diff --git a/src/gui/plugins/align_tool/AlignTool.cc b/src/gui/plugins/align_tool/AlignTool.cc
index a2d965ef26..ca397093d3 100644
--- a/src/gui/plugins/align_tool/AlignTool.cc
+++ b/src/gui/plugins/align_tool/AlignTool.cc
@@ -365,8 +365,7 @@ void AlignTool::Align()
         continue;
 
       if (vis->HasUserData("gazebo-entity") &&
-          std::get<int>(vis->UserData("gazebo-entity")) ==
-          static_cast<int>(entityId))
+          std::get<uint64_t>(vis->UserData("gazebo-entity")) == entityId)
       {
         // Check here to see if visual is top level or not, continue if not
         auto topLevelVis = this->TopLevelVisual(this->dataPtr->scene, vis);
diff --git a/src/gui/plugins/scene3d/Scene3D.cc b/src/gui/plugins/scene3d/Scene3D.cc
index 854648cb58..b5bef6d49d 100644
--- a/src/gui/plugins/scene3d/Scene3D.cc
+++ b/src/gui/plugins/scene3d/Scene3D.cc
@@ -1029,7 +1029,7 @@ void IgnRenderer::Render(RenderSync *_renderSync)
       if (targetVis && targetVis->HasUserData("gazebo-entity"))
       {
         Entity targetEntity =
-            std::get<int>(targetVis->UserData("gazebo-entity"));
+            std::get<uint64_t>(targetVis->UserData("gazebo-entity"));
         this->dataPtr->renderUtil.ViewTransparent(targetEntity);
       }
       else
@@ -1055,7 +1055,7 @@ void IgnRenderer::Render(RenderSync *_renderSync)
       if (targetVis && targetVis->HasUserData("gazebo-entity"))
       {
         Entity targetEntity =
-            std::get<int>(targetVis->UserData("gazebo-entity"));
+            std::get<uint64_t>(targetVis->UserData("gazebo-entity"));
         this->dataPtr->renderUtil.ViewCOM(targetEntity);
       }
       else
@@ -1081,7 +1081,7 @@ void IgnRenderer::Render(RenderSync *_renderSync)
       if (targetVis && targetVis->HasUserData("gazebo-entity"))
       {
         Entity targetEntity =
-            std::get<int>(targetVis->UserData("gazebo-entity"));
+            std::get<uint64_t>(targetVis->UserData("gazebo-entity"));
         this->dataPtr->renderUtil.ViewInertia(targetEntity);
       }
       else
@@ -1107,7 +1107,7 @@ void IgnRenderer::Render(RenderSync *_renderSync)
       if (targetVis && targetVis->HasUserData("gazebo-entity"))
       {
         Entity targetEntity =
-            std::get<int>(targetVis->UserData("gazebo-entity"));
+            std::get<uint64_t>(targetVis->UserData("gazebo-entity"));
         this->dataPtr->renderUtil.ViewJoints(targetEntity);
       }
       else
@@ -1133,7 +1133,7 @@ void IgnRenderer::Render(RenderSync *_renderSync)
       if (targetVis && targetVis->HasUserData("gazebo-entity"))
       {
         Entity targetEntity =
-            std::get<int>(targetVis->UserData("gazebo-entity"));
+            std::get<uint64_t>(targetVis->UserData("gazebo-entity"));
         this->dataPtr->renderUtil.ViewWireframes(targetEntity);
       }
       else
@@ -1159,7 +1159,7 @@ void IgnRenderer::Render(RenderSync *_renderSync)
       if (targetVis && targetVis->HasUserData("gazebo-entity"))
       {
         Entity targetEntity =
-            std::get<int>(targetVis->UserData("gazebo-entity"));
+            std::get<uint64_t>(targetVis->UserData("gazebo-entity"));
         this->dataPtr->renderUtil.ViewCollisions(targetEntity);
