diff --git a/moveit_core/collision_detection/src/collision_octomap_filter.cpp b/moveit_core/collision_detection/src/collision_octomap_filter.cpp
index 23a523aaf4..5256cb4891 100644
--- a/moveit_core/collision_detection/src/collision_octomap_filter.cpp
+++ b/moveit_core/collision_detection/src/collision_octomap_filter.cpp
@@ -98,13 +98,13 @@ int collision_detection::refineContactNormals(const World::ObjectConstPtr& objec
       continue;
     }
 
-    double cell_size = 0;
     if (!object->shapes_.empty())
     {
       const shapes::ShapeConstPtr& shape = object->shapes_[0];
       const std::shared_ptr<const shapes::OcTree> shape_octree = std::dynamic_pointer_cast<const shapes::OcTree>(shape);
       if (shape_octree)
       {
+        double cell_size = 0;
         std::shared_ptr<const octomap::OcTree> octree = shape_octree->octree;
         cell_size = octree->getResolution();
         for (auto& contact_info : contact_vector)
@@ -174,7 +174,6 @@ bool getMetaballSurfaceProperties(const octomap::point3d_list& cloud, const doub
                                   const double& r_multiple, const octomath::Vector3& contact_point,
                                   octomath::Vector3& normal, double& depth, const bool estimate_depth)
 {
-  double intensity;
   if (estimate_depth)
   {
     octomath::Vector3 surface_point;
@@ -191,6 +190,7 @@ bool getMetaballSurfaceProperties(const octomap::point3d_list& cloud, const doub
   else  // just get normals, no depth
   {
     octomath::Vector3 gradient;
+    double intensity = 0;
     if (sampleCloud(cloud, spacing, r_multiple, contact_point, intensity, gradient))
     {
       normal = gradient.normalized();
@@ -211,11 +211,10 @@ bool findSurface(const octomap::point3d_list& cloud, const double& spacing, cons
                  const double& r_multiple, const octomath::Vector3& seed, octomath::Vector3& surface_point,
                  octomath::Vector3& normal)
 {
-  const double epsilon = 1e-10;
+  octomath::Vector3 p = seed, dp, gs;
   const int iterations = 10;
+  const double epsilon = 1e-10;
   double intensity = 0;
-
-  octomath::Vector3 p = seed, dp, gs;
   for (int i = 0; i < iterations; ++i)
   {
     if (!sampleCloud(cloud, spacing, r_multiple, p, intensity, gs))
diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
index ab92e0bf4a..f2876839f8 100644
--- a/moveit_core/planning_scene/src/planning_scene.cpp
+++ b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -1058,7 +1058,7 @@ bool PlanningScene::loadGeometryFromStream(std::istream& in, const Eigen::Isomet
           RCLCPP_ERROR(LOGGER, "Failed to read pose from scene file");
           return false;
         }
-        float r, g, b, a;
+        double r, g, b, a;
         if (!(in >> r >> g >> b >> a))
         {
           RCLCPP_ERROR(LOGGER, "Improperly formatted color in scene geometry file");
diff --git a/moveit_core/robot_model/src/floating_joint_model.cpp b/moveit_core/robot_model/src/floating_joint_model.cpp
index 1cd5204808..f234728ec6 100644
--- a/moveit_core/robot_model/src/floating_joint_model.cpp
+++ b/moveit_core/robot_model/src/floating_joint_model.cpp
@@ -173,7 +173,7 @@ bool FloatingJointModel::satisfiesPositionBounds(const double* values, const Bou
   if (values[2] < bounds[2].min_position_ - margin || values[2] > bounds[2].max_position_ + margin)
     return false;
   double norm_sqr = values[3] * values[3] + values[4] * values[4] + values[5] * values[5] + values[6] * values[6];
-  return fabs(norm_sqr - 1.0) <= std::numeric_limits<float>::epsilon() * 10.0;
+  return fabs(norm_sqr - 1.0) <= std::numeric_limits<double>::epsilon() * 10.0;
 }
 
 bool FloatingJointModel::normalizeRotation(double* values) const
diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
index 36424f9098..edf6508f85 100644
--- a/moveit_core/robot_state/src/robot_state.cpp
+++ b/moveit_core/robot_state/src/robot_state.cpp
@@ -1287,7 +1287,7 @@ void RobotState::getRobotMarkers(visualization_msgs::msg::MarkerArray& arr, cons
             if (shapes::constructMarkerFromShape(it.second->getShapes()[j].get(), att_mark))
             {
               // if the object is invisible (0 volume) we skip it
-              if (fabs(att_mark.scale.x * att_mark.scale.y * att_mark.scale.z) < std::numeric_limits<float>::epsilon())
+              if (fabs(att_mark.scale.x * att_mark.scale.y * att_mark.scale.z) < std::numeric_limits<double>::epsilon())
                 continue;
               att_mark.pose = tf2::toMsg(it.second->getGlobalCollisionBodyTransforms()[j]);
               arr.markers.push_back(att_mark);
@@ -1313,7 +1313,7 @@ void RobotState::getRobotMarkers(visualization_msgs::msg::MarkerArray& arr, cons
         if (!shapes::constructMarkerFromShape(link_model->getShapes()[j].get(), mark))
           continue;
         // if the object is invisible (0 volume) we skip it
-        if (fabs(mark.scale.x * mark.scale.y * mark.scale.z) < std::numeric_limits<float>::epsilon())
+        if (fabs(mark.scale.x * mark.scale.y * mark.scale.z) < std::numeric_limits<double>::epsilon())
           continue;
         mark.pose =
             tf2::toMsg(global_collision_body_transforms_[link_model->getFirstCollisionBodyTransformIndex() + j]);
@@ -1488,7 +1488,7 @@ void RobotState::computeVariableVelocity(const JointModelGroup* jmg, Eigen::Vect
   const Eigen::VectorXd& s = svd_of_j.singularValues();
 
