   DirectionalLightPtr light = this->DirectionalLight(_lightMsg, _parent);
   if (light) this->ProcessDirectionalLightImpl(_lightMsg, light);
@@ -923,12 +923,12 @@ void SubSceneManager::ProcessDirectionalLight(
 
 //////////////////////////////////////////////////
 void SubSceneManager::ProcessDirectionalLightImpl(
-    const sim::msgs::Light &_lightMsg, DirectionalLightPtr _light)
+    const gazebo::msgs::Light &_lightMsg, DirectionalLightPtr _light)
 {
   // set direction if available
   if (_lightMsg.has_direction())
   {
-    const sim::msgs::Vector3d &dirMsg = _lightMsg.direction();
+    const gazebo::msgs::Vector3d &dirMsg = _lightMsg.direction();
     _light->SetDirection(SubSceneManager::Convert(dirMsg));
   }
 
@@ -938,7 +938,7 @@ void SubSceneManager::ProcessDirectionalLightImpl(
 
 //////////////////////////////////////////////////
 DirectionalLightPtr SubSceneManager::DirectionalLight(
-    const sim::msgs::Light &_lightMsg, VisualPtr _parent)
+    const gazebo::msgs::Light &_lightMsg, VisualPtr _parent)
 {
   // find existing light with name
   std::string name = _lightMsg.name();
@@ -959,14 +959,14 @@ DirectionalLightPtr SubSceneManager::DirectionalLight(
 
 //////////////////////////////////////////////////
 DirectionalLightPtr SubSceneManager::CreateDirectionalLight(
-    const sim::msgs::Light &_lightMsg)
+    const gazebo::msgs::Light &_lightMsg)
 {
   std::string name = _lightMsg.name();
   return this->activeScene->CreateDirectionalLight(name);
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessPointLight(const sim::msgs::Light &_lightMsg,
+void SubSceneManager::ProcessPointLight(const gazebo::msgs::Light &_lightMsg,
     VisualPtr _parent)
 {
   PointLightPtr light = this->PointLight(_lightMsg, _parent);
@@ -975,7 +975,7 @@ void SubSceneManager::ProcessPointLight(const sim::msgs::Light &_lightMsg,
 
 //////////////////////////////////////////////////
 void SubSceneManager::ProcessPointLightImpl(
-    const sim::msgs::Light &_lightMsg, PointLightPtr _light)
+    const gazebo::msgs::Light &_lightMsg, PointLightPtr _light)
 {
   // process general light information
   this->ProcessLightImpl(_lightMsg, _light);
@@ -983,7 +983,7 @@ void SubSceneManager::ProcessPointLightImpl(
 
 //////////////////////////////////////////////////
 PointLightPtr SubSceneManager::PointLight(
-    const sim::msgs::Light &_lightMsg, VisualPtr _parent)
+    const gazebo::msgs::Light &_lightMsg, VisualPtr _parent)
 {
   // find existing light with name
   std::string name = _lightMsg.name();
@@ -1003,14 +1003,14 @@ PointLightPtr SubSceneManager::PointLight(
 
 //////////////////////////////////////////////////
 PointLightPtr SubSceneManager::CreatePointLight(
-    const sim::msgs::Light &_lightMsg)
+    const gazebo::msgs::Light &_lightMsg)
 {
   std::string name = _lightMsg.name();
   return this->activeScene->CreatePointLight(name);
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessSpotLight(const sim::msgs::Light &_lightMsg,
+void SubSceneManager::ProcessSpotLight(const gazebo::msgs::Light &_lightMsg,
     VisualPtr _parent)
 {
   SpotLightPtr light = this->SpotLight(_lightMsg, _parent);
@@ -1019,12 +1019,12 @@ void SubSceneManager::ProcessSpotLight(const sim::msgs::Light &_lightMsg,
 
 //////////////////////////////////////////////////
 void SubSceneManager::ProcessSpotLightImpl(
-    const sim::msgs::Light &_lightMsg, SpotLightPtr _light)
+    const gazebo::msgs::Light &_lightMsg, SpotLightPtr _light)
 {
   // set direction if available
   if (_lightMsg.has_direction())
   {
-    const sim::msgs::Vector3d &dirMsg = _lightMsg.direction();
+    const gazebo::msgs::Vector3d &dirMsg = _lightMsg.direction();
     _light->SetDirection(SubSceneManager::Convert(dirMsg));
   }
 
@@ -1054,7 +1054,7 @@ void SubSceneManager::ProcessSpotLightImpl(
 }
 
 //////////////////////////////////////////////////
-SpotLightPtr SubSceneManager::SpotLight(const sim::msgs::Light &_lightMsg,
+SpotLightPtr SubSceneManager::SpotLight(const gazebo::msgs::Light &_lightMsg,
     VisualPtr _parent)
 {
   // find existing light with name
@@ -1075,14 +1075,14 @@ SpotLightPtr SubSceneManager::SpotLight(const sim::msgs::Light &_lightMsg,
 
 //////////////////////////////////////////////////
 SpotLightPtr SubSceneManager::CreateSpotLight(
-    const sim::msgs::Light &_lightMsg)
+    const gazebo::msgs::Light &_lightMsg)
 {
   std::string name = _lightMsg.name();
   return this->activeScene->CreateSpotLight(name);
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessLightImpl(const sim::msgs::Light &_lightMsg,
+void SubSceneManager::ProcessLightImpl(const gazebo::msgs::Light &_lightMsg,
     LightPtr _light)
 {
   // set pose if available
@@ -1094,14 +1094,14 @@ void SubSceneManager::ProcessLightImpl(const sim::msgs::Light &_lightMsg,
   // set diffuse if available
   if (_lightMsg.has_diffuse())
   {
-    const sim::msgs::Color &colorMsg = _lightMsg.diffuse();
+    const gazebo::msgs::Color &colorMsg = _lightMsg.diffuse();
     _light->SetDiffuseColor(SubSceneManager::Convert(colorMsg));
   }
 
   // set specular if available
   if (_lightMsg.has_specular())
   {
-    const sim::msgs::Color &colorMsg = _lightMsg.specular();
+    const gazebo::msgs::Color &colorMsg = _lightMsg.specular();
     _light->SetSpecularColor(SubSceneManager::Convert(colorMsg));
   }
 
@@ -1142,14 +1142,14 @@ void SubSceneManager::ProcessLightImpl(const sim::msgs::Light &_lightMsg,
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessSensor(const sim::msgs::Sensor &_sensorMsg)
+void SubSceneManager::ProcessSensor(const gazebo::msgs::Sensor &_sensorMsg)
 {
   VisualPtr parent = this->Parent(_sensorMsg.parent());
   this->ProcessSensor(_sensorMsg, parent);
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessSensor(const sim::msgs::Sensor &_sensorMsg,
+void SubSceneManager::ProcessSensor(const gazebo::msgs::Sensor &_sensorMsg,
     VisualPtr _parent)
 {
   // TODO(anyone): process all types
@@ -1161,7 +1161,7 @@ void SubSceneManager::ProcessSensor(const sim::msgs::Sensor &_sensorMsg,
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessCamera(const sim::msgs::Sensor &_sensorMsg,
+void SubSceneManager::ProcessCamera(const gazebo::msgs::Sensor &_sensorMsg,
     VisualPtr _parent)
 {
   CameraPtr camera = this->Camera(_sensorMsg, _parent);
@@ -1170,7 +1170,7 @@ void SubSceneManager::ProcessCamera(const sim::msgs::Sensor &_sensorMsg,
 }
 
 //////////////////////////////////////////////////
-CameraPtr SubSceneManager::Camera(const sim::msgs::Sensor &_sensorMsg,
+CameraPtr SubSceneManager::Camera(const gazebo::msgs::Sensor &_sensorMsg,
     VisualPtr _parent)
 {
   // find existing camera with name
@@ -1189,7 +1189,7 @@ CameraPtr SubSceneManager::Camera(const sim::msgs::Sensor &_sensorMsg,
 }
 
 //////////////////////////////////////////////////
-CameraPtr SubSceneManager::CreateCamera(const sim::msgs::Sensor &_sensorMsg)
+CameraPtr SubSceneManager::CreateCamera(const gazebo::msgs::Sensor &_sensorMsg)
 {
   bool hasId = _sensorMsg.has_id();
   unsigned int id = _sensorMsg.id();
@@ -1201,14 +1201,14 @@ CameraPtr SubSceneManager::CreateCamera(const sim::msgs::Sensor &_sensorMsg)
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessModel(const sim::msgs::Model &_modelMsg)
+void SubSceneManager::ProcessModel(const gazebo::msgs::Model &_modelMsg)
 {
   VisualPtr parent = this->activeScene->RootVisual();
   this->ProcessModel(_modelMsg, parent);
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessModel(const sim::msgs::Model &_modelMsg,
+void SubSceneManager::ProcessModel(const gazebo::msgs::Model &_modelMsg,
     VisualPtr _parent)
 {
   VisualPtr model = this->Model(_modelMsg, _parent);
@@ -1228,14 +1228,14 @@ void SubSceneManager::ProcessModel(const sim::msgs::Model &_modelMsg,
   // process each sensor in joint
   for (int i = 0; i < _modelMsg.joint_size(); ++i)
   {
-    const sim::msgs::Joint &joint = _modelMsg.joint(i);
+    const gazebo::msgs::Joint &joint = _modelMsg.joint(i);
     this->ProcessJoint(joint, model);
   }
 
   // process each sensor in link
   for (int i = 0; i < _modelMsg.link_size(); ++i)
   {
-    const sim::msgs::Link &link = _modelMsg.link(i);
+    const gazebo::msgs::Link &link = _modelMsg.link(i);
     this->ProcessLink(link, model);
   }
 
@@ -1243,13 +1243,13 @@ void SubSceneManager::ProcessModel(const sim::msgs::Model &_modelMsg,
   // always skip first empty visual
   for (int i = 1; i < _modelMsg.visual_size(); ++i)
   {
-    const sim::msgs::Visual &visual = _modelMsg.visual(i);
+    const gazebo::msgs::Visual &visual = _modelMsg.visual(i);
     this->ProcessVisual(visual, model);
   }
 }
 
 //////////////////////////////////////////////////
-VisualPtr SubSceneManager::Model(const sim::msgs::Model &_modelMsg,
+VisualPtr SubSceneManager::Model(const gazebo::msgs::Model &_modelMsg,
     VisualPtr _parent)
 {
   bool hasId = _modelMsg.has_id();
@@ -1259,14 +1259,14 @@ VisualPtr SubSceneManager::Model(const sim::msgs::Model &_modelMsg,
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessJoint(const sim::msgs::Joint &_jointMsg)
+void SubSceneManager::ProcessJoint(const gazebo::msgs::Joint &_jointMsg)
 {
   VisualPtr parent = this->Parent(_jointMsg.parent());
   this->ProcessJoint(_jointMsg, parent);
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessJoint(const sim::msgs::Joint &_jointMsg,
+void SubSceneManager::ProcessJoint(const gazebo::msgs::Joint &_jointMsg,
     VisualPtr _parent)
 {
   VisualPtr joint = this->Joint(_jointMsg, _parent);
@@ -1280,13 +1280,13 @@ void SubSceneManager::ProcessJoint(const sim::msgs::Joint &_jointMsg,
   // process each sensor in joint
   for (int i = 0; i < _jointMsg.sensor_size(); ++i)
   {
-    const sim::msgs::Sensor &sensor = _jointMsg.sensor(i);
+    const gazebo::msgs::Sensor &sensor = _jointMsg.sensor(i);
     this->ProcessSensor(sensor, joint);
   }
 }
 
 //////////////////////////////////////////////////
-VisualPtr SubSceneManager::Joint(const sim::msgs::Joint &_jointMsg,
+VisualPtr SubSceneManager::Joint(const gazebo::msgs::Joint &_jointMsg,
     VisualPtr _parent)
 {
   bool hasId = _jointMsg.has_id();
@@ -1296,14 +1296,14 @@ VisualPtr SubSceneManager::Joint(const sim::msgs::Joint &_jointMsg,
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessVisual(const sim::msgs::Visual &_visualMsg)
+void SubSceneManager::ProcessVisual(const gazebo::msgs::Visual &_visualMsg)
 {
   VisualPtr parent = this->Parent(_visualMsg.parent_name());
   this->ProcessVisual(_visualMsg, parent);
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessVisual(const sim::msgs::Visual &_visualMsg,
+void SubSceneManager::ProcessVisual(const gazebo::msgs::Visual &_visualMsg,
     VisualPtr _parent)
 {
   VisualPtr visual = this->Visual(_visualMsg, _parent);
@@ -1333,14 +1333,14 @@ void SubSceneManager::ProcessVisual(const sim::msgs::Visual &_visualMsg,
   // set material if available
   if (_visualMsg.has_material())
   {
-    const sim::msgs::Material matMsg = _visualMsg.material();
+    const gazebo::msgs::Material matMsg = _visualMsg.material();
     MaterialPtr material = this->CreateMaterial(matMsg);
     visual->SetMaterial(material);
   }
 }
 
