diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
index 3d556cb0..469eba9b 100644
--- a/.github/ci/packages.apt
+++ b/.github/ci/packages.apt
@@ -1,9 +1,9 @@
-libignition-cmake3-dev
-libignition-common5-dev
-libignition-math7-dev
-libignition-msgs9-dev
-libignition-rendering7-dev
-libignition-tools2-dev
-libignition-transport12-dev
+libgz-cmake3-dev
+libgz-common5-dev
+libgz-math7-dev
+libgz-msgs9-dev
+libgz-rendering7-dev
+libgz-tools2-dev
+libgz-transport12-dev
 libsdformat13-dev
 xvfb
diff --git a/.github/disabled_workflows/macos.yml b/.github/disabled_workflows/macos.yml
index d7e1e68f..963b6336 100644
--- a/.github/disabled_workflows/macos.yml
+++ b/.github/disabled_workflows/macos.yml
@@ -6,7 +6,7 @@ jobs:
   build:
 
     env:
-      PACKAGE: ignition-sensors7
+      PACKAGE: gz-sensors7
     runs-on: macos-latest
     steps:
     - uses: actions/checkout@v2
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index ba1eed61..bd14ed68 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -11,7 +11,7 @@ jobs:
         uses: actions/checkout@v2
       - name: Compile and test
         id: ci
-        uses: ignition-tooling/action-ignition-ci@focal
+        uses: gazebo-tooling/action-gz-ci@focal
         with:
           codecov-enabled: true
           cppcheck-enabled: true
@@ -24,4 +24,4 @@ jobs:
         uses: actions/checkout@v2
       - name: Compile and test
         id: ci
-        uses: ignition-tooling/action-ignition-ci@jammy
+        uses: gazebo-tooling/action-gz-ci@jammy
diff --git a/.github/workflows/pr-collection-labeler.yml b/.github/workflows/pr-collection-labeler.yml
index 7d7b4e17..38c4fc13 100644
--- a/.github/workflows/pr-collection-labeler.yml
+++ b/.github/workflows/pr-collection-labeler.yml
@@ -8,6 +8,6 @@ jobs:
     steps:
     - name: Add collection labels
       if: github.event.action == 'opened'
-      uses: ignition-tooling/pr-collection-labeler@v1
+      uses: gazebo-tooling/pr-collection-labeler@v1
       with:
         github-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/CMakeLists.txt b/CMakeLists.txt
index cc1983d3..1ca48694 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,9 +16,7 @@ find_package(gz-cmake3 REQUIRED)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-gz_configure_project(
-  REPLACE_IGNITION_INCLUDE_PATH gz/sensors
-  VERSION_SUFFIX pre1)
+gz_configure_project(VERSION_SUFFIX pre1)
 
 #============================================================================
 # Set project-specific options
@@ -41,7 +39,7 @@ message(STATUS "\n\n-- ====== Finding Dependencies ======")
 #--------------------------------------
 # Find Protobuf
 set(REQ_PROTOBUF_VER 3)
-gz_find_package(IgnProtobuf
+gz_find_package(GzProtobuf
                  VERSION ${REQ_PROTOBUF_VER}
                  REQUIRED
                  PRETTY Protobuf)
diff --git a/Migration.md b/Migration.md
index 56c85e56..57d1937f 100644
--- a/Migration.md
+++ b/Migration.md
@@ -89,7 +89,7 @@ release will remove the deprecated code.
 
 ### Additions
 
-1. The core ignition-sensors library no longer depends on ign-rendering. All
+1. The core gz-sensors library no longer depends on gz-rendering. All
 rendering sensors and noise models are now part of the `rendering` component
 
 1. New sensors: thermal camera
diff --git a/README.md b/README.md
index c8daa62c..8e23137c 100644
--- a/README.md
+++ b/README.md
@@ -65,7 +65,7 @@ Refer to the following table for information about important directories and fil
 
 ```
 ├── examples                  Example programs.
-├── include/ignition/sensors  Header files that will be installed.
+├── include/gz/sensors  Header files that will be installed.
 ├── src                       Source files and unit tests.
 ├── test
 │    ├── integration          Integration tests.
diff --git a/api.md.in b/api.md.in
index 218f6857..bb345ae1 100644
--- a/api.md.in
+++ b/api.md.in
@@ -1,6 +1,6 @@
-## Gazebo @IGN_DESIGNATION_CAP@
+## Gazebo @GZ_DESIGNATION_CAP@
 
-Gazebo @IGN_DESIGNATION_CAP@ is a component in Gazebo, a set of libraries
+Gazebo @GZ_DESIGNATION_CAP@ is a component in Gazebo, a set of libraries
 designed to rapidly develop robot and simulation applications. 
 
 ## License
diff --git a/configure.bat b/configure.bat
deleted file mode 100644
index cd99e189..00000000
--- a/configure.bat
+++ /dev/null
@@ -1,5 +0,0 @@
-@set build_type=Release
-@if not "%1"=="" set build_type=%1
-@echo Configuring for build type %build_type%
-
-cmake -G "NMake Makefiles" -DCMAKE_INSTALL_PREFIX="install\%build_type%" -DCMAKE_BUILD_TYPE="%build_type%" -DENABLE_TESTS_COMPILATION:BOOL=True ..
diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt
index f4316917..5e036492 100644
--- a/doc/CMakeLists.txt
+++ b/doc/CMakeLists.txt
@@ -1,6 +1,6 @@
 find_package(Doxygen)
 
-set(IGNITION_DOXYGEN_TAGFILES
+set(GZ_DOXYGEN_TAGFILES
   "\"${GZ-MATH_DOXYGEN_TAGFILE} = ${GZ-MATH_API_URL}\" \
    \"${GZ-MSGS_DOXYGEN_TAGFILE} = ${GZ-MSGS_API_URL}\" \
    \"${GZ-TRANSPORT_DOXYGEN_TAGFILE} = ${GZ-TRANSPORT_API_URL}\" \
@@ -8,10 +8,10 @@ set(IGNITION_DOXYGEN_TAGFILES
 )
 
 if (DOXYGEN_FOUND)
-  configure_file(${IGNITION_CMAKE_DOXYGEN_DIR}/api.in
+  configure_file(${GZ_CMAKE_DOXYGEN_DIR}/api.in
                  ${CMAKE_BINARY_DIR}/api.dox @ONLY)
 
-  configure_file(${IGNITION_CMAKE_DOXYGEN_DIR}/tutorials.in
+  configure_file(${GZ_CMAKE_DOXYGEN_DIR}/tutorials.in
                  ${CMAKE_BINARY_DIR}/tutorials.dox @ONLY)
 
   add_custom_target(doc ALL
diff --git a/examples/imu_noise/README.md b/examples/imu_noise/README.md
index ffb5781a..c3736d2f 100644
--- a/examples/imu_noise/README.md
+++ b/examples/imu_noise/README.md
@@ -4,7 +4,7 @@ This example creates a sequence of samples for an accelerometer and gyroscope ba
 on the https://www.analog.com/media/en/technical-documentation/data-sheets/adis16448.pdf, a commonly-used MEMS IMU.