       }
       else
diff --git a/src/gui/plugins/select_entities/SelectEntities.cc b/src/gui/plugins/select_entities/SelectEntities.cc
index 921dd03242..396360b34a 100644
--- a/src/gui/plugins/select_entities/SelectEntities.cc
+++ b/src/gui/plugins/select_entities/SelectEntities.cc
@@ -173,7 +173,8 @@ void SelectEntitiesPrivate::HandleEntitySelection()
       Entity entityId = kNullEntity;
       try
       {
-        entityId = std::get<int>(visualToHighLight->UserData("gazebo-entity"));
+        entityId = std::get<uint64_t>(
+          visualToHighLight->UserData("gazebo-entity"));
       }
       catch(std::bad_variant_access &_e)
       {
@@ -213,7 +214,7 @@ void SelectEntitiesPrivate::HandleEntitySelection()
   Entity entityId = kNullEntity;
   try
   {
-    entityId = std::get<int>(visual->UserData("gazebo-entity"));
+    entityId = std::get<uint64_t>(visual->UserData("gazebo-entity"));
   }
   catch(std::bad_variant_access &e)
   {
@@ -244,7 +245,7 @@ void SelectEntitiesPrivate::LowlightNode(const rendering::VisualPtr &_visual)
   {
     try
     {
-      entityId = std::get<int>(_visual->UserData("gazebo-entity"));
+      entityId = std::get<uint64_t>(_visual->UserData("gazebo-entity"));
     }
     catch(std::bad_variant_access &)
     {
@@ -272,7 +273,7 @@ void SelectEntitiesPrivate::HighlightNode(const rendering::VisualPtr &_visual)
   Entity entityId = kNullEntity;
   try
   {
-    entityId = std::get<int>(_visual->UserData("gazebo-entity"));
+    entityId = std::get<uint64_t>(_visual->UserData("gazebo-entity"));
   }
   catch(std::bad_variant_access &)
   {
@@ -359,7 +360,7 @@ void SelectEntitiesPrivate::SetSelectedEntity(
   {
     try
     {
-      entityId = std::get<int>(topLevelVisual->UserData("gazebo-entity"));
+      entityId = std::get<uint64_t>(topLevelVisual->UserData("gazebo-entity"));
     }
     catch(std::bad_variant_access &)
     {
@@ -545,7 +546,7 @@ bool SelectEntities::eventFilter(QObject *_obj, QEvent *_event)
           Entity entityId = kNullEntity;
           try
           {
-            entityId = std::get<int>(visual->UserData("gazebo-entity"));
+            entityId = std::get<uint64_t>(visual->UserData("gazebo-entity"));
           }
           catch(std::bad_variant_access &)
           {
diff --git a/src/gui/plugins/transform_control/TransformControl.cc b/src/gui/plugins/transform_control/TransformControl.cc
index f897b16b56..732aafe500 100644
--- a/src/gui/plugins/transform_control/TransformControl.cc
+++ b/src/gui/plugins/transform_control/TransformControl.cc
@@ -801,8 +801,7 @@ void TransformControlPrivate::HandleTransform()
         auto entityId = kNullEntity;
         try
         {
-          entityId = static_cast<unsigned int>(
-            std::get<int>(visual->UserData("gazebo-entity")));
+          entityId = std::get<uint64_t>(visual->UserData("gazebo-entity"));
         }
         catch (std::bad_variant_access &)
         {
diff --git a/src/gui/plugins/view_angle/ViewAngle.cc b/src/gui/plugins/view_angle/ViewAngle.cc
index 8f3b34f431..e561ac6677 100644
--- a/src/gui/plugins/view_angle/ViewAngle.cc
+++ b/src/gui/plugins/view_angle/ViewAngle.cc
@@ -377,8 +377,7 @@ void ViewAnglePrivate::OnRender()
 