 //////////////////////////////////////////////////
-VisualPtr SubSceneManager::Visual(const sim::msgs::Visual &_visualMsg,
+VisualPtr SubSceneManager::Visual(const gazebo::msgs::Visual &_visualMsg,
     VisualPtr _parent)
 {
   bool hasId = _visualMsg.has_id();
@@ -1350,7 +1350,7 @@ VisualPtr SubSceneManager::Visual(const sim::msgs::Visual &_visualMsg,
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessLink(const sim::msgs::Link &_linkMsg,
+void SubSceneManager::ProcessLink(const gazebo::msgs::Link &_linkMsg,
     VisualPtr _parent)
 {
   VisualPtr link = this->Link(_linkMsg, _parent);
@@ -1365,20 +1365,20 @@ void SubSceneManager::ProcessLink(const sim::msgs::Link &_linkMsg,
   // always skip first empty visual
   for (int i = 1; i < _linkMsg.visual_size(); ++i)
   {
-    const sim::msgs::Visual &visual = _linkMsg.visual(i);
+    const gazebo::msgs::Visual &visual = _linkMsg.visual(i);
     this->ProcessVisual(visual, link);
   }
 
   // process each sensor in link
   for (int i = 0; i < _linkMsg.sensor_size(); ++i)
   {
-    const sim::msgs::Sensor &sensor = _linkMsg.sensor(i);
+    const gazebo::msgs::Sensor &sensor = _linkMsg.sensor(i);
     this->ProcessSensor(sensor, link);
   }
 }
 
 //////////////////////////////////////////////////
-VisualPtr SubSceneManager::Link(const sim::msgs::Link &_linkMsg,
+VisualPtr SubSceneManager::Link(const gazebo::msgs::Link &_linkMsg,
     VisualPtr _parent)
 {
   bool hasId = _linkMsg.has_id();
@@ -1415,7 +1415,7 @@ VisualPtr SubSceneManager::CreateVisual(bool _hasId, unsigned int _id,
 
 //////////////////////////////////////////////////
 void SubSceneManager::ProcessGeometry(
-    const sim::msgs::Geometry &_geometryMsg, VisualPtr _parent)
+    const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent)
 {
   GeomType geomType = _geometryMsg.type();
   GeomFunc geomFunc = this->geomFunctions[geomType];
@@ -1426,30 +1426,30 @@ void SubSceneManager::ProcessGeometry(
   {
     ignerr << "Unsupported geometry type: " << geomType << std::endl;
     ignwarn << "Using empty geometry instead" << std::endl;
-    geomFunc = this->geomFunctions[sim::msgs::Geometry::EMPTY];
+    geomFunc = this->geomFunctions[gazebo::msgs::Geometry::EMPTY];
   }
 
   (this->*geomFunc)(_geometryMsg, _parent);
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessBox(const sim::msgs::Geometry &_geometryMsg,
+void SubSceneManager::ProcessBox(const gazebo::msgs::Geometry &_geometryMsg,
     VisualPtr _parent)
 {
   GeometryPtr box = this->activeScene->CreateBox();
-  const sim::msgs::BoxGeom &boxMsg = _geometryMsg.box();
-  const sim::msgs::Vector3d sizeMsg = boxMsg.size();
+  const gazebo::msgs::BoxGeom &boxMsg = _geometryMsg.box();
+  const gazebo::msgs::Vector3d sizeMsg = boxMsg.size();
   _parent->SetLocalScale(SubSceneManager::Convert(sizeMsg));
   _parent->AddGeometry(box);
 }
 
 //////////////////////////////////////////////////
 void SubSceneManager::ProcessCone(
-    const sim::msgs::Geometry &/*_geometryMsg*/, VisualPtr _parent)
+    const gazebo::msgs::Geometry &/*_geometryMsg*/, VisualPtr _parent)
 {
   // TODO(anyone): needs protobuf msg
   GeometryPtr cone = this->activeScene->CreateCone();
-  // const sim::msgs::ConeGeom &coneMsg = _geometryMsg.cone();
+  // const gazebo::msgs::ConeGeom &coneMsg = _geometryMsg.cone();
   // double x = coneMsg.radius();
   // double y = coneMsg.radius();
   // double z = coneMsg.length();
@@ -1459,10 +1459,10 @@ void SubSceneManager::ProcessCone(
 
 //////////////////////////////////////////////////
 void SubSceneManager::ProcessCylinder(
-    const sim::msgs::Geometry &_geometryMsg, VisualPtr _parent)
+    const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent)
 {
   GeometryPtr cylinder = this->activeScene->CreateCylinder();
-  const sim::msgs::CylinderGeom &cylinderMsg = _geometryMsg.cylinder();
+  const gazebo::msgs::CylinderGeom &cylinderMsg = _geometryMsg.cylinder();
   double x = 2 * cylinderMsg.radius();
   double y = 2 * cylinderMsg.radius();
   double z = cylinderMsg.length();
@@ -1471,16 +1471,16 @@ void SubSceneManager::ProcessCylinder(
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessEmpty(const sim::msgs::Geometry&, VisualPtr)
+void SubSceneManager::ProcessEmpty(const gazebo::msgs::Geometry&, VisualPtr)
 {
   // do nothing
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessMesh(const sim::msgs::Geometry &_geometryMsg,
+void SubSceneManager::ProcessMesh(const gazebo::msgs::Geometry &_geometryMsg,
     VisualPtr _parent)
 {
-  const sim::msgs::MeshGeom &meshMsg = _geometryMsg.mesh();
+  const gazebo::msgs::MeshGeom &meshMsg = _geometryMsg.mesh();
 
   // if the model contains model:// try to find the meshes in ~/.gazebo
   std::list<std::string> modelPaths;
@@ -1537,7 +1537,7 @@ void SubSceneManager::ProcessMesh(const sim::msgs::Geometry &_geometryMsg,
   // set scale if available
   if (meshMsg.has_scale())
   {
-    const sim::msgs::Vector3d scaleMsg = meshMsg.scale();
+    const gazebo::msgs::Vector3d scaleMsg = meshMsg.scale();
     _parent->SetLocalScale(SubSceneManager::Convert(scaleMsg));
   }
 
@@ -1546,30 +1546,30 @@ void SubSceneManager::ProcessMesh(const sim::msgs::Geometry &_geometryMsg,
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessPlane(const sim::msgs::Geometry &_geometryMsg,
+void SubSceneManager::ProcessPlane(const gazebo::msgs::Geometry &_geometryMsg,
     VisualPtr _parent)
 {
   // TODO(anyone): handle plane normal
   GeometryPtr plane = this->activeScene->CreatePlane();
-  const sim::msgs::PlaneGeom &planeMsg = _geometryMsg.plane();
-  const sim::msgs::Vector2d planeSize = planeMsg.size();
+  const gazebo::msgs::PlaneGeom &planeMsg = _geometryMsg.plane();
+  const gazebo::msgs::Vector2d planeSize = planeMsg.size();
   _parent->SetLocalScale(planeSize.x(), planeSize.y(), 1);
   _parent->AddGeometry(plane);
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessSphere(const sim::msgs::Geometry &_geometryMsg,
+void SubSceneManager::ProcessSphere(const gazebo::msgs::Geometry &_geometryMsg,
     VisualPtr _parent)
 {
   GeometryPtr sphere = this->activeScene->CreateSphere();
-  const sim::msgs::SphereGeom &sphereMsg = _geometryMsg.sphere();
+  const gazebo::msgs::SphereGeom &sphereMsg = _geometryMsg.sphere();
   _parent->SetLocalScale(2 * sphereMsg.radius());
   _parent->AddGeometry(sphere);
 }
 
 //////////////////////////////////////////////////
 MaterialPtr SubSceneManager::CreateMaterial(
-    const sim::msgs::Material &_materialMsg)
+    const gazebo::msgs::Material &_materialMsg)
 {
   MaterialPtr material = this->activeScene->CreateMaterial();
 
@@ -1580,7 +1580,7 @@ MaterialPtr SubSceneManager::CreateMaterial(
   // set ambient if available
   if (_materialMsg.has_ambient())
   {
-    sim::msgs::Color msg = _materialMsg.ambient();
+    gazebo::msgs::Color msg = _materialMsg.ambient();
     math::Color ambient(msg.r(), msg.g(), msg.b(), msg.a());
     material->SetAmbient(ambient);
   }
@@ -1588,7 +1588,7 @@ MaterialPtr SubSceneManager::CreateMaterial(
   // set diffuse if available
   if (_materialMsg.has_diffuse())
   {
-    sim::msgs::Color msg = _materialMsg.diffuse();
+    gazebo::msgs::Color msg = _materialMsg.diffuse();
     math::Color diffuse(msg.r(), msg.g(), msg.b(), msg.a());
     material->SetDiffuse(diffuse);
   }
@@ -1596,7 +1596,7 @@ MaterialPtr SubSceneManager::CreateMaterial(
   // set specular if available
   if (_materialMsg.has_specular())
   {
-    sim::msgs::Color msg = _materialMsg.specular();
+    gazebo::msgs::Color msg = _materialMsg.specular();
     math::Color specular(msg.r(), msg.g(), msg.b(), msg.a());
     material->SetSpecular(specular);
   }
@@ -1604,7 +1604,7 @@ MaterialPtr SubSceneManager::CreateMaterial(
   // set emissive if available
   if (_materialMsg.has_emissive())
   {
-    sim::msgs::Color msg = _materialMsg.emissive();
+    gazebo::msgs::Color msg = _materialMsg.emissive();
     math::Color emissive(msg.r(), msg.g(), msg.b(), msg.a());
     material->SetEmissive(emissive);
   }
@@ -1626,7 +1626,7 @@ MaterialPtr SubSceneManager::CreateMaterial(
   // set shader-type if available
   if (_materialMsg.has_shader_type())
   {
-    sim::msgs::Material::ShaderType shader_type =
+    gazebo::msgs::Material::ShaderType shader_type =
         _materialMsg.shader_type();
     ShaderType type = SubSceneManager::Convert(shader_type);
     material->SetShaderType(type);
@@ -1638,7 +1638,7 @@ MaterialPtr SubSceneManager::CreateMaterial(
 }
 
 //////////////////////////////////////////////////
-void SubSceneManager::ProcessPose(const sim::msgs::Pose &_poseMsg)
+void SubSceneManager::ProcessPose(const gazebo::msgs::Pose &_poseMsg)
 {
   std::string name = _poseMsg.name();
   NodePtr node = this->activeScene->NodeByName(name);
@@ -1647,7 +1647,7 @@ void SubSceneManager::ProcessPose(const sim::msgs::Pose &_poseMsg)
 
 //////////////////////////////////////////////////
 void SubSceneManager::SetPose(NodePtr _node,
-    const sim::msgs::Pose &_poseMsg)
+    const gazebo::msgs::Pose &_poseMsg)
 {
   math::Pose3d pose = SubSceneManager::Convert(_poseMsg);
   _node->SetLocalPose(pose);
@@ -1655,7 +1655,7 @@ void SubSceneManager::SetPose(NodePtr _node,
 
 //////////////////////////////////////////////////
 void SubSceneManager::SetScale(VisualPtr _visual,
-    const sim::msgs::Vector3d &_scaleMsg)
+    const gazebo::msgs::Vector3d &_scaleMsg)
 {
   math::Vector3d scale = SubSceneManager::Convert(_scaleMsg);
   _visual->SetLocalScale(scale);
@@ -1696,7 +1696,7 @@ void SubSceneManager::ProcessRemoval(const std::string &_name)
 }
 
 //////////////////////////////////////////////////
-math::Color SubSceneManager::Convert(const sim::msgs::Color &_colorMsg)
+math::Color SubSceneManager::Convert(const gazebo::msgs::Color &_colorMsg)
 {
   math::Color color;
   color.R() = _colorMsg.r();
@@ -1707,21 +1707,21 @@ math::Color SubSceneManager::Convert(const sim::msgs::Color &_colorMsg)
 }
 
