diff --git a/rviz_common/CMakeLists.txt b/rviz_common/CMakeLists.txt
index 506533f41..420519ec6 100644
--- a/rviz_common/CMakeLists.txt
+++ b/rviz_common/CMakeLists.txt
@@ -410,6 +410,7 @@ if(BUILD_TESTING)
     test/interaction/mock_selection_renderer.hpp
     test/interaction/selection_test_fixture.hpp
     test/display_context_fixture.cpp
+    test/ogre_testing_environment.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET selection_manager_test)
     target_link_libraries(selection_manager_test
@@ -423,6 +424,7 @@ if(BUILD_TESTING)
     test/interaction/selection_handler_test.cpp
     test/interaction/selection_test_fixture.hpp
     test/display_context_fixture.cpp
+    test/ogre_testing_environment.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET selection_handler_test)
     target_link_libraries(selection_handler_test
diff --git a/rviz_common/test/display_context_fixture.cpp b/rviz_common/test/display_context_fixture.cpp
index ba9109165..1d7acb3fd 100644
--- a/rviz_common/test/display_context_fixture.cpp
+++ b/rviz_common/test/display_context_fixture.cpp
@@ -37,7 +37,7 @@
 
 void DisplayContextFixture::SetUpTestCase()
 {
-  testing_environment_ = std::make_shared<rviz_rendering::OgreTestingEnvironment>();
+  testing_environment_ = std::make_shared<rviz_common::OgreTestingEnvironment>();
   testing_environment_->setUpOgreTestEnvironment();
 
   scene_manager_ = Ogre::Root::getSingletonPtr()->createSceneManager();
@@ -66,5 +66,5 @@ void DisplayContextFixture::TearDownTestCase()
 }
 
 Ogre::SceneManager * DisplayContextFixture::scene_manager_ = nullptr;
-std::shared_ptr<rviz_rendering::OgreTestingEnvironment>
+std::shared_ptr<rviz_common::OgreTestingEnvironment>
 DisplayContextFixture::testing_environment_ = nullptr;
diff --git a/rviz_common/test/display_context_fixture.hpp b/rviz_common/test/display_context_fixture.hpp
index 4a03ac0c1..afb5b2352 100644
--- a/rviz_common/test/display_context_fixture.hpp
+++ b/rviz_common/test/display_context_fixture.hpp
@@ -43,7 +43,7 @@
 
 #include "rclcpp/clock.hpp"
 
-#include "test/rviz_rendering/ogre_testing_environment.hpp"
+#include "ogre_testing_environment.hpp"
 
 #include "mock_display_context.hpp"
 #include "mock_window_manager_interface.hpp"
@@ -59,7 +59,7 @@ class DisplayContextFixture : public testing::Test
 
   static void TearDownTestCase();
 
-  static std::shared_ptr<rviz_rendering::OgreTestingEnvironment> testing_environment_;
+  static std::shared_ptr<rviz_common::OgreTestingEnvironment> testing_environment_;
   static Ogre::SceneManager * scene_manager_;
 
   std::shared_ptr<MockDisplayContext> context_;
diff --git a/rviz_common/test/ogre_testing_environment.cpp b/rviz_common/test/ogre_testing_environment.cpp
new file mode 100644
index 000000000..3e6459c5b
--- /dev/null
+++ b/rviz_common/test/ogre_testing_environment.cpp
@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2017, Bosch Software Innovations GmbH.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "ogre_testing_environment.hpp"
+
+#include <string>
+
+#include <OgreLogManager.h>
+
+#include "rviz_rendering/render_system.hpp"
+
+namespace rviz_common
+{
+
+void OgreTestingEnvironment::setUpOgreTestEnvironment(bool debug)
+{
+  if (!debug) {
+    const std::string & name = "";
+    auto lm = new Ogre::LogManager();
+    lm->createLog(name, false, debug, true);
+  }
+  setUpRenderSystem();
+}
+
+void OgreTestingEnvironment::setUpRenderSystem()
+{
+  rviz_rendering::RenderSystem::get();
+}
+
+}  // end namespace rviz_common
diff --git a/rviz_common/test/ogre_testing_environment.hpp b/rviz_common/test/ogre_testing_environment.hpp
new file mode 100644
index 000000000..6837217a1
--- /dev/null
+++ b/rviz_common/test/ogre_testing_environment.hpp
@@ -0,0 +1,51 @@
+/*
+ * Copyright (c) 2017, Bosch Software Innovations GmbH.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef OGRE_TESTING_ENVIRONMENT_HPP_
+#define OGRE_TESTING_ENVIRONMENT_HPP_
+
+namespace rviz_common
+{
+class OgreTestingEnvironment
+{
+public:
+  /**
+   * Set up a testing environment to run tests needing Ogre.
+   *
+   * @param: bool debug, if true, all logging of Ogre is send to std::out, if false no logging
+   * occurs. Since the logging pollutes the test output, it defaults to false
+   */
+  void setUpOgreTestEnvironment(bool debug = false);
+
+  void setUpRenderSystem();
+};
+
+}  // namespace rviz_common
+
+#endif  // OGRE_TESTING_ENVIRONMENT_HPP_
diff --git a/rviz_default_plugins/CMakeLists.txt b/rviz_default_plugins/CMakeLists.txt
index 3704fa3a5..f6c48b6c1 100644
--- a/rviz_default_plugins/CMakeLists.txt
+++ b/rviz_default_plugins/CMakeLists.txt
@@ -337,6 +337,8 @@ if(BUILD_TESTING)
   ament_find_gmock()
   add_library(display_test_fixture
     test/rviz_default_plugins/displays/display_test_fixture.cpp
+    test/rviz_default_plugins/ogre_testing_environment.cpp
+    test/rviz_default_plugins/scene_graph_introspection.cpp
   )
   target_include_directories(display_test_fixture PRIVATE ${GMOCK_INCLUDE_DIRS} ${TEST_INCLUDE_DIRS})
   target_link_libraries(display_test_fixture ${GMOCK_LIBRARIES})
@@ -351,7 +353,6 @@ if(BUILD_TESTING)
   ament_add_gmock(fps_view_controller_test
     test/rviz_default_plugins/view_controllers/fps/fps_view_controller_test.cpp
     test/rviz_default_plugins/view_controllers/view_controller_test_fixture.hpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET fps_view_controller_test)
     target_include_directories(fps_view_controller_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -361,7 +362,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(frame_info_test
     test/rviz_default_plugins/displays/tf/frame_info_test.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET frame_info_test)
     target_include_directories(frame_info_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -397,7 +397,6 @@ if(BUILD_TESTING)
     test/rviz_default_plugins/displays/marker/markers/triangle_list_marker_test.cpp
     test/rviz_default_plugins/displays/marker/markers/markers_test_fixture.cpp
     test/rviz_default_plugins/displays/marker/marker_messages.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET marker_test)
     target_include_directories(marker_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -408,7 +407,6 @@ if(BUILD_TESTING)
   ament_add_gmock(marker_common_test
     test/rviz_default_plugins/displays/marker/marker_common_test.cpp
     test/rviz_default_plugins/displays/marker/marker_messages.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET marker_common_test)
     target_include_directories(marker_common_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -418,7 +416,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(map_display_test
     test/rviz_default_plugins/displays/map/map_display_test.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET map_display_test)
     target_include_directories(map_display_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -428,7 +425,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(measure_tool_test
     test/rviz_default_plugins/tools/measure/measure_tool_test.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET measure_tool_test)
     target_include_directories(measure_tool_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -438,7 +434,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(odometry_display_test
     test/rviz_default_plugins/displays/odometry/odometry_display_test.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET odometry_display_test)
     target_include_directories(odometry_display_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -458,7 +453,6 @@ if(BUILD_TESTING)
   ament_add_gmock(orbit_view_controller_test
     test/rviz_default_plugins/view_controllers/orbit/orbit_view_controller_test.cpp
     test/rviz_default_plugins/view_controllers/view_controller_test_fixture.hpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET orbit_view_controller_test)
     target_include_directories(orbit_view_controller_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -469,7 +463,6 @@ if(BUILD_TESTING)
   ament_add_gmock(ortho_view_controller_test
     test/rviz_default_plugins/view_controllers/ortho/ortho_view_controller_test.cpp
     test/rviz_default_plugins/view_controllers/view_controller_test_fixture.hpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET ortho_view_controller_test)
     target_include_directories(ortho_view_controller_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -488,7 +481,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(path_display_test
     test/rviz_default_plugins/displays/path/path_display_test.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET path_display_test)
     target_include_directories(path_display_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -511,7 +503,6 @@ if(BUILD_TESTING)
     test/rviz_default_plugins/pointcloud_messages.hpp
     test/rviz_default_plugins/pointcloud_messages.cpp
     test/rviz_default_plugins/displays/pointcloud/point_cloud_common_test.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET point_cloud_common_test)
     target_include_directories(point_cloud_common_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -546,7 +537,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(point_display_test
     test/rviz_default_plugins/displays/point/point_stamped_display_test.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET point_display_test)
     target_include_directories(point_display_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -556,7 +546,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(pose_array_display_test
     test/rviz_default_plugins/displays/pose_array/pose_array_display_test.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET pose_array_display_test)
     target_include_directories(pose_array_display_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -566,7 +555,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(pose_tool_test
     test/rviz_default_plugins/tools/pose/pose_tool_test.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET pose_tool_test)
     target_include_directories(pose_tool_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -576,7 +564,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(range_display_test
     test/rviz_default_plugins/displays/range/range_display_test.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET range_display_test)
     target_include_directories(range_display_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -616,7 +603,6 @@ if(BUILD_TESTING)
   ament_add_gmock(xy_orbit_view_controller_test
     test/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller_test.cpp
     test/rviz_default_plugins/view_controllers/view_controller_test_fixture.hpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET xy_orbit_view_controller_test)
     target_include_directories(xy_orbit_view_controller_test PUBLIC ${TEST_INCLUDE_DIRS})
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/display_test_fixture.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/display_test_fixture.cpp
index a8687ce21..eb6364b11 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/display_test_fixture.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/display_test_fixture.cpp
@@ -37,7 +37,7 @@
 
 void DisplayTestFixture::SetUpTestCase()
 {
-  testing_environment_ = std::make_shared<rviz_rendering::OgreTestingEnvironment>();
+  testing_environment_ = std::make_shared<rviz_default_plugins::OgreTestingEnvironment>();
   testing_environment_->setUpOgreTestEnvironment();
 
   scene_manager_ = Ogre::Root::getSingletonPtr()->createSceneManager();
@@ -106,5 +106,5 @@ void DisplayTestFixture::mockValidTransform(Ogre::Vector3 position, Ogre::Quater
 }
 
 Ogre::SceneManager * DisplayTestFixture::scene_manager_ = nullptr;
-std::shared_ptr<rviz_rendering::OgreTestingEnvironment>
+std::shared_ptr<rviz_default_plugins::OgreTestingEnvironment>
 DisplayTestFixture::testing_environment_ = nullptr;
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/display_test_fixture.hpp b/rviz_default_plugins/test/rviz_default_plugins/displays/display_test_fixture.hpp
index fd92a1730..d607dcfbd 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/display_test_fixture.hpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/display_test_fixture.hpp
@@ -43,7 +43,7 @@
 
 #include "rclcpp/clock.hpp"
 
-#include "test/rviz_rendering/ogre_testing_environment.hpp"
+#include "../ogre_testing_environment.hpp"
 
 #include "../mock_display_context.hpp"
 #include "../mock_frame_manager.hpp"
@@ -65,7 +65,7 @@ class DisplayTestFixture : public testing::Test
 
   void mockValidTransform(Ogre::Vector3 position, Ogre::Quaternion orientation);
 
-  static std::shared_ptr<rviz_rendering::OgreTestingEnvironment> testing_environment_;
+  static std::shared_ptr<rviz_default_plugins::OgreTestingEnvironment> testing_environment_;
   static Ogre::SceneManager * scene_manager_;
 
   std::shared_ptr<MockDisplayContext> context_;
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/grid_cells/grid_cells_display_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/grid_cells/grid_cells_display_test.cpp
index b264645a0..ca3425ce1 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/grid_cells/grid_cells_display_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/grid_cells/grid_cells_display_test.cpp
@@ -40,9 +40,8 @@
 
 #include "rviz_default_plugins/displays/grid_cells/grid_cells_display.hpp"
 
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
+#include "../../scene_graph_introspection.hpp"
 #include "../display_test_fixture.hpp"
-#include "../../scene_graph_introspection_helper.hpp"
 
 using namespace ::testing;  // NOLINT
 
@@ -97,7 +96,7 @@ TEST_F(GridCellsDisplayFixture, processMessage_with_invalid_transform_returns_ea
   auto msg = createGridCellsMessageWithTwoCells();
   display_->processMessage(msg);
 
-  auto point_clouds = rviz_rendering::findAllPointClouds(scene_manager_->getRootSceneNode());
+  auto point_clouds = rviz_default_plugins::findAllPointClouds(scene_manager_->getRootSceneNode());
   EXPECT_THAT(point_clouds.size(), Eq(1u));
   EXPECT_THAT(point_clouds[0]->getPoints().size(), Eq(0u));
 }
@@ -108,7 +107,7 @@ TEST_F(GridCellsDisplayFixture, processMessage_with_zero_size_does_not_add_messa
   auto msg = createGridCellsMessageWithTwoCells(0, 1);
   display_->processMessage(msg);
 
-  auto point_clouds = rviz_rendering::findAllPointClouds(scene_manager_->getRootSceneNode());
+  auto point_clouds = rviz_default_plugins::findAllPointClouds(scene_manager_->getRootSceneNode());
   EXPECT_THAT(point_clouds.size(), Eq(1u));
   EXPECT_THAT(point_clouds[0]->getPoints().size(), Eq(0u));
 }
@@ -118,7 +117,7 @@ TEST_F(GridCellsDisplayFixture, processMessage_fills_pointcloud_with_correct_gri
   auto msg = createGridCellsMessageWithTwoCells();
   display_->processMessage(msg);
 
-  auto point_clouds = rviz_rendering::findAllPointClouds(scene_manager_->getRootSceneNode());
+  auto point_clouds = rviz_default_plugins::findAllPointClouds(scene_manager_->getRootSceneNode());
   EXPECT_THAT(point_clouds.size(), Eq(1u));
   EXPECT_THAT(point_clouds[0]->getPoints().size(), Eq(2u));
   EXPECT_THAT(
@@ -137,7 +136,7 @@ TEST_F(GridCellsDisplayFixture, processMessage_clears_cloud_on_new_message) {
   auto broken_msg = createGridCellsMessageWithTwoCells(0, 1);
   display_->processMessage(broken_msg);
 
-  auto point_clouds = rviz_rendering::findAllPointClouds(scene_manager_->getRootSceneNode());
+  auto point_clouds = rviz_default_plugins::findAllPointClouds(scene_manager_->getRootSceneNode());
   EXPECT_THAT(point_clouds.size(), Eq(1u));
   EXPECT_THAT(point_clouds[0]->getPoints().size(), Eq(0u));
 }
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/image/image_display_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/image/image_display_test.cpp
index cb9119cab..28f9c49d5 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/image/image_display_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/image/image_display_test.cpp
@@ -36,7 +36,7 @@
 #include <QKeyEvent>  // NOLINT
 #include <OgreRectangle2D.h>  // NOLINT
 
-#include "test/rviz_rendering/ogre_testing_environment.hpp"
+#include "../../ogre_testing_environment.hpp"
 #include "rviz_common/viewport_mouse_event.hpp"
 #include "rviz_common/display_context.hpp"
 #include "rviz_common/panel_dock_widget.hpp"
@@ -56,7 +56,7 @@ class ImageDisplayTestFixture : public Test
 public:
   static void SetUpTestCase()
   {
-    testing_environment_ = std::make_shared<rviz_rendering::OgreTestingEnvironment>();
+    testing_environment_ = std::make_shared<rviz_default_plugins::OgreTestingEnvironment>();
     testing_environment_->setUpOgreTestEnvironment();
   }
 
@@ -71,7 +71,7 @@ class ImageDisplayTestFixture : public Test
     ON_CALL(*context_, getWindowManager()).WillByDefault(Return(window_manager_.get()));
   }
 
-  static std::shared_ptr<rviz_rendering::OgreTestingEnvironment> testing_environment_;
+  static std::shared_ptr<rviz_default_plugins::OgreTestingEnvironment> testing_environment_;
 
   std::unique_ptr<MockROSImageTexture> texture_;
 
@@ -79,7 +79,7 @@ class ImageDisplayTestFixture : public Test
   std::shared_ptr<MockWindowManagerInterface> window_manager_;
 };
 
-std::shared_ptr<rviz_rendering::OgreTestingEnvironment>
+std::shared_ptr<rviz_default_plugins::OgreTestingEnvironment>
 ImageDisplayTestFixture::testing_environment_ = nullptr;
 
 TEST_F(ImageDisplayTestFixture, initialize_adds_render_panel_to_window) {
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/image/ros_image_texture_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/image/ros_image_texture_test.cpp
index a01cd95e5..1bbfc7ea8 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/image/ros_image_texture_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/image/ros_image_texture_test.cpp
@@ -36,7 +36,7 @@
 
 #include "sensor_msgs/image_encodings.hpp"
 
-#include "test/rviz_rendering/ogre_testing_environment.hpp"
+#include "../../ogre_testing_environment.hpp"
 
 #include "rviz_default_plugins/displays/image/ros_image_texture.hpp"
 
@@ -48,14 +48,14 @@ class RosImageTextureTestFixture : public ::testing::Test
 protected:
   static void SetUpTestCase()
   {
-    testing_environment_ = std::make_shared<rviz_rendering::OgreTestingEnvironment>();
+    testing_environment_ = std::make_shared<rviz_default_plugins::OgreTestingEnvironment>();
     testing_environment_->setUpOgreTestEnvironment();
   }
 
-  static std::shared_ptr<rviz_rendering::OgreTestingEnvironment> testing_environment_;
+  static std::shared_ptr<rviz_default_plugins::OgreTestingEnvironment> testing_environment_;
 };
 