   Eigen::VectorXd sinv = s;
-  static const double PINVTOLER = std::numeric_limits<float>::epsilon();
+  static const double PINVTOLER = std::numeric_limits<double>::epsilon();
   double maxsv = 0.0;
   for (std::size_t i = 0; i < static_cast<std::size_t>(s.rows()); ++i)
   {
diff --git a/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space.cpp b/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space.cpp
index cfb3234a44..6e2223da26 100644
--- a/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space.cpp
@@ -126,7 +126,7 @@ void ompl_interface::PoseModelStateSpace::copyState(ompl::base::State* destinati
 
 void ompl_interface::PoseModelStateSpace::sanityChecks() const
 {
-  ModelBasedStateSpace::sanityChecks(std::numeric_limits<double>::epsilon(), std::numeric_limits<float>::epsilon(),
+  ModelBasedStateSpace::sanityChecks(std::numeric_limits<double>::epsilon(), std::numeric_limits<double>::epsilon(),
                                      ~ompl::base::StateSpace::STATESPACE_TRIANGLE_INEQUALITY);
 }
 
diff --git a/moveit_ros/hybrid_planning/local_planner/local_planner_component/src/local_planner_component.cpp b/moveit_ros/hybrid_planning/local_planner/local_planner_component/src/local_planner_component.cpp
index 3810608b5c..4ec2cd4cdf 100644
--- a/moveit_ros/hybrid_planning/local_planner/local_planner_component/src/local_planner_component.cpp
+++ b/moveit_ros/hybrid_planning/local_planner/local_planner_component/src/local_planner_component.cpp
@@ -51,7 +51,7 @@ const rclcpp::Logger LOGGER = rclcpp::get_logger("local_planner_component");
 const auto JOIN_THREAD_TIMEOUT = std::chrono::seconds(1);
 
 // If the trajectory progress reaches more than 0.X the global goal state is considered as reached
-constexpr float PROGRESS_THRESHOLD = 0.995;
+constexpr double PROGRESS_THRESHOLD = 0.995;
 }  // namespace
 
 LocalPlannerComponent::LocalPlannerComponent(const rclcpp::NodeOptions& options)
diff --git a/moveit_ros/perception/depth_image_octomap_updater/include/moveit/depth_image_octomap_updater/depth_image_octomap_updater.h b/moveit_ros/perception/depth_image_octomap_updater/include/moveit/depth_image_octomap_updater/depth_image_octomap_updater.h
index c3b1b1f818..ba32c93bf5 100644
--- a/moveit_ros/perception/depth_image_octomap_updater/include/moveit/depth_image_octomap_updater/depth_image_octomap_updater.h
+++ b/moveit_ros/perception/depth_image_octomap_updater/include/moveit/depth_image_octomap_updater/depth_image_octomap_updater.h
@@ -103,7 +103,7 @@ class DepthImageOctomapUpdater : public OccupancyMapUpdater
   std::unique_ptr<mesh_filter::MeshFilter<mesh_filter::StereoCameraModel> > mesh_filter_;
   std::unique_ptr<LazyFreeSpaceUpdater> free_space_updater_;
 
-  std::vector<float> x_cache_, y_cache_;
+  std::vector<double> x_cache_, y_cache_;
   double inv_fx_, inv_fy_, K0_, K2_, K4_, K5_;
   std::vector<unsigned int> filtered_labels_;
   rclcpp::Time last_depth_callback_start_;
diff --git a/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp b/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
index dd297f82e6..958bf35a6f 100644
--- a/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
+++ b/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
@@ -445,7 +445,7 @@ void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::msg::Image:
     debug_msg.encoding = sensor_msgs::image_encodings::TYPE_32FC1;
     debug_msg.step = w * sizeof(float);
     debug_msg.data.resize(img_size * sizeof(float));
-    mesh_filter_->getModelDepth(reinterpret_cast<float*>(&debug_msg.data[0]));
+    mesh_filter_->getModelDepth(reinterpret_cast<double*>(&debug_msg.data[0]));
     pub_model_depth_image_.publish(debug_msg, *info_msg);
 
     sensor_msgs::msg::Image filtered_depth_msg;
@@ -456,7 +456,7 @@ void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::msg::Image:
     filtered_depth_msg.encoding = sensor_msgs::image_encodings::TYPE_32FC1;
     filtered_depth_msg.step = w * sizeof(float);
     filtered_depth_msg.data.resize(img_size * sizeof(float));
-    mesh_filter_->getFilteredDepth(reinterpret_cast<float*>(&filtered_depth_msg.data[0]));
+    mesh_filter_->getFilteredDepth(reinterpret_cast<double*>(&filtered_depth_msg.data[0]));
     pub_filtered_depth_image_.publish(filtered_depth_msg, *info_msg);
 
     sensor_msgs::msg::Image label_msg;
@@ -488,7 +488,7 @@ void DepthImageOctomapUpdater::depthImageCallback(const sensor_msgs::msg::Image:
     if (filtered_data.size() < img_size)
       filtered_data.resize(img_size);
 
-    mesh_filter_->getFilteredDepth(reinterpret_cast<float*>(&filtered_data[0]));
+    mesh_filter_->getFilteredDepth(reinterpret_cast<double*>(&filtered_data[0]));
     unsigned short* msg_data = reinterpret_cast<unsigned short*>(&filtered_msg.data[0]);
     for (std::size_t i = 0; i < img_size; ++i)
     {
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h
index 92e3441c4c..8707cd2569 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h
@@ -70,7 +70,7 @@ class GLRenderer
    * \param[in] near distance of the near clipping plane in meters
    * \param[in] far distance of the far clipping plane in meters
    */
-  GLRenderer(unsigned width, unsigned height, float near = 0.1, float far = 10.0);
+  GLRenderer(unsigned width, unsigned height, double near = 0.1, double far = 10.0);
 