 //////////////////////////////////////////////////
-math::Pose3d SubSceneManager::Convert(const sim::msgs::Pose &_poseMsg)
+math::Pose3d SubSceneManager::Convert(const gazebo::msgs::Pose &_poseMsg)
 {
   math::Pose3d pose;
 
-  const sim::msgs::Vector3d &posMsg = _poseMsg.position();
+  const gazebo::msgs::Vector3d &posMsg = _poseMsg.position();
   pose.Pos() = SubSceneManager::Convert(posMsg);
 
-  const sim::msgs::Quaternion &rotMsg = _poseMsg.orientation();
+  const gazebo::msgs::Quaternion &rotMsg = _poseMsg.orientation();
   pose.Rot() = SubSceneManager::Convert(rotMsg);
 
   return pose;
 }
 
 //////////////////////////////////////////////////
-math::Vector3d SubSceneManager::Convert(const sim::msgs::Vector3d &_vecMsg)
+math::Vector3d SubSceneManager::Convert(const gazebo::msgs::Vector3d &_vecMsg)
 {
   math::Vector3d vec;
   vec.X(_vecMsg.x());
@@ -1732,7 +1732,7 @@ math::Vector3d SubSceneManager::Convert(const sim::msgs::Vector3d &_vecMsg)
 
 //////////////////////////////////////////////////
 math::Quaterniond SubSceneManager::Convert(
-    const sim::msgs::Quaternion &_quatMsg)
+    const gazebo::msgs::Quaternion &_quatMsg)
 {
   math::Quaterniond quat;
   quat.W(_quatMsg.w());
@@ -1743,20 +1743,20 @@ math::Quaterniond SubSceneManager::Convert(
 }
 
 //////////////////////////////////////////////////
-ShaderType SubSceneManager::Convert(sim::msgs::Material::ShaderType _type)
+ShaderType SubSceneManager::Convert(gazebo::msgs::Material::ShaderType _type)
 {
   switch (_type)
   {
-    case sim::msgs::Material::VERTEX:
+    case gazebo::msgs::Material::VERTEX:
       return ST_VERTEX;
 
-    case sim::msgs::Material::PIXEL:
+    case gazebo::msgs::Material::PIXEL:
       return ST_PIXEL;
 
-    case sim::msgs::Material::NORMAL_MAP_OBJECT_SPACE:
+    case gazebo::msgs::Material::NORMAL_MAP_OBJECT_SPACE:
       return ST_NORM_OBJ;
 
-    case sim::msgs::Material::NORMAL_MAP_TANGENT_SPACE:
+    case gazebo::msgs::Material::NORMAL_MAP_TANGENT_SPACE:
       return ST_NORM_TAN;
 
     default:
@@ -1767,26 +1767,26 @@ ShaderType SubSceneManager::Convert(sim::msgs::Material::ShaderType _type)
 //////////////////////////////////////////////////
 void SubSceneManager::CreateGeometryFunctionMap()
 {
-  this->geomFunctions[sim::msgs::Geometry::BOX] =
+  this->geomFunctions[gazebo::msgs::Geometry::BOX] =
       &SubSceneManager::ProcessBox;
 
   // TODO(anyone): enable when cone protobuf msg created
-  // this->geomFunctions[sim::msgs::Geometry::CONE] =
+  // this->geomFunctions[gazebo::msgs::Geometry::CONE] =
   //     &SubSceneManager::ProcessCone;
 
-  this->geomFunctions[sim::msgs::Geometry::CYLINDER] =
+  this->geomFunctions[gazebo::msgs::Geometry::CYLINDER] =
       &SubSceneManager::ProcessCylinder;
 
-  this->geomFunctions[sim::msgs::Geometry::EMPTY] =
+  this->geomFunctions[gazebo::msgs::Geometry::EMPTY] =
       &SubSceneManager::ProcessEmpty;
 
-  this->geomFunctions[sim::msgs::Geometry::MESH] =
+  this->geomFunctions[gazebo::msgs::Geometry::MESH] =
       &SubSceneManager::ProcessMesh;
 
-  this->geomFunctions[sim::msgs::Geometry::PLANE] =
+  this->geomFunctions[gazebo::msgs::Geometry::PLANE] =
       &SubSceneManager::ProcessPlane;
 
-  this->geomFunctions[sim::msgs::Geometry::SPHERE] =
+  this->geomFunctions[gazebo::msgs::Geometry::SPHERE] =
       &SubSceneManager::ProcessSphere;
 }
 
@@ -1812,7 +1812,7 @@ void CurrentSceneManager::OnPoseUpdate(::ConstPosesStampedPtr &_posesMsg)
   for (int i = 0; i < _posesMsg->pose_size(); ++i)
   {
     // replace into pose map
-    sim::msgs::Pose pose = _posesMsg->pose(i);
+    gazebo::msgs::Pose pose = _posesMsg->pose(i);
     std::string name = pose.name();
     this->poseMsgs[name] = pose;
   }
@@ -1945,7 +1945,7 @@ void NewSceneManager::ProcessScene()
   // process ambient if available
   if (this->sceneMsg.has_ambient())
   {
-    sim::msgs::Color colorMsg = this->sceneMsg.ambient();
+    gazebo::msgs::Color colorMsg = this->sceneMsg.ambient();
     math::Color color(colorMsg.r(), colorMsg.g(), colorMsg.b());
     this->activeScene->SetAmbientLight(color);
   }
@@ -1953,7 +1953,7 @@ void NewSceneManager::ProcessScene()
   // process background if available
   if (this->sceneMsg.has_background())
   {
-    sim::msgs::Color colorMsg = this->sceneMsg.background();
+    gazebo::msgs::Color colorMsg = this->sceneMsg.background();
     math::Color color(colorMsg.r(), colorMsg.g(), colorMsg.b());
     this->activeScene->SetBackgroundColor(color);
   }
@@ -1961,14 +1961,14 @@ void NewSceneManager::ProcessScene()
   // process each scene light
   for (int i = 0; i < this->sceneMsg.light_size(); ++i)
   {
-    sim::msgs::Light lightMsg = this->sceneMsg.light(i);
+    gazebo::msgs::Light lightMsg = this->sceneMsg.light(i);
     this->ProcessLight(lightMsg, this->activeScene->RootVisual());
   }
 
   // process each scene model
   for (int i = 0; i < this->sceneMsg.model_size(); ++i)
   {
-    sim::msgs::Model modelMsg = this->sceneMsg.model(i);
+    gazebo::msgs::Model modelMsg = this->sceneMsg.model(i);
     this->ProcessModel(modelMsg, this->activeScene->RootVisual());
   }
 }
@@ -2040,7 +2040,7 @@ void NewSceneManager::ProcessPoses()
 }
 
 //////////////////////////////////////////////////
-void NewSceneManager::ProcessPoses(const sim::msgs::PosesStamped &_posesMsg)
+void NewSceneManager::ProcessPoses(const gazebo::msgs::PosesStamped &_posesMsg)
 {
   // record pose timestamp
   int sec = _posesMsg.time().sec();
@@ -2050,7 +2050,7 @@ void NewSceneManager::ProcessPoses(const sim::msgs::PosesStamped &_posesMsg)
   // process each pose in list
   for (int i = 0; i < _posesMsg.pose_size(); ++i)
   {
-    sim::msgs::Pose poseMsg = _posesMsg.pose(i);
+    gazebo::msgs::Pose poseMsg = _posesMsg.pose(i);
     this->ProcessPose(poseMsg);
   }
 }
diff --git a/examples/gazebo_scene_viewer/SceneManager.hh b/examples/gazebo_scene_viewer/SceneManager.hh
index 62ef3758d..66ded0344 100644
--- a/examples/gazebo_scene_viewer/SceneManager.hh
+++ b/examples/gazebo_scene_viewer/SceneManager.hh
@@ -30,7 +30,7 @@
 #include <gz/common/SingletonT.hh>
 #include "gz/rendering/RenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/examples/gazebo_scene_viewer/SceneManagerPrivate.hh b/examples/gazebo_scene_viewer/SceneManagerPrivate.hh
index 29a7600f7..2d812e292 100644
--- a/examples/gazebo_scene_viewer/SceneManagerPrivate.hh
+++ b/examples/gazebo_scene_viewer/SceneManagerPrivate.hh
@@ -30,7 +30,7 @@
 #include "gz/rendering/ShaderType.hh"
 #include "gazebo/transport/Node.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/ArrowVisual.hh b/include/gz/rendering/ArrowVisual.hh
index cff3743b8..303b4121d 100644
--- a/include/gz/rendering/ArrowVisual.hh
+++ b/include/gz/rendering/ArrowVisual.hh
@@ -20,7 +20,7 @@
 #include "gz/rendering/config.hh"
 #include "gz/rendering/CompositeVisual.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/AxisVisual.hh b/include/gz/rendering/AxisVisual.hh
index 873fc5ef9..e2147ee22 100644
--- a/include/gz/rendering/AxisVisual.hh
+++ b/include/gz/rendering/AxisVisual.hh
@@ -20,7 +20,7 @@
 #include "gz/rendering/config.hh"
 #include "gz/rendering/CompositeVisual.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/Camera.hh b/include/gz/rendering/Camera.hh
index 3859e84db..66d4074b8 100644
--- a/include/gz/rendering/Camera.hh
+++ b/include/gz/rendering/Camera.hh
@@ -29,7 +29,7 @@
 #include "gz/rendering/Scene.hh"
 
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/CompositeVisual.hh b/include/gz/rendering/CompositeVisual.hh
index af4e4627e..05c307337 100644
--- a/include/gz/rendering/CompositeVisual.hh
+++ b/include/gz/rendering/CompositeVisual.hh
@@ -20,7 +20,7 @@
 #include "gz/rendering/config.hh"
 #include "gz/rendering/Visual.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/DepthCamera.hh b/include/gz/rendering/DepthCamera.hh
index 9c447362f..f86c935c6 100644
--- a/include/gz/rendering/DepthCamera.hh
+++ b/include/gz/rendering/DepthCamera.hh
@@ -22,7 +22,7 @@
 #include <gz/common/Event.hh>
 #include "gz/rendering/Camera.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/GaussianNoisePass.hh b/include/gz/rendering/GaussianNoisePass.hh
index 97e91246f..4abaf9b7a 100644
--- a/include/gz/rendering/GaussianNoisePass.hh
+++ b/include/gz/rendering/GaussianNoisePass.hh
@@ -22,7 +22,7 @@
 #include "gz/rendering/Export.hh"
 #include "gz/rendering/RenderPass.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/Geometry.hh b/include/gz/rendering/Geometry.hh
index 97a010a2c..6702576bb 100644
--- a/include/gz/rendering/Geometry.hh
+++ b/include/gz/rendering/Geometry.hh
@@ -23,7 +23,7 @@
 #include "gz/rendering/Object.hh"
 #include "gz/rendering/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/GizmoVisual.hh b/include/gz/rendering/GizmoVisual.hh
index 63361a0e0..bc7bba0c6 100644
--- a/include/gz/rendering/GizmoVisual.hh
+++ b/include/gz/rendering/GizmoVisual.hh
@@ -23,7 +23,7 @@
 #include "gz/rendering/Export.hh"
 #include "gz/rendering/TransformType.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/GpuRays.hh b/include/gz/rendering/GpuRays.hh
index 9552064f7..080a73220 100644
--- a/include/gz/rendering/GpuRays.hh
+++ b/include/gz/rendering/GpuRays.hh
@@ -26,7 +26,7 @@
 #include "gz/rendering/Scene.hh"
 #include "gz/rendering/Camera.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/Grid.hh b/include/gz/rendering/Grid.hh
index e1d57b205..70fa66019 100644
--- a/include/gz/rendering/Grid.hh
+++ b/include/gz/rendering/Grid.hh
@@ -22,7 +22,7 @@
 #include "gz/rendering/Geometry.hh"
 #include "gz/rendering/Object.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/Image.hh b/include/gz/rendering/Image.hh
index ba7155e7f..249c34b0c 100644
--- a/include/gz/rendering/Image.hh
+++ b/include/gz/rendering/Image.hh
@@ -25,7 +25,7 @@
 #include "gz/rendering/PixelFormat.hh"
 #include "gz/rendering/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/Light.hh b/include/gz/rendering/Light.hh
index cc10a8180..a908a98a5 100644
--- a/include/gz/rendering/Light.hh
+++ b/include/gz/rendering/Light.hh
@@ -21,7 +21,7 @@
 #include "gz/rendering/config.hh"
 #include "gz/rendering/Node.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/Marker.hh b/include/gz/rendering/Marker.hh
index cf08efdc6..f5e166821 100644
--- a/include/gz/rendering/Marker.hh
+++ b/include/gz/rendering/Marker.hh
@@ -25,7 +25,7 @@
 #include "gz/rendering/Object.hh"
 #include "gz/rendering/RenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/Material.hh b/include/gz/rendering/Material.hh
index c26d8b7d3..086185f4f 100644
--- a/include/gz/rendering/Material.hh
+++ b/include/gz/rendering/Material.hh
@@ -26,7 +26,7 @@
 #include "gz/rendering/ShaderType.hh"
 #include "gz/rendering/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/Mesh.hh b/include/gz/rendering/Mesh.hh
index 6f22d785f..4abafd126 100644
--- a/include/gz/rendering/Mesh.hh
+++ b/include/gz/rendering/Mesh.hh
@@ -24,7 +24,7 @@
 #include "gz/rendering/Geometry.hh"
 #include "gz/rendering/Object.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/MeshDescriptor.hh b/include/gz/rendering/MeshDescriptor.hh
index a3455a91e..2dc15b0dd 100644
--- a/include/gz/rendering/MeshDescriptor.hh
+++ b/include/gz/rendering/MeshDescriptor.hh
@@ -24,7 +24,7 @@
 #include "gz/rendering/config.hh"
 #include "gz/rendering/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace common
   {
@@ -32,7 +32,7 @@ namespace gz
   }
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/MoveToHelper.hh b/include/gz/rendering/MoveToHelper.hh
index 3b6d015b4..d6ca753eb 100644
--- a/include/gz/rendering/MoveToHelper.hh
+++ b/include/gz/rendering/MoveToHelper.hh
@@ -27,7 +27,7 @@
 