-std::shared_ptr<rviz_rendering::OgreTestingEnvironment>
+std::shared_ptr<rviz_default_plugins::OgreTestingEnvironment>
 RosImageTextureTestFixture::testing_environment_ = nullptr;
 
 TEST_F(RosImageTextureTestFixture, constructor_initializes_texture_with_default_image) {
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_test.cpp
index 30b5b4867..dee4cf7ad 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_test.cpp
@@ -39,8 +39,7 @@
 #include <OgreManualObject.h>
 
 #include "rviz_default_plugins/displays/map/map_display.hpp"
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
-#include "../../scene_graph_introspection_helper.hpp"
+#include "../../scene_graph_introspection.hpp"
 #include "../display_test_fixture.hpp"
 
 using namespace ::testing;  // NOLINT
@@ -100,7 +99,7 @@ class MapTestFixture : public DisplayTestFixture
   void expectNoManualObjects()
   {
     map_display_->showMap();
-    auto manual_objects = rviz_rendering::findAllOgreObjectByType<Ogre::ManualObject>(
+    auto manual_objects = rviz_default_plugins::findAllOgreObjectByType<Ogre::ManualObject>(
       scene_manager_->getRootSceneNode(), "ManualObject");
 
     EXPECT_THAT(manual_objects, IsEmpty());
@@ -147,7 +146,7 @@ TEST_F(MapTestFixture, showMap_shows_manual_object_if_current_map_is_valid) {
 
   map_display_->processMessage(createMapMessage());
 
-  auto manual_objects = rviz_rendering::findAllOgreObjectByType<Ogre::ManualObject>(
+  auto manual_objects = rviz_default_plugins::findAllOgreObjectByType<Ogre::ManualObject>(
     scene_manager_->getRootSceneNode(), "ManualObject");
 
   ASSERT_THAT(manual_objects, SizeIs(1));
@@ -170,7 +169,7 @@ TEST_F(MapTestFixture, showMap_defaults_empty_frame_id_to_map) {
   message->header.frame_id = "";
   map_display_->processMessage(message);
 
-  auto manual_objects = rviz_rendering::findAllOgreObjectByType<Ogre::ManualObject>(
+  auto manual_objects = rviz_default_plugins::findAllOgreObjectByType<Ogre::ManualObject>(
     scene_manager_->getRootSceneNode(), "ManualObject");
 
   ASSERT_THAT(manual_objects, SizeIs(1));
@@ -183,7 +182,7 @@ TEST_F(MapTestFixture, showMap_defaults_empty_frame_id_to_map) {
 TEST_F(MapTestFixture, showMap_does_not_display_anything_if_transform_fails) {
   map_display_->processMessage(createMapMessage());
 
-  auto manual_objects = rviz_rendering::findAllOgreObjectByType<Ogre::ManualObject>(
+  auto manual_objects = rviz_default_plugins::findAllOgreObjectByType<Ogre::ManualObject>(
     scene_manager_->getRootSceneNode(), "ManualObject");
 
   ASSERT_THAT(manual_objects, SizeIs(1));
@@ -199,7 +198,7 @@ TEST_F(MapTestFixture, reset_deletes_map) {
 
   map_display_->reset();
 
-  auto manual_objects = rviz_rendering::findAllOgreObjectByType<Ogre::ManualObject>(
+  auto manual_objects = rviz_default_plugins::findAllOgreObjectByType<Ogre::ManualObject>(
     scene_manager_->getRootSceneNode(), "ManualObject");
 
   ASSERT_THAT(manual_objects, SizeIs(0));
@@ -209,7 +208,7 @@ TEST_F(MapTestFixture, createSwatches_creates_more_swatches_if_map_is_too_big) {
   // one dimension is larger than 2^16 --> that's too much for one texture buffer
   map_display_->processMessage(createMapMessage(70000, 50));
 
-  auto manual_objects = rviz_rendering::findAllOgreObjectByType<Ogre::ManualObject>(
+  auto manual_objects = rviz_default_plugins::findAllOgreObjectByType<Ogre::ManualObject>(
     scene_manager_->getRootSceneNode(), "ManualObject");
 
   EXPECT_THAT(manual_objects, SizeIs(2));
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_common_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_common_test.cpp
index cf52ca96a..c9df88b67 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_common_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_common_test.cpp
@@ -51,8 +51,7 @@
 #include "rviz_default_plugins/displays/marker/markers/mesh_resource_marker.hpp"
 #include "rviz_default_plugins/displays/marker/markers/triangle_list_marker.hpp"
 
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
-#include "../../scene_graph_introspection_helper.hpp"
+#include "../../scene_graph_introspection.hpp"
 #include "marker_messages.hpp"
 #include "../display_test_fixture.hpp"
 
@@ -95,7 +94,7 @@ TEST_F(MarkerCommonFixture, processMessage_creates_correct_marker_on_add_type) {
     createSharedPtrMessage(
       visualization_msgs::msg::Marker::ADD, visualization_msgs::msg::Marker::TEXT_VIEW_FACING));
 
-  auto text = rviz_rendering::findOneMovableText(scene_manager_->getRootSceneNode());
+  auto text = rviz_default_plugins::findOneMovableText(scene_manager_->getRootSceneNode());
   ASSERT_TRUE(text);
   EXPECT_THAT(text->getCaption(), StrEq("Displaytext"));
 }
@@ -122,8 +121,8 @@ TEST_F(MarkerCommonFixture, processMessage_deletes_correct_marker_on_delete_type
       visualization_msgs::msg::Marker::TEXT_VIEW_FACING,
       0));
 
-  ASSERT_FALSE(rviz_rendering::findOneMovableText(scene_manager_->getRootSceneNode()));
-  ASSERT_TRUE(rviz_rendering::findOnePointCloud(scene_manager_->getRootSceneNode()));
+  ASSERT_FALSE(rviz_default_plugins::findOneMovableText(scene_manager_->getRootSceneNode()));
+  ASSERT_TRUE(rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode()));
 }
 
 TEST_F(MarkerCommonFixture, processMessage_with_deleteall_deletes_all_markers) {
@@ -147,8 +146,8 @@ TEST_F(MarkerCommonFixture, processMessage_with_deleteall_deletes_all_markers) {
       visualization_msgs::msg::Marker::TEXT_VIEW_FACING,
       3));
 
-  ASSERT_FALSE(rviz_rendering::findOneMovableText(scene_manager_->getRootSceneNode()));
-  ASSERT_FALSE(rviz_rendering::findOnePointCloud(scene_manager_->getRootSceneNode()));
+  ASSERT_FALSE(rviz_default_plugins::findOneMovableText(scene_manager_->getRootSceneNode()));
+  ASSERT_FALSE(rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode()));
 }
 
 TEST_F(MarkerCommonFixture, proccesMessage_add_all_markers_correctly) {
@@ -157,40 +156,40 @@ TEST_F(MarkerCommonFixture, proccesMessage_add_all_markers_correctly) {
   auto marker = createSharedPtrMessage(
     visualization_msgs::msg::Marker::ADD, visualization_msgs::msg::Marker::TEXT_VIEW_FACING);
   common_->processMessage(marker);
-  ASSERT_TRUE(rviz_rendering::findOneMovableText(scene_manager_->getRootSceneNode()));
+  ASSERT_TRUE(rviz_default_plugins::findOneMovableText(scene_manager_->getRootSceneNode()));
 
   common_->deleteAllMarkers();
 
   marker->type = visualization_msgs::msg::Marker::MESH_RESOURCE;
   common_->processMessage(marker);
   ASSERT_TRUE(
-    rviz_rendering::findEntityByMeshName(
+    rviz_default_plugins::findEntityByMeshName(
       scene_manager_->getRootSceneNode(), marker->mesh_resource));
 
   common_->deleteAllMarkers();
 
   marker->type = visualization_msgs::msg::Marker::ARROW;
   common_->processMessage(marker);
-  ASSERT_TRUE(rviz_rendering::findOneArrow(scene_manager_->getRootSceneNode()));
+  ASSERT_TRUE(rviz_default_plugins::findOneArrow(scene_manager_->getRootSceneNode()));
 
   common_->deleteAllMarkers();
 
   marker->type = visualization_msgs::msg::Marker::LINE_LIST;
   common_->processMessage(marker);
-  ASSERT_TRUE(rviz_rendering::findOneBillboardChain(scene_manager_->getRootSceneNode()));
+  ASSERT_TRUE(rviz_default_plugins::findOneBillboardChain(scene_manager_->getRootSceneNode()));
 
   common_->deleteAllMarkers();
 
   marker->type = visualization_msgs::msg::Marker::LINE_STRIP;
   common_->processMessage(marker);
-  ASSERT_TRUE(rviz_rendering::findOneBillboardChain(scene_manager_->getRootSceneNode()));
+  ASSERT_TRUE(rviz_default_plugins::findOneBillboardChain(scene_manager_->getRootSceneNode()));
 
   common_->deleteAllMarkers();
 
   marker->type = visualization_msgs::msg::Marker::CYLINDER;
   common_->processMessage(marker);
   ASSERT_TRUE(
-    rviz_rendering::findEntityByMeshName(
+    rviz_default_plugins::findEntityByMeshName(
       scene_manager_->getRootSceneNode(), "rviz_cylinder.mesh"));
 
   common_->deleteAllMarkers();
@@ -202,7 +201,7 @@ TEST_F(MarkerCommonFixture, proccesMessage_add_all_markers_correctly) {
   marker->type = visualization_msgs::msg::Marker::TRIANGLE_LIST;
   marker->points.push_back(point);
   common_->processMessage(marker);
-  ASSERT_TRUE(rviz_rendering::findOneManualObject(scene_manager_->getRootSceneNode()));
+  ASSERT_TRUE(rviz_default_plugins::findOneManualObject(scene_manager_->getRootSceneNode()));
 
   common_->deleteAllMarkers();
 }
@@ -216,7 +215,7 @@ TEST_F(MarkerCommonFixture, processMessage_adds_two_markers_of_same_type_if_ids_
       visualization_msgs::msg::Marker::ARROW,
       0));
 
-  EXPECT_THAT(rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(1));
+  EXPECT_THAT(rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(1));
 
   common_->processMessage(
     createSharedPtrMessage(
@@ -224,7 +223,7 @@ TEST_F(MarkerCommonFixture, processMessage_adds_two_markers_of_same_type_if_ids_
       visualization_msgs::msg::Marker::ARROW,
       1));
 
-  EXPECT_THAT(rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(2));
+  EXPECT_THAT(rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(2));
 }
 
 TEST_F(
@@ -237,12 +236,12 @@ TEST_F(
 
   common_->processMessage(marker);
 
-  EXPECT_THAT(rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(1));
+  EXPECT_THAT(rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(1));
 
   marker->ns = "new_ns";
   common_->processMessage(marker);
 
-  EXPECT_THAT(rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(2));
+  EXPECT_THAT(rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(2));
 }
 
 TEST_F(MarkerCommonFixture, processMessage_does_not_create_new_marker_if_id_already_exists) {
@@ -254,7 +253,7 @@ TEST_F(MarkerCommonFixture, processMessage_does_not_create_new_marker_if_id_alre
       visualization_msgs::msg::Marker::ARROW,
       0));
 
-  EXPECT_THAT(rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(1));
+  EXPECT_THAT(rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(1));
 
   common_->processMessage(
     createSharedPtrMessage(
@@ -262,7 +261,7 @@ TEST_F(MarkerCommonFixture, processMessage_does_not_create_new_marker_if_id_alre
       visualization_msgs::msg::Marker::ARROW,
       0));
 
-  EXPECT_THAT(rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(1));
+  EXPECT_THAT(rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(1));
 }
 
 TEST_F(MarkerCommonFixture, processMessage_updates_modified_marker) {
@@ -272,14 +271,14 @@ TEST_F(MarkerCommonFixture, processMessage_updates_modified_marker) {
     visualization_msgs::msg::Marker::ADD, visualization_msgs::msg::Marker::TEXT_VIEW_FACING);
   common_->processMessage(marker);
 
-  auto before_update = rviz_rendering::findOneMovableText(scene_manager_->getRootSceneNode());
+  auto before_update = rviz_default_plugins::findOneMovableText(scene_manager_->getRootSceneNode());
   ASSERT_TRUE(before_update);
   EXPECT_THAT(before_update->getCaption(), StrEq(marker->text));
 
   marker->text = "New text";
   common_->processMessage(marker);
 
-  auto after_update = rviz_rendering::findOneMovableText(scene_manager_->getRootSceneNode());
+  auto after_update = rviz_default_plugins::findOneMovableText(scene_manager_->getRootSceneNode());
   ASSERT_TRUE(after_update);
   EXPECT_THAT(after_update->getCaption(), StrEq("New text"));
 }
@@ -293,7 +292,7 @@ TEST_F(MarkerCommonFixture, processMessage_using_modify_works_like_add) {
       visualization_msgs::msg::Marker::ARROW,
       0));
 
-  EXPECT_THAT(rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(1));
+  EXPECT_THAT(rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(1));
 
   common_->processMessage(
     createSharedPtrMessage(
@@ -301,7 +300,7 @@ TEST_F(MarkerCommonFixture, processMessage_using_modify_works_like_add) {
       visualization_msgs::msg::Marker::ARROW,
       0));
 
-  EXPECT_THAT(rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(1));
+  EXPECT_THAT(rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(1));
 }
 
 TEST_F(MarkerCommonFixture, update_retransforms_frame_locked_messages) {
@@ -330,7 +329,7 @@ TEST_F(MarkerCommonFixture, update_retransforms_frame_locked_messages) {
 
   common_->processMessage(marker);
 
-  auto pointCloud = rviz_rendering::findOnePointCloud(scene_manager_->getRootSceneNode());
+  auto pointCloud = rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode());
   ASSERT_TRUE(pointCloud);
   EXPECT_THAT(pointCloud->getParentSceneNode()->getPosition(), Vector3Eq(starting_position));
   EXPECT_THAT(
@@ -364,7 +363,7 @@ TEST_F(MarkerCommonFixture, update_does_not_retransform_normal_messages) {
 
   common_->processMessage(marker);
 
-  auto pointCloud = rviz_rendering::findOnePointCloud(scene_manager_->getRootSceneNode());
+  auto pointCloud = rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode());
   ASSERT_TRUE(pointCloud);
   EXPECT_THAT(pointCloud->getParentSceneNode()->getPosition(), Vector3Eq(starting_position));
   EXPECT_THAT(
@@ -427,15 +426,15 @@ TEST_F(MarkerCommonFixture, onEnableChanged_in_namespace_removes_all_markers_in_
   marker->ns = "new_ns";
   common_->processMessage(marker);
 
-  EXPECT_TRUE(rviz_rendering::findOnePointCloud(scene_manager_->getRootSceneNode()));
-  EXPECT_TRUE(rviz_rendering::findOneMovableText(scene_manager_->getRootSceneNode()));
+  EXPECT_TRUE(rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode()));
+  EXPECT_TRUE(rviz_default_plugins::findOneMovableText(scene_manager_->getRootSceneNode()));
 
   auto namespace_property = dynamic_cast<rviz_default_plugins::displays::MarkerNamespace *>(
     display_->findProperty("Namespaces")->childAt(0));
   namespace_property->setValue(false);
 
-  EXPECT_FALSE(rviz_rendering::findOnePointCloud(scene_manager_->getRootSceneNode()));
-  EXPECT_TRUE(rviz_rendering::findOneMovableText(scene_manager_->getRootSceneNode()));
+  EXPECT_FALSE(rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode()));
+  EXPECT_TRUE(rviz_default_plugins::findOneMovableText(scene_manager_->getRootSceneNode()));
 }
 
 TEST_F(MarkerCommonFixture, processMessage_does_not_add_message_with_disabled_namespace) {
@@ -447,7 +446,7 @@ TEST_F(MarkerCommonFixture, processMessage_does_not_add_message_with_disabled_na
   // this is necessary to initialize namespace as we don't load a config
   common_->processMessage(marker);
 
-  EXPECT_TRUE(rviz_rendering::findOnePointCloud(scene_manager_->getRootSceneNode()));
+  EXPECT_TRUE(rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode()));
 
   auto namespace_property = dynamic_cast<rviz_default_plugins::displays::MarkerNamespace *>(
     display_->findProperty("Namespaces")->childAt(0));
@@ -456,6 +455,6 @@ TEST_F(MarkerCommonFixture, processMessage_does_not_add_message_with_disabled_na
   marker->type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;
   common_->processMessage(marker);
 
-  EXPECT_FALSE(rviz_rendering::findOnePointCloud(scene_manager_->getRootSceneNode()));
-  EXPECT_FALSE(rviz_rendering::findOneMovableText(scene_manager_->getRootSceneNode()));
+  EXPECT_FALSE(rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode()));
+  EXPECT_FALSE(rviz_default_plugins::findOneMovableText(scene_manager_->getRootSceneNode()));
 }
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/arrow_marker_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/arrow_marker_test.cpp
index af9281fad..6527bd34c 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/arrow_marker_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/arrow_marker_test.cpp
@@ -43,7 +43,7 @@
 
 #include "rviz_default_plugins/displays/marker/markers/arrow_marker.hpp"
 
-#include "../../../scene_graph_introspection_helper.hpp"
+#include "../../../scene_graph_introspection.hpp"
 #include "markers_test_fixture.hpp"
 #include "../marker_messages.hpp"
 
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/line_marker_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/line_marker_test.cpp
index 047fd0cc4..cfb82ab47 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/line_marker_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/line_marker_test.cpp
@@ -42,8 +42,7 @@
 #include "rviz_default_plugins/displays/marker/markers/line_list_marker.hpp"
 #include "rviz_default_plugins/displays/marker/markers/line_strip_marker.hpp"
 
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
-#include "../../../scene_graph_introspection_helper.hpp"
+#include "../../../scene_graph_introspection.hpp"
 #include "markers_test_fixture.hpp"
 #include "../marker_messages.hpp"
 
@@ -64,7 +63,7 @@ TEST_F(MarkersTestFixture, setMessage_does_not_add_anything_when_no_points_are_p
 
   marker_->setMessage(createDefaultMessage(visualization_msgs::msg::Marker::LINE_LIST));
 