 
 The sequence of samples can then be evaluated with Allan Variance to determine that
-the noise generation in ign-sensors is working as expected.
+the noise generation in gz-sensors is working as expected.
 
 To evaluate noise, first build and run.
 
diff --git a/examples/loop_sensor/README.md b/examples/loop_sensor/README.md
index 8ea50a7a..be189b9c 100644
--- a/examples/loop_sensor/README.md
+++ b/examples/loop_sensor/README.md
@@ -38,7 +38,7 @@ On another terminal, check that the altimeter and odometer are generating
 data on a topic:
 
 ```
-ign topic -l
+gz topic -l
 ```
 
 You should see:
@@ -51,7 +51,7 @@ You should see:
 Then listen to the altimeter data:
 
 ```
-ign topic -e -t /altimeter
+gz topic -e -t /altimeter
 ```
 
 You'll see data like:
@@ -79,7 +79,7 @@ vertical_velocity: 10.596832320931542
 Then listen to the custom sensor:
 
 ```
-ign topic -e -t /odometer
+gz topic -e -t /odometer
 ```
 
 You'll see data like:
diff --git a/examples/save_image/main.cc b/examples/save_image/main.cc
index e405bfad..9c4b7bf9 100644
--- a/examples/save_image/main.cc
+++ b/examples/save_image/main.cc
@@ -25,7 +25,7 @@
 #include <gz/common/Console.hh>
 #include <gz/math/Helpers.hh>
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
+// TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
@@ -58,7 +58,7 @@ void BuildScene(gz::rendering::ScenePtr _scene);
 
 int main()
 {
-  // Setup ign-rendering with a scene
+  // Setup gz-rendering with a scene
 #ifdef WITH_OGRE
   auto engine = gz::rendering::engine("ogre");
 #else
@@ -82,7 +82,7 @@ int main()
 
   // Create SDF describing a camera sensor
   const std::string name = "ExampleCamera";
-  const std::string topic = "/ignition/sensors/examples/save_image";
+  const std::string topic = "/gz/sensors/examples/save_image";
   const double hz = 30;
   const std::size_t width = 480;
   const std::size_t height = 320;
@@ -133,7 +133,7 @@ int main()
   return 0;
 }
 
-// Copy/paste from an gz-rendering example
+// Copy/paste from a gz-rendering example
 void BuildScene(gz::rendering::ScenePtr _scene)
 {
   // initialize _scene
diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
index 4b2bdd7b..992a1312 100644
--- a/include/CMakeLists.txt
+++ b/include/CMakeLists.txt
@@ -1,2 +1,2 @@
 add_subdirectory(gz)
-install(DIRECTORY ignition DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL})
+install(DIRECTORY ignition DESTINATION ${GZ_INCLUDE_INSTALL_DIR_FULL})
diff --git a/include/gz/sensors/AltimeterSensor.hh b/include/gz/sensors/AltimeterSensor.hh
index a930f0c1..f1abf2a1 100644
--- a/include/gz/sensors/AltimeterSensor.hh
+++ b/include/gz/sensors/AltimeterSensor.hh
@@ -41,7 +41,7 @@ namespace gz
     /// \brief Altimeter Sensor Class
     ///
     /// An altimeter sensor that reports vertical position and velocity
-    /// readings over ign transport
+    /// readings over gz transport
     class GZ_SENSORS_ALTIMETER_VISIBLE AltimeterSensor : public Sensor
     {
       /// \brief constructor
diff --git a/include/gz/sensors/CameraSensor.hh b/include/gz/sensors/CameraSensor.hh
index 1d43ddcb..930bfa79 100644
--- a/include/gz/sensors/CameraSensor.hh
+++ b/include/gz/sensors/CameraSensor.hh
@@ -35,7 +35,7 @@
 #pragma warning(pop)
 #endif
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
+// TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
@@ -65,7 +65,7 @@ namespace gz
     ///
     ///   This class creates images from a Gazebo Rendering scene. The scene
     ///   must be created in advance and given to Manager::Init().
-    ///   It offers both an ignition-transport interface and a direct C++ API
+    ///   It offers both a gz-transport interface and a direct C++ API
     ///   to access the image data. The API works by setting a callback to be
     ///   called with image data.
     class GZ_SENSORS_CAMERA_VISIBLE CameraSensor : public RenderingSensor
diff --git a/include/gz/sensors/DepthCameraSensor.hh b/include/gz/sensors/DepthCameraSensor.hh
index 1217fb5b..a5a91370 100644
--- a/include/gz/sensors/DepthCameraSensor.hh
+++ b/include/gz/sensors/DepthCameraSensor.hh
@@ -36,7 +36,7 @@
 #pragma warning(pop)
 #endif
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
+// TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
@@ -65,7 +65,7 @@ namespace gz
     ///
     /// This class creates depth image from a Gazebo Rendering scene.
     /// The scene  must be created in advance and given to Manager::Init().
-    /// It offers both an ignition-transport interface and a direct C++ API
+    /// It offers both a gz-transport interface and a direct C++ API
     /// to access the image data. The API works by setting a callback to be
     /// called with image data.
     class GZ_SENSORS_DEPTH_CAMERA_VISIBLE DepthCameraSensor
diff --git a/include/gz/sensors/GpuLidarSensor.hh b/include/gz/sensors/GpuLidarSensor.hh
index 85705cd5..6438221d 100644
--- a/include/gz/sensors/GpuLidarSensor.hh
+++ b/include/gz/sensors/GpuLidarSensor.hh
@@ -24,7 +24,7 @@
 
 #include <gz/utils/SuppressWarning.hh>
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
+// TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
@@ -55,7 +55,7 @@ namespace gz
     ///   from the origin of the center to points on the visual geometry in the
     ///   scene.