 #include "gz/rendering/Camera.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/Node.hh b/include/gz/rendering/Node.hh
index 01b8189e7..3e1fce508 100644
--- a/include/gz/rendering/Node.hh
+++ b/include/gz/rendering/Node.hh
@@ -26,7 +26,7 @@
 #include "gz/rendering/Object.hh"
 #include "gz/rendering/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/Object.hh b/include/gz/rendering/Object.hh
index ef9c31063..1d33a29b5 100644
--- a/include/gz/rendering/Object.hh
+++ b/include/gz/rendering/Object.hh
@@ -22,7 +22,7 @@
 #include "gz/rendering/RenderTypes.hh"
 #include "gz/rendering/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/OrbitViewController.hh b/include/gz/rendering/OrbitViewController.hh
index 2b2a9497a..d10b8fd48 100644
--- a/include/gz/rendering/OrbitViewController.hh
+++ b/include/gz/rendering/OrbitViewController.hh
@@ -27,7 +27,7 @@
 #include "gz/rendering/Camera.hh"
 #include "gz/rendering/ViewController.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/PixelFormat.hh b/include/gz/rendering/PixelFormat.hh
index 465070776..6542a321d 100644
--- a/include/gz/rendering/PixelFormat.hh
+++ b/include/gz/rendering/PixelFormat.hh
@@ -21,7 +21,7 @@
 #include "gz/rendering/config.hh"
 #include "gz/rendering/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/RayQuery.hh b/include/gz/rendering/RayQuery.hh
index 91050f081..4beca9b6c 100644
--- a/include/gz/rendering/RayQuery.hh
+++ b/include/gz/rendering/RayQuery.hh
@@ -25,7 +25,7 @@
 #include "gz/rendering/Scene.hh"
 #include "gz/rendering/Visual.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/RenderEngine.hh b/include/gz/rendering/RenderEngine.hh
index fa3249387..6255a218f 100644
--- a/include/gz/rendering/RenderEngine.hh
+++ b/include/gz/rendering/RenderEngine.hh
@@ -23,7 +23,7 @@
 #include "gz/rendering/RenderTypes.hh"
 #include "gz/rendering/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/RenderEngineManager.hh b/include/gz/rendering/RenderEngineManager.hh
index 5c1eac4e3..d7391338b 100644
--- a/include/gz/rendering/RenderEngineManager.hh
+++ b/include/gz/rendering/RenderEngineManager.hh
@@ -27,7 +27,7 @@
 #include "gz/rendering/config.hh"
 #include "gz/rendering/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/RenderEnginePlugin.hh b/include/gz/rendering/RenderEnginePlugin.hh
index 5aff6a044..7afe29ed4 100644
--- a/include/gz/rendering/RenderEnginePlugin.hh
+++ b/include/gz/rendering/RenderEnginePlugin.hh
@@ -26,7 +26,7 @@
 #include "gz/rendering/config.hh"
 #include "gz/rendering/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/RenderPass.hh b/include/gz/rendering/RenderPass.hh
index 7d9b907bd..e012285b0 100644
--- a/include/gz/rendering/RenderPass.hh
+++ b/include/gz/rendering/RenderPass.hh
@@ -21,7 +21,7 @@
 #include "gz/rendering/Object.hh"
 #include "gz/rendering/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/RenderPassSystem.hh b/include/gz/rendering/RenderPassSystem.hh
index 6b34c8962..271d76f2e 100644
--- a/include/gz/rendering/RenderPassSystem.hh
+++ b/include/gz/rendering/RenderPassSystem.hh
@@ -29,7 +29,7 @@
 #include "gz/rendering/RenderPass.hh"
 #include "gz/rendering/RenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/RenderTarget.hh b/include/gz/rendering/RenderTarget.hh
index d8e0f7233..1a30a7786 100644
--- a/include/gz/rendering/RenderTarget.hh
+++ b/include/gz/rendering/RenderTarget.hh
@@ -26,7 +26,7 @@
 #include "gz/rendering/Image.hh"
 #include "gz/rendering/Object.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/RenderTypes.hh b/include/gz/rendering/RenderTypes.hh
index f74131613..dab356b62 100644
--- a/include/gz/rendering/RenderTypes.hh
+++ b/include/gz/rendering/RenderTypes.hh
@@ -37,7 +37,7 @@
 /// \brief Render visuals that are selectable mask.
 #define IGN_VISIBILITY_SELECTABLE      0x00000002
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/RenderingIface.hh b/include/gz/rendering/RenderingIface.hh
index 0bfe0194b..13825ee77 100644
--- a/include/gz/rendering/RenderingIface.hh
+++ b/include/gz/rendering/RenderingIface.hh
@@ -26,7 +26,7 @@
 #include "gz/rendering/Export.hh"
 #include "gz/rendering/RenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/Scene.hh b/include/gz/rendering/Scene.hh
index 68de5832f..11759e2f4 100644
--- a/include/gz/rendering/Scene.hh
+++ b/include/gz/rendering/Scene.hh
@@ -33,7 +33,7 @@
 #include "gz/rendering/Storage.hh"
 #include "gz/rendering/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/Sensor.hh b/include/gz/rendering/Sensor.hh
index db5be49fc..e997e02c5 100644
--- a/include/gz/rendering/Sensor.hh
+++ b/include/gz/rendering/Sensor.hh
@@ -20,7 +20,7 @@
 #include "gz/rendering/config.hh"
 #include "gz/rendering/Node.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/ShaderParam.hh b/include/gz/rendering/ShaderParam.hh
index 94a52c504..a146bb0b4 100644
--- a/include/gz/rendering/ShaderParam.hh
+++ b/include/gz/rendering/ShaderParam.hh
@@ -26,7 +26,7 @@
 #include "gz/rendering/config.hh"
 #include "gz/rendering/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/ShaderParams.hh b/include/gz/rendering/ShaderParams.hh
index a188a591c..b575d081f 100644
--- a/include/gz/rendering/ShaderParams.hh
+++ b/include/gz/rendering/ShaderParams.hh
@@ -25,7 +25,7 @@
 #include "gz/rendering/Export.hh"
 #include "gz/rendering/ShaderParam.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/ShaderType.hh b/include/gz/rendering/ShaderType.hh
index e5b66c861..f4d87ccc4 100644
--- a/include/gz/rendering/ShaderType.hh
+++ b/include/gz/rendering/ShaderType.hh
@@ -21,7 +21,7 @@
 #include "gz/rendering/config.hh"
 #include "gz/rendering/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/Storage.hh b/include/gz/rendering/Storage.hh
index 0fa0102b5..8a94e1f3f 100644
--- a/include/gz/rendering/Storage.hh
+++ b/include/gz/rendering/Storage.hh
@@ -36,7 +36,7 @@
 #undef DestroyAll
 #endif
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/Text.hh b/include/gz/rendering/Text.hh
index 2d19617b4..96e8bc228 100644
--- a/include/gz/rendering/Text.hh
+++ b/include/gz/rendering/Text.hh
@@ -26,7 +26,7 @@
 #include "gz/rendering/Geometry.hh"
 #include "gz/rendering/Object.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/ThermalCamera.hh b/include/gz/rendering/ThermalCamera.hh
index 1e399693c..077c9a3a9 100644
--- a/include/gz/rendering/ThermalCamera.hh
+++ b/include/gz/rendering/ThermalCamera.hh
@@ -20,7 +20,7 @@
 #include <string>
 #include "gz/rendering/Camera.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/TransformController.hh b/include/gz/rendering/TransformController.hh
index 8b039c19d..9e35d6cef 100644
--- a/include/gz/rendering/TransformController.hh
+++ b/include/gz/rendering/TransformController.hh
@@ -30,7 +30,7 @@
 #include "gz/rendering/GizmoVisual.hh"
 #include "gz/rendering/TransformType.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/TransformType.hh b/include/gz/rendering/TransformType.hh
index 5e6cf99ea..158b4d07b 100644
--- a/include/gz/rendering/TransformType.hh
+++ b/include/gz/rendering/TransformType.hh
@@ -23,7 +23,7 @@
 #include "gz/rendering/config.hh"
 #include "gz/rendering/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/Utils.hh b/include/gz/rendering/Utils.hh
index 83dbc8e18..b2819201e 100644
--- a/include/gz/rendering/Utils.hh
+++ b/include/gz/rendering/Utils.hh
@@ -27,7 +27,7 @@
 #include "gz/rendering/RayQuery.hh"
 
 
-namespace gz
+namespace ignition
 {
   /// \brief Rendering classes and function useful in robot applications.
   namespace rendering
diff --git a/include/gz/rendering/ViewController.hh b/include/gz/rendering/ViewController.hh
index 462640e07..dbde046e0 100644
--- a/include/gz/rendering/ViewController.hh
+++ b/include/gz/rendering/ViewController.hh
@@ -23,7 +23,7 @@
 #include "gz/rendering/config.hh"
 #include "gz/rendering/Camera.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/Visual.hh b/include/gz/rendering/Visual.hh
index 331d189be..d085b66a4 100644
--- a/include/gz/rendering/Visual.hh
+++ b/include/gz/rendering/Visual.hh
@@ -22,7 +22,7 @@
 #include "gz/rendering/config.hh"
 #include "gz/rendering/Node.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseArrowVisual.hh b/include/gz/rendering/base/BaseArrowVisual.hh
index b3804e732..807699fde 100644
--- a/include/gz/rendering/base/BaseArrowVisual.hh
+++ b/include/gz/rendering/base/BaseArrowVisual.hh
@@ -20,7 +20,7 @@
 #include "gz/rendering/ArrowVisual.hh"
 #include "gz/rendering/Scene.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseAxisVisual.hh b/include/gz/rendering/base/BaseAxisVisual.hh
index 60500a235..b7cffb664 100644
--- a/include/gz/rendering/base/BaseAxisVisual.hh
+++ b/include/gz/rendering/base/BaseAxisVisual.hh
@@ -21,7 +21,7 @@
 #include "gz/rendering/ArrowVisual.hh"
 #include "gz/rendering/Scene.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseCamera.hh b/include/gz/rendering/base/BaseCamera.hh
index 36bb10bc5..2d02fa9f2 100644
--- a/include/gz/rendering/base/BaseCamera.hh
+++ b/include/gz/rendering/base/BaseCamera.hh
@@ -32,7 +32,7 @@
 #include "gz/rendering/Scene.hh"
 #include "gz/rendering/base/BaseRenderTarget.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseDepthCamera.hh b/include/gz/rendering/base/BaseDepthCamera.hh
index 9db70453b..9781fae90 100644
--- a/include/gz/rendering/base/BaseDepthCamera.hh
+++ b/include/gz/rendering/base/BaseDepthCamera.hh
@@ -24,7 +24,7 @@
 #include "gz/rendering/base/BaseCamera.hh"
 #include "gz/rendering/DepthCamera.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseGaussianNoisePass.hh b/include/gz/rendering/base/BaseGaussianNoisePass.hh
index 8642db159..82a99c014 100644
--- a/include/gz/rendering/base/BaseGaussianNoisePass.hh
+++ b/include/gz/rendering/base/BaseGaussianNoisePass.hh
@@ -22,7 +22,7 @@
 