-  auto billboard_chain = rviz_rendering::findOneBillboardChain(
+  auto billboard_chain = rviz_default_plugins::findOneBillboardChain(
     scene_manager_->getRootSceneNode());
   ASSERT_TRUE(billboard_chain);
   ASSERT_TRUE(billboard_chain->isVisible());
@@ -81,7 +80,8 @@ TEST_F(MarkersTestFixture, setMessage_sets_billboard_line_invisible_when_transfo
 
   marker_->setMessage(createDefaultMessage(visualization_msgs::msg::Marker::LINE_LIST));
 
-  auto billboard_chain = rviz_rendering::findOneBillboardChain(scene_manager_->getRootSceneNode());
+  auto billboard_chain = rviz_default_plugins::findOneBillboardChain(
+    scene_manager_->getRootSceneNode());
   ASSERT_TRUE(billboard_chain);
   EXPECT_FALSE(billboard_chain->isVisible());
 }
@@ -105,7 +105,8 @@ TEST_F(MarkersTestFixture, setMessage_does_not_show_billboard_line_if_uneven_num
 
   marker_->setMessage(message);
 
-  auto billboard_chain = rviz_rendering::findOneBillboardChain(scene_manager_->getRootSceneNode());
+  auto billboard_chain = rviz_default_plugins::findOneBillboardChain(
+    scene_manager_->getRootSceneNode());
   ASSERT_TRUE(billboard_chain);
   EXPECT_TRUE(billboard_chain->isVisible());
   EXPECT_THAT(billboard_chain->getNumberOfChains(), Eq(1u));
@@ -123,7 +124,8 @@ TEST_F(MarkersTestFixture, setMessage_clears_marker_upon_new_message) {
 
   marker_->setMessage(createDefaultMessage(visualization_msgs::msg::Marker::LINE_LIST));
 
-  auto billboard_chain = rviz_rendering::findOneBillboardChain(scene_manager_->getRootSceneNode());
+  auto billboard_chain = rviz_default_plugins::findOneBillboardChain(
+    scene_manager_->getRootSceneNode());
   ASSERT_TRUE(billboard_chain);
   EXPECT_TRUE(billboard_chain->isVisible());
   EXPECT_THAT(billboard_chain->getNumberOfChains(), Eq(1u));
@@ -143,7 +145,8 @@ TEST_F(MarkersTestFixture, setMessage_adds_billboard_line_with_one_color) {
 
   marker_->setMessage(message);
 
-  auto billboard_chain = rviz_rendering::findOneBillboardChain(scene_manager_->getRootSceneNode());
+  auto billboard_chain = rviz_default_plugins::findOneBillboardChain(
+    scene_manager_->getRootSceneNode());
   ASSERT_TRUE(billboard_chain);
   EXPECT_TRUE(billboard_chain->isVisible());
   EXPECT_THAT(billboard_chain->getNumberOfChains(), Eq(1u));
@@ -177,7 +180,8 @@ TEST_F(
 
   marker_->setMessage(message);
 
-  auto billboard_chain = rviz_rendering::findOneBillboardChain(scene_manager_->getRootSceneNode());
+  auto billboard_chain = rviz_default_plugins::findOneBillboardChain(
+    scene_manager_->getRootSceneNode());
   ASSERT_TRUE(billboard_chain);
   EXPECT_TRUE(billboard_chain->isVisible());
   EXPECT_THAT(billboard_chain->getNumberOfChains(), Eq(1u));
@@ -202,7 +206,8 @@ TEST_F(MarkersTestFixture, setMessage_shows_billboard_strip_for_uneven_number_of
 
   marker_->setMessage(message);
 
-  auto billboard_chain = rviz_rendering::findOneBillboardChain(scene_manager_->getRootSceneNode());
+  auto billboard_chain = rviz_default_plugins::findOneBillboardChain(
+    scene_manager_->getRootSceneNode());
   ASSERT_TRUE(billboard_chain);
   EXPECT_TRUE(billboard_chain->isVisible());
   EXPECT_THAT(billboard_chain->getNumberOfChains(), Eq(1u));
@@ -222,7 +227,8 @@ TEST_F(MarkersTestFixture, setMessage_adds_many_points_into_same_chain) {
 
   marker_->setMessage(message);
 
-  auto billboard_chain = rviz_rendering::findOneBillboardChain(scene_manager_->getRootSceneNode());
+  auto billboard_chain = rviz_default_plugins::findOneBillboardChain(
+    scene_manager_->getRootSceneNode());
   ASSERT_TRUE(billboard_chain);
   EXPECT_TRUE(billboard_chain->isVisible());
   EXPECT_THAT(billboard_chain->getNumberOfChains(), Eq(1u));
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/markers_test_fixture.hpp b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/markers_test_fixture.hpp
index fc688459b..24c8b2a4a 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/markers_test_fixture.hpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/markers_test_fixture.hpp
@@ -42,7 +42,7 @@
 
 #include <QApplication>  // NOLINT
 
-#include "test/rviz_rendering/ogre_testing_environment.hpp"
+#include "../../../ogre_testing_environment.hpp"
 #include "../../display_test_fixture.hpp"
 #include "../../../mock_display_context.hpp"
 #include "../../../mock_frame_manager.hpp"
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/mesh_resource_marker_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/mesh_resource_marker_test.cpp
index 08852653a..87c95be52 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/mesh_resource_marker_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/mesh_resource_marker_test.cpp
@@ -44,8 +44,7 @@
 
 #include "rviz_default_plugins/displays/marker/markers/mesh_resource_marker.hpp"
 
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
-#include "../../../scene_graph_introspection_helper.hpp"
+#include "../../../scene_graph_introspection.hpp"
 #include "markers_test_fixture.hpp"
 #include "../marker_messages.hpp"
 
@@ -60,7 +59,7 @@ TEST_F(MarkersTestFixture, setMessage_with_no_transform_makes_node_invisible) {
 
   marker_->setMessage(message);
 
-  auto entity = rviz_rendering::findEntityByMeshName(
+  auto entity = rviz_default_plugins::findEntityByMeshName(
     scene_manager_->getRootSceneNode(), message.mesh_resource);
   ASSERT_TRUE(entity);
   EXPECT_FALSE(entity->isVisible());
@@ -74,7 +73,7 @@ TEST_F(MarkersTestFixture, setMessage_with_transform_sets_position_and_orientati
 
   marker_->setMessage(message);
 
-  auto entity = rviz_rendering::findEntityByMeshName(
+  auto entity = rviz_default_plugins::findEntityByMeshName(
     scene_manager_->getRootSceneNode(), message.mesh_resource);
   ASSERT_TRUE(entity);
   EXPECT_TRUE(entity->isVisible());
@@ -93,7 +92,7 @@ TEST_F(MarkersTestFixture, setMessage_does_not_attach_entity_when_mesh_is_missin
 
   marker_->setMessage(message);
 
-  auto entity = rviz_rendering::findEntityByMeshName(
+  auto entity = rviz_default_plugins::findEntityByMeshName(
     scene_manager_->getRootSceneNode(), message.mesh_resource);
   ASSERT_FALSE(entity);
 }
@@ -108,7 +107,7 @@ TEST_F(MarkersTestFixture, setMessage_does_not_attache_entity_when_no_mesh_attac
 
   marker_->setMessage(message);
 
-  auto entity = rviz_rendering::findEntityByMeshName(
+  auto entity = rviz_default_plugins::findEntityByMeshName(
     scene_manager_->getRootSceneNode(), message.mesh_resource);
   ASSERT_FALSE(entity);
 }
@@ -123,7 +122,7 @@ TEST_F(MarkersTestFixture, setMessage_attaches_default_material_to_correct_mesh)
 
   marker_->setMessage(message);
 
-  auto entity = rviz_rendering::findEntityByMeshName(
+  auto entity = rviz_default_plugins::findEntityByMeshName(
     scene_manager_->getRootSceneNode(), message.mesh_resource);
   ASSERT_TRUE(entity);
   EXPECT_THAT(entity->getMesh()->getName(), StrEq(message.mesh_resource));
@@ -142,7 +141,7 @@ TEST_F(MarkersTestFixture, setMessage_initially_sets_color_correctly) {
 
   marker_->setMessage(message);
 
-  auto entity = rviz_rendering::findEntityByMeshName(
+  auto entity = rviz_default_plugins::findEntityByMeshName(
     scene_manager_->getRootSceneNode(), message.mesh_resource);
   ASSERT_TRUE(entity);
   EXPECT_THAT(
@@ -162,7 +161,7 @@ TEST_F(MarkersTestFixture, setMessage_changes_color_on_new_message_changing_colo
   message.color.b = 0.0f;
   marker_->setMessage(message);
 
-  auto entity = rviz_rendering::findEntityByMeshName(
+  auto entity = rviz_default_plugins::findEntityByMeshName(
     scene_manager_->getRootSceneNode(), message.mesh_resource);
   ASSERT_TRUE(entity);
   EXPECT_THAT(
@@ -178,7 +177,7 @@ TEST_F(MarkersTestFixture, setMessage_uses_cloned_materials_to_make_selection_wo
 
   marker_->setMessage(message);
 
-  auto entity = rviz_rendering::findEntityByMeshName(
+  auto entity = rviz_default_plugins::findEntityByMeshName(
     scene_manager_->getRootSceneNode(), message.mesh_resource);
   ASSERT_TRUE(entity);
   auto entity_material_name = entity->getSubEntity(0)->getMaterialName();
@@ -196,7 +195,7 @@ TEST_F(MarkersTestFixture, setMessage_with_new_object_clears_old_entities_and_ma
   marker_->setMessage(message);
 
   // get everything that needs to be deleted later on
-  auto entity = rviz_rendering::findEntityByMeshName(
+  auto entity = rviz_default_plugins::findEntityByMeshName(
     scene_manager_->getRootSceneNode(), message.mesh_resource);
   ASSERT_TRUE(entity);
   EXPECT_EQ(1u, marker_->getMaterials().size());
@@ -207,7 +206,7 @@ TEST_F(MarkersTestFixture, setMessage_with_new_object_clears_old_entities_and_ma
   marker_->setMessage(message);
 
   // entity and material are cleaned up
-  auto deleted_entity = rviz_rendering::findEntityByMeshName(
+  auto deleted_entity = rviz_default_plugins::findEntityByMeshName(
     scene_manager_->getRootSceneNode(), "package://rviz_default_plugins/test_meshes/pr2-base.dae");
   ASSERT_FALSE(deleted_entity);
   EXPECT_FALSE(
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/points_marker_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/points_marker_test.cpp
index 6a9e250eb..26038a18b 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/points_marker_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/points_marker_test.cpp
@@ -37,8 +37,7 @@
 
 #include "rviz_default_plugins/displays/marker/markers/points_marker.hpp"
 
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
-#include "../../../scene_graph_introspection_helper.hpp"
+#include "../../../scene_graph_introspection.hpp"
 #include "markers_test_fixture.hpp"
 #include "../marker_messages.hpp"
 
@@ -50,7 +49,7 @@ TEST_F(MarkersTestFixture, setMessage_makes_the_point_cloud_node_invisible_if_in
 
   marker_->setMessage(createDefaultMessage(visualization_msgs::msg::Marker::POINTS));
 
-  auto point_cloud = rviz_rendering::findOnePointCloud(scene_manager_->getRootSceneNode());
+  auto point_cloud = rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode());
   EXPECT_FALSE(point_cloud->isVisible());
 }
 
@@ -60,7 +59,7 @@ TEST_F(MarkersTestFixture, setMessage_sets_points_correctly) {
 
   marker_->setMessage(createMessageWithPoints(visualization_msgs::msg::Marker::SPHERE_LIST));
 
-  auto point_cloud = rviz_rendering::findOnePointCloud(scene_manager_->getRootSceneNode());
+  auto point_cloud = rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode());
   float expected_bounding_radius = 2.236068f;
   EXPECT_TRUE(point_cloud->isVisible());
   EXPECT_THAT(point_cloud->getBoundingRadius(), FloatEq(expected_bounding_radius));
@@ -81,7 +80,7 @@ TEST_F(MarkersTestFixture, setMessage_sets_single_color_correctly) {
   mockValidTransform();
 
   marker_->setMessage(createMessageWithPoints(visualization_msgs::msg::Marker::SPHERE_LIST));
-  auto point_cloud = rviz_rendering::findOnePointCloud(scene_manager_->getRootSceneNode());
+  auto point_cloud = rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode());
 
   Ogre::ColourValue expected_color(0.0f, 1.0f, 1.0f, 1.0f);
   EXPECT_THAT(point_cloud->getPoints()[0].color, Eq(expected_color));
@@ -93,7 +92,7 @@ TEST_F(MarkersTestFixture, setMessage_sets_per_point_color_correctly) {
   mockValidTransform();
 
   marker_->setMessage(createMessageWithColorPerPoint(visualization_msgs::msg::Marker::POINTS));
-  auto point_cloud = rviz_rendering::findOnePointCloud(scene_manager_->getRootSceneNode());
+  auto point_cloud = rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode());
 
   EXPECT_THAT(point_cloud->getPoints()[0].color, Eq(Ogre::ColourValue(1.0f, 0.0f, 0.5f, 0.5f)));
   EXPECT_THAT(point_cloud->getPoints()[1].color, Eq(Ogre::ColourValue(0.5f, 0.6f, 0.0f, 0.3f)));
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/shape_marker_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/shape_marker_test.cpp
index 1e23e8c37..9808b2733 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/shape_marker_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/shape_marker_test.cpp
@@ -42,8 +42,7 @@
 
 #include "rviz_default_plugins/displays/marker/markers/shape_marker.hpp"
 
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
-#include "../../../scene_graph_introspection_helper.hpp"
+#include "../../../scene_graph_introspection.hpp"
 #include "markers_test_fixture.hpp"
 #include "../marker_messages.hpp"
 
@@ -56,7 +55,7 @@ TEST_F(MarkersTestFixture, no_transform_does_not_try_to_set_scene_node) {
 
   marker_->setMessage(createDefaultMessage(visualization_msgs::msg::Marker::CUBE));
 
-  auto entity = rviz_rendering::findEntityByMeshName(
+  auto entity = rviz_default_plugins::findEntityByMeshName(
     scene_manager_->getRootSceneNode(), "rviz_cube.mesh");
   ASSERT_FALSE(entity->isVisible());
 }
@@ -73,7 +72,7 @@ TEST_F(MarkersTestFixture, positions_and_orientations_are_set_correctly) {
   EXPECT_THAT(marker_->getPosition(), Vector3Eq(position));
   EXPECT_THAT(marker_->getOrientation(), QuaternionEq(Ogre::Quaternion(0, 0, 0.7071f, -0.7071f)));
 
-  auto entity = rviz_rendering::findEntityByMeshName(
+  auto entity = rviz_default_plugins::findEntityByMeshName(
     scene_manager_->getRootSceneNode(), "rviz_cube.mesh");
 
   auto shape_scene_node = entity
@@ -90,18 +89,18 @@ TEST_F(MarkersTestFixture, different_types_result_in_different_meshes) {
 
   marker_->setMessage(createDefaultMessage(visualization_msgs::msg::Marker::SPHERE));
 
-  auto cylinder_entity = rviz_rendering::findEntityByMeshName(
+  auto cylinder_entity = rviz_default_plugins::findEntityByMeshName(
     scene_manager_->getRootSceneNode(), "rviz_cylinder.mesh");
-  auto sphere_entity = rviz_rendering::findEntityByMeshName(
+  auto sphere_entity = rviz_default_plugins::findEntityByMeshName(
     scene_manager_->getRootSceneNode(), "rviz_sphere.mesh");
   EXPECT_FALSE(cylinder_entity);
   EXPECT_TRUE(sphere_entity);
 
   marker_->setMessage(createDefaultMessage(visualization_msgs::msg::Marker::CYLINDER));
 
-  cylinder_entity = rviz_rendering::findEntityByMeshName(
+  cylinder_entity = rviz_default_plugins::findEntityByMeshName(
     scene_manager_->getRootSceneNode(), "rviz_cylinder.mesh");
-  sphere_entity = rviz_rendering::findEntityByMeshName(
+  sphere_entity = rviz_default_plugins::findEntityByMeshName(
     scene_manager_->getRootSceneNode(), "rviz_sphere.mesh");
   EXPECT_TRUE(cylinder_entity);
   EXPECT_FALSE(sphere_entity);
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/text_view_facing_marker_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/text_view_facing_marker_test.cpp
index 7514a215c..8a86a2d8c 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/text_view_facing_marker_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/text_view_facing_marker_test.cpp
@@ -42,8 +42,7 @@
 
 #include "rviz_default_plugins/displays/marker/markers/text_view_facing_marker.hpp"
 
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
-#include "../../../scene_graph_introspection_helper.hpp"
+#include "../../../scene_graph_introspection.hpp"
 #include "markers_test_fixture.hpp"
 #include "../marker_messages.hpp"
 
@@ -55,7 +54,7 @@ TEST_F(MarkersTestFixture, setMessage_sets_object_invisible_when_transform_fails
 
   marker_->setMessage(createDefaultMessage(visualization_msgs::msg::Marker::TEXT_VIEW_FACING));
 
-  auto movable_text = rviz_rendering::findOneMovableText(scene_manager_->getRootSceneNode());
+  auto movable_text = rviz_default_plugins::findOneMovableText(scene_manager_->getRootSceneNode());
   ASSERT_TRUE(movable_text);
 
   EXPECT_FALSE(movable_text->isVisible());
@@ -69,7 +68,7 @@ TEST_F(MarkersTestFixture, setMessage_sets_correct_caption_for_valid_message) {
   message.text = "Message to display";
   marker_->setMessage(message);
 
-  auto movable_text = rviz_rendering::findOneMovableText(scene_manager_->getRootSceneNode());
+  auto movable_text = rviz_default_plugins::findOneMovableText(scene_manager_->getRootSceneNode());
   ASSERT_TRUE(movable_text);
   EXPECT_TRUE(movable_text->isVisible());
   EXPECT_THAT(movable_text->getCaption(), StrEq(message.text));
@@ -83,7 +82,7 @@ TEST_F(MarkersTestFixture, setMessage_sets_correct_transformation_for_valid_mess
   message.text = "Message to display";
   marker_->setMessage(message);
 