     ///
-    ///   It offers both an ignition-transport interface and a direct C++ API
+    ///   It offers both a gz-transport interface and a direct C++ API
     ///   to access the image data. The API works by setting a callback to be
     ///   called with image data.
     class GZ_SENSORS_GPU_LIDAR_VISIBLE GpuLidarSensor : public Lidar
diff --git a/include/gz/sensors/ImageBrownDistortionModel.hh b/include/gz/sensors/ImageBrownDistortionModel.hh
index ee4441f0..af70082e 100644
--- a/include/gz/sensors/ImageBrownDistortionModel.hh
+++ b/include/gz/sensors/ImageBrownDistortionModel.hh
@@ -20,7 +20,7 @@
 
 #include <sdf/sdf.hh>
 
-// TODO(WilliamLewww): Remove these pragmas once ign-rendering is disabling the
+// TODO(WilliamLewww): Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
diff --git a/include/gz/sensors/ImageGaussianNoiseModel.hh b/include/gz/sensors/ImageGaussianNoiseModel.hh
index ed71390c..d9b7e6a4 100644
--- a/include/gz/sensors/ImageGaussianNoiseModel.hh
+++ b/include/gz/sensors/ImageGaussianNoiseModel.hh
@@ -20,7 +20,7 @@
 
 #include <sdf/sdf.hh>
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
+// TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
diff --git a/include/gz/sensors/Lidar.hh b/include/gz/sensors/Lidar.hh
index 5acc2b9a..988533e6 100644
--- a/include/gz/sensors/Lidar.hh
+++ b/include/gz/sensors/Lidar.hh
@@ -43,7 +43,7 @@ namespace gz
     ///   from the origin of the center to points on the visual geometry in the
     ///   scene.
     ///
-    ///   It offers both an ignition-transport interface and a direct C++ API
+    ///   It offers both a gz-transport interface and a direct C++ API
     ///   to access the image data. The API works by setting a callback to be
     ///   called with image data.
     class GZ_SENSORS_LIDAR_VISIBLE Lidar : public RenderingSensor
diff --git a/include/gz/sensors/RenderingEvents.hh b/include/gz/sensors/RenderingEvents.hh
index 424b0fc1..e204ca4f 100644
--- a/include/gz/sensors/RenderingEvents.hh
+++ b/include/gz/sensors/RenderingEvents.hh
@@ -21,7 +21,7 @@
 #include <gz/common/Event.hh>
 #include <gz/utils/SuppressWarning.hh>
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
+// TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
diff --git a/include/gz/sensors/RenderingSensor.hh b/include/gz/sensors/RenderingSensor.hh
index 0f236701..7443ff8c 100644
--- a/include/gz/sensors/RenderingSensor.hh
+++ b/include/gz/sensors/RenderingSensor.hh
@@ -21,7 +21,7 @@
 
 #include <gz/utils/SuppressWarning.hh>
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
+// TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
diff --git a/include/gz/sensors/RgbdCameraSensor.hh b/include/gz/sensors/RgbdCameraSensor.hh
index 28de04f8..f3fc58cc 100644
--- a/include/gz/sensors/RgbdCameraSensor.hh
+++ b/include/gz/sensors/RgbdCameraSensor.hh
@@ -45,7 +45,7 @@ namespace gz
     /// * Depth image (same as DepthCamera)
     /// * (future / todo) Color point cloud
     /// The scene  must be created in advance and given to Manager::Init().
-    /// It offers both an ignition-transport interface and a direct C++ API
+    /// It offers both a gz-transport interface and a direct C++ API
     /// to access the image data. The API works by setting a callback to be
     /// called with image data.
     class GZ_SENSORS_RGBD_CAMERA_VISIBLE RgbdCameraSensor
diff --git a/include/gz/sensors/SegmentationCameraSensor.hh b/include/gz/sensors/SegmentationCameraSensor.hh
index 0c52f5a9..59303474 100644
--- a/include/gz/sensors/SegmentationCameraSensor.hh
+++ b/include/gz/sensors/SegmentationCameraSensor.hh
@@ -47,7 +47,7 @@ namespace gz
     ///
     /// This class creates segmentation images from a Gazebo Rendering scene.
     /// The scene must be created in advance and given to Manager::Init().
-    /// It offers both an ignition-transport interface and a direct C++ API
+    /// It offers both a gz-transport interface and a direct C++ API
     /// to access the image data. The API works by setting a callback to be
     /// called with image data.
     class GZ_SENSORS_SEGMENTATION_CAMERA_VISIBLE
diff --git a/include/gz/sensors/Sensor.hh b/include/gz/sensors/Sensor.hh
index be357ba4..146ebf61 100644
--- a/include/gz/sensors/Sensor.hh
+++ b/include/gz/sensors/Sensor.hh
@@ -187,7 +187,7 @@ namespace gz
       /// information for this sensor.
       public: sdf::ElementPtr SDF() const;
 
-      /// \brief Add a sequence number to an gz::msgs::Header. This
+      /// \brief Add a sequence number to a gz::msgs::Header. This
       /// function can be called by a sensor that wants to add a sequence
       /// number to a sensor message in order to have improved
       /// accountability for generated sensor data.
diff --git a/include/gz/sensors/SensorFactory.hh b/include/gz/sensors/SensorFactory.hh
index b7d8175c..b6c3b202 100644
--- a/include/gz/sensors/SensorFactory.hh
+++ b/include/gz/sensors/SensorFactory.hh
@@ -171,7 +171,7 @@ namespace gz
       ///
       ///   This creates sensors by looking at the given SDF Sensor DOM
       ///   object.
-      ///   Sensors created with this API offer an ignition-transport interface.
+      ///   Sensors created with this API offer a gz-transport interface.
       ///   If you need a direct C++ interface to the data, you must get the
       ///   sensor pointer and cast to the correct type.
       ///
diff --git a/include/gz/sensors/ThermalCameraSensor.hh b/include/gz/sensors/ThermalCameraSensor.hh
index f8d7a719..e0d6bbe6 100644
--- a/include/gz/sensors/ThermalCameraSensor.hh
+++ b/include/gz/sensors/ThermalCameraSensor.hh
@@ -36,7 +36,7 @@
 #pragma warning(pop)
 #endif
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
+// TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
@@ -65,7 +65,7 @@ namespace gz
     ///
     /// This class creates thermal image from a Gazebo Rendering scene.
     /// The scene must be created in advance and given to Manager::Init().
-    /// It offers both an ignition-transport interface and a direct C++ API
+    /// It offers both a gz-transport interface and a direct C++ API
     /// to access the image data. The API works by setting a callback to be
     /// called with image data.
     class GZ_SENSORS_THERMAL_CAMERA_VISIBLE ThermalCameraSensor
diff --git a/include/gz/sensors/WideAngleCameraSensor.hh b/include/gz/sensors/WideAngleCameraSensor.hh
index d975fe09..a9b80c7b 100644
--- a/include/gz/sensors/WideAngleCameraSensor.hh
+++ b/include/gz/sensors/WideAngleCameraSensor.hh
@@ -36,7 +36,7 @@
 #pragma warning(pop)
 #endif
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
+// TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
@@ -65,7 +65,7 @@ namespace gz
     ///
     /// This class creates wide angle camera image from a Gazebo Rendering
     /// scene. The scene must be created in advance and given to Manager::Init()
-    /// It offers both an ignition-transport interface and a direct C++ API
+    /// It offers both a gz-transport interface and a direct C++ API
     /// to access the image data. The API works by setting a callback to be
     /// called with image data.