 #include "gz/rendering/GaussianNoisePass.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseGeometry.hh b/include/gz/rendering/base/BaseGeometry.hh
index 2594a18ba..e21e3ce3b 100644
--- a/include/gz/rendering/base/BaseGeometry.hh
+++ b/include/gz/rendering/base/BaseGeometry.hh
@@ -21,7 +21,7 @@
 #include "gz/rendering/Geometry.hh"
 #include "gz/rendering/Scene.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseGizmoVisual.hh b/include/gz/rendering/base/BaseGizmoVisual.hh
index 7e789925b..ccc329941 100644
--- a/include/gz/rendering/base/BaseGizmoVisual.hh
+++ b/include/gz/rendering/base/BaseGizmoVisual.hh
@@ -29,7 +29,7 @@
 #include "gz/rendering/Camera.hh"
 #include "gz/rendering/GizmoVisual.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseGpuRays.hh b/include/gz/rendering/base/BaseGpuRays.hh
index 333f9ab8c..54f84e8d5 100644
--- a/include/gz/rendering/base/BaseGpuRays.hh
+++ b/include/gz/rendering/base/BaseGpuRays.hh
@@ -32,7 +32,7 @@
 #include "gz/rendering/RenderTypes.hh"
 
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseGrid.hh b/include/gz/rendering/base/BaseGrid.hh
index c1370e21b..899f703ff 100644
--- a/include/gz/rendering/base/BaseGrid.hh
+++ b/include/gz/rendering/base/BaseGrid.hh
@@ -21,7 +21,7 @@
 #include "gz/rendering/Grid.hh"
 #include "gz/rendering/base/BaseObject.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseLight.hh b/include/gz/rendering/base/BaseLight.hh
index 572f31555..6993fb235 100644
--- a/include/gz/rendering/base/BaseLight.hh
+++ b/include/gz/rendering/base/BaseLight.hh
@@ -19,7 +19,7 @@
 
 #include "gz/rendering/Light.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseMarker.hh b/include/gz/rendering/base/BaseMarker.hh
index 6ec32943d..3ecd3ab54 100644
--- a/include/gz/rendering/base/BaseMarker.hh
+++ b/include/gz/rendering/base/BaseMarker.hh
@@ -23,7 +23,7 @@
 #include "gz/rendering/base/BaseObject.hh"
 #include "gz/rendering/base/BaseRenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseMaterial.hh b/include/gz/rendering/base/BaseMaterial.hh
index 6a654ad8b..a7213c21b 100644
--- a/include/gz/rendering/base/BaseMaterial.hh
+++ b/include/gz/rendering/base/BaseMaterial.hh
@@ -25,7 +25,7 @@
 #include "gz/rendering/Scene.hh"
 #include "gz/rendering/ShaderType.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseMesh.hh b/include/gz/rendering/base/BaseMesh.hh
index 2e3f371cc..7ae3304a4 100644
--- a/include/gz/rendering/base/BaseMesh.hh
+++ b/include/gz/rendering/base/BaseMesh.hh
@@ -23,7 +23,7 @@
 #include "gz/rendering/Storage.hh"
 #include "gz/rendering/base/BaseObject.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseNode.hh b/include/gz/rendering/base/BaseNode.hh
index 0739f7954..8309d7b3d 100644
--- a/include/gz/rendering/base/BaseNode.hh
+++ b/include/gz/rendering/base/BaseNode.hh
@@ -22,7 +22,7 @@
 #include "gz/rendering/Storage.hh"
 #include "gz/rendering/base/BaseStorage.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseObject.hh b/include/gz/rendering/base/BaseObject.hh
index 4e57496c7..65f61c9d5 100644
--- a/include/gz/rendering/base/BaseObject.hh
+++ b/include/gz/rendering/base/BaseObject.hh
@@ -22,7 +22,7 @@
 #include <gz/common/SuppressWarning.hh>
 #include "gz/rendering/Object.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseRayQuery.hh b/include/gz/rendering/base/BaseRayQuery.hh
index 8f36b0eb4..7648b8d48 100644
--- a/include/gz/rendering/base/BaseRayQuery.hh
+++ b/include/gz/rendering/base/BaseRayQuery.hh
@@ -23,7 +23,7 @@
 #include "gz/rendering/RayQuery.hh"
 #include "gz/rendering/Scene.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseRenderEngine.hh b/include/gz/rendering/base/BaseRenderEngine.hh
index 5b8292f04..e3aa072c0 100644
--- a/include/gz/rendering/base/BaseRenderEngine.hh
+++ b/include/gz/rendering/base/BaseRenderEngine.hh
@@ -24,7 +24,7 @@
 #include "gz/rendering/RenderEngine.hh"
 #include "gz/rendering/Storage.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseRenderPass.hh b/include/gz/rendering/base/BaseRenderPass.hh
index 9e2d54c93..d380f67e1 100644
--- a/include/gz/rendering/base/BaseRenderPass.hh
+++ b/include/gz/rendering/base/BaseRenderPass.hh
@@ -20,7 +20,7 @@
 #include <string>
 #include "gz/rendering/RenderPass.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseRenderTarget.hh b/include/gz/rendering/base/BaseRenderTarget.hh
index d73d22d6c..adaf34869 100644
--- a/include/gz/rendering/base/BaseRenderTarget.hh
+++ b/include/gz/rendering/base/BaseRenderTarget.hh
@@ -25,7 +25,7 @@
 #include "gz/rendering/Scene.hh"
 #include "gz/rendering/base/BaseRenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseRenderTypes.hh b/include/gz/rendering/base/BaseRenderTypes.hh
index f5343e1dc..bda3c2506 100644
--- a/include/gz/rendering/base/BaseRenderTypes.hh
+++ b/include/gz/rendering/base/BaseRenderTypes.hh
@@ -21,7 +21,7 @@
 
 #include "gz/rendering/RenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseScene.hh b/include/gz/rendering/base/BaseScene.hh
index 1f4cbef63..8e8e805ed 100644
--- a/include/gz/rendering/base/BaseScene.hh
+++ b/include/gz/rendering/base/BaseScene.hh
@@ -28,7 +28,7 @@
 #include "gz/rendering/Scene.hh"
 #include "gz/rendering/base/BaseRenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseSensor.hh b/include/gz/rendering/base/BaseSensor.hh
index a0f30a167..6c52be724 100644
--- a/include/gz/rendering/base/BaseSensor.hh
+++ b/include/gz/rendering/base/BaseSensor.hh
@@ -19,7 +19,7 @@
 
 #include "gz/rendering/Sensor.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseStorage.hh b/include/gz/rendering/base/BaseStorage.hh
index b4906d8c8..89b8785b6 100644
--- a/include/gz/rendering/base/BaseStorage.hh
+++ b/include/gz/rendering/base/BaseStorage.hh
@@ -27,7 +27,7 @@
 
 #include "gz/rendering/Storage.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseText.hh b/include/gz/rendering/base/BaseText.hh
index 3a15de8b9..0f5774da2 100644
--- a/include/gz/rendering/base/BaseText.hh
+++ b/include/gz/rendering/base/BaseText.hh
@@ -21,7 +21,7 @@
 #include "gz/rendering/Text.hh"
 #include "gz/rendering/base/BaseObject.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseThermalCamera.hh b/include/gz/rendering/base/BaseThermalCamera.hh
index 40c138cbd..a0bee4984 100644
--- a/include/gz/rendering/base/BaseThermalCamera.hh
+++ b/include/gz/rendering/base/BaseThermalCamera.hh
@@ -22,7 +22,7 @@
 #include "gz/rendering/base/BaseCamera.hh"
 #include "gz/rendering/ThermalCamera.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/base/BaseVisual.hh b/include/gz/rendering/base/BaseVisual.hh
index 7288e5253..050006e36 100644
--- a/include/gz/rendering/base/BaseVisual.hh
+++ b/include/gz/rendering/base/BaseVisual.hh
@@ -25,7 +25,7 @@
 #include "gz/rendering/RenderEngine.hh"
 #include "gz/rendering/base/BaseStorage.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/include/gz/rendering/config.hh.in b/include/gz/rendering/config.hh.in
index fd052ebf6..0a74f1205 100644
--- a/include/gz/rendering/config.hh.in
+++ b/include/gz/rendering/config.hh.in
@@ -24,3 +24,12 @@
 #cmakedefine HAVE_OPTIX 1
 #cmakedefine HAVE_GAZEBO 1
 #cmakedefine INCLUDE_RTSHADER 1
+
+namespace ignition
+{
+}
+
+namespace gz
+{
+  using namespace ignition;
+}
diff --git a/include/ignition/rendering/config.hh b/include/ignition/rendering/config.hh
index 73cd9b22e..6dd936c31 100644
--- a/include/ignition/rendering/config.hh
+++ b/include/ignition/rendering/config.hh
@@ -45,14 +45,4 @@
 /* #undef HAVE_GAZEBO */
 /* #undef INCLUDE_RTSHADER */
 