   /** \brief destructor, destroys frame buffer objects and OpenGL context*/
   ~GLRenderer();
@@ -106,7 +106,7 @@ class GLRenderer
    * \author Suat Gedikli (gedikli@willowgarage.com)
    * \param[out] buffer pointer to memory where the depth values need to be stored
    */
-  void getDepthBuffer(float* buffer) const;
+  void getDepthBuffer(double* buffer) const;
 
   /**
    * \brief loads, compiles, links and adds GLSL shaders from files to the current OpenGL context.
@@ -135,7 +135,7 @@ class GLRenderer
    * \param[in] cx x component of principal point
    * \param[in] cy y component of principal point
    */
-  void setCameraParameters(float fx, float fy, float cx, float cy);
+  void setCameraParameters(double fx, double fy, double cx, double cy);
 
   /**
    * \brief sets the near and far clipping plane distances in meters
@@ -143,21 +143,21 @@ class GLRenderer
    * \param[in] near distance of the near clipping plane in meters
    * \param[in] far distance of the far clipping plane in meters
    */
-  void setClippingRange(float near, float far);
+  void setClippingRange(double near, double far);
 
   /**
    * \brief returns the distance of the near clipping plane in meters
    * \author Suat Gedikli (gedikli@willowgarage.com)
    * \return distance of near clipping plane in meters
    */
-  const float& getNearClippingDistance() const;
+  const double& getNearClippingDistance() const;
 
   /**
    * \brief returns the distance of the far clipping plane in meters
    * \author Suat Gedikli (gedikli@willowgarage.com)
    * \return distance of the far clipping plane in meters
    */
-  const float& getFarClippingDistance() const;
+  const double& getFarClippingDistance() const;
 
   /**
    * \brief returns the width of the frame buffer objectsin pixels
@@ -281,10 +281,10 @@ class GLRenderer
   GLuint program_;
 
   /** \brief distance of near clipping plane in meters*/
-  float near_;
+  double near_;
 
   /** \brief distance of far clipping plane in meters*/
-  float far_;
+  double far_;
 
   /** \brief focal length in x-direction of camera in pixels*/
   float fx_;
@@ -299,11 +299,11 @@ class GLRenderer
   float cy_;
 
   /** \brief map from thread id to OpenGL context */
-  static std::map<std::thread::id, std::pair<unsigned, GLuint> > context_;
+  static std::map<std::thread::id, std::pair<unsigned, GLuint> > context;
 
   /* \brief lock for context map */
-  static std::mutex context_lock_;
+  static std::mutex context_lock;
 
-  static bool glutInitialized_;
+  static bool glut_initialized;
 };
 }  // namespace mesh_filter
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h
index c319bdf35f..84fed3c28e 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h
@@ -131,7 +131,7 @@ class MeshFilterBase
    * \author Suat Gedikli (gedikli@willowgarage.com)
    * \param[out] depth pointer to buffer to be filled with depth values.
    */
-  void getFilteredDepth(float* depth) const;
+  void getFilteredDepth(double* depth) const;
 
   /**
    * \brief retrieves the labels of the rendered model
@@ -149,7 +149,7 @@ class MeshFilterBase
    * \author Suat Gedikli (gedikli@willowgarage.com)
    * \param[out] depth pointer to buffer to be filled with depth values.
    */
-  void getModelDepth(float* depth) const;
+  void getModelDepth(double* depth) const;
 
   /**
    * \brief set the shadow threshold. points that are further away than the rendered model are filtered out.
diff --git a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/sensor_model.h b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/sensor_model.h
index 607fb663c0..0ba4405281 100644
--- a/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/sensor_model.h
+++ b/moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/sensor_model.h
@@ -103,13 +103,13 @@ class SensorModel
      * \brief transforms depth values from rendered model to metric depth values
      * \param[in,out] depth pointer to floating point depth buffer
      */
-    virtual void transformModelDepthToMetricDepth(float* depth) const;
+    virtual void transformModelDepthToMetricDepth(double* depth) const;
 
     /**
      * \brief transforms depth values from filtered depth to metric depth values
      * \param[in,out] depth pointer to floating point depth buffer
      */
-    virtual void transformFilteredDepthToMetricDepth(float* depth) const;
+    virtual void transformFilteredDepthToMetricDepth(double* depth) const;
 
     /**
      * \brief sets  the image size
diff --git a/moveit_ros/perception/mesh_filter/src/depth_self_filter_nodelet.cpp b/moveit_ros/perception/mesh_filter/src/depth_self_filter_nodelet.cpp
index f77c692bcc..266d8948ab 100644
--- a/moveit_ros/perception/mesh_filter/src/depth_self_filter_nodelet.cpp
+++ b/moveit_ros/perception/mesh_filter/src/depth_self_filter_nodelet.cpp
@@ -113,7 +113,7 @@ void mesh_filter::DepthSelfFiltering::filter(const sensor_msgs::ImageConstPtr& d
   params.setCameraParameters(info_msg->K[0], info_msg->K[4], info_msg->K[2], info_msg->K[5]);
   params.setImageSize(depth_msg->width, depth_msg->height);
 
-  const float* src = (const float*)&depth_msg->data[0];
+  const double* src = (const double*)&depth_msg->data[0];
   //*
   static unsigned data_size = 0;
   static unsigned short* data = nullptr;
@@ -135,7 +135,7 @@ void mesh_filter::DepthSelfFiltering::filter(const sensor_msgs::ImageConstPtr& d
     if (static_cast<uint32_t>(filtered_depth_ptr_->image.cols) != depth_msg->width ||
         static_cast<uint32_t>(filtered_depth_ptr_->image.rows) != depth_msg->height)
       filtered_depth_ptr_->image = cv::Mat(depth_msg->height, depth_msg->width, CV_32FC1);
-    mesh_filter_->getFilteredDepth((float*)filtered_depth_ptr_->image.data);
+    mesh_filter_->getFilteredDepth((double*)filtered_depth_ptr_->image.data);
     pub_filtered_depth_image_.publish(filtered_depth_ptr_->toImageMsg(), info_msg);
   }
 