     class GZ_SENSORS_WIDE_ANGLE_CAMERA_VISIBLE WideAngleCameraSensor
diff --git a/include/gz/sensors/sensors.hh.in b/include/gz/sensors/sensors.hh.in
index 61b338de..ac83b06b 100644
--- a/include/gz/sensors/sensors.hh.in
+++ b/include/gz/sensors/sensors.hh.in
@@ -1,3 +1,3 @@
 // Automatically generated
 #include <gz/sensors/config.hh>
-${ign_headers}
+${gz_headers}
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 776bdfc0..904dd46c 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -28,7 +28,7 @@ set (gtest_sources
 )
 
 if (MSVC)
-  # TODO(louise) Remove this once warnings are suppressed in ign-rendering
+  # TODO(louise) Remove this once warnings are suppressed in gz-rendering
   set_source_files_properties(
       ${rendering_sources}
       SegmentationCameraSensor.cc
diff --git a/src/ImageBrownDistortionModel.cc b/src/ImageBrownDistortionModel.cc
index bc21e1a2..4fd9e1fd 100644
--- a/src/ImageBrownDistortionModel.cc
+++ b/src/ImageBrownDistortionModel.cc
@@ -22,7 +22,7 @@
 
 #include <gz/common/Console.hh>
 
-// TODO(WilliamLewww): Remove these pragmas once ign-rendering is disabling the
+// TODO(WilliamLewww): Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
diff --git a/src/ImageGaussianNoiseModel.cc b/src/ImageGaussianNoiseModel.cc
index 8d06a51c..45f60ae8 100644
--- a/src/ImageGaussianNoiseModel.cc
+++ b/src/ImageGaussianNoiseModel.cc
@@ -22,7 +22,7 @@
 
 #include <gz/common/Console.hh>
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
+// TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
diff --git a/src/ImuSensor_TEST.cc b/src/ImuSensor_TEST.cc
index 4fb233af..21e3476a 100644
--- a/src/ImuSensor_TEST.cc
+++ b/src/ImuSensor_TEST.cc
@@ -199,7 +199,7 @@ TEST(ImuSensor_TEST, CreateImuSensor)
   gz::sensors::Manager mgr;
 
   const std::string name = "TestImu";
-  const std::string topic = "/ignition/sensors/test/imu";
+  const std::string topic = "/gz/sensors/test/imu";
   const double update_rate = 100;
   const auto accelNoise = accelerometerParameters(update_rate, 0.0);
   const auto gyroNoise = gyroscopeParameters(update_rate, 0.0);
@@ -226,7 +226,7 @@ TEST(ImuSensor_TEST, ComputeNoise)
 
   {
     const std::string name = "TestImu_Truth";
-    const std::string topic = "/ignition/sensors/test/imu_truth";
+    const std::string topic = "/gz/sensors/test/imu_truth";
     const double update_rate = 100;
     const auto accelNoise = noNoiseParameters(update_rate, 0.0);
     const auto gyroNoise = noNoiseParameters(update_rate, 0.0);
@@ -239,7 +239,7 @@ TEST(ImuSensor_TEST, ComputeNoise)
 
   {
     const std::string name = "TestImu_Truth";
-    const std::string topic = "/ignition/sensors/test/imu_truth";
+    const std::string topic = "/gz/sensors/test/imu_truth";
     const double update_rate = 100;
     auto accelNoise = accelerometerParameters(update_rate, 0.0);
     auto gyroNoise = gyroscopeParameters(update_rate, 0.0);
@@ -322,7 +322,7 @@ TEST(ImuSensor_TEST, Orientation)
 
   {
     const std::string name = "TestImu_Truth";
-    const std::string topic = "/ignition/sensors/test/imu_truth";
+    const std::string topic = "/gz/sensors/test/imu_truth";
     const double updateRate = 100;
     const auto accelNoise = noNoiseParameters(updateRate, 0.0);
     const auto gyroNoise = noNoiseParameters(updateRate, 0.0);
diff --git a/src/Lidar_TEST.cc b/src/Lidar_TEST.cc
index 0154ae78..47e7a747 100644
--- a/src/Lidar_TEST.cc
+++ b/src/Lidar_TEST.cc
@@ -116,7 +116,7 @@ TEST(Lidar_TEST, CreateLaser)
 
   // Create SDF describing a camera sensor
   const std::string name = "TestLidar";
-  const std::string topic = "/ignition/sensors/test/lidar";
+  const std::string topic = "/gz/sensors/test/lidar";
   const double update_rate = 30;
   const double horz_samples = 640;
   const double horz_resolution = 1;
diff --git a/src/Manager.cc b/src/Manager.cc
index b83a0003..2c39df69 100644
--- a/src/Manager.cc
+++ b/src/Manager.cc
@@ -96,8 +96,8 @@ gz::sensors::SensorId Manager::AddSensor(
 /////////////////////////////////////////////////
 gz::sensors::SensorId Manager::CreateSensor(const sdf::Sensor &)
 {
-  gzwarn << "Trying to create sensor without providing sensor type. Ignition"
-          << " Sensor doesn't support sensor registration anymore. Use the"
+  gzwarn << "Trying to create sensor without providing sensor type. Gazebo"
+          << " Sensors doesn't support sensor registration anymore. Use the"
           << " templated `CreateSensor` function instead." << std::endl;
   return NO_SENSOR;
 }
@@ -105,8 +105,8 @@ gz::sensors::SensorId Manager::CreateSensor(const sdf::Sensor &)
 /////////////////////////////////////////////////
 gz::sensors::SensorId Manager::CreateSensor(sdf::ElementPtr)
 {
-  gzwarn << "Trying to create sensor without providing sensor type. Ignition"
-          << " Sensor doesn't support sensor registration anymore. Use the"
+  gzwarn << "Trying to create sensor without providing sensor type. Gazebo"
+          << " Sensors doesn't support sensor registration anymore. Use the"
           << " templated `CreateSensor` function instead." << std::endl;
   return NO_SENSOR;
 }
diff --git a/src/RenderingSensor.cc b/src/RenderingSensor.cc
index 8366e66f..21e450ab 100644
--- a/src/RenderingSensor.cc
+++ b/src/RenderingSensor.cc
@@ -17,7 +17,7 @@
 
 #include <gz/common/Profiler.hh>
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
+// TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
diff --git a/src/RgbdCameraSensor.cc b/src/RgbdCameraSensor.cc
index 959a07f4..c73cf74f 100644
--- a/src/RgbdCameraSensor.cc
+++ b/src/RgbdCameraSensor.cc
@@ -30,7 +30,7 @@
 #include <gz/common/Profiler.hh>
 #include <gz/math/Helpers.hh>
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
+// TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
diff --git a/src/Sensor.cc b/src/Sensor.cc
index e30258f8..3449d290 100644
--- a/src/Sensor.cc
+++ b/src/Sensor.cc
@@ -129,7 +129,7 @@ bool SensorPrivate::PopulateFromSDF(const sdf::Sensor &_sdf)
   //  then the update_rate will be obeyed. Gazebo seems to use it as if
   //  true means enable the sensor at startup.