-namespace gz
-{
-}
-
-namespace ignition
-{
-  using namespace gz;
-}
-
-
 #endif
diff --git a/ogre/include/gz/rendering/ogre/OgreArrowVisual.hh b/ogre/include/gz/rendering/ogre/OgreArrowVisual.hh
index 3a9f9b565..9bdb05a61 100644
--- a/ogre/include/gz/rendering/ogre/OgreArrowVisual.hh
+++ b/ogre/include/gz/rendering/ogre/OgreArrowVisual.hh
@@ -20,7 +20,7 @@
 #include "gz/rendering/base/BaseArrowVisual.hh"
 #include "gz/rendering/ogre/OgreVisual.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreAxisVisual.hh b/ogre/include/gz/rendering/ogre/OgreAxisVisual.hh
index 7ee7979cd..aa4277a98 100644
--- a/ogre/include/gz/rendering/ogre/OgreAxisVisual.hh
+++ b/ogre/include/gz/rendering/ogre/OgreAxisVisual.hh
@@ -20,7 +20,7 @@
 #include "gz/rendering/base/BaseAxisVisual.hh"
 #include "gz/rendering/ogre/OgreVisual.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreCamera.hh b/ogre/include/gz/rendering/ogre/OgreCamera.hh
index a35630e43..feced1ee3 100644
--- a/ogre/include/gz/rendering/ogre/OgreCamera.hh
+++ b/ogre/include/gz/rendering/ogre/OgreCamera.hh
@@ -29,7 +29,7 @@ namespace Ogre
   class Camera;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreConversions.hh b/ogre/include/gz/rendering/ogre/OgreConversions.hh
index 522f650b3..1783addda 100644
--- a/ogre/include/gz/rendering/ogre/OgreConversions.hh
+++ b/ogre/include/gz/rendering/ogre/OgreConversions.hh
@@ -26,7 +26,7 @@
 #include "gz/rendering/ogre/OgreIncludes.hh"
 #include "gz/rendering/ogre/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreDepthCamera.hh b/ogre/include/gz/rendering/ogre/OgreDepthCamera.hh
index e7fd26e9c..7fa9c1950 100644
--- a/ogre/include/gz/rendering/ogre/OgreDepthCamera.hh
+++ b/ogre/include/gz/rendering/ogre/OgreDepthCamera.hh
@@ -49,7 +49,7 @@ namespace Ogre
   class Viewport;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreDynamicLines.hh b/ogre/include/gz/rendering/ogre/OgreDynamicLines.hh
index 6ccc70433..490f02963 100644
--- a/ogre/include/gz/rendering/ogre/OgreDynamicLines.hh
+++ b/ogre/include/gz/rendering/ogre/OgreDynamicLines.hh
@@ -26,7 +26,7 @@
 #include "gz/rendering/ogre/OgreConversions.hh"
 #include "gz/rendering/ogre/OgreDynamicRenderable.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreDynamicRenderable.hh b/ogre/include/gz/rendering/ogre/OgreDynamicRenderable.hh
index 878c2c31c..73a28cfa9 100644
--- a/ogre/include/gz/rendering/ogre/OgreDynamicRenderable.hh
+++ b/ogre/include/gz/rendering/ogre/OgreDynamicRenderable.hh
@@ -23,7 +23,7 @@
 #include "gz/rendering/ogre/OgreRenderTypes.hh"
 #include "gz/rendering/Marker.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreGaussianNoisePass.hh b/ogre/include/gz/rendering/ogre/OgreGaussianNoisePass.hh
index 857e8d268..453ee2a50 100644
--- a/ogre/include/gz/rendering/ogre/OgreGaussianNoisePass.hh
+++ b/ogre/include/gz/rendering/ogre/OgreGaussianNoisePass.hh
@@ -26,7 +26,7 @@
 #include "gz/rendering/ogre/OgreRenderPass.hh"
 #include "gz/rendering/ogre/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreGeometry.hh b/ogre/include/gz/rendering/ogre/OgreGeometry.hh
index 4f8f4a796..55e3ad4bd 100644
--- a/ogre/include/gz/rendering/ogre/OgreGeometry.hh
+++ b/ogre/include/gz/rendering/ogre/OgreGeometry.hh
@@ -27,7 +27,7 @@ namespace Ogre
   class MovableObject;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreGizmoVisual.hh b/ogre/include/gz/rendering/ogre/OgreGizmoVisual.hh
index 177ba587d..c871c3703 100644
--- a/ogre/include/gz/rendering/ogre/OgreGizmoVisual.hh
+++ b/ogre/include/gz/rendering/ogre/OgreGizmoVisual.hh
@@ -20,7 +20,7 @@
 #include "gz/rendering/base/BaseGizmoVisual.hh"
 #include "gz/rendering/ogre/OgreVisual.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreGpuRays.hh b/ogre/include/gz/rendering/ogre/OgreGpuRays.hh
index dd99fee34..ce1a12ffd 100644
--- a/ogre/include/gz/rendering/ogre/OgreGpuRays.hh
+++ b/ogre/include/gz/rendering/ogre/OgreGpuRays.hh
@@ -41,7 +41,7 @@
   #include <Winsock2.h>
 #endif
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreGrid.hh b/ogre/include/gz/rendering/ogre/OgreGrid.hh
index 9faa27ae9..6a577051b 100644
--- a/ogre/include/gz/rendering/ogre/OgreGrid.hh
+++ b/ogre/include/gz/rendering/ogre/OgreGrid.hh
@@ -28,7 +28,7 @@ namespace Ogre
   class MovableObject;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreLight.hh b/ogre/include/gz/rendering/ogre/OgreLight.hh
index 431c804e2..a8c537d52 100644
--- a/ogre/include/gz/rendering/ogre/OgreLight.hh
+++ b/ogre/include/gz/rendering/ogre/OgreLight.hh
@@ -26,7 +26,7 @@ namespace Ogre
   class Light;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreMarker.hh b/ogre/include/gz/rendering/ogre/OgreMarker.hh
index e787fe037..3c0a4bd51 100644
--- a/ogre/include/gz/rendering/ogre/OgreMarker.hh
+++ b/ogre/include/gz/rendering/ogre/OgreMarker.hh
@@ -23,7 +23,7 @@
 #include "gz/rendering/ogre/OgreGeometry.hh"
 #include "gz/rendering/ogre/OgreIncludes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreMaterial.hh b/ogre/include/gz/rendering/ogre/OgreMaterial.hh
index 5a4524c39..f29cc596d 100644
--- a/ogre/include/gz/rendering/ogre/OgreMaterial.hh
+++ b/ogre/include/gz/rendering/ogre/OgreMaterial.hh
@@ -25,7 +25,7 @@
 #include "gz/rendering/ogre/OgreObject.hh"
 #include "gz/rendering/ogre/OgreIncludes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreMaterialSwitcher.hh b/ogre/include/gz/rendering/ogre/OgreMaterialSwitcher.hh
index 3f7636b39..141cfff4f 100644
--- a/ogre/include/gz/rendering/ogre/OgreMaterialSwitcher.hh
+++ b/ogre/include/gz/rendering/ogre/OgreMaterialSwitcher.hh
@@ -28,7 +28,7 @@
 #include "gz/rendering/ogre/OgreIncludes.hh"
 #include "gz/rendering/ogre/OgreRenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreMesh.hh b/ogre/include/gz/rendering/ogre/OgreMesh.hh
index 76b327e9a..fb8165fdb 100644
--- a/ogre/include/gz/rendering/ogre/OgreMesh.hh
+++ b/ogre/include/gz/rendering/ogre/OgreMesh.hh
@@ -31,7 +31,7 @@ namespace Ogre
   class SubEntity;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreMeshFactory.hh b/ogre/include/gz/rendering/ogre/OgreMeshFactory.hh
index fa7286ac3..9c6aaf8f7 100644
--- a/ogre/include/gz/rendering/ogre/OgreMeshFactory.hh
+++ b/ogre/include/gz/rendering/ogre/OgreMeshFactory.hh
@@ -29,7 +29,7 @@ namespace Ogre
   class Entity;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreNode.hh b/ogre/include/gz/rendering/ogre/OgreNode.hh
index e2570b485..28c641680 100644
--- a/ogre/include/gz/rendering/ogre/OgreNode.hh
+++ b/ogre/include/gz/rendering/ogre/OgreNode.hh
@@ -28,7 +28,7 @@ namespace Ogre
   class SceneNode;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreObject.hh b/ogre/include/gz/rendering/ogre/OgreObject.hh
index 95da99ed4..4acc1acc1 100644
--- a/ogre/include/gz/rendering/ogre/OgreObject.hh
+++ b/ogre/include/gz/rendering/ogre/OgreObject.hh
@@ -23,7 +23,7 @@
 #include "gz/rendering/ogre/OgreRenderTypes.hh"
 #include "gz/rendering/ogre/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreRTShaderSystem.hh b/ogre/include/gz/rendering/ogre/OgreRTShaderSystem.hh
index a2827e9c1..1e4d1611b 100644
--- a/ogre/include/gz/rendering/ogre/OgreRTShaderSystem.hh
+++ b/ogre/include/gz/rendering/ogre/OgreRTShaderSystem.hh
@@ -25,7 +25,7 @@
 #include "gz/rendering/ogre/OgreRenderTypes.hh"
 #include "gz/rendering/ogre/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreRayQuery.hh b/ogre/include/gz/rendering/ogre/OgreRayQuery.hh
index feceab193..1e3c527b0 100644
--- a/ogre/include/gz/rendering/ogre/OgreRayQuery.hh
+++ b/ogre/include/gz/rendering/ogre/OgreRayQuery.hh
@@ -24,7 +24,7 @@
 #include "gz/rendering/ogre/OgreObject.hh"
 #include "gz/rendering/ogre/OgreRenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreRenderEngine.hh b/ogre/include/gz/rendering/ogre/OgreRenderEngine.hh
index 98aa1947b..dd168a5cf 100644
--- a/ogre/include/gz/rendering/ogre/OgreRenderEngine.hh
+++ b/ogre/include/gz/rendering/ogre/OgreRenderEngine.hh
@@ -37,7 +37,7 @@ namespace Ogre
   class Root;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreRenderPass.hh b/ogre/include/gz/rendering/ogre/OgreRenderPass.hh
index b66386898..629045cb4 100644
--- a/ogre/include/gz/rendering/ogre/OgreRenderPass.hh
+++ b/ogre/include/gz/rendering/ogre/OgreRenderPass.hh
@@ -22,7 +22,7 @@
 #include "gz/rendering/ogre/OgreIncludes.hh"
 #include "gz/rendering/ogre/OgreObject.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreRenderTarget.hh b/ogre/include/gz/rendering/ogre/OgreRenderTarget.hh
index 9b9f15146..f66a37317 100644
--- a/ogre/include/gz/rendering/ogre/OgreRenderTarget.hh
+++ b/ogre/include/gz/rendering/ogre/OgreRenderTarget.hh
@@ -33,7 +33,7 @@ namespace Ogre
   class Texture;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreRenderTargetMaterial.hh b/ogre/include/gz/rendering/ogre/OgreRenderTargetMaterial.hh
index 900444908..627709d86 100644
--- a/ogre/include/gz/rendering/ogre/OgreRenderTargetMaterial.hh
+++ b/ogre/include/gz/rendering/ogre/OgreRenderTargetMaterial.hh
@@ -31,7 +31,7 @@
   #pragma warning(disable:4275)
 #endif
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreRenderTypes.hh b/ogre/include/gz/rendering/ogre/OgreRenderTypes.hh
index 533c504bd..da5a955b0 100644
--- a/ogre/include/gz/rendering/ogre/OgreRenderTypes.hh
+++ b/ogre/include/gz/rendering/ogre/OgreRenderTypes.hh
@@ -20,7 +20,7 @@
 #include <memory>
 #include "gz/rendering/base/BaseRenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreScene.hh b/ogre/include/gz/rendering/ogre/OgreScene.hh
index cdfe3b8f9..02b4f8dd8 100644
--- a/ogre/include/gz/rendering/ogre/OgreScene.hh
+++ b/ogre/include/gz/rendering/ogre/OgreScene.hh
@@ -30,7 +30,7 @@ namespace Ogre
   class SceneManager;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreSelectionBuffer.hh b/ogre/include/gz/rendering/ogre/OgreSelectionBuffer.hh
index f88a68fec..3a6932018 100644
--- a/ogre/include/gz/rendering/ogre/OgreSelectionBuffer.hh
+++ b/ogre/include/gz/rendering/ogre/OgreSelectionBuffer.hh
@@ -30,7 +30,7 @@ namespace Ogre
   class SceneManager;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreSensor.hh b/ogre/include/gz/rendering/ogre/OgreSensor.hh
index 20e509611..af5643099 100644
--- a/ogre/include/gz/rendering/ogre/OgreSensor.hh
+++ b/ogre/include/gz/rendering/ogre/OgreSensor.hh
@@ -20,7 +20,7 @@
 #include "gz/rendering/base/BaseSensor.hh"
 #include "gz/rendering/ogre/OgreNode.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreStorage.hh b/ogre/include/gz/rendering/ogre/OgreStorage.hh
index 1e8df4884..50db5882b 100644
--- a/ogre/include/gz/rendering/ogre/OgreStorage.hh
+++ b/ogre/include/gz/rendering/ogre/OgreStorage.hh
@@ -29,7 +29,7 @@
 #include "gz/rendering/ogre/OgreSensor.hh"
 #include "gz/rendering/ogre/OgreVisual.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreText.hh b/ogre/include/gz/rendering/ogre/OgreText.hh
index 25f5bc0df..fdda47cf1 100644
--- a/ogre/include/gz/rendering/ogre/OgreText.hh
+++ b/ogre/include/gz/rendering/ogre/OgreText.hh
@@ -29,7 +29,7 @@
 #include "gz/rendering/ogre/OgreIncludes.hh"
 #include "gz/rendering/ogre/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreThermalCamera.hh b/ogre/include/gz/rendering/ogre/OgreThermalCamera.hh
index eed59aefd..28acb3dd2 100644
--- a/ogre/include/gz/rendering/ogre/OgreThermalCamera.hh
+++ b/ogre/include/gz/rendering/ogre/OgreThermalCamera.hh
@@ -47,7 +47,7 @@ namespace Ogre
   class Camera;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/include/gz/rendering/ogre/OgreVisual.hh b/ogre/include/gz/rendering/ogre/OgreVisual.hh
index 93a11f2d8..f24fda216 100644
--- a/ogre/include/gz/rendering/ogre/OgreVisual.hh
+++ b/ogre/include/gz/rendering/ogre/OgreVisual.hh
@@ -21,7 +21,7 @@
 #include "gz/rendering/ogre/OgreNode.hh"
 #include "gz/rendering/ogre/OgreRenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/src/OgreGaussianNoisePass.cc b/ogre/src/OgreGaussianNoisePass.cc
index e40375b74..0f81ab498 100644
--- a/ogre/src/OgreGaussianNoisePass.cc
+++ b/ogre/src/OgreGaussianNoisePass.cc
@@ -22,7 +22,7 @@
 #include "gz/rendering/ogre/OgreIncludes.hh"
 #include "gz/rendering/ogre/OgreGaussianNoisePass.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/src/OgreScene.cc b/ogre/src/OgreScene.cc
index 8b3c6c046..bf979443c 100644
--- a/ogre/src/OgreScene.cc
+++ b/ogre/src/OgreScene.cc
@@ -40,7 +40,7 @@
 #include "gz/rendering/ogre/OgreThermalCamera.hh"
 #include "gz/rendering/ogre/OgreVisual.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre/src/OgreThermalCamera.cc b/ogre/src/OgreThermalCamera.cc
index 1b9e1ecdf..68c468e9a 100644
--- a/ogre/src/OgreThermalCamera.cc
+++ b/ogre/src/OgreThermalCamera.cc
@@ -31,7 +31,7 @@
 #include "gz/rendering/ogre/OgreMaterial.hh"
 #include "gz/rendering/ogre/OgreVisual.hh"
 