@@ -148,7 +148,7 @@ void mesh_filter::DepthSelfFiltering::filter(const sensor_msgs::ImageConstPtr& d
     if (static_cast<uint32_t>(model_depth_ptr_->image.cols) != depth_msg->width ||
         static_cast<uint32_t>(model_depth_ptr_->image.rows) != depth_msg->height)
       model_depth_ptr_->image = cv::Mat(depth_msg->height, depth_msg->width, CV_32FC1);
-    mesh_filter_->getModelDepth((float*)model_depth_ptr_->image.data);
+    mesh_filter_->getModelDepth((double*)model_depth_ptr_->image.data);
     pub_model_depth_image_.publish(model_depth_ptr_->toImageMsg(), info_msg);
   }
 
diff --git a/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp b/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp
index a1e63ba9dd..e42ed04d94 100644
--- a/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp
+++ b/moveit_ros/perception/mesh_filter/src/gl_renderer.cpp
@@ -55,7 +55,7 @@ using namespace std;
 
 static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit.ros.perception.gl_renderer");
 
-mesh_filter::GLRenderer::GLRenderer(unsigned width, unsigned height, float near, float far)
+mesh_filter::GLRenderer::GLRenderer(unsigned width, unsigned height, double near, double far)
   : width_(width)
   , height_(height)
   , fbo_id_(0)
@@ -92,7 +92,7 @@ void mesh_filter::GLRenderer::setBufferSize(unsigned width, unsigned height)
   }
 }
 
-void mesh_filter::GLRenderer::setClippingRange(float near, float far)
+void mesh_filter::GLRenderer::setClippingRange(double near, double far)
 {
   if (near_ <= 0)
     throw runtime_error("near clipping plane distance needs to be larger than 0");
@@ -102,7 +102,7 @@ void mesh_filter::GLRenderer::setClippingRange(float near, float far)
   far_ = far;
 }
 
-void mesh_filter::GLRenderer::setCameraParameters(float fx, float fy, float cx, float cy)
+void mesh_filter::GLRenderer::setCameraParameters(double fx, double fy, double cx, double cy)
 {
   fx_ = fx;
   fy_ = fy;
@@ -112,10 +112,10 @@ void mesh_filter::GLRenderer::setCameraParameters(float fx, float fy, float cx,
 
 void mesh_filter::GLRenderer::setCameraParameters() const
 {
-  float left = near_ * -cx_ / fx_;
-  float right = near_ * (width_ - cx_) / fx_;
-  float top = near_ * cy_ / fy_;
-  float bottom = near_ * (cy_ - height_) / fy_;
+  double left = near_ * -cx_ / fx_;
+  double right = near_ * (width_ - cx_) / fx_;
+  double top = near_ * cy_ / fy_;
+  double bottom = near_ * (cy_ - height_) / fy_;
 
   glMatrixMode(GL_PROJECTION);
   glLoadIdentity();
@@ -214,7 +214,7 @@ void mesh_filter::GLRenderer::getColorBuffer(unsigned char* buffer) const
   glBindFramebuffer(GL_FRAMEBUFFER, 0);
 }
 
-void mesh_filter::GLRenderer::getDepthBuffer(float* buffer) const
+void mesh_filter::GLRenderer::getDepthBuffer(double* buffer) const
 {
   glBindFramebuffer(GL_FRAMEBUFFER, fbo_id_);
   glBindTexture(GL_TEXTURE_2D, depth_id_);
@@ -246,12 +246,12 @@ const GLuint& mesh_filter::GLRenderer::getProgramID() const
   return program_;
 }
 
-const float& mesh_filter::GLRenderer::getNearClippingDistance() const
+const double& mesh_filter::GLRenderer::getNearClippingDistance() const
 {
   return near_;
 }
 
-const float& mesh_filter::GLRenderer::getFarClippingDistance() const
+const double& mesh_filter::GLRenderer::getFarClippingDistance() const
 {
   return far_;
 }
@@ -357,9 +357,9 @@ GLuint mesh_filter::GLRenderer::loadShaders(const string& vertex_source, const s
   return program_id;
 }
 
-map<std::thread::id, pair<unsigned, GLuint> > mesh_filter::GLRenderer::context_;
-std::mutex mesh_filter::GLRenderer::context_lock_;
-bool mesh_filter::GLRenderer::glutInitialized_ = false;
+map<std::thread::id, pair<unsigned, GLuint> > mesh_filter::GLRenderer::context;
+std::mutex mesh_filter::GLRenderer::context_lock;
+bool mesh_filter::GLRenderer::glut_initialized = false;
 
 namespace
 {
@@ -370,8 +370,8 @@ void nullDisplayFunction()
 
 void mesh_filter::GLRenderer::createGLContext()
 {
-  std::unique_lock<std::mutex> _(context_lock_);
-  if (!glutInitialized_)
+  std::unique_lock<std::mutex> _(context_lock);
+  if (!glut_initialized)
   {
     char buffer[1];
     char* args = buffer;
@@ -379,16 +379,16 @@ void mesh_filter::GLRenderer::createGLContext()
 
     glutInit(&n, &args);
     glutInitDisplayMode(GLUT_SINGLE | GLUT_RGB | GLUT_DEPTH);
-    glutInitialized_ = true;
+    glut_initialized = true;
   }
 