             try
             {
-              if (std::get<int>(vis->UserData("gazebo-entity")) !=
-                  static_cast<int>(entity))
+              if (std::get<uint64_t>(vis->UserData("gazebo-entity")) != entity)
               {
                 continue;
               }
diff --git a/src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc b/src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc
index 68d6a16733..b9dd2f133c 100644
--- a/src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc
+++ b/src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc
@@ -806,7 +806,7 @@ void VisualizationCapabilitiesPrivate::OnRender()
       if (targetVis && targetVis->HasUserData("gazebo-entity"))
       {
         Entity targetEntity =
-            std::get<int>(targetVis->UserData("gazebo-entity"));
+            std::get<uint64_t>(targetVis->UserData("gazebo-entity"));
         this->ViewCOM(targetEntity);
       }
       else
@@ -832,7 +832,7 @@ void VisualizationCapabilitiesPrivate::OnRender()
       if (targetVis && targetVis->HasUserData("gazebo-entity"))
       {
         Entity targetEntity =
-            std::get<int>(targetVis->UserData("gazebo-entity"));
+            std::get<uint64_t>(targetVis->UserData("gazebo-entity"));
         this->ViewInertia(targetEntity);
       }
       else
@@ -858,7 +858,7 @@ void VisualizationCapabilitiesPrivate::OnRender()
       if (targetVis && targetVis->HasUserData("gazebo-entity"))
       {
         Entity targetEntity =
-            std::get<int>(targetVis->UserData("gazebo-entity"));
+            std::get<uint64_t>(targetVis->UserData("gazebo-entity"));
         this->ViewTransparent(targetEntity);
       }
       else
@@ -884,7 +884,7 @@ void VisualizationCapabilitiesPrivate::OnRender()
       if (targetVis && targetVis->HasUserData("gazebo-entity"))
       {
         Entity targetEntity =
-            std::get<int>(targetVis->UserData("gazebo-entity"));
+            std::get<uint64_t>(targetVis->UserData("gazebo-entity"));
         this->ViewCollisions(targetEntity);
       }
       else
@@ -910,7 +910,7 @@ void VisualizationCapabilitiesPrivate::OnRender()
       if (targetVis && targetVis->HasUserData("gazebo-entity"))
       {
         Entity targetEntity =
-            std::get<int>(targetVis->UserData("gazebo-entity"));
+            std::get<uint64_t>(targetVis->UserData("gazebo-entity"));
         this->ViewJoints(targetEntity);
       }
       else
@@ -936,7 +936,7 @@ void VisualizationCapabilitiesPrivate::OnRender()
       if (targetVis && targetVis->HasUserData("gazebo-entity"))
       {
         Entity targetEntity =
-            std::get<int>(targetVis->UserData("gazebo-entity"));
+            std::get<uint64_t>(targetVis->UserData("gazebo-entity"));
         this->ViewWireframes(targetEntity);
       }
       else
@@ -961,7 +961,7 @@ void VisualizationCapabilitiesPrivate::OnRender()
       if (targetVis && targetVis->HasUserData("gazebo-entity"))
       {
         Entity targetEntity =
-            std::get<int>(targetVis->UserData("gazebo-entity"));
+            std::get<uint64_t>(targetVis->UserData("gazebo-entity"));
         this->ViewFrames(targetEntity);
       }
       else
@@ -1087,7 +1087,7 @@ rendering::VisualPtr VisualizationCapabilitiesPrivate::CreateJointVisual(
 
   rendering::VisualPtr jointVis =
     std::dynamic_pointer_cast<rendering::Visual>(jointVisual);
-  jointVis->SetUserData("gazebo-entity", static_cast<int>(_id));
+  jointVis->SetUserData("gazebo-entity", _id);
   jointVis->SetUserData("pause-update", static_cast<int>(0));
   jointVis->SetUserData("gui-only", static_cast<bool>(true));
   jointVis->SetLocalPose(_joint.RawPose());
@@ -1132,7 +1132,7 @@ rendering::VisualPtr VisualizationCapabilitiesPrivate::CreateInertiaVisual(
 