-namespace gz
+namespace ignition
 {
 namespace rendering
 {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2Camera.hh b/ogre2/include/gz/rendering/ogre2/Ogre2Camera.hh
index e9d9bc133..c2ec52d31 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2Camera.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2Camera.hh
@@ -26,7 +26,7 @@ namespace Ogre
   class Camera;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2Conversions.hh b/ogre2/include/gz/rendering/ogre2/Ogre2Conversions.hh
index d71a9dcc0..63ea87942 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2Conversions.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2Conversions.hh
@@ -27,7 +27,7 @@
 #include "gz/rendering/ogre2/Ogre2Includes.hh"
 #include "gz/rendering/ogre2/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2DepthCamera.hh b/ogre2/include/gz/rendering/ogre2/Ogre2DepthCamera.hh
index 5481024fb..6e1aafcdd 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2DepthCamera.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2DepthCamera.hh
@@ -42,7 +42,7 @@ namespace Ogre
   class Viewport;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2DynamicRenderable.hh b/ogre2/include/gz/rendering/ogre2/Ogre2DynamicRenderable.hh
index 168c6c8a0..44deed64a 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2DynamicRenderable.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2DynamicRenderable.hh
@@ -26,7 +26,7 @@
 #include "gz/rendering/ogre2/Ogre2RenderTypes.hh"
 #include "gz/rendering/Marker.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2GaussianNoisePass.hh b/ogre2/include/gz/rendering/ogre2/Ogre2GaussianNoisePass.hh
index 1fc33b6a4..41892184f 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2GaussianNoisePass.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2GaussianNoisePass.hh
@@ -22,7 +22,7 @@
 #include "gz/rendering/ogre2/Ogre2RenderPass.hh"
 #include "gz/rendering/ogre2/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2Geometry.hh b/ogre2/include/gz/rendering/ogre2/Ogre2Geometry.hh
index be8730b54..04f2e2b9b 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2Geometry.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2Geometry.hh
@@ -25,7 +25,7 @@ namespace Ogre
   class MovableObject;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2GizmoVisual.hh b/ogre2/include/gz/rendering/ogre2/Ogre2GizmoVisual.hh
index 9681d2afc..149c06d90 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2GizmoVisual.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2GizmoVisual.hh
@@ -20,7 +20,7 @@
 #include "gz/rendering/base/BaseGizmoVisual.hh"
 #include "gz/rendering/ogre2/Ogre2Visual.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2GpuRays.hh b/ogre2/include/gz/rendering/ogre2/Ogre2GpuRays.hh
index 5bccb331b..c02725e56 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2GpuRays.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2GpuRays.hh
@@ -41,7 +41,7 @@ namespace Ogre
   class Viewport;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2Grid.hh b/ogre2/include/gz/rendering/ogre2/Ogre2Grid.hh
index 414856b51..4f9867178 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2Grid.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2Grid.hh
@@ -28,7 +28,7 @@ namespace Ogre
   class MovableObject;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2Light.hh b/ogre2/include/gz/rendering/ogre2/Ogre2Light.hh
index 183fad17a..12f27d80e 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2Light.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2Light.hh
@@ -26,7 +26,7 @@ namespace Ogre
   class Light;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2Marker.hh b/ogre2/include/gz/rendering/ogre2/Ogre2Marker.hh
index bab534fa7..0b320e836 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2Marker.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2Marker.hh
@@ -23,7 +23,7 @@
 #include "gz/rendering/ogre2/Ogre2Geometry.hh"
 #include "gz/rendering/ogre2/Ogre2Includes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2Material.hh b/ogre2/include/gz/rendering/ogre2/Ogre2Material.hh
index ce8eef513..6f9787170 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2Material.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2Material.hh
@@ -23,7 +23,7 @@
 #include "gz/rendering/ogre2/Ogre2Object.hh"
 #include "gz/rendering/ogre2/Ogre2Includes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2MaterialSwitcher.hh b/ogre2/include/gz/rendering/ogre2/Ogre2MaterialSwitcher.hh
index 0cf5137c3..a673161f9 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2MaterialSwitcher.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2MaterialSwitcher.hh
@@ -27,7 +27,7 @@
 #include "gz/rendering/ogre2/Ogre2Includes.hh"
 #include "gz/rendering/ogre2/Ogre2RenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2Mesh.hh b/ogre2/include/gz/rendering/ogre2/Ogre2Mesh.hh
index 42bb4d4b2..f9b76493a 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2Mesh.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2Mesh.hh
@@ -31,7 +31,7 @@ namespace Ogre
   class SubItem;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2MeshFactory.hh b/ogre2/include/gz/rendering/ogre2/Ogre2MeshFactory.hh
index 77a09bf3e..a6478000f 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2MeshFactory.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2MeshFactory.hh
@@ -31,7 +31,7 @@ namespace Ogre
   class Item;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2Node.hh b/ogre2/include/gz/rendering/ogre2/Ogre2Node.hh
index 5290e0bd4..bcf40ffb3 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2Node.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2Node.hh
@@ -26,7 +26,7 @@ namespace Ogre
   class SceneNode;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2Object.hh b/ogre2/include/gz/rendering/ogre2/Ogre2Object.hh
index 8d20a2b0e..50042bfc6 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2Object.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2Object.hh
@@ -22,7 +22,7 @@
 #include "gz/rendering/ogre2/Ogre2RenderTypes.hh"
 #include "gz/rendering/ogre2/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2RayQuery.hh b/ogre2/include/gz/rendering/ogre2/Ogre2RayQuery.hh
index 9a2f58a62..ad0ae0c37 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2RayQuery.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2RayQuery.hh
@@ -24,7 +24,7 @@
 #include "gz/rendering/ogre2/Ogre2Object.hh"
 #include "gz/rendering/ogre2/Ogre2RenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2RenderEngine.hh b/ogre2/include/gz/rendering/ogre2/Ogre2RenderEngine.hh
index 8809e054f..8513defe3 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2RenderEngine.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2RenderEngine.hh
@@ -40,7 +40,7 @@ namespace Ogre
   }
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2RenderPass.hh b/ogre2/include/gz/rendering/ogre2/Ogre2RenderPass.hh
index 8b74ec5db..580b64c97 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2RenderPass.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2RenderPass.hh
@@ -24,7 +24,7 @@
 #include "gz/rendering/ogre2/Ogre2Includes.hh"
 #include "gz/rendering/ogre2/Ogre2Object.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2RenderTarget.hh b/ogre2/include/gz/rendering/ogre2/Ogre2RenderTarget.hh
index 48bdc1da8..e34b0c092 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2RenderTarget.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2RenderTarget.hh
@@ -34,7 +34,7 @@ namespace Ogre
   class Texture;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2RenderTargetMaterial.hh b/ogre2/include/gz/rendering/ogre2/Ogre2RenderTargetMaterial.hh
index 34643df4a..b699ef3da 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2RenderTargetMaterial.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2RenderTargetMaterial.hh
@@ -23,7 +23,7 @@
 #include "gz/rendering/ogre2/Ogre2Includes.hh"
 #include "gz/rendering/ogre2/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2RenderTypes.hh b/ogre2/include/gz/rendering/ogre2/Ogre2RenderTypes.hh
index b54a10999..75623844a 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2RenderTypes.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2RenderTypes.hh
@@ -22,7 +22,7 @@
 #include "gz/rendering/config.hh"
 #include "gz/rendering/base/BaseRenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2Scene.hh b/ogre2/include/gz/rendering/ogre2/Ogre2Scene.hh
index f8a72d36f..f49ddb974 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2Scene.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2Scene.hh
@@ -31,7 +31,7 @@ namespace Ogre
   class SceneManager;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2SelectionBuffer.hh b/ogre2/include/gz/rendering/ogre2/Ogre2SelectionBuffer.hh
index 8c82ceeb4..3acbd2474 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2SelectionBuffer.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2SelectionBuffer.hh
@@ -30,7 +30,7 @@ namespace Ogre
   class SceneManager;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2Sensor.hh b/ogre2/include/gz/rendering/ogre2/Ogre2Sensor.hh
index f09062209..00141d7e0 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2Sensor.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2Sensor.hh
@@ -20,7 +20,7 @@
 #include "gz/rendering/base/BaseSensor.hh"
 #include "gz/rendering/ogre2/Ogre2Node.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2Storage.hh b/ogre2/include/gz/rendering/ogre2/Ogre2Storage.hh
index 649c73fe1..a3cb09b9e 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2Storage.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2Storage.hh
@@ -28,7 +28,7 @@
 #include "gz/rendering/ogre2/Ogre2Scene.hh"
 #include "gz/rendering/ogre2/Ogre2Visual.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2ThermalCamera.hh b/ogre2/include/gz/rendering/ogre2/Ogre2ThermalCamera.hh
index 47f2c03c7..48438bb6a 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2ThermalCamera.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2ThermalCamera.hh
@@ -43,7 +43,7 @@ namespace Ogre
   class Viewport;
 }
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2Visual.hh b/ogre2/include/gz/rendering/ogre2/Ogre2Visual.hh
index 4822d7bec..11ebc123a 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2Visual.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2Visual.hh
@@ -21,7 +21,7 @@
 #include "gz/rendering/ogre2/Ogre2Node.hh"
 #include "gz/rendering/ogre2/Ogre2RenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/ogre2/src/Ogre2DepthCamera.cc b/ogre2/src/Ogre2DepthCamera.cc
index 8fbbe2ef7..838e1a12c 100644
--- a/ogre2/src/Ogre2DepthCamera.cc
+++ b/ogre2/src/Ogre2DepthCamera.cc
@@ -38,7 +38,7 @@
 #include "gz/rendering/ogre2/Ogre2Sensor.hh"
 
 
-namespace gz
+namespace ignition
 {
 namespace rendering
 {
diff --git a/ogre2/src/Ogre2GpuRays.cc b/ogre2/src/Ogre2GpuRays.cc
index 53df0e68f..57b36f4d9 100644
--- a/ogre2/src/Ogre2GpuRays.cc
+++ b/ogre2/src/Ogre2GpuRays.cc
@@ -33,7 +33,7 @@
 #include "gz/rendering/ogre2/Ogre2Sensor.hh"
 #include "gz/rendering/ogre2/Ogre2Visual.hh"
 
-namespace gz
+namespace ignition
 {
 namespace rendering
 {
diff --git a/ogre2/src/Ogre2ThermalCamera.cc b/ogre2/src/Ogre2ThermalCamera.cc
index a0c816c7b..3740ec847 100644
--- a/ogre2/src/Ogre2ThermalCamera.cc
+++ b/ogre2/src/Ogre2ThermalCamera.cc
@@ -40,7 +40,7 @@
 #include "gz/rendering/ogre2/Ogre2ThermalCamera.hh"
 #include "gz/rendering/ogre2/Ogre2Visual.hh"
 
-namespace gz
+namespace ignition
 {
 namespace rendering
 {
diff --git a/optix/include/gz/rendering/optix/OptixArrowVisual.hh b/optix/include/gz/rendering/optix/OptixArrowVisual.hh
index 8e00a22d1..260fa8dad 100644
--- a/optix/include/gz/rendering/optix/OptixArrowVisual.hh
+++ b/optix/include/gz/rendering/optix/OptixArrowVisual.hh
@@ -20,7 +20,7 @@
 #include "gz/rendering/base/BaseArrowVisual.hh"
 #include "gz/rendering/optix/OptixVisual.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixAxisVisual.hh b/optix/include/gz/rendering/optix/OptixAxisVisual.hh
index 805105327..37f93f619 100644
--- a/optix/include/gz/rendering/optix/OptixAxisVisual.hh
+++ b/optix/include/gz/rendering/optix/OptixAxisVisual.hh
@@ -20,7 +20,7 @@
 #include "gz/rendering/base/BaseAxisVisual.hh"
 #include "gz/rendering/optix/OptixVisual.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixBox.hh b/optix/include/gz/rendering/optix/OptixBox.hh
index 7c4714e88..872173cfb 100644
--- a/optix/include/gz/rendering/optix/OptixBox.hh
+++ b/optix/include/gz/rendering/optix/OptixBox.hh
@@ -19,7 +19,7 @@
 