-  auto movable_text = rviz_rendering::findOneMovableText(scene_manager_->getRootSceneNode());
+  auto movable_text = rviz_default_plugins::findOneMovableText(scene_manager_->getRootSceneNode());
   ASSERT_TRUE(movable_text);
   EXPECT_THAT(movable_text->getParentSceneNode()->getPosition(), Vector3Eq(Ogre::Vector3(0, 1, 0)));
   EXPECT_THAT(movable_text->getCharacterHeight(), Eq(message.scale.z));
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/triangle_list_marker_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/triangle_list_marker_test.cpp
index 87f95b7d0..b916e4c6f 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/triangle_list_marker_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/triangle_list_marker_test.cpp
@@ -42,8 +42,7 @@
 
 #include "rviz_default_plugins/displays/marker/markers/triangle_list_marker.hpp"
 
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
-#include "../../../scene_graph_introspection_helper.hpp"
+#include "../../../scene_graph_introspection.hpp"
 #include "markers_test_fixture.hpp"
 #include "../marker_messages.hpp"
 
@@ -58,7 +57,7 @@ TEST_F(MarkersTestFixture, setMessage_does_nothing_on_wrong_number_of_points) {
 
   marker_->setMessage(message);
 
-  auto object = rviz_rendering::findOneManualObject(scene_manager_->getRootSceneNode());
+  auto object = rviz_default_plugins::findOneManualObject(scene_manager_->getRootSceneNode());
   ASSERT_FALSE(object);
 }
 
@@ -74,7 +73,7 @@ TEST_F(MarkersTestFixture, setMessage_does_not_set_scene_node_without_transform)
 
   marker_->setMessage(message);
 
-  auto object = rviz_rendering::findOneManualObject(scene_manager_->getRootSceneNode());
+  auto object = rviz_default_plugins::findOneManualObject(scene_manager_->getRootSceneNode());
   ASSERT_FALSE(object->isVisible());
 }
 
@@ -90,6 +89,6 @@ TEST_F(MarkersTestFixture, setMessage_adds_new_object_on_correct_message) {
 
   marker_->setMessage(message);
 
-  auto object = rviz_rendering::findOneManualObject(scene_manager_->getRootSceneNode());
+  auto object = rviz_default_plugins::findOneManualObject(scene_manager_->getRootSceneNode());
   ASSERT_TRUE(object);
 }
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/odometry/odometry_display_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/odometry/odometry_display_test.cpp
index 604d64eed..8596bc509 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/odometry/odometry_display_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/odometry/odometry_display_test.cpp
@@ -40,8 +40,7 @@
 
 #include "rviz_default_plugins/displays/odometry/odometry_display.hpp"
 #include "../display_test_fixture.hpp"
-#include "../../scene_graph_introspection_helper.hpp"
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
+#include "../../scene_graph_introspection.hpp"
 
 using namespace ::testing;  // NOLINT
 
@@ -109,8 +108,8 @@ TEST_F(OdometryDisplayFixture, processMessage_returns_early_if_message_has_inval
 
   display_->processMessage(invalid_pose_message);
 
-  auto arrows = rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode());
-  auto axes = rviz_rendering::findAllAxes(scene_manager_->getRootSceneNode());
+  auto arrows = rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode());
+  auto axes = rviz_default_plugins::findAllAxes(scene_manager_->getRootSceneNode());
   EXPECT_THAT(arrows, IsEmpty());
   EXPECT_THAT(axes, IsEmpty());
 }
@@ -123,8 +122,8 @@ TEST_F(OdometryDisplayFixture, processMessage_returns_early_if_message_has_inval
 
   display_->processMessage(invalid_orientation_message);
 
-  auto arrows = rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode());
-  auto axes = rviz_rendering::findAllAxes(scene_manager_->getRootSceneNode());
+  auto arrows = rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode());
+  auto axes = rviz_default_plugins::findAllAxes(scene_manager_->getRootSceneNode());
   EXPECT_THAT(arrows, IsEmpty());
   EXPECT_THAT(axes, IsEmpty());
 }
@@ -135,8 +134,8 @@ TEST_F(OdometryDisplayFixture, processMessage_returns_early_if_transform_is_miss
 
   display_->processMessage(odometry_message);
 
-  auto arrows = rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode());
-  auto axes = rviz_rendering::findAllAxes(scene_manager_->getRootSceneNode());
+  auto arrows = rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode());
+  auto axes = rviz_default_plugins::findAllAxes(scene_manager_->getRootSceneNode());
   EXPECT_THAT(arrows, IsEmpty());
   EXPECT_THAT(axes, IsEmpty());
 }
@@ -147,8 +146,8 @@ TEST_F(
   mockValidTransform();
   auto odometry_message = createOdometryMessage();
   display_->processMessage(odometry_message);
-  auto arrows = rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode());
-  auto axes = rviz_rendering::findAllAxes(scene_manager_->getRootSceneNode());
+  auto arrows = rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode());
+  auto axes = rviz_default_plugins::findAllAxes(scene_manager_->getRootSceneNode());
   ASSERT_THAT(arrows, SizeIs(1));
   ASSERT_THAT(axes, SizeIs(1));
   arrows[0]->removeAllChildren();
@@ -156,8 +155,8 @@ TEST_F(
 
   display_->processMessage(odometry_message);
 
-  arrows = rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode());
-  axes = rviz_rendering::findAllAxes(scene_manager_->getRootSceneNode());
+  arrows = rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode());
+  axes = rviz_default_plugins::findAllAxes(scene_manager_->getRootSceneNode());
   EXPECT_THAT(arrows, IsEmpty());
   EXPECT_THAT(axes, IsEmpty());
 }
@@ -172,8 +171,8 @@ TEST_F(OdometryDisplayFixture, processMessage_sets_arrow_and_axes_according_to_m
 
   display_->processMessage(odometry_message);
 
-  auto arrows = rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode());
-  auto axes = rviz_rendering::findAllAxes(scene_manager_->getRootSceneNode());
+  auto arrows = rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode());
+  auto axes = rviz_default_plugins::findAllAxes(scene_manager_->getRootSceneNode());
   ASSERT_THAT(arrows, SizeIs(1));
   ASSERT_THAT(axes, SizeIs(1));
   EXPECT_THAT(arrows[0]->getPosition(), Vector3Eq(Ogre::Vector3(0, 1, 0)));
@@ -193,10 +192,10 @@ TEST_F(
 
   EXPECT_TRUE(
     rviz_default_plugins::arrowIsVisible(
-      rviz_rendering::findOneArrow(scene_manager_->getRootSceneNode())));
+      rviz_default_plugins::findOneArrow(scene_manager_->getRootSceneNode())));
   EXPECT_FALSE(
     rviz_default_plugins::axesAreVisible(
-      rviz_rendering::findOneAxes(scene_manager_->getRootSceneNode())));
+      rviz_default_plugins::findOneAxes(scene_manager_->getRootSceneNode())));
 
   shape_property->setString("Axes");
   odometry_message->pose.pose.position.x = 35;
@@ -204,10 +203,10 @@ TEST_F(
 
   EXPECT_FALSE(
     rviz_default_plugins::arrowIsVisible(
-      rviz_rendering::findOneArrow(scene_manager_->getRootSceneNode())));
+      rviz_default_plugins::findOneArrow(scene_manager_->getRootSceneNode())));
   EXPECT_TRUE(
     rviz_default_plugins::axesAreVisible(
-      rviz_rendering::findOneAxes(scene_manager_->getRootSceneNode())));
+      rviz_default_plugins::findOneAxes(scene_manager_->getRootSceneNode())));
 }
 
 TEST_F(OdometryDisplayFixture, processMessage_sets_covariance_visual_according_to_message) {
@@ -218,7 +217,7 @@ TEST_F(OdometryDisplayFixture, processMessage_sets_covariance_visual_according_t
 
   display_->processMessage(odometry_message);
 
-  auto all_spheres = rviz_rendering::findAllSpheres(scene_manager_->getRootSceneNode());
+  auto all_spheres = rviz_default_plugins::findAllSpheres(scene_manager_->getRootSceneNode());
   ASSERT_THAT(all_spheres, SizeIs(1));
   auto sphere_scene_node = all_spheres[0]->getParentSceneNode();
   auto cov_node_with_position_and_orientation = getParentAt(5, sphere_scene_node);
@@ -234,9 +233,9 @@ TEST_F(OdometryDisplayFixture, reset_clears_all_objects) {
   display_->processMessage(odometry_message);
   display_->reset();
 
-  auto all_spheres = rviz_rendering::findAllSpheres(scene_manager_->getRootSceneNode());
-  auto all_cylynders = rviz_rendering::findAllCylinders(scene_manager_->getRootSceneNode());
-  auto all_cones = rviz_rendering::findAllCones(scene_manager_->getRootSceneNode());
+  auto all_spheres = rviz_default_plugins::findAllSpheres(scene_manager_->getRootSceneNode());
+  auto all_cylynders = rviz_default_plugins::findAllCylinders(scene_manager_->getRootSceneNode());
+  auto all_cones = rviz_default_plugins::findAllCones(scene_manager_->getRootSceneNode());
   EXPECT_THAT(all_spheres, SizeIs(0));
   EXPECT_THAT(all_cylynders, SizeIs(0));
   EXPECT_THAT(all_cones, SizeIs(0));
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/path/path_display_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/path/path_display_test.cpp
index d404f130d..c809e3589 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/path/path_display_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/path/path_display_test.cpp
@@ -42,8 +42,7 @@
 #include "visualization_msgs/msg/marker.hpp"
 #include "rviz_rendering/objects/arrow.hpp"
 #include "rviz_rendering/objects/shape.hpp"
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
-#include "../../scene_graph_introspection_helper.hpp"
+#include "../../scene_graph_introspection.hpp"
 
 #include "rviz_default_plugins/displays/path/path_display.hpp"
 
@@ -102,7 +101,7 @@ TEST_F(PathTestFixture, processMessage_adds_nothing_to_scene_if_invalid_transfor
 
   path_display_->processMessage(createPathMessage());
 
-  auto object = rviz_rendering::findOneManualObject(scene_manager_->getRootSceneNode());
+  auto object = rviz_default_plugins::findOneManualObject(scene_manager_->getRootSceneNode());
   EXPECT_THAT(object->getNumSections(), Eq(0u));
 }
 
@@ -113,7 +112,7 @@ TEST_F(PathTestFixture, processMessage_adds_vertices_to_scene) {
 
   path_display_->processMessage(createPathMessage());
 
-  auto object = rviz_rendering::findOneManualObject(scene_manager_->getRootSceneNode());
+  auto object = rviz_default_plugins::findOneManualObject(scene_manager_->getRootSceneNode());
   EXPECT_THAT(object->getSection(0)->getRenderOperation()->vertexData->vertexCount, Eq(2u));
 }
 
@@ -125,7 +124,7 @@ TEST_F(PathTestFixture, reset_clears_the_scene) {
   path_display_->processMessage(createPathMessage());
   path_display_->reset();
 
-  auto object = rviz_rendering::findOneManualObject(scene_manager_->getRootSceneNode());
+  auto object = rviz_default_plugins::findOneManualObject(scene_manager_->getRootSceneNode());
   EXPECT_THAT(object->getNumSections(), Eq(0u));
 }
 
@@ -149,10 +148,10 @@ TEST_F(PathTestFixture, reset_removes_all_axes) {
   mockValidTransform(position, orientation);
 
   path_display_->processMessage(createPathMessage());
-  EXPECT_THAT(rviz_rendering::findAllAxes(scene_manager_->getRootSceneNode()), SizeIs(2));
+  EXPECT_THAT(rviz_default_plugins::findAllAxes(scene_manager_->getRootSceneNode()), SizeIs(2));
 
   path_display_->reset();
-  EXPECT_THAT(rviz_rendering::findAllAxes(scene_manager_->getRootSceneNode()), SizeIs(0));
+  EXPECT_THAT(rviz_default_plugins::findAllAxes(scene_manager_->getRootSceneNode()), SizeIs(0));
 }
 
 TEST_F(PathTestFixture, reset_removes_all_arrows) {
@@ -163,10 +162,10 @@ TEST_F(PathTestFixture, reset_removes_all_arrows) {
   mockValidTransform(position, orientation);
 
   path_display_->processMessage(createPathMessage());
-  EXPECT_THAT(rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(2));
+  EXPECT_THAT(rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(2));
 
   path_display_->reset();
-  EXPECT_THAT(rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(0));
+  EXPECT_THAT(rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(0));
 }
 
 TEST_F(PathTestFixture, processMessage_transforms_the_vertices_correctly) {
@@ -176,7 +175,7 @@ TEST_F(PathTestFixture, processMessage_transforms_the_vertices_correctly) {
 
   path_display_->processMessage(createPathMessage());
 
-  auto object = rviz_rendering::findOneManualObject(scene_manager_->getRootSceneNode());
+  auto object = rviz_default_plugins::findOneManualObject(scene_manager_->getRootSceneNode());
   EXPECT_THAT(object->getSection(0)->getRenderOperation()->vertexData->vertexCount, Eq(2u));
 
   // Use bounding box to indirectly assert the vertices
@@ -193,7 +192,7 @@ TEST_F(PathTestFixture, processMessage_adds_billboard_line_to_scene) {
 
   path_display_->processMessage(createPathMessage());
 
-  auto object = rviz_rendering::findOneBillboardChain(scene_manager_->getRootSceneNode());
+  auto object = rviz_default_plugins::findOneBillboardChain(scene_manager_->getRootSceneNode());
   EXPECT_THAT(object->getNumberOfChains(), Eq(1u));
   EXPECT_THAT(object->getNumChainElements(0), Eq(2u));
 
@@ -210,10 +209,10 @@ TEST_F(PathTestFixture, processMessage_adds_axes_to_scene) {
 
   path_display_->processMessage(createPathMessage());
 
-  auto axes = rviz_rendering::findAllAxes(scene_manager_->getRootSceneNode());
+  auto axes = rviz_default_plugins::findAllAxes(scene_manager_->getRootSceneNode());
   EXPECT_THAT(axes, SizeIs(2));
 
-  auto axes_positions = rviz_rendering::getPositionsFromNodes(axes);
+  auto axes_positions = rviz_default_plugins::getPositionsFromNodes(axes);
   EXPECT_THAT(axes_positions, Contains(Vector3Eq(Ogre::Vector3(4, 2, 0))));
   EXPECT_THAT(axes_positions, Contains(Vector3Eq(Ogre::Vector3(1, 1, 1))));
 }
@@ -227,15 +226,15 @@ TEST_F(PathTestFixture, processMessage_adds_arrows_to_scene) {
 
   path_display_->processMessage(createPathMessage());
 
-  auto arrows = rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode());
+  auto arrows = rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode());
   EXPECT_THAT(arrows, SizeIs(2));
 
-  auto arrow_positions = rviz_rendering::getPositionsFromNodes(arrows);
+  auto arrow_positions = rviz_default_plugins::getPositionsFromNodes(arrows);
   EXPECT_THAT(arrow_positions, Contains(Vector3Eq(Ogre::Vector3(1, 1, 1))));
   EXPECT_THAT(arrow_positions, Contains(Vector3Eq(Ogre::Vector3(4, 2, 0))));
 
   // default orientation is set to (0.5, -0.5, -0.5, -0.5) by arrow
   auto default_orientation = Ogre::Quaternion(0.5f, -0.5f, -0.5f, -0.5f);
-  auto arrow_orientations = rviz_rendering::getOrientationsFromNodes(arrows);
+  auto arrow_orientations = rviz_default_plugins::getOrientationsFromNodes(arrows);
   EXPECT_THAT(arrow_orientations, Each(QuaternionEq(default_orientation)));
 }
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/point/point_stamped_display_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/point/point_stamped_display_test.cpp
index 0f86071d3..2809ce767 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/point/point_stamped_display_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/point/point_stamped_display_test.cpp
@@ -43,8 +43,7 @@
 
 #include "rviz_default_plugins/displays/point/point_stamped_display.hpp"
 
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
-#include "../../scene_graph_introspection_helper.hpp"
+#include "../../scene_graph_introspection.hpp"
 #include "../display_test_fixture.hpp"
 
 using namespace ::testing;  // NOLINT
@@ -94,7 +93,7 @@ TEST_F(PointStampedTestFixture, processMessage_adds_nothing_to_scene_if_invalid_
 
   point_stamped_display_->processMessage(createPointMessage(0, 0, 0));
 
-  auto objects = rviz_rendering::findAllEntitiesByMeshName(
+  auto objects = rviz_default_plugins::findAllEntitiesByMeshName(
     scene_manager_->getRootSceneNode(), "rviz_sphere.mesh");
   EXPECT_THAT(objects.size(), Eq(0u));
 }
@@ -110,7 +109,7 @@ TEST_F(
   point_stamped_display_->processMessage(createPointMessage(1, 0, 0));
   point_stamped_display_->processMessage(createPointMessage(-1, 0, 0));
 
-  auto objects = rviz_rendering::findAllEntitiesByMeshName(
+  auto objects = rviz_default_plugins::findAllEntitiesByMeshName(
     scene_manager_->getRootSceneNode(), "rviz_sphere.mesh");
   EXPECT_THAT(objects.size(), Eq(2u));
   assertPointsPresent(objects, Ogre::Vector3(1, 0, 0));
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_common_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_common_test.cpp
index 1c1e67582..f8567ee7b 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_common_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_common_test.cpp
@@ -40,8 +40,7 @@
 
 #include "rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp"
 
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
-#include "../../scene_graph_introspection_helper.hpp"
+#include "../../scene_graph_introspection.hpp"
 #include "../../pointcloud_messages.hpp"
 #include "../display_test_fixture.hpp"
 
@@ -84,7 +83,7 @@ TEST_F(PointCloudCommonTestFixture, update_adds_pointcloud_to_scene_graph) {
   point_cloud_common_->addMessage(cloud);
   point_cloud_common_->update(0, 0);
 
-  auto point_cloud = rviz_rendering::findOnePointCloud(scene_manager_->getRootSceneNode());
+  auto point_cloud = rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode());
 