 
-  // \todo(nkoenig) what to do with <visualize>? ign-sensor data is meant to
+  // \todo(nkoenig) what to do with <visualize>? gz-sensor data is meant to
   // create
   // sensor data. Whether or not that data should be visualized seems to
   // be outside the scope of this library
diff --git a/src/SensorFactory.cc b/src/SensorFactory.cc
index ab7893bd..4012baf6 100644
--- a/src/SensorFactory.cc
+++ b/src/SensorFactory.cc
@@ -47,8 +47,8 @@ SensorFactory::~SensorFactory()
 /////////////////////////////////////////////////
 std::unique_ptr<Sensor> SensorFactory::CreateSensor(const sdf::Sensor &)
 {
-  gzwarn << "Trying to create sensor without providing sensor type. Ignition"
-          << " Sensor doesn't support sensor registration anymore. Use the"
+  gzwarn << "Trying to create sensor without providing sensor type. Gazebo"
+          << " Sensors doesn't support sensor registration anymore. Use the"
           << " templated `CreateSensor` function instead." << std::endl;
   return nullptr;
 }
@@ -56,8 +56,8 @@ std::unique_ptr<Sensor> SensorFactory::CreateSensor(const sdf::Sensor &)
 /////////////////////////////////////////////////
 std::unique_ptr<Sensor> SensorFactory::CreateSensor(sdf::ElementPtr)
 {
-  gzwarn << "Trying to create sensor without providing sensor type. Ignition"
-          << " Sensor doesn't support sensor registration anymore. Use the"
+  gzwarn << "Trying to create sensor without providing sensor type. Gazebo"
+          << " Sensors doesn't support sensor registration anymore. Use the"
           << " templated `CreateSensor` function instead." << std::endl;
   return nullptr;
 }
diff --git a/src/ThermalCameraSensor.cc b/src/ThermalCameraSensor.cc
index 398ebfc2..73f505f5 100644
--- a/src/ThermalCameraSensor.cc
+++ b/src/ThermalCameraSensor.cc
@@ -461,7 +461,7 @@ bool ThermalCameraSensor::Update(
 
   std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
 
-  // \todo(anyone) once ign-rendering supports an image event with unsigned char
+  // \todo(anyone) once gz-rendering supports an image event with unsigned char
   // data type, we can remove this check that copies uint16_t data to char array
   if (this->dataPtr->thermalCamera->ImageFormat() == rendering::PF_L8)
   {
diff --git a/test/integration/air_pressure.cc b/test/integration/air_pressure.cc
index 84880f6c..f7ce3c5e 100644
--- a/test/integration/air_pressure.cc
+++ b/test/integration/air_pressure.cc
@@ -114,8 +114,8 @@ TEST_F(AirPressureSensorTest, CreateAirPressure)
 {
   // Create SDF describing an air_pressure sensor
   const std::string name = "TestAirPressure";
-  const std::string topic = "/ignition/sensors/test/air_pressure";
-  const std::string topicNoise = "/ignition/sensors/test/air_pressure_noise";
+  const std::string topic = "/gz/sensors/test/air_pressure";
+  const std::string topicNoise = "/gz/sensors/test/air_pressure_noise";
   const double updateRate = 30;
   const bool alwaysOn = 1;
   const bool visualize = 1;
@@ -154,8 +154,8 @@ TEST_F(AirPressureSensorTest, SensorReadings)
 {
   // Create SDF describing an air_pressure sensor
   const std::string name = "TestAirPressure";
-  const std::string topic = "/ignition/sensors/test/air_pressure";
-  const std::string topicNoise = "/ignition/sensors/test/air_pressure_noise";
+  const std::string topic = "/gz/sensors/test/air_pressure";
+  const std::string topicNoise = "/gz/sensors/test/air_pressure_noise";
   const double updateRate = 30;
   const bool alwaysOn = 1;
   const bool visualize = 1;
diff --git a/test/integration/all_symbols_have_version.bash.in b/test/integration/all_symbols_have_version.bash.in
index f9507255..0809555f 100644
--- a/test/integration/all_symbols_have_version.bash.in
+++ b/test/integration/all_symbols_have_version.bash.in
@@ -2,10 +2,10 @@
 
 LIBPATH=$1
 VERSIONED_NS=v@PROJECT_VERSION_MAJOR@
-IGN_PROJECT=@IGN_DESIGNATION@
+GZ_PROJECT=@GZ_DESIGNATION@
 
 # Sanity check - there should be at least one symbol
-NUM_SYMBOLS=$(nm $LIBPATH | grep -e "gz.*$IGN_PROJECT" | wc -l)
+NUM_SYMBOLS=$(nm $LIBPATH | grep -e "gz.*$GZ_PROJECT" | wc -l)
 
 if [ $NUM_SYMBOLS -eq 0 ]
 then
@@ -14,7 +14,7 @@ then
 fi
 
 # There must be no unversioned symbols
-UNVERSIONED_SYMBOLS=$(nm $LIBPATH | grep -e "gz.*$IGN_PROJECT" | grep -e "$VERSIONED_NS" -v)
+UNVERSIONED_SYMBOLS=$(nm $LIBPATH | grep -e "gz.*$GZ_PROJECT" | grep -e "$VERSIONED_NS" -v)
 UNVERSIONED_SYMBOL_CHARS=$(printf "$UNVERSIONED_SYMBOLS" | wc -m)
 
 if [ $UNVERSIONED_SYMBOL_CHARS -ne 0 ]
diff --git a/test/integration/altimeter.cc b/test/integration/altimeter.cc
index e15ff346..f1bed94b 100644
--- a/test/integration/altimeter.cc
+++ b/test/integration/altimeter.cc
@@ -121,8 +121,8 @@ TEST_F(AltimeterSensorTest, CreateAltimeter)
 {
   // Create SDF describing an altimeter sensor
   const std::string name = "TestAltimeter";
-  const std::string topic = "/ignition/sensors/test/altimeter";
-  const std::string topicNoise = "/ignition/sensors/test/altimeter_noise";
+  const std::string topic = "/gz/sensors/test/altimeter";
+  const std::string topicNoise = "/gz/sensors/test/altimeter_noise";
   const double updateRate = 30;
   const bool alwaysOn = 1;
   const bool visualize = 1;
@@ -160,8 +160,8 @@ TEST_F(AltimeterSensorTest, SensorReadings)
 {
   // Create SDF describing an altimeter sensor
   const std::string name = "TestAltimeter";
-  const std::string topic = "/ignition/sensors/test/altimeter";
-  const std::string topicNoise = "/ignition/sensors/test/altimeter_noise";
+  const std::string topic = "/gz/sensors/test/altimeter";
+  const std::string topicNoise = "/gz/sensors/test/altimeter_noise";
   const double updateRate = 30;
   const bool alwaysOn = 1;
   const bool visualize = 1;
diff --git a/test/integration/camera.cc b/test/integration/camera.cc
index e671b4ca..fdc6c92c 100644
--- a/test/integration/camera.cc
+++ b/test/integration/camera.cc
@@ -22,7 +22,7 @@
 #include <gz/sensors/Manager.hh>
 #include <gz/sensors/CameraSensor.hh>