 #include "gz/rendering/optix/OptixPrimitive.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixCamera.hh b/optix/include/gz/rendering/optix/OptixCamera.hh
index ea989d025..5ac597500 100644
--- a/optix/include/gz/rendering/optix/OptixCamera.hh
+++ b/optix/include/gz/rendering/optix/OptixCamera.hh
@@ -22,7 +22,7 @@
 #include "gz/rendering/optix/OptixRenderTypes.hh"
 #include "gz/rendering/optix/OptixSensor.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixCone.hh b/optix/include/gz/rendering/optix/OptixCone.hh
index 6ca32b9c6..d3a4d6352 100644
--- a/optix/include/gz/rendering/optix/OptixCone.hh
+++ b/optix/include/gz/rendering/optix/OptixCone.hh
@@ -19,7 +19,7 @@
 
 #include "gz/rendering/optix/OptixPrimitive.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixConversions.hh b/optix/include/gz/rendering/optix/OptixConversions.hh
index 065b3384f..bc6ac6a91 100644
--- a/optix/include/gz/rendering/optix/OptixConversions.hh
+++ b/optix/include/gz/rendering/optix/OptixConversions.hh
@@ -25,7 +25,7 @@
 #include "gz/rendering/optix/OptixIncludes.hh"
 #include "gz/rendering/optix/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixCylinder.hh b/optix/include/gz/rendering/optix/OptixCylinder.hh
index f9fc767f8..08ac588fc 100644
--- a/optix/include/gz/rendering/optix/OptixCylinder.hh
+++ b/optix/include/gz/rendering/optix/OptixCylinder.hh
@@ -19,7 +19,7 @@
 
 #include "gz/rendering/optix/OptixPrimitive.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixGeometry.hh b/optix/include/gz/rendering/optix/OptixGeometry.hh
index fbdec650e..1f5b2b029 100644
--- a/optix/include/gz/rendering/optix/OptixGeometry.hh
+++ b/optix/include/gz/rendering/optix/OptixGeometry.hh
@@ -21,7 +21,7 @@
 #include "gz/rendering/optix/OptixIncludes.hh"
 #include "gz/rendering/optix/OptixObject.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixGrid.hh b/optix/include/gz/rendering/optix/OptixGrid.hh
index 1631540c6..9adbaf707 100644
--- a/optix/include/gz/rendering/optix/OptixGrid.hh
+++ b/optix/include/gz/rendering/optix/OptixGrid.hh
@@ -24,7 +24,7 @@
 #include "gz/rendering/optix/OptixObject.hh"
 #include "gz/rendering/optix/OptixRenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixLight.hh b/optix/include/gz/rendering/optix/OptixLight.hh
index 451994b75..cfc519a3d 100644
--- a/optix/include/gz/rendering/optix/OptixLight.hh
+++ b/optix/include/gz/rendering/optix/OptixLight.hh
@@ -22,7 +22,7 @@
 #include "gz/rendering/optix/OptixIncludes.hh"
 #include "gz/rendering/optix/OptixLightTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixLightManager.hh b/optix/include/gz/rendering/optix/OptixLightManager.hh
index 1d1a35633..36d321695 100644
--- a/optix/include/gz/rendering/optix/OptixLightManager.hh
+++ b/optix/include/gz/rendering/optix/OptixLightManager.hh
@@ -25,7 +25,7 @@
 #include "gz/rendering/optix/OptixIncludes.hh"
 #include "gz/rendering/optix/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixLightTypes.hh b/optix/include/gz/rendering/optix/OptixLightTypes.hh
index bbcba606d..bfbe04593 100644
--- a/optix/include/gz/rendering/optix/OptixLightTypes.hh
+++ b/optix/include/gz/rendering/optix/OptixLightTypes.hh
@@ -20,7 +20,7 @@
 #include <optix_math.h>
 
 #ifndef __CUDA_ARCH__
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixMaterial.hh b/optix/include/gz/rendering/optix/OptixMaterial.hh
index f333de231..1caa50378 100644
--- a/optix/include/gz/rendering/optix/OptixMaterial.hh
+++ b/optix/include/gz/rendering/optix/OptixMaterial.hh
@@ -22,7 +22,7 @@
 #include "gz/rendering/optix/OptixObject.hh"
 #include "gz/rendering/optix/OptixIncludes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixMesh.hh b/optix/include/gz/rendering/optix/OptixMesh.hh
index d7e77335e..a9c777029 100644
--- a/optix/include/gz/rendering/optix/OptixMesh.hh
+++ b/optix/include/gz/rendering/optix/OptixMesh.hh
@@ -24,7 +24,7 @@
 #include "gz/rendering/optix/OptixObject.hh"
 #include "gz/rendering/optix/OptixRenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixMeshFactory.hh b/optix/include/gz/rendering/optix/OptixMeshFactory.hh
index ea8ff688e..fc0681a1a 100644
--- a/optix/include/gz/rendering/optix/OptixMeshFactory.hh
+++ b/optix/include/gz/rendering/optix/OptixMeshFactory.hh
@@ -26,7 +26,7 @@
 #include "gz/rendering/optix/OptixMesh.hh"
 #include "gz/rendering/optix/OptixIncludes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixNode.hh b/optix/include/gz/rendering/optix/OptixNode.hh
index 2a4089948..5deb803e9 100644
--- a/optix/include/gz/rendering/optix/OptixNode.hh
+++ b/optix/include/gz/rendering/optix/OptixNode.hh
@@ -22,7 +22,7 @@
 #include "gz/rendering/optix/OptixRenderTypes.hh"
 #include "gz/rendering/optix/OptixObject.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixObject.hh b/optix/include/gz/rendering/optix/OptixObject.hh
index a76f339c5..6ff746085 100644
--- a/optix/include/gz/rendering/optix/OptixObject.hh
+++ b/optix/include/gz/rendering/optix/OptixObject.hh
@@ -21,7 +21,7 @@
 #include "gz/rendering/optix/OptixRenderTypes.hh"
 #include "gz/rendering/optix/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixPrimitive.hh b/optix/include/gz/rendering/optix/OptixPrimitive.hh
index 81c8ef42e..649690aa2 100644
--- a/optix/include/gz/rendering/optix/OptixPrimitive.hh
+++ b/optix/include/gz/rendering/optix/OptixPrimitive.hh
@@ -20,7 +20,7 @@
 #include <string>
 #include "gz/rendering/optix/OptixGeometry.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixRayTypes.hh b/optix/include/gz/rendering/optix/OptixRayTypes.hh
index bd696a2fa..b46c1ccf6 100644
--- a/optix/include/gz/rendering/optix/OptixRayTypes.hh
+++ b/optix/include/gz/rendering/optix/OptixRayTypes.hh
@@ -20,7 +20,7 @@
 #include <optix.h>
 
 #ifndef __CUDA_ARCH__
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixRenderEngine.hh b/optix/include/gz/rendering/optix/OptixRenderEngine.hh
index 0f9b49fef..05635a883 100644
--- a/optix/include/gz/rendering/optix/OptixRenderEngine.hh
+++ b/optix/include/gz/rendering/optix/OptixRenderEngine.hh
@@ -25,7 +25,7 @@
 #include "gz/rendering/base/BaseRenderEngine.hh"
 #include "gz/rendering/optix/OptixRenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixRenderTarget.hh b/optix/include/gz/rendering/optix/OptixRenderTarget.hh
index 3a96344cf..5beffe443 100644
--- a/optix/include/gz/rendering/optix/OptixRenderTarget.hh
+++ b/optix/include/gz/rendering/optix/OptixRenderTarget.hh
@@ -22,7 +22,7 @@
 #include "gz/rendering/optix/OptixRenderTypes.hh"
 #include "gz/rendering/optix/OptixObject.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixRenderTypes.hh b/optix/include/gz/rendering/optix/OptixRenderTypes.hh
index aceef798d..12202c74f 100644
--- a/optix/include/gz/rendering/optix/OptixRenderTypes.hh
+++ b/optix/include/gz/rendering/optix/OptixRenderTypes.hh
@@ -19,7 +19,7 @@
 
 #include "gz/rendering/base/BaseRenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixScene.hh b/optix/include/gz/rendering/optix/OptixScene.hh
index bba2fcd88..6f94fcff4 100644
--- a/optix/include/gz/rendering/optix/OptixScene.hh
+++ b/optix/include/gz/rendering/optix/OptixScene.hh
@@ -25,7 +25,7 @@
 #include "gz/rendering/optix/OptixIncludes.hh"
 #include "gz/rendering/optix/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixSensor.hh b/optix/include/gz/rendering/optix/OptixSensor.hh
index 18378ef03..7d3f2dc0f 100644
--- a/optix/include/gz/rendering/optix/OptixSensor.hh
+++ b/optix/include/gz/rendering/optix/OptixSensor.hh
@@ -20,7 +20,7 @@
 #include "gz/rendering/base/BaseSensor.hh"
 #include "gz/rendering/optix/OptixNode.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixSphere.hh b/optix/include/gz/rendering/optix/OptixSphere.hh
index 85f8282bd..9b3092413 100644
--- a/optix/include/gz/rendering/optix/OptixSphere.hh
+++ b/optix/include/gz/rendering/optix/OptixSphere.hh
@@ -19,7 +19,7 @@
 
 #include "gz/rendering/optix/OptixPrimitive.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixStorage.hh b/optix/include/gz/rendering/optix/OptixStorage.hh
index c44789aec..0e4fddd21 100644
--- a/optix/include/gz/rendering/optix/OptixStorage.hh
+++ b/optix/include/gz/rendering/optix/OptixStorage.hh
@@ -28,7 +28,7 @@
 #include "gz/rendering/optix/OptixSensor.hh"
 #include "gz/rendering/optix/OptixVisual.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixTextureFactory.hh b/optix/include/gz/rendering/optix/OptixTextureFactory.hh
index a8506d02d..62b1f3b47 100644
--- a/optix/include/gz/rendering/optix/OptixTextureFactory.hh
+++ b/optix/include/gz/rendering/optix/OptixTextureFactory.hh
@@ -22,7 +22,7 @@
 #include "gz/rendering/optix/OptixIncludes.hh"
 #include "gz/rendering/optix/Export.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/optix/include/gz/rendering/optix/OptixVisual.hh b/optix/include/gz/rendering/optix/OptixVisual.hh
index d117a1874..990427f22 100644
--- a/optix/include/gz/rendering/optix/OptixVisual.hh
+++ b/optix/include/gz/rendering/optix/OptixVisual.hh
@@ -21,7 +21,7 @@
 #include "gz/rendering/optix/OptixNode.hh"
 #include "gz/rendering/optix/OptixRenderTypes.hh"
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {
diff --git a/src/RenderingIface.cc b/src/RenderingIface.cc
index 45fb3d312..48b6727ce 100644
--- a/src/RenderingIface.cc
+++ b/src/RenderingIface.cc
@@ -22,7 +22,7 @@
 #include "gz/rendering/RenderEngineManager.hh"
 #include "gz/rendering/Scene.hh"
 
-namespace gz
+namespace ignition
 {
 namespace rendering
 {
diff --git a/src/Utils.cc b/src/Utils.cc
index 91ebb6c95..08e00cb67 100644
--- a/src/Utils.cc
+++ b/src/Utils.cc
@@ -28,7 +28,7 @@
 #include "gz/rendering/RayQuery.hh"
 #include "gz/rendering/Utils.hh"
 
-namespace gz
+namespace ignition
 {
 namespace rendering
 {
diff --git a/test/test_config.h.in b/test/test_config.h.in
index 645f8a69a..d75a726ef 100644
--- a/test/test_config.h.in
+++ b/test/test_config.h.in
@@ -14,7 +14,7 @@ static const std::vector<const char *> kRenderEngineTestValues{"ogre2", "optix"}
 #include <vector>
 #include <gz/common/Util.hh>
 
-namespace gz
+namespace ignition
 {
   namespace rendering
   {