   EXPECT_THAT(point_cloud->getPoints()[0].position, Vector3Eq(Ogre::Vector3(1, 2, 3)));
   EXPECT_THAT(point_cloud->getPoints()[1].position, Vector3Eq(Ogre::Vector3(4, 5, 6)));
@@ -109,7 +108,7 @@ TEST_F(PointCloudCommonTestFixture, update_removes_old_point_clouds) {
   point_cloud_common_->addMessage(cloud);
   point_cloud_common_->update(0, 0);
 
-  auto point_clouds = rviz_rendering::findAllPointClouds(scene_manager_->getRootSceneNode());
+  auto point_clouds = rviz_default_plugins::findAllPointClouds(scene_manager_->getRootSceneNode());
   ASSERT_THAT(point_clouds.size(), Eq(1u));
 
   EXPECT_THAT(point_clouds[0]->getPoints()[0].position, Vector3Eq(Ogre::Vector3(4, 5, 6)));
@@ -129,7 +128,7 @@ TEST_F(PointCloudCommonTestFixture, update_sets_size_and_alpha_on_renderable) {
   point_cloud_common_->addMessage(cloud);
   point_cloud_common_->update(0, 0);
 
-  auto point_cloud = rviz_rendering::findOnePointCloud(scene_manager_->getRootSceneNode());
+  auto point_cloud = rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode());
   auto size = point_cloud->getRenderables()[0]->getCustomParameter(RVIZ_RENDERING_SIZE_PARAMETER);
   auto alpha =
     point_cloud->getRenderables()[0]->getCustomParameter(RVIZ_RENDERING_ALPHA_PARAMETER);
@@ -152,7 +151,7 @@ TEST_F(PointCloudCommonTestFixture, update_adds_nothing_if_transform_fails) {
   point_cloud_common_->addMessage(cloud);
   point_cloud_common_->update(0, 0);
 
-  auto point_cloud = rviz_rendering::findOnePointCloud(scene_manager_->getRootSceneNode());
+  auto point_cloud = rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode());
   EXPECT_FALSE(point_cloud);
 }
 
@@ -176,7 +175,7 @@ TEST_F(PointCloudCommonTestFixture, update_colors_the_points_using_the_selected_
   point_cloud_common_->addMessage(cloud);
   point_cloud_common_->update(0, 0);
 
-  auto point_cloud = rviz_rendering::findOnePointCloud(scene_manager_->getRootSceneNode());
+  auto point_cloud = rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode());
 
   EXPECT_THAT(point_cloud->getPoints()[0].position, Vector3Eq(Ogre::Vector3(1, 2, 3)));
   EXPECT_THAT(point_cloud->getPoints()[0].color, ColourValueEq(Ogre::ColourValue(1, 0, 0)));
@@ -227,7 +226,7 @@ TEST_F(
   point_cloud_common_->addMessage(cloud);
   point_cloud_common_->update(0, 0);
 
-  auto point_clouds = rviz_rendering::findAllPointClouds(scene_manager_->getRootSceneNode());
+  auto point_clouds = rviz_default_plugins::findAllPointClouds(scene_manager_->getRootSceneNode());
   ASSERT_THAT(point_clouds.size(), Eq(0u));
 }
 
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_selection_handler_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_selection_handler_test.cpp
index 75f00e1f8..20ac995d6 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_selection_handler_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_selection_handler_test.cpp
@@ -44,8 +44,7 @@
 #include "../../../../src/rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp"
 #include "../../../../src/rviz_default_plugins/displays/pointcloud/point_cloud2_display.hpp"
 
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
-#include "../../scene_graph_introspection_helper.hpp"
+#include "../../scene_graph_introspection.hpp"
 #include "../display_test_fixture.hpp"
 #include "./message_creators.hpp"
 
@@ -138,7 +137,7 @@ TEST_F(PointCloudSelectionHandlerFixture, onSelect_selects_only_points_actually_
   rviz_common::interaction::V_AABB aabbs = cloud_info->selection_handler_->getAABBs(picked_object);
 
   EXPECT_THAT(aabbs, SizeIs(2));
-  auto found_objects = rviz_rendering::findAllOgreObjectByType<Ogre::SimpleRenderable>(
+  auto found_objects = rviz_default_plugins::findAllOgreObjectByType<Ogre::SimpleRenderable>(
     scene_manager_->getRootSceneNode(), "SimpleRenderable");
   EXPECT_THAT(
     found_objects,
@@ -171,7 +170,7 @@ TEST_F(
   rviz_common::interaction::V_AABB aabbs = cloud_info->selection_handler_->getAABBs(picked_object);
 
   EXPECT_THAT(aabbs, SizeIs(1));
-  auto found_objects = rviz_rendering::findAllOgreObjectByType<Ogre::SimpleRenderable>(
+  auto found_objects = rviz_default_plugins::findAllOgreObjectByType<Ogre::SimpleRenderable>(
     scene_manager_->getRootSceneNode(), "SimpleRenderable");
   EXPECT_THAT(
     found_objects,
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/xyz_pc_transformer_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/xyz_pc_transformer_test.cpp
index fb53a4626..168d33fae 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/xyz_pc_transformer_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/xyz_pc_transformer_test.cpp
@@ -34,7 +34,7 @@
 
 #include "../../../pointcloud_messages.hpp"
 
-#include "../../../scene_graph_introspection_helper.hpp"
+#include "../../../scene_graph_introspection.hpp"
 
 #include "rviz_default_plugins/displays/pointcloud/transformers/xyz_pc_transformer.hpp"
 
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/pose_array/pose_array_display_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/pose_array/pose_array_display_test.cpp
index b0ee55c63..1c5e0e8c8 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/pose_array/pose_array_display_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/pose_array/pose_array_display_test.cpp
@@ -42,9 +42,8 @@
 
 #include "rviz_default_plugins/displays/pose_array/pose_array_display.hpp"
 
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
+#include "../../scene_graph_introspection.hpp"
 #include "../display_test_fixture.hpp"
-#include "../../scene_graph_introspection_helper.hpp"
 
 using namespace ::testing;  // NOLINT
 
@@ -169,10 +168,10 @@ TEST_F(PoseArrayDisplayFixture, setTransform_with_invalid_message_returns_early)
   msg->poses[0].position.x = nan("NaN");
   display_->processMessage(msg);
 
-  auto arrows_3d = rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode());
-  auto axes = rviz_rendering::findAllAxes(scene_manager_->getRootSceneNode());
+  auto arrows_3d = rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode());
+  auto axes = rviz_default_plugins::findAllAxes(scene_manager_->getRootSceneNode());
   auto manual_object =
-    rviz_rendering::findOneManualObject(scene_manager_->getRootSceneNode());
+    rviz_default_plugins::findOneManualObject(scene_manager_->getRootSceneNode());
 
   // the default position and orientation of the scene node are (0, 0, 0) and (1, 0, 0, 0)
   EXPECT_THAT(display_->getSceneNode()->getPosition(), Vector3Eq(Ogre::Vector3(0, 0, 0)));
@@ -189,9 +188,10 @@ TEST_F(PoseArrayDisplayFixture, setTransform_with_invalid_transform_returns_earl
   auto msg = createMessageWithOnePose();
   display_->processMessage(msg);
 
-  auto arrows_3d = rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode());
-  auto axes = rviz_rendering::findAllAxes(scene_manager_->getRootSceneNode());
-  auto manual_object = rviz_rendering::findOneManualObject(scene_manager_->getRootSceneNode());
+  auto arrows_3d = rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode());
+  auto axes = rviz_default_plugins::findAllAxes(scene_manager_->getRootSceneNode());
+  auto manual_object = rviz_default_plugins::findOneManualObject(
+    scene_manager_->getRootSceneNode());
 
   // the default position and orientation of the scene node are (0, 0, 0) and (1, 0, 0, 0)
   EXPECT_THAT(display_->getSceneNode()->getPosition(), Vector3Eq(Ogre::Vector3(0, 0, 0)));
@@ -217,7 +217,8 @@ TEST_F(PoseArrayDisplayFixture, processMessage_sets_manualObject_correctly) {
   auto msg = createMessageWithOnePose();
   display_->processMessage(msg);
 
-  auto manual_object = rviz_rendering::findOneManualObject(scene_manager_->getRootSceneNode());
+  auto manual_object = rviz_default_plugins::findOneManualObject(
+    scene_manager_->getRootSceneNode());
   auto manual_objectbounding_radius = 4.17732;
   EXPECT_THAT(manual_object->getBoundingRadius(), FloatEq(manual_objectbounding_radius));
   EXPECT_THAT(
@@ -231,7 +232,7 @@ TEST_F(PoseArrayDisplayFixture, processMessage_sets_arrows3d_correctly) {
   display_->setShape("Arrow (3D)");
   display_->processMessage(msg);
 
-  auto arrows = rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode());
+  auto arrows = rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode());
 
   // The orientation is first manipulated by the display and then in setOrientation() in arrow.cpp
   auto expected_orientation =
@@ -253,7 +254,7 @@ TEST_F(PoseArrayDisplayFixture, processMessage_sets_axes_correctly) {
   display_->setShape("Axes");
   display_->processMessage(msg);
 
-  auto frames = rviz_rendering::findAllAxes(scene_manager_->getRootSceneNode());
+  auto frames = rviz_default_plugins::findAllAxes(scene_manager_->getRootSceneNode());
 
   auto expected_orientation = Ogre::Quaternion(0, 1, 0, 1);
   expected_orientation.normalise();
@@ -270,17 +271,18 @@ TEST_F(PoseArrayDisplayFixture, processMessage_updates_the_display_correctly_aft
   display_->setShape("Arrow (3D)");
   display_->processMessage(msg);
 
-  auto arrows = rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode());
-  auto frames = rviz_rendering::findAllAxes(scene_manager_->getRootSceneNode());
-  auto manual_object = rviz_rendering::findOneManualObject(scene_manager_->getRootSceneNode());
+  auto arrows = rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode());
+  auto frames = rviz_default_plugins::findAllAxes(scene_manager_->getRootSceneNode());
+  auto manual_object = rviz_default_plugins::findOneManualObject(
+    scene_manager_->getRootSceneNode());
   EXPECT_THAT(arrows, SizeIs(1));
   EXPECT_THAT(manual_object->getBoundingRadius(), FloatEq(0));
   EXPECT_THAT(frames, SizeIs(0));
 
   display_->setShape("Axes");
   display_->processMessage(msg);
-  auto post_update_arrows = rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode());
-  auto post_update_frames = rviz_rendering::findAllAxes(scene_manager_->getRootSceneNode());
+  auto post_update_arrows = rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode());
+  auto post_update_frames = rviz_default_plugins::findAllAxes(scene_manager_->getRootSceneNode());
   EXPECT_THAT(post_update_frames, SizeIs(1));
   EXPECT_THAT(manual_object->getBoundingRadius(), FloatEq(0));
   EXPECT_THAT(post_update_arrows, SizeIs(0));
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/range/range_display_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/range/range_display_test.cpp
index b10ce693e..b94be82f1 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/range/range_display_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/range/range_display_test.cpp
@@ -36,8 +36,7 @@
 
 #include "rviz_default_plugins/displays/range/range_display.hpp"
 #include "../display_test_fixture.hpp"
-#include "../../scene_graph_introspection_helper.hpp"
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
+#include "../../scene_graph_introspection.hpp"
 
 using namespace ::testing;  // NOLINT
 
@@ -69,11 +68,11 @@ sensor_msgs::msg::Range::ConstSharedPtr createRangeMessage(float range = 5)
 }
 
 TEST_F(RangeDisplayFixture, updateBufferLength_creates_right_number_of_cones) {
-  auto cones = rviz_rendering::findAllCones(scene_manager_->getRootSceneNode());
+  auto cones = rviz_default_plugins::findAllCones(scene_manager_->getRootSceneNode());
   EXPECT_THAT(cones, SizeIs(1));
 
   display_->findProperty("Buffer Length")->setValue(3);
-  cones = rviz_rendering::findAllCones(scene_manager_->getRootSceneNode());
+  cones = rviz_default_plugins::findAllCones(scene_manager_->getRootSceneNode());
   EXPECT_THAT(cones, SizeIs(3));
 }
 
@@ -81,7 +80,7 @@ TEST_F(RangeDisplayFixture, processMessage_returns_early_if_transform_is_missing
   auto message = createRangeMessage();
   display_->processMessage(message);
 
-  auto cones = rviz_rendering::findAllCones(scene_manager_->getRootSceneNode());
+  auto cones = rviz_default_plugins::findAllCones(scene_manager_->getRootSceneNode());
   ASSERT_THAT(cones, SizeIs(1));
 
   auto cone_position = cones[0]->getParentSceneNode()->getParentSceneNode()->getPosition();
@@ -97,7 +96,7 @@ TEST_F(RangeDisplayFixture, processMessage_sets_cones_correctly) {
   auto message = createRangeMessage();
   display_->processMessage(message);
 
-  auto cones = rviz_rendering::findAllCones(scene_manager_->getRootSceneNode());
+  auto cones = rviz_default_plugins::findAllCones(scene_manager_->getRootSceneNode());
   ASSERT_THAT(cones, SizeIs(1));
 
   auto cone_position = cones[0]->getParentSceneNode()->getParentSceneNode()->getPosition();
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/tf/frame_info_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/tf/frame_info_test.cpp
index c83307a8d..437f19554 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/tf/frame_info_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/tf/frame_info_test.cpp
@@ -41,9 +41,8 @@
 
 #include "rviz_default_plugins/displays/tf/frame_info.hpp"
 
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
+#include "../../scene_graph_introspection.hpp"
 #include "../display_test_fixture.hpp"
-#include "../../scene_graph_introspection_helper.hpp"
 
 using namespace ::testing;  // NOLINT
 
@@ -66,13 +65,13 @@ TEST_F(FrameInfoTestFixture, updateArrow_makes_arrow_invisible_if_transform_has_
   property->setValue(true);
   frame_info_->enabled_property_ = property.get();
 
-  auto arrows = rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode());
+  auto arrows = rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode());
   EXPECT_THAT(arrows, SizeIs(1));
   EXPECT_TRUE(rviz_default_plugins::arrowIsVisible(arrows[0]));
 
   frame_info_->updateParentArrow(Ogre::Vector3::ZERO, Ogre::Vector3::ZERO, 1);
 
-  auto invisible_arrows = rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode());
+  auto invisible_arrows = rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode());
   EXPECT_THAT(invisible_arrows, SizeIs(1));
   EXPECT_FALSE(rviz_default_plugins::arrowIsVisible(invisible_arrows[0]));
 }
diff --git a/rviz_default_plugins/test/rviz_default_plugins/ogre_testing_environment.cpp b/rviz_default_plugins/test/rviz_default_plugins/ogre_testing_environment.cpp
new file mode 100644
index 000000000..776942158
--- /dev/null
+++ b/rviz_default_plugins/test/rviz_default_plugins/ogre_testing_environment.cpp
@@ -0,0 +1,63 @@
+/*
+ * Copyright (c) 2017, Bosch Software Innovations GmbH.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "ogre_testing_environment.hpp"
+
+#include <string>
+
+#include <OgreLogManager.h>
+
+#include "rviz_rendering/render_window.hpp"
+#include "rviz_rendering/render_system.hpp"
+
+namespace rviz_default_plugins
+{
+
+void OgreTestingEnvironment::setUpOgreTestEnvironment(bool debug)
+{
+  if (!debug) {
+    const std::string & name = "";
+    auto lm = new Ogre::LogManager();
+    lm->createLog(name, false, debug, true);
+  }
+  setUpRenderSystem();
+}
+
+void OgreTestingEnvironment::setUpRenderSystem()
+{
+  rviz_rendering::RenderSystem::get();
+}
+
+Ogre::RenderWindow * OgreTestingEnvironment::createOgreRenderWindow()
+{
+  auto test = new rviz_rendering::RenderWindow();
+  return rviz_rendering::RenderSystem::get()->makeRenderWindow(test->winId(), 10, 10, 1.0);
+}
+
+}  // end namespace rviz_default_plugins
diff --git a/rviz_default_plugins/test/rviz_default_plugins/ogre_testing_environment.hpp b/rviz_default_plugins/test/rviz_default_plugins/ogre_testing_environment.hpp
new file mode 100644
index 000000000..145542022
--- /dev/null
+++ b/rviz_default_plugins/test/rviz_default_plugins/ogre_testing_environment.hpp
@@ -0,0 +1,55 @@
+/*
+ * Copyright (c) 2017, Bosch Software Innovations GmbH.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef RVIZ_DEFAULT_PLUGINS__OGRE_TESTING_ENVIRONMENT_HPP_
+#define RVIZ_DEFAULT_PLUGINS__OGRE_TESTING_ENVIRONMENT_HPP_
+
+#include <OgreRenderWindow.h>
+
+namespace rviz_default_plugins
+{
+class OgreTestingEnvironment
+{
+public:
+  /**
+   * Set up a testing environment to run tests needing Ogre.
+   *
+   * @param: bool debug, if true, all logging of Ogre is send to std::out, if false no logging
+   * occurs. Since the logging pollutes the test output, it defaults to false
+   */
+  void setUpOgreTestEnvironment(bool debug = false);
+
+  void setUpRenderSystem();
+
+  Ogre::RenderWindow * createOgreRenderWindow();
+};
+
+}  // namespace rviz_default_plugins
+
+#endif  // RVIZ_DEFAULT_PLUGINS__OGRE_TESTING_ENVIRONMENT_HPP_
diff --git a/rviz_default_plugins/test/rviz_default_plugins/robot/robot_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/robot/robot_test.cpp
index d6d54ca3d..55fc90d9c 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/robot/robot_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/robot/robot_test.cpp
@@ -49,12 +49,12 @@
 #include "rviz_default_plugins/robot/robot_joint.hpp"
 #include "rviz_default_plugins/robot/robot_link.hpp"
 