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
+// TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
@@ -102,7 +102,7 @@ void CameraSensorTest::ImagesWithBuiltinSDF(const std::string &_renderEngine)
   ASSERT_TRUE(linkPtr->HasElement("sensor"));
   auto sensorPtr = linkPtr->GetElement("sensor");
 
-  // Setup ign-rendering with an empty scene
+  // Setup gz-rendering with an empty scene
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
@@ -196,7 +196,7 @@ void CameraSensorTest::ImageFormatLInt8LInt16(const std::string &_renderEngine)
   auto sensorPtrCamera8Bit = linkPtr->GetElement("sensor");
   auto sensorPtrCamera16Bit = linkPtr->GetElement("sensor")->GetNextElement();
 
-  // Setup ign-rendering with an empty scene
+  // Setup gz-rendering with an empty scene
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
diff --git a/test/integration/depth_camera.cc b/test/integration/depth_camera.cc
index 1e204655..bbe97d95 100644
--- a/test/integration/depth_camera.cc
+++ b/test/integration/depth_camera.cc
@@ -33,7 +33,7 @@
 #include <gz/sensors/Manager.hh>
 #include <gz/sensors/DepthCameraSensor.hh>
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
+// TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
@@ -191,7 +191,7 @@ void DepthCameraSensorTest::ImagesWithBuiltinSDF(
     return;
   }
 
-  // Setup ign-rendering with an empty scene
+  // Setup gz-rendering with an empty scene
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
diff --git a/test/integration/distortion_camera.cc b/test/integration/distortion_camera.cc
index b09a004a..55a2c4c8 100644
--- a/test/integration/distortion_camera.cc
+++ b/test/integration/distortion_camera.cc
@@ -22,7 +22,7 @@
 #include <gz/sensors/Manager.hh>
 #include <gz/sensors/CameraSensor.hh>
 
-// TODO(WilliamLewww): Remove these pragmas once ign-rendering is disabling the
+// TODO(WilliamLewww): Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
@@ -85,7 +85,7 @@ void DistortionCameraSensorTest::ImagesWithBuiltinSDF(
     return;
   }
 
-  // Setup ign-rendering with an empty scene
+  // Setup gz-rendering with an empty scene
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
diff --git a/test/integration/force_torque.cc b/test/integration/force_torque.cc
index 06eeca00..3750ffdd 100644
--- a/test/integration/force_torque.cc
+++ b/test/integration/force_torque.cc
@@ -139,7 +139,7 @@ TEST_F(ForceTorqueSensorTest, CreateForceTorqueSensor)
 {
   // Create SDF describing a force torque sensor
   const std::string name = "TestForceTorqueSensor";
-  const std::string topic = "/ignition/sensors/test/force_torque";
+  const std::string topic = "/gz/sensors/test/force_torque";
 
   const double updateRate = 30;
   const bool alwaysOn = 1;
@@ -176,7 +176,7 @@ TEST_P(ForceTorqueSensorTest, SensorReadings)
 
   // Create SDF describing a a force torque sensor
   const std::string name = "TestForceTorqueSensor";
-  const std::string topic = "/ignition/sensors/test/force_torque";
+  const std::string topic = "/gz/sensors/test/force_torque";
   const double updateRate = 30;
   const bool alwaysOn = 1;
   const bool visualize = 1;
diff --git a/test/integration/gpu_lidar_sensor.cc b/test/integration/gpu_lidar_sensor.cc
index be1feddc..fe51dbf9 100644
--- a/test/integration/gpu_lidar_sensor.cc
+++ b/test/integration/gpu_lidar_sensor.cc
@@ -36,7 +36,7 @@
 #endif
 #include <gz/transport/Node.hh>
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
+// TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
@@ -171,7 +171,7 @@ void GpuLidarSensorTest::CreateGpuLidar(const std::string &_renderEngine)
   // Create SDF describing a camera sensor
   const std::string name = "TestGpuLidar";
   const std::string parent = "parent_link";
-  const std::string topic = "/ignition/sensors/test/lidar";
+  const std::string topic = "/gz/sensors/test/lidar";
   const double updateRate = 30;
   const unsigned int horzSamples = 640;
   const double horzResolution = 1;
@@ -195,7 +195,7 @@ void GpuLidarSensorTest::CreateGpuLidar(const std::string &_renderEngine)
     vertSamples, vertResolution, vertMinAngle, vertMaxAngle,
     rangeResolution, rangeMin, rangeMax, alwaysOn, visualize);
 
-  // Setup ign-rendering with an empty scene
+  // Setup gz-rendering with an empty scene
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
@@ -289,7 +289,7 @@ void GpuLidarSensorTest::DetectBox(const std::string &_renderEngine)
   // Create SDF describing a camera sensor
   const std::string name = "TestGpuLidar";
   const std::string parent = "parent_link";
-  const std::string topic = "/ignition/sensors/test/lidar";
+  const std::string topic = "/gz/sensors/test/lidar";
   const double updateRate = 30;
   const int horzSamples = 320;
   const double horzResolution = 1;
@@ -434,8 +434,8 @@ void GpuLidarSensorTest::TestThreeBoxes(const std::string &_renderEngine)
   // Create SDF describing a gpu lidar sensors sensor
   const std::string name1 = "TestGpuLidar1";
   const std::string name2 = "TestGpuLidar2";
-  const std::string topic1 = "/ignition/sensors/test/lidar1";
-  const std::string topic2 = "/ignition/sensors/test/lidar2";
+  const std::string topic1 = "/gz/sensors/test/lidar1";
+  const std::string topic2 = "/gz/sensors/test/lidar2";
   const double updateRate = 30;
   const int horzSamples = 320;
   const double horzResolution = 1;
@@ -538,7 +538,7 @@ void GpuLidarSensorTest::TestThreeBoxes(const std::string &_renderEngine)
   double expectedRangeAtMidPointBox2 = abs(box02Pose.Pos().Y()) - unitBoxSize/2;
 
   // Sensor 1 should see box01 and box02
-  // ign-rendering uses lower resolution textures for lidars with low sample
+  // gz-rendering uses lower resolution textures for lidars with low sample
   // count after: https://github.com/gazebosim/gz-rendering/pull/296
   // Side effect is the loss of precision in the depth buffer data so we relax
   // tolerance for this check in order for test to pass.