   rendering::VisualPtr inertiaVis =
     std::dynamic_pointer_cast<rendering::Visual>(inertiaVisual);
-  inertiaVis->SetUserData("gazebo-entity", static_cast<int>(_id));
+  inertiaVis->SetUserData("gazebo-entity", _id);
   inertiaVis->SetUserData("pause-update", static_cast<int>(0));
   inertiaVis->SetUserData("gui-only", static_cast<bool>(true));
   this->visuals[_id] = inertiaVis;
@@ -1487,7 +1487,7 @@ rendering::VisualPtr VisualizationCapabilitiesPrivate::CreateCollisionVisual(
     return vis;
   }
   rendering::VisualPtr visualVis = this->scene->CreateVisual(name);
-  visualVis->SetUserData("gazebo-entity", static_cast<int>(_id));
+  visualVis->SetUserData("gazebo-entity", _id);
   visualVis->SetUserData("pause-update", static_cast<int>(0));
   visualVis->SetLocalPose(_visual.RawPose());
 
@@ -1611,7 +1611,7 @@ rendering::VisualPtr VisualizationCapabilitiesPrivate::CreateCOMVisual(
 
   rendering::VisualPtr comVis =
     std::dynamic_pointer_cast<rendering::Visual>(comVisual);
-  comVis->SetUserData("gazebo-entity", static_cast<int>(_id));
+  comVis->SetUserData("gazebo-entity", _id);
   comVis->SetUserData("pause-update", static_cast<int>(0));
   comVis->SetUserData("gui-only", static_cast<bool>(true));
   this->visuals[_id] = comVis;
@@ -1682,7 +1682,8 @@ rendering::VisualPtr VisualizationCapabilitiesPrivate::VisualByEntity(
 
     try
     {
-      Entity visualEntity = std::get<int>(visual->UserData("gazebo-entity"));
+      Entity visualEntity = std::get<uint64_t>(
+        visual->UserData("gazebo-entity"));
 
       if (visualEntity == _entity)
       {
diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc
index 2fda2d34c5..9c5aef2de1 100644
--- a/src/rendering/RenderUtil.cc
+++ b/src/rendering/RenderUtil.cc
@@ -1277,7 +1277,7 @@ void RenderUtil::Update()
         // this functionality is needed for temporal placement of a
         // visual such as an align preview
         updateNode = std::get<int>(vis->UserData("pause-update"));
-        entityId = std::get<int>(vis->UserData("gazebo-entity"));
+        entityId = std::get<uint64_t>(vis->UserData("gazebo-entity"));
       }
       if ((this->dataPtr->transformActive &&
           (pose.first == this->dataPtr->selectedEntities.back() ||
@@ -2690,7 +2690,7 @@ void RenderUtil::SetSelectedEntity(const rendering::NodePtr &_node)
   Entity entityId = kNullEntity;
 
   if (vis)
-    entityId = std::get<int>(vis->UserData("gazebo-entity"));
+    entityId = std::get<uint64_t>(vis->UserData("gazebo-entity"));
 
   if (entityId == kNullEntity)
     return;
@@ -2750,7 +2750,7 @@ void RenderUtilPrivate::HighlightNode(const rendering::NodePtr &_node)
   auto vis = std::dynamic_pointer_cast<rendering::Visual>(_node);
   Entity entityId = kNullEntity;
   if (vis)
-    entityId = std::get<int>(vis->UserData("gazebo-entity"));
+    entityId = std::get<uint64_t>(vis->UserData("gazebo-entity"));
   // If the entity is not found in the existing map, create a wire box
   auto wireBoxIt = this->wireBoxes.find(entityId);
   if (wireBoxIt == this->wireBoxes.end())
@@ -2808,7 +2808,7 @@ void RenderUtilPrivate::LowlightNode(const rendering::NodePtr &_node)
   auto vis = std::dynamic_pointer_cast<rendering::Visual>(_node);
   Entity entityId = kNullEntity;
   if (vis)
-    entityId = std::get<int>(vis->UserData("gazebo-entity"));
+    entityId = std::get<uint64_t>(vis->UserData("gazebo-entity"));
   if (this->wireBoxes.find(entityId) != this->wireBoxes.end())
   {
     ignition::rendering::WireBoxPtr wireBox =
diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc
index bc71c91d8f..43270415d5 100644
--- a/src/rendering/SceneManager.cc
+++ b/src/rendering/SceneManager.cc
@@ -195,8 +195,7 @@ rendering::VisualPtr SceneManager::CreateModel(Entity _id,
 
   rendering::VisualPtr modelVis = this->dataPtr->scene->CreateVisual(name);
 