   // check if our thread is initialized
   std::thread::id thread_id = std::this_thread::get_id();
-  map<std::thread::id, pair<unsigned, GLuint> >::iterator context_it = context_.find(thread_id);
+  map<std::thread::id, pair<unsigned, GLuint> >::iterator context_it = context.find(thread_id);
 
-  if (context_it == context_.end())
+  if (context_it == context.end())
   {
-    context_[thread_id] = std::pair<unsigned, GLuint>(1, 0);
+    context[thread_id] = std::pair<unsigned, GLuint>(1, 0);
 
     glutInitWindowPosition(glutGet(GLUT_SCREEN_WIDTH) + 30000, 0);
     glutInitWindowSize(1, 1);
@@ -409,7 +409,7 @@ void mesh_filter::GLRenderer::createGLContext()
     for (int i = 0; i < 10; ++i)
       glutMainLoopEvent();
 
-    context_[thread_id] = std::pair<unsigned, GLuint>(1, window_id);
+    context[thread_id] = std::pair<unsigned, GLuint>(1, window_id);
   }
   else
     ++(context_it->second.first);
@@ -417,10 +417,10 @@ void mesh_filter::GLRenderer::createGLContext()
 
 void mesh_filter::GLRenderer::deleteGLContext()
 {
-  std::unique_lock<std::mutex> _(context_lock_);
+  std::unique_lock<std::mutex> _(context_lock);
   std::thread::id thread_id = std::this_thread::get_id();
-  map<std::thread::id, pair<unsigned, GLuint> >::iterator context_it = context_.find(thread_id);
-  if (context_it == context_.end())
+  map<std::thread::id, pair<unsigned, GLuint> >::iterator context_it = context.find(thread_id);
+  if (context_it == context.end())
   {
     stringstream error_msg;
     error_msg << "No OpenGL context exists for Thread " << thread_id;
@@ -430,7 +430,7 @@ void mesh_filter::GLRenderer::deleteGLContext()
   if (--(context_it->second.first) == 0)
   {
     glutDestroyWindow(context_it->second.second);
-    context_.erase(context_it);
+    context.erase(context_it);
   }
 }
 
diff --git a/moveit_ros/perception/mesh_filter/src/mesh_filter_base.cpp b/moveit_ros/perception/mesh_filter/src/mesh_filter_base.cpp
index 6b4b551b9f..793058297e 100644
--- a/moveit_ros/perception/mesh_filter/src/mesh_filter_base.cpp
+++ b/moveit_ros/perception/mesh_filter/src/mesh_filter_base.cpp
@@ -227,7 +227,7 @@ void mesh_filter::MeshFilterBase::getModelLabels(LabelType* labels) const
   job->wait();
 }
 
-void mesh_filter::MeshFilterBase::getModelDepth(float* depth) const
+void mesh_filter::MeshFilterBase::getModelDepth(double* depth) const
 {
   JobPtr job1 =
       std::make_shared<FilterJob<void>>([&renderer = *mesh_renderer_, depth] { renderer.getDepthBuffer(depth); });
@@ -243,7 +243,7 @@ void mesh_filter::MeshFilterBase::getModelDepth(float* depth) const
   job2->wait();
 }
 
-void mesh_filter::MeshFilterBase::getFilteredDepth(float* depth) const
+void mesh_filter::MeshFilterBase::getFilteredDepth(double* depth) const
 {
   JobPtr job1 = std::make_shared<FilterJob<void>>([&filter = *depth_filter_, depth] { filter.getDepthBuffer(depth); });
   JobPtr job2 = std::make_shared<FilterJob<void>>(
diff --git a/moveit_ros/perception/mesh_filter/src/sensor_model.cpp b/moveit_ros/perception/mesh_filter/src/sensor_model.cpp
index 9ff5cdbf0c..562e7b4359 100644
--- a/moveit_ros/perception/mesh_filter/src/sensor_model.cpp
+++ b/moveit_ros/perception/mesh_filter/src/sensor_model.cpp
@@ -102,7 +102,7 @@ inline bool isAligned16(const void* pointer)
 #endif
 }  // namespace
 
-void mesh_filter::SensorModel::Parameters::transformModelDepthToMetricDepth(float* depth) const
+void mesh_filter::SensorModel::Parameters::transformModelDepthToMetricDepth(double* depth) const
 {
 #if HAVE_SSE_EXTENSIONS
   const __m128 mmNear = _mm_set1_ps(near_clipping_plane_distance_);
@@ -161,7 +161,7 @@ void mesh_filter::SensorModel::Parameters::transformModelDepthToMetricDepth(floa
   const float nf = near * far;
   const float f_n = far - near;
 
-  const float* depth_end = depth + width_ * height_;
+  const double* depth_end = depth + width_ * height_;
   while (depth < depth_end)
   {
     if (*depth != 0 && *depth != 1)
@@ -178,7 +178,7 @@ void mesh_filter::SensorModel::Parameters::transformModelDepthToMetricDepth(floa
 #endif
 }
 