-#include "test/rviz_rendering/ogre_testing_environment.hpp"
+#include "../ogre_testing_environment.hpp"
 #include "./mock_link_updater.hpp"
 #include "../mock_display_context.hpp"
 #include "../mock_handler_manager.hpp"
 #include "../mock_selection_manager.hpp"
-#include "../scene_graph_introspection_helper.hpp"
+#include "../scene_graph_introspection.hpp"
 
 using namespace ::testing;  // NOLINT
 using namespace rviz_default_plugins::robot;  // NOLINT
@@ -66,7 +66,7 @@ class RobotTestFixture : public Test
 public:
   static void SetUpTestCase()
   {
-    testing_environment_ = std::make_shared<rviz_rendering::OgreTestingEnvironment>();
+    testing_environment_ = std::make_shared<rviz_default_plugins::OgreTestingEnvironment>();
     testing_environment_->setUpOgreTestEnvironment();
 
     scene_manager_ = Ogre::Root::getSingletonPtr()->createSceneManager();
@@ -99,7 +99,7 @@ class RobotTestFixture : public Test
     Ogre::Root::getSingletonPtr()->destroySceneManager(scene_manager_);
   }
 
-  static std::shared_ptr<rviz_rendering::OgreTestingEnvironment> testing_environment_;
+  static std::shared_ptr<rviz_default_plugins::OgreTestingEnvironment> testing_environment_;
   static Ogre::SceneManager * scene_manager_;
 
   urdf::Model urdf_model_;
@@ -112,7 +112,7 @@ class RobotTestFixture : public Test
 };
 
 Ogre::SceneManager * RobotTestFixture::scene_manager_ = nullptr;
-std::shared_ptr<rviz_rendering::OgreTestingEnvironment>
+std::shared_ptr<rviz_default_plugins::OgreTestingEnvironment>
 RobotTestFixture::testing_environment_ = nullptr;
 
 TEST_F(RobotTestFixture, load_gets_the_correct_link_and_joint_count) {
diff --git a/rviz_default_plugins/test/rviz_default_plugins/scene_graph_introspection.cpp b/rviz_default_plugins/test/rviz_default_plugins/scene_graph_introspection.cpp
new file mode 100644
index 000000000..e6d322b27
--- /dev/null
+++ b/rviz_default_plugins/test/rviz_default_plugins/scene_graph_introspection.cpp
@@ -0,0 +1,233 @@
+/*
+ * Copyright (c) 2018, Bosch Software Innovations GmbH.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted (subject to the limitations in the disclaimer
+ * below) provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the copyright holder nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
+ * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <algorithm>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <OgreEntity.h>
+#include <OgreMesh.h>
+#include <OgreManualObject.h>
+
+#include "rviz_rendering/objects/arrow.hpp"
+#include "rviz_rendering/objects/point_cloud.hpp"
+#include "rviz_rendering/objects/shape.hpp"
+
+#include "scene_graph_introspection.hpp"
+
+namespace rviz_default_plugins
+{
+
+void assertArrowWithTransform(
+  Ogre::SceneManager * scene_manager,
+  Ogre::Vector3 position,
+  Ogre::Vector3 scale,
+  Ogre::Quaternion orientation)
+{
+  auto arrow_scene_node = findOneArrow(scene_manager->getRootSceneNode());
+  ASSERT_TRUE(arrow_scene_node);
+  EXPECT_THAT(arrow_scene_node->getPosition(), Vector3Eq(position));
+  // Have to mangle the scale because of the default orientation of the cylinders (see arrow.cpp).
+  EXPECT_THAT(arrow_scene_node->getScale(), Vector3Eq(Ogre::Vector3(scale.z, scale.x, scale.y)));
+  EXPECT_THAT(arrow_scene_node->getOrientation(), QuaternionEq(orientation));
+}
+
+bool axesAreVisible(Ogre::SceneNode * scene_node)
+{
+  bool axes_are_visible = true;
+  for (uint16_t i = 0; i < 3; ++i) {
+    auto child_node = dynamic_cast<Ogre::SceneNode *>(scene_node->getChild(i)->getChild(0));
+    auto entity = dynamic_cast<Ogre::Entity *>(child_node->getAttachedObject(0));
+    axes_are_visible = entity ? axes_are_visible && entity->isVisible() : false;
+  }
+
+  return axes_are_visible;
+}
+
+bool arrowIsVisible(Ogre::SceneNode * scene_node)
+{
+  auto arrow_head = findEntityByMeshName(
+    scene_node, "rviz_cone.mesh");
+  auto arrow_shaft = findEntityByMeshName(
+    scene_node, "rviz_cylinder.mesh");
+
+  return arrow_head->isVisible() && arrow_shaft->isVisible();
+}
+
+std::vector<Ogre::Entity *> findAllEntitiesByMeshName(
+  Ogre::SceneNode * scene_node, const Ogre::String & resource_name)
+{
+  std::vector<Ogre::Entity *> all_entities =
+    findAllOgreObjectByType<Ogre::Entity>(scene_node, "Entity");
+
+  std::vector<Ogre::Entity *> correct_entities;
+  for (const auto & entity : all_entities) {
+    if (entity->getMesh() && entity->getMesh()->getName() == resource_name) {
+      correct_entities.push_back(entity);
+    }
+  }
+
+  return correct_entities;
+}
+
+Ogre::Entity * findEntityByMeshName(
+  Ogre::SceneNode * scene_node, const Ogre::String & resource_name)
+{
+  auto entities = findAllEntitiesByMeshName(scene_node, resource_name);
+  return entities.empty() ? nullptr : entities[0];
+}
+
+std::vector<Ogre::Entity *> findAllSpheres(Ogre::SceneNode * scene_node)
+{
+  return findAllEntitiesByMeshName(scene_node, "rviz_sphere.mesh");
+}
+
+std::vector<Ogre::Entity *> findAllCones(Ogre::SceneNode * scene_node)
+{
+  return findAllEntitiesByMeshName(scene_node, "rviz_cone.mesh");
+}
+
+std::vector<Ogre::Entity *> findAllCylinders(Ogre::SceneNode * scene_node)
+{
+  return findAllEntitiesByMeshName(scene_node, "rviz_cylinder.mesh");
+}
+
+Ogre::BillboardChain * findOneBillboardChain(Ogre::SceneNode * scene_node)
+{
+  auto objects = findAllOgreObjectByType<Ogre::BillboardChain>(scene_node, "BillboardChain");
+  return objects.empty() ? nullptr : objects[0];
+}
+
+rviz_rendering::MovableText * findOneMovableText(Ogre::SceneNode * scene_node)
+{
+  auto objects = findAllOgreObjectByType<rviz_rendering::MovableText>(scene_node, "MovableText");
+  return objects.empty() ? nullptr : objects[0];
+}
+
+Ogre::ManualObject * findOneManualObject(Ogre::SceneNode * scene_node)
+{
+  auto objects = findAllOgreObjectByType<Ogre::ManualObject>(scene_node, "ManualObject");
+  return objects.empty() ? nullptr : objects[0];
+}
+
+rviz_rendering::PointCloud * findOnePointCloud(Ogre::SceneNode * scene_node)
+{
+  auto point_clouds = findAllPointClouds(scene_node);
+  return point_clouds.empty() ? nullptr : point_clouds[0];
+}
+
+std::vector<rviz_rendering::PointCloud *> findAllPointClouds(Ogre::SceneNode * scene_node)
+{
+  return findAllOgreObjectByType<rviz_rendering::PointCloud>(scene_node, "PointCloud");
+}
+
+std::vector<Ogre::SceneNode *> findAllArrows(Ogre::SceneNode * scene_node)
+{
+  std::vector<Ogre::SceneNode *> arrows;
+  auto head_entities = findAllEntitiesByMeshName(scene_node, "rviz_cone.mesh");
+  if (!head_entities.empty()) {
+    for (auto const & head_entity : head_entities) {
+      auto arrow_scene_node = head_entity
+        ->getParentSceneNode()  // OffsetNode from head_entity
+        ->getParentSceneNode()  // SceneNode from head_entity
+        ->getParentSceneNode();  // SceneNode from arrow
+      if (arrow_scene_node) {
+        auto shaft_entity = findEntityByMeshName(arrow_scene_node, "rviz_cylinder.mesh");
+        if (shaft_entity &&
+          shaft_entity->getParentSceneNode()->getParentSceneNode()->getParentSceneNode() ==
+          arrow_scene_node)
+        {
+          arrows.push_back(arrow_scene_node);
+        }
+      }
+    }
+  }
+  return arrows;
+}
+
+Ogre::SceneNode * findOneArrow(Ogre::SceneNode * scene_node)
+{
+  auto arrows = findAllArrows(scene_node);
+  return arrows.empty() ? nullptr : arrows[0];
+}
+
+std::vector<Ogre::SceneNode *> findAllAxes(Ogre::SceneNode * scene_node)
+{
+  std::vector<Ogre::SceneNode *> axes;
+  auto cylinder_entities = findAllEntitiesByMeshName(scene_node, "rviz_cylinder.mesh");
+  if (!cylinder_entities.empty()) {
+    for (auto const & cylinder_entity : cylinder_entities) {
+      auto axes_scene_node = cylinder_entity
+        ->getParentSceneNode()  // OffsetNode from cylinder_entity
+        ->getParentSceneNode()  // SceneNode from cylinder_entity
+        ->getParentSceneNode();  // SceneNode from axes
+      if (axes_scene_node) {
+        auto local_cylinder_entities = findAllEntitiesByMeshName(
+          axes_scene_node, "rviz_cylinder.mesh");
+        if (local_cylinder_entities.size() == 3 &&
+          std::find(axes.begin(), axes.end(), axes_scene_node) == axes.end())
+        {
+          axes.push_back(axes_scene_node);
+        }
+      }
+    }
+  }
+  return axes;
+}
+
+Ogre::SceneNode * findOneAxes(Ogre::SceneNode * scene_node)
+{
+  auto axes = findAllAxes(scene_node);
+  return axes.empty() ? nullptr : axes[0];
+}
+
+std::vector<Ogre::Vector3> getPositionsFromNodes(const std::vector<Ogre::SceneNode *> & nodes)
+{
+  std::vector<Ogre::Vector3> positions(nodes.size(), Ogre::Vector3::ZERO);
+  std::transform(
+    nodes.cbegin(), nodes.cend(), positions.begin(), [](auto node) {
+      return node->getPosition();
+    });
+  return positions;
+}
+
+std::vector<Ogre::Quaternion> getOrientationsFromNodes(const std::vector<Ogre::SceneNode *> & nodes)
+{
+  std::vector<Ogre::Quaternion> orientations(nodes.size(), Ogre::Quaternion::IDENTITY);
+  std::transform(
+    nodes.cbegin(), nodes.cend(), orientations.begin(), [](auto node) {
+      return node->getOrientation();
+    });
+  return orientations;
+}
+
+}  // namespace rviz_default_plugins
diff --git a/rviz_default_plugins/test/rviz_default_plugins/scene_graph_introspection_helper.hpp b/rviz_default_plugins/test/rviz_default_plugins/scene_graph_introspection.hpp
similarity index 54%
rename from rviz_default_plugins/test/rviz_default_plugins/scene_graph_introspection_helper.hpp
rename to rviz_default_plugins/test/rviz_default_plugins/scene_graph_introspection.hpp
index fe71f5fbe..6f7c75b0f 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/scene_graph_introspection_helper.hpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/scene_graph_introspection.hpp
@@ -29,8 +29,8 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef RVIZ_DEFAULT_PLUGINS__SCENE_GRAPH_INTROSPECTION_HELPER_HPP_
-#define RVIZ_DEFAULT_PLUGINS__SCENE_GRAPH_INTROSPECTION_HELPER_HPP_
+#ifndef RVIZ_DEFAULT_PLUGINS__SCENE_GRAPH_INTROSPECTION_HPP_
+#define RVIZ_DEFAULT_PLUGINS__SCENE_GRAPH_INTROSPECTION_HPP_
 
 #include <gmock/gmock.h>
 
@@ -69,15 +69,76 @@ MATCHER_P(ColourValueEq, expected, "") {
 
 namespace rviz_default_plugins
 {
-bool arrowIsVisible(Ogre::SceneNode * scene_node);
-
-bool axesAreVisible(Ogre::SceneNode * scene_node);
-
 void assertArrowWithTransform(
   Ogre::SceneManager * scene_manager,
   Ogre::Vector3 position,
   Ogre::Vector3 scale,
   Ogre::Quaternion orientation);
+
+bool axesAreVisible(Ogre::SceneNode * scene_node);
+
+bool arrowIsVisible(Ogre::SceneNode * scene_manager);
+
+std::vector<Ogre::SceneNode *> findAllArrows(Ogre::SceneNode * scene_node);
+Ogre::SceneNode * findOneArrow(Ogre::SceneNode * scene_node);
+
+std::vector<Ogre::SceneNode *> findAllAxes(Ogre::SceneNode * scene_node);
+Ogre::SceneNode * findOneAxes(Ogre::SceneNode * scene_node);
+
+std::vector<Ogre::Vector3> getPositionsFromNodes(const std::vector<Ogre::SceneNode *> & nodes);
+std::vector<Ogre::Quaternion>
+getOrientationsFromNodes(const std::vector<Ogre::SceneNode *> & nodes);
+
+std::vector<Ogre::Entity *> findAllEntitiesByMeshName(
+  Ogre::SceneNode * scene_node, const Ogre::String & resource_name);
+Ogre::Entity * findEntityByMeshName(
+  Ogre::SceneNode * scene_node, const Ogre::String & resource_name);
+
+std::vector<Ogre::Entity *> findAllSpheres(Ogre::SceneNode * scene_node);
+std::vector<Ogre::Entity *> findAllCones(Ogre::SceneNode * scene_node);
+std::vector<Ogre::Entity *> findAllCylinders(Ogre::SceneNode * scene_node);
+
+std::vector<rviz_rendering::PointCloud *> findAllPointClouds(Ogre::SceneNode * scene_node);
+rviz_rendering::PointCloud * findOnePointCloud(Ogre::SceneNode * scene_node);
+
+Ogre::BillboardChain * findOneBillboardChain(Ogre::SceneNode * scene_node);
+
+rviz_rendering::MovableText * findOneMovableText(Ogre::SceneNode * scene_node);
+
+Ogre::ManualObject * findOneManualObject(Ogre::SceneNode * scene_node);
+
+template<typename OgreType>
+void findAllObjectsAttached(
+  Ogre::SceneNode * scene_node, const Ogre::String & type, std::vector<OgreType *> & objects)
+{
+  auto attached_objects = scene_node->getAttachedObjects();
+  for (const auto & object : attached_objects) {
+    if (object->getMovableType() == type) {
+      auto entity = dynamic_cast<OgreType *>(object);
+      if (entity) {
+        objects.push_back(entity);
+      }
+    }
+  }
+}
+
+template<typename OgreType>
+std::vector<OgreType *> findAllOgreObjectByType(Ogre::SceneNode * scene_node, Ogre::String type)
+{
+  std::vector<OgreType *> objects_vector;
+  findAllObjectsAttached(scene_node, type, objects_vector);
+  for (auto child_node : scene_node->getChildren()) {
+    auto child_scene_node = dynamic_cast<Ogre::SceneNode *>(child_node);
+    if (child_scene_node != nullptr) {
+      auto child_objects_vector = findAllOgreObjectByType<OgreType>(child_scene_node, type);
+      objects_vector.insert(
+        objects_vector.cend(), child_objects_vector.begin(), child_objects_vector.end());
+    }
+  }
+
+  return objects_vector;
+}
+
 }  // namespace rviz_default_plugins
 
-#endif  // RVIZ_DEFAULT_PLUGINS__SCENE_GRAPH_INTROSPECTION_HELPER_HPP_
+#endif  // RVIZ_DEFAULT_PLUGINS__SCENE_GRAPH_INTROSPECTION_HPP_
diff --git a/rviz_default_plugins/test/rviz_default_plugins/scene_graph_introspection_helper.cpp b/rviz_default_plugins/test/rviz_default_plugins/scene_graph_introspection_helper.cpp
deleted file mode 100644
index 288ad75f3..000000000
--- a/rviz_default_plugins/test/rviz_default_plugins/scene_graph_introspection_helper.cpp
+++ /dev/null
@@ -1,87 +0,0 @@
-/*
- * Copyright (c) 2018, Bosch Software Innovations GmbH.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted (subject to the limitations in the disclaimer
- * below) provided that the following conditions are met:
- *
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyright
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the copyright holder nor the names of its
- *       contributors may be used to endorse or promote products derived from
- *       this software without specific prior written permission.
- *
- * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
- * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
- * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-#include <gmock/gmock.h>
-
-#include <algorithm>
-#include <memory>
-#include <string>
-#include <vector>
-
-#include <OgreEntity.h>
-#include <OgreMesh.h>
-#include <OgreManualObject.h>
-
-#include "rviz_rendering/objects/arrow.hpp"
-#include "rviz_rendering/objects/point_cloud.hpp"
-#include "rviz_rendering/objects/shape.hpp"
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
-
-#include "scene_graph_introspection_helper.hpp"
-
-namespace rviz_default_plugins
-{
-
-bool arrowIsVisible(Ogre::SceneNode * scene_node)
-{
-  auto arrow_head = rviz_rendering::findEntityByMeshName(scene_node, "rviz_cone.mesh");
-  auto arrow_shaft = rviz_rendering::findEntityByMeshName(scene_node, "rviz_cylinder.mesh");
-
-  return arrow_head->isVisible() && arrow_shaft->isVisible();
-}
-
-void assertArrowWithTransform(
-  Ogre::SceneManager * scene_manager,
-  Ogre::Vector3 position,
-  Ogre::Vector3 scale,
-  Ogre::Quaternion orientation)
-{
-  auto arrow_scene_node = rviz_rendering::findOneArrow(scene_manager->getRootSceneNode());
-  ASSERT_TRUE(arrow_scene_node);
-  EXPECT_THAT(arrow_scene_node->getPosition(), Vector3Eq(position));
-  // Have to mangle the scale because of the default orientation of the cylinders (see arrow.cpp).
-  EXPECT_THAT(arrow_scene_node->getScale(), Vector3Eq(Ogre::Vector3(scale.z, scale.x, scale.y)));
-  EXPECT_THAT(arrow_scene_node->getOrientation(), QuaternionEq(orientation));
-}
-
-bool axesAreVisible(Ogre::SceneNode * scene_node)
-{
-  bool axes_are_visible = true;
-  for (uint16_t i = 0; i < 3; ++i) {
-    auto child_node = dynamic_cast<Ogre::SceneNode *>(scene_node->getChild(i)->getChild(0));
-    auto entity = dynamic_cast<Ogre::Entity *>(child_node->getAttachedObject(0));
-    axes_are_visible = entity ? axes_are_visible && entity->isVisible() : false;
-  }
-
-  return axes_are_visible;
-}
-
-}  // namespace rviz_default_plugins
diff --git a/rviz_default_plugins/test/rviz_default_plugins/tools/measure/measure_tool_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/tools/measure/measure_tool_test.cpp
index d1829ca25..48629b52c 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/tools/measure/measure_tool_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/tools/measure/measure_tool_test.cpp
@@ -41,8 +41,7 @@
 