-  // \todo(anyone) change to uint64_t once UserData supports this type
-  modelVis->SetUserData("gazebo-entity", static_cast<int>(_id));
+  modelVis->SetUserData("gazebo-entity", _id);
   modelVis->SetUserData("pause-update", static_cast<int>(0));
   modelVis->SetLocalPose(_model.RawPose());
   this->dataPtr->visuals[_id] = modelVis;
@@ -241,7 +240,7 @@ rendering::VisualPtr SceneManager::CreateLink(Entity _id,
   if (parent)
     name = parent->Name() + "::" + name;
   rendering::VisualPtr linkVis = this->dataPtr->scene->CreateVisual(name);
-  linkVis->SetUserData("gazebo-entity", static_cast<int>(_id));
+  linkVis->SetUserData("gazebo-entity", _id);
   linkVis->SetUserData("pause-update", static_cast<int>(0));
   linkVis->SetLocalPose(_link.RawPose());
   this->dataPtr->visuals[_id] = linkVis;
@@ -287,7 +286,7 @@ rendering::VisualPtr SceneManager::CreateVisual(Entity _id,
   if (parent)
     name = parent->Name() + "::" + name;
   rendering::VisualPtr visualVis = this->dataPtr->scene->CreateVisual(name);
-  visualVis->SetUserData("gazebo-entity", static_cast<int>(_id));
+  visualVis->SetUserData("gazebo-entity", _id);
   visualVis->SetUserData("pause-update", static_cast<int>(0));
   visualVis->SetLocalPose(_visual.RawPose());
 
@@ -548,7 +547,7 @@ std::pair<rendering::VisualPtr, std::vector<Entity>> SceneManager::CopyVisual(
       }
 
       this->dataPtr->visuals[childId] = childVisual;
-      childVisual->SetUserData("gazebo-entity", static_cast<int>(childId));
+      childVisual->SetUserData("gazebo-entity", childId);
       childVisual->SetUserData("pause-update", static_cast<int>(0));
       childVisualIds.push_back(childId);
 
@@ -564,7 +563,7 @@ std::pair<rendering::VisualPtr, std::vector<Entity>> SceneManager::CopyVisual(
   }
   else
   {
-    clonedVisual->SetUserData("gazebo-entity", static_cast<int>(_id));
+    clonedVisual->SetUserData("gazebo-entity", _id);
     clonedVisual->SetUserData("pause-update", static_cast<int>(0));
 
     result = {clonedVisual, std::move(childVisualIds)};
@@ -1201,7 +1200,7 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id,
   rendering::VisualPtr actorVisual = this->dataPtr->scene->CreateVisual(name);
   actorVisual->SetLocalPose(_actor.RawPose());
   actorVisual->AddGeometry(actorMesh);
-  actorVisual->SetUserData("gazebo-entity", static_cast<int>(_id));
+  actorVisual->SetUserData("gazebo-entity", _id);
   actorVisual->SetUserData("pause-update", static_cast<int>(0));
 
   this->dataPtr->visuals[_id] = actorVisual;
@@ -1274,7 +1273,7 @@ rendering::VisualPtr SceneManager::CreateLightVisual(Entity _id,
 
   rendering::VisualPtr lightVis = std::dynamic_pointer_cast<rendering::Visual>(
     lightVisual);
-  lightVis->SetUserData("gazebo-entity", static_cast<int>(_id));
+  lightVis->SetUserData("gazebo-entity", _id);
   lightVis->SetUserData("pause-update", static_cast<int>(0));
   this->dataPtr->visuals[_id] = lightVis;
 