-void mesh_filter::SensorModel::Parameters::transformFilteredDepthToMetricDepth(float* depth) const
+void mesh_filter::SensorModel::Parameters::transformFilteredDepthToMetricDepth(double* depth) const
 {
 #if HAVE_SSE_EXTENSIONS
   //* SSE version
@@ -223,7 +223,7 @@ void mesh_filter::SensorModel::Parameters::transformFilteredDepthToMetricDepth(f
     ++mmDepth;
   }
 #else
-  const float* depth_end = depth + width_ * height_;
+  const double* depth_end = depth + width_ * height_;
   const float scale = far_clipping_plane_distance_ - near_clipping_plane_distance_;
   const float offset = near_clipping_plane_distance_;
   while (depth < depth_end)
diff --git a/moveit_ros/robot_interaction/src/robot_interaction.cpp b/moveit_ros/robot_interaction/src/robot_interaction.cpp
index 14b71ccdde..e85d54cbfd 100644
--- a/moveit_ros/robot_interaction/src/robot_interaction.cpp
+++ b/moveit_ros/robot_interaction/src/robot_interaction.cpp
@@ -56,8 +56,8 @@
 namespace robot_interaction
 {
 static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_ros_robot_interaction.robot_interaction");
-static const float END_EFFECTOR_UNREACHABLE_COLOR[4] = { 1.0, 0.3, 0.3, 1.0 };
-static const float END_EFFECTOR_REACHABLE_COLOR[4] = { 0.2, 1.0, 0.2, 1.0 };
+static const double END_EFFECTOR_UNREACHABLE_COLOR[4] = { 1.0, 0.3, 0.3, 1.0 };
+static const double END_EFFECTOR_REACHABLE_COLOR[4] = { 0.2, 1.0, 0.2, 1.0 };
 
 const std::string RobotInteraction::INTERACTIVE_MARKER_TOPIC = "robot_interaction_interactive_marker_topic";
 
@@ -419,7 +419,7 @@ void RobotInteraction::addEndEffectorMarkers(const InteractionHandlerPtr& handle
   }
 
   std_msgs::msg::ColorRGBA marker_color;
-  const float* color = handler->inError(eef) ? END_EFFECTOR_UNREACHABLE_COLOR : END_EFFECTOR_REACHABLE_COLOR;
+  const double* color = handler->inError(eef) ? END_EFFECTOR_UNREACHABLE_COLOR : END_EFFECTOR_REACHABLE_COLOR;
   marker_color.r = color[0];
   marker_color.g = color[1];
   marker_color.b = color[2];
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
index 17b02924e5..62cfcd0995 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.h
@@ -213,7 +213,7 @@ private Q_SLOTS:
   void onRobotModelLoaded() override;
   void onNewPlanningSceneState() override;
   void onSceneMonitorReceivedUpdate(planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type) override;
-  void updateInternal(float wall_dt, float ros_dt) override;
+  void updateInternal(double wall_dt, double ros_dt) override;
 
   void renderWorkspaceBox();
   void updateLinkColors();
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
index 60ff93fbec..20190830d0 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -121,7 +121,7 @@ class MotionPlanningFrame : public QWidget
   void initFromMoveGroupNS();
   void constructPlanningRequest(moveit_msgs::msg::MotionPlanRequest& mreq);
 
-  void updateSceneMarkers(float wall_dt, float ros_dt);
+  void updateSceneMarkers(double wall_dt, double ros_dt);
 
   void updateExternalCommunication();
 
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
index ee15f6521c..76dd1cd4e2 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.h
@@ -184,23 +184,23 @@ private Q_SLOTS:
 class ProgressBarEditor : public QWidget
 {
   Q_OBJECT
-  Q_PROPERTY(float value READ getValue WRITE setValue NOTIFY valueChanged USER true)
+  Q_PROPERTY(double value READ getValue WRITE setValue NOTIFY valueChanged USER true)
 
 public:
   /// Create a progressbar-like slider for editing values in range mix..max
-  ProgressBarEditor(QWidget* parent = nullptr, float min = -1.0, float max = 0.0, int digits = 0);
+  ProgressBarEditor(QWidget* parent = nullptr, double min = -1.0, double max = 0.0, int digits = 0);
 
-  void setValue(float value)
+  void setValue(double value)
   {
     value_ = value;
   }
-  float getValue() const
+  double getValue() const
   {
     return value_;
   }
 
 Q_SIGNALS:
-  void valueChanged(float value);
+  void valueChanged(double value);
   void editingFinished();
 
 protected:
@@ -210,9 +210,9 @@ class ProgressBarEditor : public QWidget
   void mouseReleaseEvent(QMouseEvent* event) override;
 
 private:
-  float value_;
-  float min_;
-  float max_;
+  double value_;
+  double min_;
+  double max_;
   int digits_;  ///< number of decimal digits for formatting of the value
 };
 
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
index fb8b43c7bd..7dd4ce0ee6 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
@@ -1342,7 +1342,7 @@ void MotionPlanningDisplay::update(float wall_dt, float ros_dt)
   PlanningSceneDisplay::update(wall_dt, ros_dt);
 }
 
-void MotionPlanningDisplay::updateInternal(float wall_dt, float ros_dt)
+void MotionPlanningDisplay::updateInternal(double wall_dt, double ros_dt)
 {
   PlanningSceneDisplay::updateInternal(wall_dt, ros_dt);
 
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
index b6cbabab73..af37922f46 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -673,7 +673,7 @@ void MotionPlanningFrame::tabChanged(int index)
   }
 }
 
-void MotionPlanningFrame::updateSceneMarkers(float /*wall_dt*/, float /*ros_dt*/)
+void MotionPlanningFrame::updateSceneMarkers(double /*wall_dt*/, double /*ros_dt*/)
 {
   if (scene_marker_)
     scene_marker_->update();
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp
index f9415cb478..3614f102cc 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp
@@ -423,8 +423,8 @@ void ProgressBarDelegate::paint(QPainter* painter, const QStyleOptionViewItem& o
     if (vbounds.isValid())
     {
       QPointF bounds = vbounds.toPointF();
-      const float min = bounds.x();
-      const float max = bounds.y();
+      const double min = bounds.x();
+      const double max = bounds.y();
 