 #include "../tool_test_fixture.hpp"
 #include "../../displays/display_test_fixture.hpp"
-#include "../../scene_graph_introspection_helper.hpp"
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
+#include "../../scene_graph_introspection.hpp"
 #include "../../mock_display_context.hpp"
 #include "../../mock_view_picker.hpp"
 
@@ -85,7 +84,7 @@ TEST_F(MeasureToolTestFixture, choosing_two_objects_shows_a_line_and_the_distanc
   EXPECT_CALL(*context_, setStatus(_)).WillOnce(SaveArg<0>(&status));
   measure_tool_->processMouseEvent(click);
 
-  auto line = rviz_rendering::findOneManualObject(scene_manager_->getRootSceneNode());
+  auto line = rviz_default_plugins::findOneManualObject(scene_manager_->getRootSceneNode());
   // Use bounding box to indirectly assert the vertices
   ASSERT_TRUE(line->isVisible());
   EXPECT_THAT(line->getBoundingBox().getMinimum(), Vector3Eq(obj1.position));
@@ -105,7 +104,7 @@ TEST_F(MeasureToolTestFixture, hovering_over_a_second_object_updates_the_line_an
   EXPECT_CALL(*context_, setStatus(_)).WillOnce(SaveArg<0>(&status));
   measure_tool_->processMouseEvent(move);
 
-  auto line = rviz_rendering::findOneManualObject(scene_manager_->getRootSceneNode());
+  auto line = rviz_default_plugins::findOneManualObject(scene_manager_->getRootSceneNode());
   // Use bounding box to indirectly assert the vertices
   ASSERT_TRUE(line->isVisible());
   EXPECT_THAT(line->getBoundingBox().getMinimum(), Vector3Eq(obj1.position));
@@ -123,7 +122,7 @@ TEST_F(MeasureToolTestFixture, right_clicking_removes_the_measurement_line) {
   click = generateMouseLeftClick(obj2.x, obj2.y);
   measure_tool_->processMouseEvent(click);
 
-  auto line = rviz_rendering::findOneManualObject(scene_manager_->getRootSceneNode());
+  auto line = rviz_default_plugins::findOneManualObject(scene_manager_->getRootSceneNode());
   ASSERT_TRUE(line->isVisible());
 
   click = generateMouseRightClick(5, 5);
diff --git a/rviz_default_plugins/test/rviz_default_plugins/tools/pose/pose_tool_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/tools/pose/pose_tool_test.cpp
index 5e2abe406..58dff0780 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/tools/pose/pose_tool_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/tools/pose/pose_tool_test.cpp
@@ -39,10 +39,9 @@
 #include "rviz_default_plugins/tools/pose/pose_tool.hpp"
 #include "rviz_rendering/viewport_projection_finder.hpp"
 
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
+#include "../../scene_graph_introspection.hpp"
 #include "../tool_test_fixture.hpp"
 #include "../../displays/display_test_fixture.hpp"
-#include "../../scene_graph_introspection_helper.hpp"
 #include "../../mock_display_context.hpp"
 
 using namespace ::testing;  // NOLINT
@@ -91,7 +90,7 @@ class PoseToolTestFixture : public ToolTestFixture, public DisplayTestFixture
 };
 
 TEST_F(PoseToolTestFixture, onInitialize_sets_arrow_invisible_at_first) {
-  auto arrows = rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode());
+  auto arrows = rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode());
 
   ASSERT_THAT(arrows, SizeIs(1));
   EXPECT_FALSE(rviz_default_plugins::arrowIsVisible(arrows[0]));
@@ -101,7 +100,7 @@ TEST_F(PoseToolTestFixture, processMouseEvent_sets_arrow_position_below_mouse_cu
   auto left_click_event = generateMousePressEvent(10, 15);
   pose_tool_->processMouseEvent(left_click_event);
 
-  auto arrows = rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode());
+  auto arrows = rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode());
   ASSERT_THAT(arrows, SizeIs(1));
   EXPECT_FALSE(rviz_default_plugins::arrowIsVisible(arrows[0]));
   EXPECT_THAT(arrows[0]->getPosition(), Vector3Eq(Ogre::Vector3(10, 15, 0)));
@@ -115,7 +114,7 @@ TEST_F(
   pose_tool_->processMouseEvent(left_click_event);
   pose_tool_->processMouseEvent(move_mouse_event);
 
-  auto arrows = rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode());
+  auto arrows = rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode());
   auto expected_orientation = Ogre::Quaternion(-0.270598f, -0.653282f, 0.270598f, -0.653282f);
   ASSERT_THAT(arrows, SizeIs(1));
   EXPECT_TRUE(rviz_default_plugins::arrowIsVisible(arrows[0]));
@@ -130,7 +129,7 @@ TEST_F(PoseToolTestFixture, deactivate_makes_arrow_invisible) {
   pose_tool_->processMouseEvent(move_mouse_event);
   pose_tool_->deactivate();
 
-  auto arrows = rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode());
+  auto arrows = rviz_default_plugins::findAllArrows(scene_manager_->getRootSceneNode());
   ASSERT_THAT(arrows, SizeIs(1));
   EXPECT_FALSE(rviz_default_plugins::arrowIsVisible(arrows[0]));
 }
diff --git a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/fps/fps_view_controller_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/fps/fps_view_controller_test.cpp
index 2ff7ea8a4..4348e9618 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/fps/fps_view_controller_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/fps/fps_view_controller_test.cpp
@@ -46,7 +46,7 @@
 #include "rviz_default_plugins/view_controllers/orbit/orbit_view_controller.hpp"
 
 #include "../../displays/display_test_fixture.hpp"
-#include "../../scene_graph_introspection_helper.hpp"
+#include "../../scene_graph_introspection.hpp"
 #include "../view_controller_test_fixture.hpp"
 
 using namespace ::testing;  // NOLINT
diff --git a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/orbit/orbit_view_controller_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/orbit/orbit_view_controller_test.cpp
index 2c218ce79..ace3a814b 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/orbit/orbit_view_controller_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/orbit/orbit_view_controller_test.cpp
@@ -48,7 +48,7 @@
 #include "rviz_default_plugins/view_controllers/ortho/fixed_orientation_ortho_view_controller.hpp"
 
 #include "../../displays/display_test_fixture.hpp"
-#include "../../scene_graph_introspection_helper.hpp"
+#include "../../scene_graph_introspection.hpp"
 #include "../view_controller_test_fixture.hpp"
 
 using namespace ::testing;  // NOLINT
diff --git a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/ortho/ortho_view_controller_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/ortho/ortho_view_controller_test.cpp
index 145b721cd..99fc7e69d 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/ortho/ortho_view_controller_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/ortho/ortho_view_controller_test.cpp
@@ -48,7 +48,7 @@
 
 #include "rviz_default_plugins/view_controllers/orbit/orbit_view_controller.hpp"
 #include "../view_controller_test_fixture.hpp"
-#include "../../scene_graph_introspection_helper.hpp"
+#include "../../scene_graph_introspection.hpp"
 
 using namespace ::testing;  // NOLINT
 
diff --git a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller_test.cpp
index 67be2fd4d..d811202d6 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller_test.cpp
@@ -47,7 +47,7 @@
 #include "rviz_default_plugins/view_controllers/ortho/fixed_orientation_ortho_view_controller.hpp"
 
 #include "../../displays/display_test_fixture.hpp"
-#include "../../scene_graph_introspection_helper.hpp"
+#include "../../scene_graph_introspection.hpp"
 #include "../view_controller_test_fixture.hpp"
 
 using namespace ::testing;  // NOLINT
diff --git a/rviz_rendering/CMakeLists.txt b/rviz_rendering/CMakeLists.txt
index 4dfe762b7..c3dccd255 100644
--- a/rviz_rendering/CMakeLists.txt
+++ b/rviz_rendering/CMakeLists.txt
@@ -93,8 +93,6 @@ add_library(rviz_rendering SHARED
   src/rviz_rendering/objects/point_cloud_renderable.cpp
   src/rviz_rendering/objects/shape.cpp
   src/rviz_rendering/objects/wrench_visual.cpp
-  test/rviz_rendering/ogre_testing_environment.cpp
-  test/rviz_rendering/scene_graph_introspection.cpp
 )
 
 target_link_libraries(rviz_rendering
@@ -169,6 +167,16 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
 
+  add_library(rviz_rendering_test_utils
+    test/rviz_rendering/ogre_testing_environment.cpp
+    test/rviz_rendering/scene_graph_introspection.cpp
+  )
+  target_link_libraries(rviz_rendering_test_utils
+    PUBLIC
+    rviz_ogre_vendor::OgreMain
+    rviz_rendering
+  )
+
   ament_add_gmock(string_helper_test test/rviz_rendering/string_helper_test.cpp)
   if(TARGET string_helper_test)
     target_link_libraries(string_helper_test rviz_rendering)
@@ -181,6 +189,7 @@ if(BUILD_TESTING)
     target_link_libraries(point_cloud_test_target
       rviz_ogre_vendor::OgreMain
       rviz_rendering
+      rviz_rendering_test_utils
       Qt5::Widgets  # explicitly do this for include directories (not necessary for external use)
     )
   endif()
@@ -192,6 +201,7 @@ if(BUILD_TESTING)
     target_link_libraries(point_cloud_renderable_test_target
       rviz_ogre_vendor::OgreMain
       rviz_rendering
+      rviz_rendering_test_utils
       Qt5::Widgets  # explicitly do this for include directories (not necessary for external use)
     )
   endif()
@@ -203,6 +213,7 @@ if(BUILD_TESTING)
     target_link_libraries(billboard_line_test_target
       rviz_ogre_vendor::OgreMain
       rviz_rendering
+      rviz_rendering_test_utils
       Qt5::Widgets  # explicitly do this for include directories (not necessary for external use)
     )
   endif()
@@ -214,6 +225,7 @@ if(BUILD_TESTING)
     target_link_libraries(covariance_visual_test_target
       rviz_ogre_vendor::OgreMain
       rviz_rendering
+      rviz_rendering_test_utils
       Qt5::Widgets  # explicitly do this for include directories (not necessary for external use)
     )
   endif()
@@ -225,6 +237,7 @@ if(BUILD_TESTING)
     target_link_libraries(grid_test_target
       rviz_ogre_vendor::OgreMain
       rviz_rendering
+      rviz_rendering_test_utils
       Qt5::Widgets  # explicitly do this for include directories (not necessary for external use)
     )
   endif()
@@ -237,6 +250,7 @@ if(BUILD_TESTING)
       rviz_ogre_vendor::OgreMain
       rviz_ogre_vendor::OgreOverlay
       rviz_rendering
+      rviz_rendering_test_utils
       Qt5::Widgets
     )
   endif()
@@ -248,6 +262,7 @@ if(BUILD_TESTING)
     target_link_libraries(line_test_target
       rviz_ogre_vendor::OgreMain
       rviz_rendering
+      rviz_rendering_test_utils
       Qt5::Widgets  # explicitly do this for include directories (not necessary for external use)
     )
   endif()
@@ -259,6 +274,7 @@ if(BUILD_TESTING)
     target_link_libraries(wrench_visual_test_target
       rviz_ogre_vendor::OgreMain
       rviz_rendering
+      rviz_rendering_test_utils
       Qt5::Widgets  # explicitly do this for include directories (not necessary for external use)
     )
   endif()
diff --git a/rviz_rendering/src/rviz_rendering/render_system.hpp b/rviz_rendering/include/rviz_rendering/render_system.hpp
similarity index 99%
rename from rviz_rendering/src/rviz_rendering/render_system.hpp
rename to rviz_rendering/include/rviz_rendering/render_system.hpp
index bec45fcb8..6f457a945 100644
--- a/rviz_rendering/src/rviz_rendering/render_system.hpp
+++ b/rviz_rendering/include/rviz_rendering/render_system.hpp
@@ -59,6 +59,7 @@ class RenderSystem
   RenderSystem *
   get();
 
+  RVIZ_RENDERING_PUBLIC
   Ogre::RenderWindow *
   makeRenderWindow(
     WindowIDType window_id,
diff --git a/rviz_rendering/src/rviz_rendering/ogre_render_window_impl.cpp b/rviz_rendering/src/rviz_rendering/ogre_render_window_impl.cpp
index bed533347..a80a6bc2b 100644
--- a/rviz_rendering/src/rviz_rendering/ogre_render_window_impl.cpp
+++ b/rviz_rendering/src/rviz_rendering/ogre_render_window_impl.cpp
@@ -46,7 +46,7 @@
 #include <OgreViewport.h>
 
 #include "rviz_rendering/orthographic.hpp"
-#include "./render_system.hpp"
+#include "rviz_rendering/render_system.hpp"
 #include "rviz_rendering/objects/grid.hpp"
 #include "rviz_rendering/logging.hpp"
 
diff --git a/rviz_rendering/src/rviz_rendering/ogre_render_window_impl.hpp b/rviz_rendering/src/rviz_rendering/ogre_render_window_impl.hpp
index 760f5c614..e978841d3 100644
--- a/rviz_rendering/src/rviz_rendering/ogre_render_window_impl.hpp
+++ b/rviz_rendering/src/rviz_rendering/ogre_render_window_impl.hpp
@@ -42,7 +42,7 @@
 #include <QObject>  // NOLINT: cpplint cannot handle include order here
 #include <QWindow>  // NOLINT: cpplint cannot handle include order here
 
-#include "render_system.hpp"
+#include "rviz_rendering/render_system.hpp"
 
 namespace Ogre
 {
diff --git a/rviz_rendering/src/rviz_rendering/render_system.cpp b/rviz_rendering/src/rviz_rendering/render_system.cpp
index 836adb9c6..1765e804e 100644
--- a/rviz_rendering/src/rviz_rendering/render_system.cpp
+++ b/rviz_rendering/src/rviz_rendering/render_system.cpp
@@ -29,7 +29,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "render_system.hpp"
+#include "rviz_rendering/render_system.hpp"
 
 #include <map>
 #include <memory>
diff --git a/rviz_rendering/test/rviz_rendering/objects/billboard_line_test.cpp b/rviz_rendering/test/rviz_rendering/objects/billboard_line_test.cpp
index ed03d253e..d3d00a57a 100644
--- a/rviz_rendering/test/rviz_rendering/objects/billboard_line_test.cpp
+++ b/rviz_rendering/test/rviz_rendering/objects/billboard_line_test.cpp
@@ -37,7 +37,7 @@
 #include <OgreBillboardChain.h>
 #include <OgreRoot.h>
 
-#include "test/rviz_rendering/ogre_testing_environment.hpp"
+#include "../ogre_testing_environment.hpp"
 #include "rviz_rendering/objects/billboard_line.hpp"
 
 using namespace ::testing;  // NOLINT
diff --git a/rviz_rendering/test/rviz_rendering/objects/covariance_visual_test.cpp b/rviz_rendering/test/rviz_rendering/objects/covariance_visual_test.cpp
index 26df87f75..0e25592e0 100644
--- a/rviz_rendering/test/rviz_rendering/objects/covariance_visual_test.cpp
+++ b/rviz_rendering/test/rviz_rendering/objects/covariance_visual_test.cpp
@@ -39,8 +39,8 @@
 
 #include "rviz_rendering/objects/covariance_visual.hpp"
 #include "../matcher.hpp"
-#include "test/rviz_rendering/ogre_testing_environment.hpp"
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
+#include "../ogre_testing_environment.hpp"
+#include "../scene_graph_introspection.hpp"
 
 using namespace ::testing;  // NOLINT
 using rviz_rendering::findAllCones;
diff --git a/rviz_rendering/test/rviz_rendering/objects/grid_test.cpp b/rviz_rendering/test/rviz_rendering/objects/grid_test.cpp
index 82a128ee4..36707c8d3 100644
--- a/rviz_rendering/test/rviz_rendering/objects/grid_test.cpp
+++ b/rviz_rendering/test/rviz_rendering/objects/grid_test.cpp
@@ -38,7 +38,7 @@
 #include <OgreManualObject.h>
 #include <OgreRoot.h>
 
-#include "test/rviz_rendering/ogre_testing_environment.hpp"
+#include "../ogre_testing_environment.hpp"
 #include "rviz_rendering/objects/grid.hpp"
 #include "rviz_rendering/objects/billboard_line.hpp"
 
diff --git a/rviz_rendering/test/rviz_rendering/objects/line_test.cpp b/rviz_rendering/test/rviz_rendering/objects/line_test.cpp
index 9fe60ef72..16c16d6aa 100644
--- a/rviz_rendering/test/rviz_rendering/objects/line_test.cpp
+++ b/rviz_rendering/test/rviz_rendering/objects/line_test.cpp
@@ -38,7 +38,7 @@
 #include <Ogre.h>
 
 #include "rviz_rendering/objects/line.hpp"
-#include "test/rviz_rendering/ogre_testing_environment.hpp"
+#include "../ogre_testing_environment.hpp"
 
 #include "../matcher.hpp"
 
diff --git a/rviz_rendering/test/rviz_rendering/objects/movable_text_test.cpp b/rviz_rendering/test/rviz_rendering/objects/movable_text_test.cpp
index f1c3a4f16..360d3fe0f 100644
--- a/rviz_rendering/test/rviz_rendering/objects/movable_text_test.cpp
+++ b/rviz_rendering/test/rviz_rendering/objects/movable_text_test.cpp
@@ -37,7 +37,7 @@
 #include <Overlay/OgreFontManager.h>  // NOLINT: cpplint cannot handle include order here
 
 #include "rviz_rendering/objects/movable_text.hpp"
-#include "test/rviz_rendering/ogre_testing_environment.hpp"
+#include "../ogre_testing_environment.hpp"
 