@@ -1408,7 +1407,7 @@ rendering::VisualPtr SceneManager::CreateInertiaVisual(Entity _id,
 
   rendering::VisualPtr inertiaVis =
     std::dynamic_pointer_cast<rendering::Visual>(inertiaVisual);
-  inertiaVis->SetUserData("gazebo-entity", static_cast<int>(_id));
+  inertiaVis->SetUserData("gazebo-entity", _id);
   inertiaVis->SetUserData("pause-update", static_cast<int>(0));
   inertiaVis->SetUserData("gui-only", static_cast<bool>(true));
   this->dataPtr->visuals[_id] = inertiaVis;
@@ -1541,7 +1540,7 @@ rendering::VisualPtr SceneManager::CreateJointVisual(
 
   rendering::VisualPtr jointVis =
     std::dynamic_pointer_cast<rendering::Visual>(jointVisual);
-  jointVis->SetUserData("gazebo-entity", static_cast<int>(_id));
+  jointVis->SetUserData("gazebo-entity", _id);
   jointVis->SetUserData("pause-update", static_cast<int>(0));
   jointVis->SetUserData("gui-only", static_cast<bool>(true));
   jointVis->SetLocalPose(_joint.RawPose());
@@ -1590,7 +1589,7 @@ rendering::VisualPtr SceneManager::CreateCOMVisual(Entity _id,
 
   rendering::VisualPtr comVis =
     std::dynamic_pointer_cast<rendering::Visual>(comVisual);
-  comVis->SetUserData("gazebo-entity", static_cast<int>(_id));
+  comVis->SetUserData("gazebo-entity", _id);
   comVis->SetUserData("pause-update", static_cast<int>(0));
   comVis->SetUserData("gui-only", static_cast<bool>(true));
   this->dataPtr->visuals[_id] = comVis;
@@ -1803,8 +1802,7 @@ bool SceneManager::AddSensor(Entity _gazeboId, const std::string &_sensorName,
     return false;
   }
 
-  // \todo(anyone) change to uint64_t once UserData supports this type
-  sensor->SetUserData("gazebo-entity", static_cast<int>(_gazeboId));
+  sensor->SetUserData("gazebo-entity", _gazeboId);
 
   if (parent)
   {
diff --git a/src/systems/shader_param/ShaderParam.cc b/src/systems/shader_param/ShaderParam.cc
index b16173481b..eeabde451f 100644
--- a/src/systems/shader_param/ShaderParam.cc
+++ b/src/systems/shader_param/ShaderParam.cc
@@ -284,11 +284,9 @@ void ShaderParamPrivate::OnUpdate()
       nodes.pop_front();
       if (n && n->HasUserData("gazebo-entity"))
       {
-        // RenderUti stores gazebo-entity user data as int
-        // \todo(anyone) Change this to uint64_t in Ignition H?
         auto variant = n->UserData("gazebo-entity");
-        const int *value = std::get_if<int>(&variant);
-        if (value && *value == static_cast<int>(this->entity))
+        const uint64_t *value = std::get_if<uint64_t>(&variant);
+        if (value && *value == this->entity)
         {
           this->visual = std::dynamic_pointer_cast<rendering::Visual>(n);
           break;
diff --git a/test/integration/sensors_system.cc b/test/integration/sensors_system.cc
index a3831aec73..8c0387ea0f 100644
--- a/test/integration/sensors_system.cc
+++ b/test/integration/sensors_system.cc
@@ -75,8 +75,7 @@ void OnPostRender()
     EXPECT_TRUE(sensor->HasUserData("gazebo-entity"));
     auto variant = sensor->UserData("gazebo-entity");
 
-    // todo(anyone) change int to uint64_t once user data supports it
-    const int *value = std::get_if<int>(&variant);
+    const uint64_t *value = std::get_if<uint64_t>(&variant);
     ASSERT_TRUE(value);
     g_sensorEntityIds.insert(*value);
   }