       QStyleOptionProgressBar opt;
       opt.rect = option.rect;
@@ -452,8 +452,8 @@ QWidget* ProgressBarDelegate::createEditor(QWidget* parent, const QStyleOptionVi
     if (vbounds.isValid())
     {
       QPointF bounds = vbounds.toPointF();
-      float min = bounds.x();
-      float max = bounds.y();
+      double min = bounds.x();
+      double max = bounds.y();
       bool is_revolute = (index.data(JointTypeRole).toInt() == moveit::core::JointModel::REVOLUTE);
       if (is_revolute)
       {
@@ -462,7 +462,7 @@ QWidget* ProgressBarDelegate::createEditor(QWidget* parent, const QStyleOptionVi
       }
       auto* editor = new ProgressBarEditor(parent, min, max, is_revolute ? 0 : 3);
       connect(editor, &ProgressBarEditor::editingFinished, this, &ProgressBarDelegate::commitAndCloseEditor);
-      connect(editor, &ProgressBarEditor::valueChanged, this, [=](float value) {
+      connect(editor, &ProgressBarEditor::valueChanged, this, [=](double value) {
         const_cast<QAbstractItemModel*>(index.model())->setData(index, value, Qt::EditRole);
       });
       return editor;
@@ -498,7 +498,7 @@ bool JointsWidgetEventFilter::eventFilter(QObject* /*target*/, QEvent* event)
   return false;
 }
 
-ProgressBarEditor::ProgressBarEditor(QWidget* parent, float min, float max, int digits)
+ProgressBarEditor::ProgressBarEditor(QWidget* parent, double min, double max, int digits)
   : QWidget(parent), min_(min), max_(max), digits_(digits)
 {
   // if left mouse button is pressed, grab all future mouse events until button(s) released
@@ -530,7 +530,7 @@ void ProgressBarEditor::mousePressEvent(QMouseEvent* event)
 
 void ProgressBarEditor::mouseMoveEvent(QMouseEvent* event)
 {
-  float v = std::min(max_, std::max(min_, min_ + event->x() * (max_ - min_) / width()));
+  double v = std::min(max_, std::max(min_, min_ + event->x() * (max_ - min_) / width()));
   if (value_ != v)
   {
     value_ = v;
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h b/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
index 6207edeae7..3e37370448 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.h
@@ -178,7 +178,7 @@ protected Q_SLOTS:
   void fixedFrameChanged() override;
 
   // new virtual functions added by this plugin
-  virtual void updateInternal(float wall_dt, float ros_dt);
+  virtual void updateInternal(double wall_dt, double ros_dt);
   virtual void onSceneMonitorReceivedUpdate(planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type);
 
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
@@ -199,7 +199,7 @@ protected Q_SLOTS:
   bool planning_scene_needs_render_;
   // or only the robot position (excluding attached object changes)
   bool robot_state_needs_render_;
-  float current_scene_time_;
+  double current_scene_time_;
 
   rviz_common::properties::Property* scene_category_;
   rviz_common::properties::Property* robot_category_;
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
index 0caafa535f..75de575ec9 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
@@ -670,7 +670,7 @@ void PlanningSceneDisplay::update(float wall_dt, float ros_dt)
     updateInternal(wall_dt, ros_dt);
 }
 
-void PlanningSceneDisplay::updateInternal(float wall_dt, float /*ros_dt*/)
+void PlanningSceneDisplay::updateInternal(double wall_dt, double /*ros_dt*/)
 {
   current_scene_time_ += wall_dt;
   if (planning_scene_render_ &&
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h
index 0dc4a46ba5..06ab1d8fda 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h
@@ -70,7 +70,7 @@ class PlanningSceneRender
   void renderPlanningScene(const planning_scene::PlanningSceneConstPtr& scene,
                            const Ogre::ColourValue& default_scene_color,
                            const Ogre::ColourValue& default_attached_color, OctreeVoxelRenderMode voxel_render_mode,
-                           OctreeVoxelColorMode voxel_color_mode, float default_scene_alpha);
+                           OctreeVoxelColorMode voxel_color_mode, double default_scene_alpha);
   void clear();
 
 private:
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
index d0838a097f..c7d7d3fcaf 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/render_shapes.h
@@ -59,8 +59,8 @@ class RenderShapes
 
   void renderShape(Ogre::SceneNode* node, const shapes::Shape* s, const Eigen::Isometry3d& p,
                    OctreeVoxelRenderMode octree_voxel_rendering, OctreeVoxelColorMode octree_color_mode,
-                   const Ogre::ColourValue& color, float alpha);
-  void updateShapeColors(float r, float g, float b, float a);
+                   const Ogre::ColourValue& color, double alpha);
+  void updateShapeColors(double r, double g, double b, double a);
   void clear();
 
 private:
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
index f04e32fd55..fae4c85c29 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/robot_state_visualization.h
@@ -95,7 +95,7 @@ class RobotStateVisualization
    */
   void setCollisionVisible(bool visible);
 
-  void setAlpha(float alpha);
+  void setAlpha(double alpha);
 
 private:
   void updateHelper(const moveit::core::RobotStateConstPtr& robot_state,
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h
index 4fb7bd0190..48a16ad598 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_visualization.h
@@ -87,7 +87,7 @@ class TrajectoryVisualization : public QObject
 
   ~TrajectoryVisualization() override;
 
-  virtual void update(float wall_dt, float sim_dt);
+  virtual void update(double wall_dt, double sim_dt);
   virtual void reset();
 
   void onInitialize(const rclcpp::Node::SharedPtr& node, Ogre::SceneNode* scene_node,
@@ -132,7 +132,7 @@ private Q_SLOTS:
    * \return Positive values indicate a fixed time per state
    *         Negative values indicate a realtime-factor
    */
-  float getStateDisplayTime();
+  double getStateDisplayTime();
   void clearTrajectoryTrail();
 