 #include "../matcher.hpp"
 
diff --git a/rviz_rendering/test/rviz_rendering/objects/point_cloud_renderable_test.cpp b/rviz_rendering/test/rviz_rendering/objects/point_cloud_renderable_test.cpp
index 23210ead4..54badd6e9 100644
--- a/rviz_rendering/test/rviz_rendering/objects/point_cloud_renderable_test.cpp
+++ b/rviz_rendering/test/rviz_rendering/objects/point_cloud_renderable_test.cpp
@@ -37,7 +37,7 @@
 
 #include "rviz_rendering/objects/point_cloud.hpp"
 #include "rviz_rendering/objects/point_cloud_renderable.hpp"
-#include "test/rviz_rendering/ogre_testing_environment.hpp"
+#include "../ogre_testing_environment.hpp"
 
 using namespace ::testing;  // NOLINT
 
diff --git a/rviz_rendering/test/rviz_rendering/objects/point_cloud_test.cpp b/rviz_rendering/test/rviz_rendering/objects/point_cloud_test.cpp
index 23c4b45f7..767f3a78d 100644
--- a/rviz_rendering/test/rviz_rendering/objects/point_cloud_test.cpp
+++ b/rviz_rendering/test/rviz_rendering/objects/point_cloud_test.cpp
@@ -42,7 +42,7 @@
 #include "rviz_rendering/objects/point_cloud.hpp"
 #include "rviz_rendering/render_window.hpp"
 #include "rviz_rendering/custom_parameter_indices.hpp"
-#include "test/rviz_rendering/ogre_testing_environment.hpp"
+#include "../ogre_testing_environment.hpp"
 
 #include "../matcher.hpp"
 
diff --git a/rviz_rendering/test/rviz_rendering/objects/wrench_visual_test.cpp b/rviz_rendering/test/rviz_rendering/objects/wrench_visual_test.cpp
index c6c199f78..8ef0d7549 100644
--- a/rviz_rendering/test/rviz_rendering/objects/wrench_visual_test.cpp
+++ b/rviz_rendering/test/rviz_rendering/objects/wrench_visual_test.cpp
@@ -37,8 +37,8 @@
 #include <OgreRoot.h>
 #include <OgreSceneNode.h>
 
-#include "test/rviz_rendering/ogre_testing_environment.hpp"
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
+#include "../ogre_testing_environment.hpp"
+#include "../scene_graph_introspection.hpp"
 #include "rviz_rendering/objects/wrench_visual.hpp"
 #include "rviz_rendering/objects/billboard_line.hpp"
 #include "rviz_rendering/objects/arrow.hpp"
diff --git a/rviz_rendering/test/rviz_rendering/ogre_testing_environment.cpp b/rviz_rendering/test/rviz_rendering/ogre_testing_environment.cpp
index 0da848d65..2cea3fe5a 100644
--- a/rviz_rendering/test/rviz_rendering/ogre_testing_environment.cpp
+++ b/rviz_rendering/test/rviz_rendering/ogre_testing_environment.cpp
@@ -27,23 +27,30 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "test/rviz_rendering/ogre_testing_environment.hpp"
+#include "ogre_testing_environment.hpp"
 
-#include "rviz_rendering/render_window.hpp"
-#include "../src/rviz_rendering/render_system.hpp"
+#include <string>
+
+#include <OgreLogManager.h>
+
+#include "rviz_rendering/render_system.hpp"
 
 namespace rviz_rendering
 {
 
-void OgreTestingEnvironment::setUpRenderSystem()
+void OgreTestingEnvironment::setUpOgreTestEnvironment(bool debug)
 {
-  RenderSystem::get();
+  if (!debug) {
+    const std::string & name = "";
+    auto lm = new Ogre::LogManager();
+    lm->createLog(name, false, debug, true);
+  }
+  setUpRenderSystem();
 }
 
-Ogre::RenderWindow * OgreTestingEnvironment::createOgreRenderWindow()
+void OgreTestingEnvironment::setUpRenderSystem()
 {
-  auto test = new rviz_rendering::RenderWindow();
-  return RenderSystem::get()->makeRenderWindow(test->winId(), 10, 10, 1.0);
+  RenderSystem::get();
 }
 
 }  // end namespace rviz_rendering
diff --git a/rviz_rendering/include/test/rviz_rendering/ogre_testing_environment.hpp b/rviz_rendering/test/rviz_rendering/ogre_testing_environment.hpp
similarity index 82%
rename from rviz_rendering/include/test/rviz_rendering/ogre_testing_environment.hpp
rename to rviz_rendering/test/rviz_rendering/ogre_testing_environment.hpp
index 78e920457..c3b74e710 100644
--- a/rviz_rendering/include/test/rviz_rendering/ogre_testing_environment.hpp
+++ b/rviz_rendering/test/rviz_rendering/ogre_testing_environment.hpp
@@ -30,16 +30,9 @@
 #ifndef RVIZ_RENDERING__OGRE_TESTING_ENVIRONMENT_HPP_
 #define RVIZ_RENDERING__OGRE_TESTING_ENVIRONMENT_HPP_
 
-#include <string>
-
-#include <OgreLogManager.h>
-#include <OgreRenderWindow.h>
-
-#include "rviz_rendering/visibility_control.hpp"
-
 namespace rviz_rendering
 {
-class RVIZ_RENDERING_PUBLIC OgreTestingEnvironment
+class OgreTestingEnvironment
 {
 public:
   /**
@@ -48,19 +41,9 @@ class RVIZ_RENDERING_PUBLIC OgreTestingEnvironment
    * @param: bool debug, if true, all logging of Ogre is send to std::out, if false no logging
    * occurs. Since the logging pollutes the test output, it defaults to false
    */
-  void setUpOgreTestEnvironment(bool debug = false)
-  {
-    if (!debug) {
-      const std::string & name = "";
-      auto lm = new Ogre::LogManager();
-      lm->createLog(name, false, debug, true);
-    }
-    setUpRenderSystem();
-  }
+  void setUpOgreTestEnvironment(bool debug = false);
 
   void setUpRenderSystem();
-
-  Ogre::RenderWindow * createOgreRenderWindow();
 };
 
 }  // namespace rviz_rendering
diff --git a/rviz_rendering/test/rviz_rendering/scene_graph_introspection.cpp b/rviz_rendering/test/rviz_rendering/scene_graph_introspection.cpp
index 4b6acaaf0..cf7c13f2c 100644
--- a/rviz_rendering/test/rviz_rendering/scene_graph_introspection.cpp
+++ b/rviz_rendering/test/rviz_rendering/scene_graph_introspection.cpp
@@ -42,21 +42,11 @@
 #include "rviz_rendering/objects/point_cloud.hpp"
 #include "rviz_rendering/objects/shape.hpp"
 
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
+#include "scene_graph_introspection.hpp"
 
 namespace rviz_rendering
 {
 
-bool arrowIsVisible(Ogre::SceneNode * scene_node)
-{
-  auto arrow_head = findEntityByMeshName(
-    scene_node, "rviz_cone.mesh");
-  auto arrow_shaft = findEntityByMeshName(
-    scene_node, "rviz_cylinder.mesh");
-
-  return arrow_head->isVisible() && arrow_shaft->isVisible();
-}
-
 std::vector<Ogre::Entity *> findAllEntitiesByMeshName(
   Ogre::SceneNode * scene_node, const Ogre::String & resource_name)
 {
@@ -101,24 +91,6 @@ Ogre::BillboardChain * findOneBillboardChain(Ogre::SceneNode * scene_node)
   return objects.empty() ? nullptr : objects[0];
 }
 
-rviz_rendering::MovableText * findOneMovableText(Ogre::SceneNode * scene_node)
-{
-  auto objects = findAllOgreObjectByType<rviz_rendering::MovableText>(scene_node, "MovableText");
-  return objects.empty() ? nullptr : objects[0];
-}
-
-Ogre::ManualObject * findOneManualObject(Ogre::SceneNode * scene_node)
-{
-  auto objects = findAllOgreObjectByType<Ogre::ManualObject>(scene_node, "ManualObject");
-  return objects.empty() ? nullptr : objects[0];
-}
-
-rviz_rendering::PointCloud * findOnePointCloud(Ogre::SceneNode * scene_node)
-{
-  auto point_clouds = findAllPointClouds(scene_node);
-  return point_clouds.empty() ? nullptr : point_clouds[0];
-}
-
 std::vector<rviz_rendering::PointCloud *> findAllPointClouds(Ogre::SceneNode * scene_node)
 {
   return findAllOgreObjectByType<rviz_rendering::PointCloud>(scene_node, "PointCloud");
@@ -148,12 +120,6 @@ std::vector<Ogre::SceneNode *> findAllArrows(Ogre::SceneNode * scene_node)
   return arrows;
 }
 
-Ogre::SceneNode * findOneArrow(Ogre::SceneNode * scene_node)
-{
-  auto arrows = findAllArrows(scene_node);
-  return arrows.empty() ? nullptr : arrows[0];
-}
-
 std::vector<Ogre::SceneNode *> findAllAxes(Ogre::SceneNode * scene_node)
 {
   std::vector<Ogre::SceneNode *> axes;
@@ -178,30 +144,4 @@ std::vector<Ogre::SceneNode *> findAllAxes(Ogre::SceneNode * scene_node)
   return axes;
 }
 
-Ogre::SceneNode * findOneAxes(Ogre::SceneNode * scene_node)
-{
-  auto axes = findAllAxes(scene_node);
-  return axes.empty() ? nullptr : axes[0];
-}
-
-std::vector<Ogre::Vector3> getPositionsFromNodes(const std::vector<Ogre::SceneNode *> & nodes)
-{
-  std::vector<Ogre::Vector3> positions(nodes.size(), Ogre::Vector3::ZERO);
-  std::transform(
-    nodes.cbegin(), nodes.cend(), positions.begin(), [](auto node) {
-      return node->getPosition();
-    });
-  return positions;
-}
-
-std::vector<Ogre::Quaternion> getOrientationsFromNodes(const std::vector<Ogre::SceneNode *> & nodes)
-{
-  std::vector<Ogre::Quaternion> orientations(nodes.size(), Ogre::Quaternion::IDENTITY);
-  std::transform(
-    nodes.cbegin(), nodes.cend(), orientations.begin(), [](auto node) {
-      return node->getOrientation();
-    });
-  return orientations;
-}
-
 }  // namespace rviz_rendering
diff --git a/rviz_rendering/include/test/rviz_rendering/scene_graph_introspection.hpp b/rviz_rendering/test/rviz_rendering/scene_graph_introspection.hpp
similarity index 80%
rename from rviz_rendering/include/test/rviz_rendering/scene_graph_introspection.hpp
rename to rviz_rendering/test/rviz_rendering/scene_graph_introspection.hpp
index 89225b9a0..ccadeb58b 100644
--- a/rviz_rendering/include/test/rviz_rendering/scene_graph_introspection.hpp
+++ b/rviz_rendering/test/rviz_rendering/scene_graph_introspection.hpp
@@ -44,57 +44,26 @@
 
 #include "rviz_rendering/objects/point_cloud.hpp"
 #include "rviz_rendering/objects/movable_text.hpp"
-#include "rviz_rendering/visibility_control.hpp"
 
 namespace rviz_rendering
 {
-RVIZ_RENDERING_PUBLIC
-bool arrowIsVisible(Ogre::SceneManager * scene_manager);
-
-RVIZ_RENDERING_PUBLIC
 std::vector<Ogre::SceneNode *> findAllArrows(Ogre::SceneNode * scene_node);
-RVIZ_RENDERING_PUBLIC
-Ogre::SceneNode * findOneArrow(Ogre::SceneNode * scene_node);
 
-RVIZ_RENDERING_PUBLIC
 std::vector<Ogre::SceneNode *> findAllAxes(Ogre::SceneNode * scene_node);
-RVIZ_RENDERING_PUBLIC
-Ogre::SceneNode * findOneAxes(Ogre::SceneNode * scene_node);
-
-RVIZ_RENDERING_PUBLIC
-std::vector<Ogre::Vector3> getPositionsFromNodes(const std::vector<Ogre::SceneNode *> & nodes);
-RVIZ_RENDERING_PUBLIC
-std::vector<Ogre::Quaternion>
-getOrientationsFromNodes(const std::vector<Ogre::SceneNode *> & nodes);
 
-RVIZ_RENDERING_PUBLIC
 std::vector<Ogre::Entity *> findAllEntitiesByMeshName(
   Ogre::SceneNode * scene_node, const Ogre::String & resource_name);
-RVIZ_RENDERING_PUBLIC
 Ogre::Entity * findEntityByMeshName(
   Ogre::SceneNode * scene_node, const Ogre::String & resource_name);
 
-RVIZ_RENDERING_PUBLIC
 std::vector<Ogre::Entity *> findAllSpheres(Ogre::SceneNode * scene_node);
-RVIZ_RENDERING_PUBLIC
 std::vector<Ogre::Entity *> findAllCones(Ogre::SceneNode * scene_node);
-RVIZ_RENDERING_PUBLIC
 std::vector<Ogre::Entity *> findAllCylinders(Ogre::SceneNode * scene_node);
 
-RVIZ_RENDERING_PUBLIC
 std::vector<rviz_rendering::PointCloud *> findAllPointClouds(Ogre::SceneNode * scene_node);
-RVIZ_RENDERING_PUBLIC
-rviz_rendering::PointCloud * findOnePointCloud(Ogre::SceneNode * scene_node);
 
-RVIZ_RENDERING_PUBLIC
 Ogre::BillboardChain * findOneBillboardChain(Ogre::SceneNode * scene_node);
 
-RVIZ_RENDERING_PUBLIC
-rviz_rendering::MovableText * findOneMovableText(Ogre::SceneNode * scene_node);
-
-RVIZ_RENDERING_PUBLIC
-Ogre::ManualObject * findOneManualObject(Ogre::SceneNode * scene_node);
-
 template<typename OgreType>
 void findAllObjectsAttached(
   Ogre::SceneNode * scene_node, const Ogre::String & type, std::vector<OgreType *> & objects)
diff --git a/rviz_rendering_tests/CMakeLists.txt b/rviz_rendering_tests/CMakeLists.txt
index 457d0e442..2cf52d09f 100644
--- a/rviz_rendering_tests/CMakeLists.txt
+++ b/rviz_rendering_tests/CMakeLists.txt
@@ -63,6 +63,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(mesh_loader_test_target
     test/mesh_loader_test.cpp
+    test/ogre_testing_environment.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET mesh_loader_test_target)
     target_link_libraries(mesh_loader_test_target
diff --git a/rviz_rendering_tests/test/mesh_loader_test.cpp b/rviz_rendering_tests/test/mesh_loader_test.cpp
index fdfa77f57..52e961bce 100644
--- a/rviz_rendering_tests/test/mesh_loader_test.cpp
+++ b/rviz_rendering_tests/test/mesh_loader_test.cpp
@@ -39,7 +39,7 @@
 #include <OgreMaterialManager.h>
 #include "resource_retriever/retriever.h"
 
-#include "test/rviz_rendering/ogre_testing_environment.hpp"
+#include "ogre_testing_environment.hpp"
 #include "rviz_rendering/mesh_loader.hpp"
 
 using namespace ::testing;  // NOLINT
@@ -49,14 +49,14 @@ class MeshLoaderTestFixture : public ::testing::Test
 protected:
   static void SetUpTestCase()
   {
-    testing_environment_ = std::make_shared<rviz_rendering::OgreTestingEnvironment>();
+    testing_environment_ = std::make_shared<rviz_rendering_tests::OgreTestingEnvironment>();
     testing_environment_->setUpOgreTestEnvironment();
   }
 
-  static std::shared_ptr<rviz_rendering::OgreTestingEnvironment> testing_environment_;
+  static std::shared_ptr<rviz_rendering_tests::OgreTestingEnvironment> testing_environment_;
 };
 
-std::shared_ptr<rviz_rendering::OgreTestingEnvironment>
+std::shared_ptr<rviz_rendering_tests::OgreTestingEnvironment>
 MeshLoaderTestFixture::testing_environment_ = nullptr;
 
 void assertVector3Equality(Ogre::Vector3 actual, Ogre::Vector3 expected)
diff --git a/rviz_rendering_tests/test/ogre_testing_environment.cpp b/rviz_rendering_tests/test/ogre_testing_environment.cpp
new file mode 100644
index 000000000..8c4ca6d0d
--- /dev/null
+++ b/rviz_rendering_tests/test/ogre_testing_environment.cpp
@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2017, Bosch Software Innovations GmbH.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "ogre_testing_environment.hpp"
+
+#include <string>
+
+#include <OgreLogManager.h>
+
+#include "rviz_rendering/render_system.hpp"
+
+namespace rviz_rendering_tests
+{
+
+void OgreTestingEnvironment::setUpOgreTestEnvironment(bool debug)
+{
+  if (!debug) {
+    const std::string & name = "";
+    auto lm = new Ogre::LogManager();
+    lm->createLog(name, false, debug, true);
+  }
+  setUpRenderSystem();
+}
+
+void OgreTestingEnvironment::setUpRenderSystem()
+{
+  rviz_rendering::RenderSystem::get();
+}
+
+}  // end namespace rviz_rendering_tests
diff --git a/rviz_rendering_tests/test/ogre_testing_environment.hpp b/rviz_rendering_tests/test/ogre_testing_environment.hpp
new file mode 100644
index 000000000..aa4836246
--- /dev/null
+++ b/rviz_rendering_tests/test/ogre_testing_environment.hpp
@@ -0,0 +1,51 @@
+/*
+ * Copyright (c) 2017, Bosch Software Innovations GmbH.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef OGRE_TESTING_ENVIRONMENT_HPP_
+#define OGRE_TESTING_ENVIRONMENT_HPP_
+
+namespace rviz_rendering_tests
+{
+class OgreTestingEnvironment
+{
+public:
+  /**
+   * Set up a testing environment to run tests needing Ogre.
+   *
+   * @param: bool debug, if true, all logging of Ogre is send to std::out, if false no logging
+   * occurs. Since the logging pollutes the test output, it defaults to false
+   */
+  void setUpOgreTestEnvironment(bool debug = false);
+
+  void setUpRenderSystem();
+};
+
+}  // namespace rviz_rendering_tests
+
+#endif  // OGRE_TESTING_ENVIRONMENT_HPP_