@@ -584,7 +584,7 @@ void GpuLidarSensorTest::VerticalLidar(const std::string &_renderEngine)
 {
   // Create SDF describing a camera sensor
   const std::string name = "TestGpuLidar";
-  const std::string topic = "/ignition/sensors/test/lidar";
+  const std::string topic = "/gz/sensors/test/lidar";
   const double updateRate = 30;
   const unsigned int horzSamples = 640;
   const double horzResolution = 1;
@@ -706,8 +706,8 @@ void GpuLidarSensorTest::ManualUpdate(const std::string &_renderEngine)
   // Create SDF describing a gpu lidar sensors sensor
   const std::string name1 = "TestGpuLidar1";
   const std::string name2 = "TestGpuLidar2";
-  const std::string topic1 = "/ignition/sensors/test/lidar1";
-  const std::string topic2 = "/ignition/sensors/test/lidar2";
+  const std::string topic1 = "/gz/sensors/test/lidar1";
+  const std::string topic2 = "/gz/sensors/test/lidar2";
   const double updateRate = 30;
   const int horzSamples = 320;
   const double horzResolution = 1;
diff --git a/test/integration/imu.cc b/test/integration/imu.cc
index 75664e04..d26fc40b 100644
--- a/test/integration/imu.cc
+++ b/test/integration/imu.cc
@@ -72,7 +72,7 @@ TEST_F(ImuSensorTest, CreateImu)
 {
   // Create SDF describing an imu sensor
   const std::string name = "TestImu";
-  const std::string topic = "/ignition/sensors/test/imu";
+  const std::string topic = "/gz/sensors/test/imu";
   const double updateRate = 30;
   const bool alwaysOn = 1;
   const bool visualize = 1;
@@ -99,7 +99,7 @@ TEST_F(ImuSensorTest, SensorReadings)
 {
   // Create SDF describing an imu sensor
   const std::string name = "TestImu";
-  const std::string topic = "/ignition/sensors/test/imu";
+  const std::string topic = "/gz/sensors/test/imu";
   const double updateRate = 30;
   const bool alwaysOn = 1;
   const bool visualize = 1;
diff --git a/test/integration/logical_camera.cc b/test/integration/logical_camera.cc
index 1597317a..744fd24f 100644
--- a/test/integration/logical_camera.cc
+++ b/test/integration/logical_camera.cc
@@ -101,7 +101,7 @@ TEST_F(LogicalCameraSensorTest, CreateLogicalCamera)
 {
   // Create SDF describing a logical camera sensor
   const std::string name = "TestLogicalCamera";
-  const std::string topic = "/ignition/sensors/test/logical_camera";
+  const std::string topic = "/gz/sensors/test/logical_camera";
   const double updateRate = 30;
   const double near = 0.55;
   const double far = 5;
@@ -138,7 +138,7 @@ TEST_F(LogicalCameraSensorTest, DetectBox)
 {
   // Create SDF describing a logical camera sensor
   const std::string name = "TestLogicalCamera";
-  const std::string topic = "/ignition/sensors/test/logical_camera";
+  const std::string topic = "/gz/sensors/test/logical_camera";
   const double updateRate = 30;
   const double near = 0.55;
   const double far = 5;
diff --git a/test/integration/magnetometer.cc b/test/integration/magnetometer.cc
index 2e282d26..5f8a6577 100644
--- a/test/integration/magnetometer.cc
+++ b/test/integration/magnetometer.cc
@@ -127,8 +127,8 @@ TEST_F(MagnetometerSensorTest, CreateMagnetometer)
 {
   // Create SDF describing an magnetometer sensor
   const std::string name = "TestMagnetometer";
-  const std::string topic = "/ignition/sensors/test/magnetometer";
-  const std::string noiseTopic = "/ignition/sensors/test/magnetometer_noise";
+  const std::string topic = "/gz/sensors/test/magnetometer";
+  const std::string noiseTopic = "/gz/sensors/test/magnetometer_noise";
   const double updateRate = 30;
   const bool alwaysOn = 1;
   const bool visualize = 1;
@@ -166,8 +166,8 @@ TEST_F(MagnetometerSensorTest, SensorReadings)
 {
   // Create SDF describing an magnetometer sensor
   const std::string name = "TestMagnetometer";
-  const std::string topic = "/ignition/sensors/test/magnetometer";
-  const std::string noiseTopic = "/ignition/sensors/test/magnetometer_noise";
+  const std::string topic = "/gz/sensors/test/magnetometer";
+  const std::string noiseTopic = "/gz/sensors/test/magnetometer_noise";
   const double updateRate = 30;
   const bool alwaysOn = 1;
   const bool visualize = 1;
diff --git a/test/integration/navsat.cc b/test/integration/navsat.cc
index 274d0622..7d79d273 100644
--- a/test/integration/navsat.cc
+++ b/test/integration/navsat.cc
@@ -143,8 +143,8 @@ TEST_F(NavSatSensorTest, CreateNavSat)
 {
   // Create SDF describing a navsat sensor
   const std::string name = "TestNavSat";
-  const std::string topic = "/ignition/sensors/test/navsat";
-  const std::string topicNoise = "/ignition/sensors/test/navsat_noise";
+  const std::string topic = "/gz/sensors/test/navsat";
+  const std::string topicNoise = "/gz/sensors/test/navsat_noise";
   const double updateRate = 30;
   const bool alwaysOn = 1;
   const bool visualize = 1;
@@ -180,8 +180,8 @@ TEST_F(NavSatSensorTest, SensorReadings)
 {
   // Create SDF describing a navsat sensor
   const std::string name{"TestNavSat"};
-  const std::string topic{"/ignition/sensors/test/navsat"};
-  const std::string topicNoise{"/ignition/sensors/test/navsat_noise"};
+  const std::string topic{"/gz/sensors/test/navsat"};
+  const std::string topicNoise{"/gz/sensors/test/navsat_noise"};
   const double updateRate{30.0};
   const bool alwaysOn{true};
   const bool visualize{true};
diff --git a/test/integration/rgbd_camera.cc b/test/integration/rgbd_camera.cc
index 9e8684ca..dea56ba4 100644
--- a/test/integration/rgbd_camera.cc
+++ b/test/integration/rgbd_camera.cc
@@ -33,7 +33,7 @@
 #include <gz/sensors/Manager.hh>
 #include <gz/sensors/RgbdCameraSensor.hh>
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
+// TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
@@ -210,7 +210,7 @@ void RgbdCameraSensorTest::ImagesWithBuiltinSDF(
     return;
   }
 
-  // Setup ign-rendering with an empty scene
+  // Setup gz-rendering with an empty scene
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
diff --git a/test/integration/segmentation_camera.cc b/test/integration/segmentation_camera.cc
index 56bc117e..428f3cc4 100644
--- a/test/integration/segmentation_camera.cc
+++ b/test/integration/segmentation_camera.cc