   // Handles actually drawing the robot along motion plans
@@ -150,7 +150,7 @@ private Q_SLOTS:
   bool animating_path_;
   bool drop_displaying_trajectory_;
   int current_state_;
-  float current_state_time_;
+  double current_state_time_;
   std::mutex update_trajectory_message_;
 
   moveit::core::RobotModelConstPtr robot_model_;
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp
index 8513ea8997..5a36c4d082 100755
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp
@@ -224,7 +224,7 @@ void OcTreeRender::octreeDecoding(const std::shared_ptr<const octomap::OcTree>&
         new_point.position.y = it.getY();
         new_point.position.z = it.getZ();
 
-        float cell_probability;
+        double cell_probability;
 
         switch (octree_color_mode)
         {
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
index e9bb41b4e2..d5ebca65e2 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
@@ -75,7 +75,7 @@ void PlanningSceneRender::renderPlanningScene(const planning_scene::PlanningScen
                                               const Ogre::ColourValue& default_env_color,
                                               const Ogre::ColourValue& default_attached_color,
                                               OctreeVoxelRenderMode octree_voxel_rendering,
-                                              OctreeVoxelColorMode octree_color_mode, float default_scene_alpha)
+                                              OctreeVoxelColorMode octree_color_mode, double default_scene_alpha)
 {
   if (!scene)
     return;
@@ -102,7 +102,7 @@ void PlanningSceneRender::renderPlanningScene(const planning_scene::PlanningScen
   {
     collision_detection::CollisionEnv::ObjectConstPtr object = scene->getWorld()->getObject(id);
     Ogre::ColourValue color = default_env_color;
-    float alpha = default_scene_alpha;
+    double alpha = default_scene_alpha;
     if (scene->hasObjectColor(id))
     {
       const std_msgs::msg::ColorRGBA& c = scene->getObjectColor(id);
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
index 73c2b38654..dc340cd4ae 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
@@ -71,7 +71,7 @@ void RenderShapes::clear()
 
 void RenderShapes::renderShape(Ogre::SceneNode* node, const shapes::Shape* s, const Eigen::Isometry3d& p,
                                OctreeVoxelRenderMode octree_voxel_rendering, OctreeVoxelColorMode octree_color_mode,
-                               const Ogre::ColourValue& color, float alpha)
+                               const Ogre::ColourValue& color, double alpha)
 {
   rviz_rendering::Shape* ogre_shape = nullptr;
   Eigen::Vector3d translation = p.translation();
@@ -192,7 +192,7 @@ void RenderShapes::renderShape(Ogre::SceneNode* node, const shapes::Shape* s, co
   }
 }
 
-void RenderShapes::updateShapeColors(float r, float g, float b, float a)
+void RenderShapes::updateShapeColors(double r, double g, double b, double a)
 {
   for (const std::unique_ptr<rviz_rendering::Shape>& shape : scene_shapes_)
     shape->setColor(r, g, b, a);
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
index b8e105ba53..2af820fa44 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
@@ -119,7 +119,7 @@ void RobotStateVisualization::updateHelper(const moveit::core::RobotStateConstPt
   for (const moveit::core::AttachedBody* attached_body : attached_bodies)
   {
     std_msgs::msg::ColorRGBA color = default_attached_object_color;
-    float alpha = robot_.getAlpha();
+    double alpha = robot_.getAlpha();
     if (color_map)
     {
       std::map<std::string, std_msgs::msg::ColorRGBA>::const_iterator it = color_map->find(attached_body->getName());
@@ -176,7 +176,7 @@ void RobotStateVisualization::setCollisionVisible(bool visible)
   robot_.setCollisionVisible(visible);
 }
 
-void RobotStateVisualization::setAlpha(float alpha)
+void RobotStateVisualization::setAlpha(double alpha)
 {
   robot_.setAlpha(alpha);
 }
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp
index 0c2f7c6990..1b82869435 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp
@@ -364,15 +364,15 @@ void TrajectoryVisualization::interruptCurrentDisplay()
     animating_path_ = false;
 }
 
-float TrajectoryVisualization::getStateDisplayTime()
+double TrajectoryVisualization::getStateDisplayTime()
 {
   constexpr char default_time_string[] = "3x";
-  constexpr float default_time_value = -3.0f;
+  constexpr double default_time_value = -3.0;
 
   std::string tm = state_display_time_property_->getStdString();
   boost::trim(tm);
 
-  float type;
+  double type;
 
   if (tm.back() == 'x')
   {
@@ -391,7 +391,7 @@ float TrajectoryVisualization::getStateDisplayTime()
   tm.resize(tm.size() - 1);
   boost::trim_right(tm);
 
-  float value;
+  double value;
   try
   {
     value = std::stof(tm);
@@ -416,7 +416,7 @@ void TrajectoryVisualization::dropTrajectory()
   drop_displaying_trajectory_ = true;
 }
 
-void TrajectoryVisualization::update(float wall_dt, float sim_dt)
+void TrajectoryVisualization::update(double wall_dt, double sim_dt)
 {
   if (drop_displaying_trajectory_)
   {
@@ -478,7 +478,7 @@ void TrajectoryVisualization::update(float wall_dt, float sim_dt)
     {
       current_state_time_ += wall_dt;
     }
-    float tm = getStateDisplayTime();
+    double tm = getStateDisplayTime();
 
     if (trajectory_slider_panel_ && trajectory_slider_panel_->isVisible() && trajectory_slider_panel_->isPaused())
     {
@@ -493,7 +493,7 @@ void TrajectoryVisualization::update(float wall_dt, float sim_dt)
     else if (tm < 0.0)
     {
       // using realtime factors: skip to next waypoint based on elapsed display time
-      const float rt_factor = -tm;  // negative tm is the intended realtime factor
+      const double rt_factor = -tm;  // negative tm is the intended realtime factor
       while (current_state_ < waypoint_count &&
              (tm = displaying_trajectory_message_->getWayPointDurationFromPrevious(current_state_ + 1) / rt_factor) <
                  current_state_time_)