@@ -202,7 +202,7 @@ void SegmentationCameraSensorTest::ImagesWithBuiltinSDF(
       << "' doesn't support segmentation cameras" << std::endl;
     return;
   }
-  // Setup ign-rendering with an empty scene
+  // Setup gz-rendering with an empty scene
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
diff --git a/test/integration/thermal_camera.cc b/test/integration/thermal_camera.cc
index dba25ba1..a9800da6 100644
--- a/test/integration/thermal_camera.cc
+++ b/test/integration/thermal_camera.cc
@@ -33,7 +33,7 @@
 #include <gz/sensors/Manager.hh>
 #include <gz/sensors/ThermalCameraSensor.hh>
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
+// TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
@@ -143,7 +143,7 @@ void ThermalCameraSensorTest::ImagesWithBuiltinSDF(
     return;
   }
 
-  // Setup ign-rendering with an empty scene
+  // Setup gz-rendering with an empty scene
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
@@ -257,7 +257,7 @@ void ThermalCameraSensorTest::ImagesWithBuiltinSDF(
       ambientTempRange);
   EXPECT_FLOAT_EQ(g_thermalBuffer[right], g_thermalBuffer[left]);
 
-  // temp range of visual is hardcoded in ign-rendering shaders
+  // temp range of visual is hardcoded in gz-rendering shaders
   float boxTempRange = 3.0;
   EXPECT_NEAR(boxTemp, g_thermalBuffer[mid] * linearResolution, boxTempRange);
 
@@ -405,7 +405,7 @@ void ThermalCameraSensorTest::Images8BitWithBuiltinSDF(
     return;
   }
 
-  // Setup ign-rendering with an empty scene
+  // Setup gz-rendering with an empty scene
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
diff --git a/test/integration/triggered_camera.cc b/test/integration/triggered_camera.cc
index c6974597..6274eff5 100644
--- a/test/integration/triggered_camera.cc
+++ b/test/integration/triggered_camera.cc
@@ -22,7 +22,7 @@
 #include <gz/sensors/CameraSensor.hh>
 #include <gz/sensors/Manager.hh>
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
+// TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
@@ -78,7 +78,7 @@ void TriggeredCameraTest::ImagesWithBuiltinSDF(const std::string &_renderEngine)
   ASSERT_TRUE(linkPtr->HasElement("sensor"));
   auto sensorPtr = linkPtr->GetElement("sensor");
 
-  // Setup ign-rendering with an empty scene
+  // Setup gz-rendering with an empty scene
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
diff --git a/test/integration/wide_angle_camera.cc b/test/integration/wide_angle_camera.cc
index 9e62e29c..ece39f60 100644
--- a/test/integration/wide_angle_camera.cc
+++ b/test/integration/wide_angle_camera.cc
@@ -22,7 +22,7 @@
 #include <gz/sensors/Manager.hh>
 #include <gz/sensors/WideAngleCameraSensor.hh>
 
-// TODO(louise) Remove these pragmas once ign-rendering is disabling the
+// TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
@@ -114,7 +114,7 @@ void WideAngleCameraSensorTest::ImagesWithBuiltinSDF(
   ASSERT_TRUE(linkPtr->HasElement("sensor"));
   auto sensorPtr = linkPtr->GetElement("sensor");
 
-  // Setup ign-rendering with an empty scene
+  // Setup gz-rendering with an empty scene
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
diff --git a/tutorials.md.in b/tutorials.md.in
index fc40cc53..9be0a030 100644
--- a/tutorials.md.in
+++ b/tutorials.md.in
@@ -1,8 +1,8 @@
 \page tutorials Tutorials
 
-Welcome to the Gazebo @IGN_DESIGNATION_CAP@ tutorials. These tutorials
+Welcome to the Gazebo @GZ_DESIGNATION_CAP@ tutorials. These tutorials
 will guide you through the process of understanding the capabilities of the
-Gazebo @IGN_DESIGNATION_CAP@ library and how to use the library effectively.
+Gazebo @GZ_DESIGNATION_CAP@ library and how to use the library effectively.
 
 **The tutorials**
 
diff --git a/tutorials/install.md b/tutorials/install.md
index dc3f72e8..b78642ff 100644
--- a/tutorials/install.md
+++ b/tutorials/install.md
@@ -20,7 +20,7 @@ sudo apt-get update
 
 ```{.sh}
 # Change <#> to a version number, like 3 or 4
-sudo apt install libignition-sensors<#>-dev
+sudo apt install libgz-sensors<#>-dev
 ```
 
 ### macOS
@@ -33,7 +33,7 @@ On macOS, add OSRF packages:
 
 Install Gazebo Sensors:
   ```
-  brew install ignition-sensors<#>
+  brew install gz-sensors<#>
   ```
 
 Be sure to replace `<#>` with a number value, such as 5 or 6, depending on
@@ -130,7 +130,7 @@ conda activate gz-ws
 Install Gazebo dependencies, replacing `<#>` with the desired versions:
 
 ```
-conda install libignition-cmake<#> libignition-common<#> libignition-math<#> libignition-transport<#> libignition-msgs<#> --channel conda-forge
+conda install libgz-cmake<#> libgz-common<#> libgz-math<#> libgz-transport<#> libgz-msgs<#> --channel conda-forge
 ```
 
 Before [gz-rendering](https://github.com/gazebosim/gz-rendering) becomes available on conda-forge, follow its tutorial to build it from source.
diff --git a/tutorials/segmentation_camera.md b/tutorials/segmentation_camera.md
index 08f47d67..9c7f8699 100644
--- a/tutorials/segmentation_camera.md
+++ b/tutorials/segmentation_camera.md
@@ -374,7 +374,7 @@ You will see 4 windows: `image`, `labels_map`, `colored_map`, and `colored_image
 For panoptic/instance segmentation, to parse the `labels_map`, click on any pixel on the `labels_map` window to see the `label` and `instance count` of that pixel.
 
 
-## Processing the segmentation sensor via ign-transport
+## Processing the segmentation sensor via gz-transport
 It's possible to process the segmentation data in real time via `gz-transport`.
 You will need to which topics to subscribe to in order to receive this information.
 
diff --git a/tutorials/thermal_camera.md b/tutorials/thermal_camera.md
index 443d6fe7..03709317 100644
--- a/tutorials/thermal_camera.md
+++ b/tutorials/thermal_camera.md
@@ -282,7 +282,7 @@ In the example above, the thermal cameras publish an [image message](https://git
 We can observe the contents of a single message from the 16-bit camera by running the following command:
 
 ```
-ign topic -e -n 1 -t /thermal_camera
+gz topic -e -n 1 -t /thermal_camera
 ```
 
 Here are some important things to observe from the message output: