diff --git a/examples/custom_sensor/Odometer.cc b/examples/custom_sensor/Odometer.cc
index 43e328ca..cd493cf3 100644
--- a/examples/custom_sensor/Odometer.cc
+++ b/examples/custom_sensor/Odometer.cc
@@ -46,7 +46,7 @@ bool Odometer::Load(const sdf::Sensor &_sdf)
 
   if (!_sdf.Element()->HasElement("ignition:odometer"))
   {
-    igndbg << "No custom configuration for [" << this->Topic() << "]"
+    gzdbg << "No custom configuration for [" << this->Topic() << "]"
            << std::endl;
     return true;
   }
@@ -56,7 +56,7 @@ bool Odometer::Load(const sdf::Sensor &_sdf)
 
   if (!customElem->HasElement("noise"))
   {
-    igndbg << "No noise for [" << this->Topic() << "]" << std::endl;
+    gzdbg << "No noise for [" << this->Topic() << "]" << std::endl;
     return true;
   }
 
diff --git a/src/AirPressureSensor.cc b/src/AirPressureSensor.cc
index 4b85fe05..0399a743 100644
--- a/src/AirPressureSensor.cc
+++ b/src/AirPressureSensor.cc
@@ -122,7 +122,7 @@ bool AirPressureSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
-  igndbg << "Air pressure for [" << this->Name() << "] advertised on ["
+  gzdbg << "Air pressure for [" << this->Name() << "] advertised on ["
          << this->Topic() << "]" << std::endl;
 
   // Load the noise parameters
diff --git a/src/AltimeterSensor.cc b/src/AltimeterSensor.cc
index b3e2022b..72717c7d 100644
--- a/src/AltimeterSensor.cc
+++ b/src/AltimeterSensor.cc
@@ -100,7 +100,7 @@ bool AltimeterSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
-  igndbg << "Altimeter data for [" << this->Name() << "] advertised on ["
+  gzdbg << "Altimeter data for [" << this->Name() << "] advertised on ["
          << this->Topic() << "]" << std::endl;
 
   // Load the noise parameters
diff --git a/src/CameraSensor.cc b/src/CameraSensor.cc
index 0b2f676e..c597e770 100644
--- a/src/CameraSensor.cc
+++ b/src/CameraSensor.cc
@@ -294,7 +294,7 @@ bool CameraSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
-  igndbg << "Camera images for [" << this->Name() << "] advertised on ["
+  gzdbg << "Camera images for [" << this->Name() << "] advertised on ["
          << this->Topic() << "]" << std::endl;
 
   if (_sdf.CameraSensor()->Triggered())
@@ -318,7 +318,7 @@ bool CameraSensor::Load(const sdf::Sensor &_sdf)
     this->dataPtr->node.Subscribe(this->dataPtr->triggerTopic,
         &CameraSensorPrivate::OnTrigger, this->dataPtr.get());
 
-    igndbg << "Camera trigger messages for [" << this->Name() << "] subscribed"
+    gzdbg << "Camera trigger messages for [" << this->Name() << "] subscribed"
            << " on [" << this->dataPtr->triggerTopic << "]" << std::endl;
     this->dataPtr->isTriggeredCamera = true;
   }
@@ -401,7 +401,7 @@ bool CameraSensor::Update(const std::chrono::steady_clock::duration &_now)
   {
     if (this->dataPtr->generatingData)
     {
-      igndbg << "Disabling camera sensor: '" << this->Name() << "' data "
+      gzdbg << "Disabling camera sensor: '" << this->Name() << "' data "
              << "generation. " << std::endl;;
       this->dataPtr->generatingData = false;
     }
@@ -412,7 +412,7 @@ bool CameraSensor::Update(const std::chrono::steady_clock::duration &_now)
   {
     if (!this->dataPtr->generatingData)
     {
-      igndbg << "Enabling camera sensor: '" << this->Name() << "' data "
+      gzdbg << "Enabling camera sensor: '" << this->Name() << "' data "
              << "generation." << std::endl;;
       this->dataPtr->generatingData = true;
     }
@@ -595,7 +595,7 @@ bool CameraSensor::AdvertiseInfo(const std::string &_topic)
   }
   else
   {
-    igndbg << "Camera info for [" << this->Name() << "] advertised on ["
+    gzdbg << "Camera info for [" << this->Name() << "] advertised on ["
            << this->dataPtr->infoTopic << "]" << std::endl;
   }
 
diff --git a/src/DepthCameraSensor.cc b/src/DepthCameraSensor.cc
index c3a019ab..9700bb61 100644
--- a/src/DepthCameraSensor.cc
+++ b/src/DepthCameraSensor.cc
@@ -284,7 +284,7 @@ bool DepthCameraSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
-  igndbg << "Depth images for [" << this->Name() << "] advertised on ["
+  gzdbg << "Depth images for [" << this->Name() << "] advertised on ["
          << this->Topic() << "]" << std::endl;
 
   if (!this->AdvertiseInfo())
@@ -301,7 +301,7 @@ bool DepthCameraSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
-  igndbg << "Points for [" << this->Name() << "] advertised on ["
+  gzdbg << "Points for [" << this->Name() << "] advertised on ["
          << this->Topic() << "/points]" << std::endl;
 
   // Initialize the point message.
diff --git a/src/GpuLidarSensor.cc b/src/GpuLidarSensor.cc
index fc7b1805..3adfe423 100644
--- a/src/GpuLidarSensor.cc
+++ b/src/GpuLidarSensor.cc
@@ -161,7 +161,7 @@ bool GpuLidarSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
-  igndbg << "Lidar points for [" << this->Name() << "] advertised on ["
+  gzdbg << "Lidar points for [" << this->Name() << "] advertised on ["
          << this->Topic() << "]" << std::endl;
 
   this->initialized = true;
diff --git a/src/ImuSensor.cc b/src/ImuSensor.cc
index d88b770c..2653dc63 100644
--- a/src/ImuSensor.cc
+++ b/src/ImuSensor.cc
@@ -145,7 +145,7 @@ bool ImuSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
-  igndbg << "IMU data for [" << this->Name() << "] advertised on ["
+  gzdbg << "IMU data for [" << this->Name() << "] advertised on ["
          << this->Topic() << "]" << std::endl;
 
   const std::map<SensorNoiseType, sdf::Noise> noises = {
diff --git a/src/Lidar.cc b/src/Lidar.cc
index cab5277c..c237b5b1 100644
--- a/src/Lidar.cc
+++ b/src/Lidar.cc
@@ -119,7 +119,7 @@ bool Lidar::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
-  igndbg << "Laser scans for [" << this->Name() << "] advertised on ["
+  gzdbg << "Laser scans for [" << this->Name() << "] advertised on ["
          << this->Topic() << "]" << std::endl;
 
   // Load ray atributes
@@ -245,7 +245,7 @@ bool Lidar::PublishLidarScan(const std::chrono::steady_clock::duration &_now)
   const int numRays = this->RayCount() * this->VerticalRayCount();
   if (this->dataPtr->laserMsg.ranges_size() != numRays)
   {
-    // igndbg << "Size mismatch; allocating memory\n";
+    // gzdbg << "Size mismatch; allocating memory\n";
     this->dataPtr->laserMsg.clear_ranges();
     this->dataPtr->laserMsg.clear_intensities();
     for (int i = 0; i < numRays; ++i)
diff --git a/src/LogicalCameraSensor.cc b/src/LogicalCameraSensor.cc
index fda80160..2608d936 100644
--- a/src/LogicalCameraSensor.cc
+++ b/src/LogicalCameraSensor.cc
@@ -115,7 +115,7 @@ bool LogicalCameraSensor::Load(sdf::ElementPtr _sdf)
     return false;
   }
 
-  igndbg << "Logical images for [" << this->Name() << "] advertised on ["
+  gzdbg << "Logical images for [" << this->Name() << "] advertised on ["
          << this->Topic() << "]" << std::endl;
 
   this->dataPtr->initialized = true;
diff --git a/src/MagnetometerSensor.cc b/src/MagnetometerSensor.cc
index fe6d5c14..2f1e5a92 100644
--- a/src/MagnetometerSensor.cc
+++ b/src/MagnetometerSensor.cc
@@ -114,7 +114,7 @@ bool MagnetometerSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
-  igndbg << "Magnetometer data for [" << this->Name() << "] advertised on ["
+  gzdbg << "Magnetometer data for [" << this->Name() << "] advertised on ["
          << this->Topic() << "]" << std::endl;
 
   // Load the noise parameters
diff --git a/src/RgbdCameraSensor.cc b/src/RgbdCameraSensor.cc
index 33dd0e1c..6b758e0d 100644
--- a/src/RgbdCameraSensor.cc
+++ b/src/RgbdCameraSensor.cc
@@ -219,7 +219,7 @@ bool RgbdCameraSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
-  igndbg << "RGB images for [" << this->Name() << "] advertised on ["
+  gzdbg << "RGB images for [" << this->Name() << "] advertised on ["
          << this->Topic() << "/image]" << std::endl;
 
   // Create the depth image publisher
@@ -233,7 +233,7 @@ bool RgbdCameraSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
-  igndbg << "Depth images for [" << this->Name() << "] advertised on ["
+  gzdbg << "Depth images for [" << this->Name() << "] advertised on ["
          << this->Topic() << "/depth_image]" << std::endl;
 
   // Create the point cloud publisher
@@ -247,7 +247,7 @@ bool RgbdCameraSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
-  igndbg << "Points for [" << this->Name() << "] advertised on ["
+  gzdbg << "Points for [" << this->Name() << "] advertised on ["
          << this->Topic() << "/points]" << std::endl;
 
   if (!this->AdvertiseInfo(this->Topic() + "/camera_info"))
diff --git a/src/SegmentationCameraSensor.cc b/src/SegmentationCameraSensor.cc
index 291806ad..276d388a 100644
--- a/src/SegmentationCameraSensor.cc
+++ b/src/SegmentationCameraSensor.cc
@@ -202,7 +202,7 @@ bool SegmentationCameraSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
-  igndbg << "Colored map image for [" << this->Name() << "] advertised on ["
+  gzdbg << "Colored map image for [" << this->Name() << "] advertised on ["
     << this->Topic() << this->dataPtr->topicColoredMapSuffix << "]\n";
 
   // Create the segmentation labels map image publisher
@@ -217,7 +217,7 @@ bool SegmentationCameraSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
-  igndbg << "Segmentation labels map image for [" << this->Name()
+  gzdbg << "Segmentation labels map image for [" << this->Name()
     << "] advertised on [" << this->Topic()
     << this->dataPtr->topicLabelsMapSuffix << "]\n";
 
@@ -285,7 +285,7 @@ bool SegmentationCameraSensor::CreateCamera()
       this->dataPtr->type = rendering::SegmentationType::ST_PANOPTIC;
     else
     {
-      igndbg << "Wrong type [" << type <<
+      gzdbg << "Wrong type [" << type <<
         "], type should be semantic or instance or panoptic" << std::endl;
       return false;
     }
diff --git a/src/Sensor.cc b/src/Sensor.cc
index f47f8591..480e3b3b 100644
--- a/src/Sensor.cc
+++ b/src/Sensor.cc
@@ -386,7 +386,7 @@ void SensorPrivate::SetRate(const gz::msgs::Double &_rate)
     }
   }
 
-  igndbg << "Setting update rate of sensor " << this->name << " to " << rate
+  gzdbg << "Setting update rate of sensor " << this->name << " to " << rate
          << " Hz" << std::endl;
 
   this->updateRate = rate;
diff --git a/src/ThermalCameraSensor.cc b/src/ThermalCameraSensor.cc
index d6626da1..155f2ed0 100644
--- a/src/ThermalCameraSensor.cc
+++ b/src/ThermalCameraSensor.cc
@@ -220,7 +220,7 @@ bool ThermalCameraSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
-  igndbg << "Thermal images for [" << this->Name() << "] advertised on ["
+  gzdbg << "Thermal images for [" << this->Name() << "] advertised on ["
          << this->Topic() << "]" << std::endl;
 
   if (!this->AdvertiseInfo())
diff --git a/src/WideAngleCameraSensor.cc b/src/WideAngleCameraSensor.cc
index fa7c5b7a..c5c4c45d 100644
--- a/src/WideAngleCameraSensor.cc
+++ b/src/WideAngleCameraSensor.cc
@@ -188,7 +188,7 @@ bool WideAngleCameraSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
-  igndbg << "Wide angle camera images for [" << this->Name()
+  gzdbg << "Wide angle camera images for [" << this->Name()
          << "] advertised on [" << this->Topic() << "]" << std::endl;
 
   if (!this->AdvertiseInfo())
@@ -418,7 +418,7 @@ bool WideAngleCameraSensor::Update(
   {
     if (this->dataPtr->generatingData)
     {
-      igndbg << "Disabling camera sensor: '" << this->Name() << "' data "
+      gzdbg << "Disabling camera sensor: '" << this->Name() << "' data "
              << "generation. " << std::endl;;
       this->dataPtr->generatingData = false;
     }
@@ -429,7 +429,7 @@ bool WideAngleCameraSensor::Update(
   {
     if (!this->dataPtr->generatingData)
     {
-      igndbg << "Enabling camera sensor: '" << this->Name() << "' data "
+      gzdbg << "Enabling camera sensor: '" << this->Name() << "' data "
              << "generation." << std::endl;;
       this->dataPtr->generatingData = true;
     }
diff --git a/test/integration/camera.cc b/test/integration/camera.cc
index a561b02b..98483438 100644
--- a/test/integration/camera.cc
+++ b/test/integration/camera.cc
@@ -96,7 +96,7 @@ void CameraSensorTest::ImagesWithBuiltinSDF(const std::string &_renderEngine)
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
     return;
   }
@@ -189,7 +189,7 @@ void CameraSensorTest::ImageFormatLInt8(const std::string &_renderEngine)
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
     return;
   }
diff --git a/test/integration/depth_camera.cc b/test/integration/depth_camera.cc
index ae6ae405..ae4d0cbd 100644
--- a/test/integration/depth_camera.cc
+++ b/test/integration/depth_camera.cc
@@ -186,7 +186,7 @@ void DepthCameraSensorTest::ImagesWithBuiltinSDF(
   if ((_renderEngine.compare("ogre") != 0) &&
       (_renderEngine.compare("ogre2") != 0))
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
               << "' doesn't support depth cameras" << std::endl;
     return;
   }
@@ -195,7 +195,7 @@ void DepthCameraSensorTest::ImagesWithBuiltinSDF(
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
     return;
   }
diff --git a/test/integration/distortion_camera.cc b/test/integration/distortion_camera.cc
index d82e43e1..6e6b0b22 100644
--- a/test/integration/distortion_camera.cc
+++ b/test/integration/distortion_camera.cc
@@ -80,7 +80,7 @@ void DistortionCameraSensorTest::ImagesWithBuiltinSDF(
 
   if (_renderEngine == "ogre2")
   {
-    igndbg << "Distortion camera not supported yet in rendering engine: "
+    gzdbg << "Distortion camera not supported yet in rendering engine: "
             << _renderEngine << std::endl;
     return;
   }
@@ -89,7 +89,7 @@ void DistortionCameraSensorTest::ImagesWithBuiltinSDF(
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
     return;
   }
diff --git a/test/integration/gpu_lidar_sensor.cc b/test/integration/gpu_lidar_sensor.cc
index 59bf2069..0d28d427 100644
--- a/test/integration/gpu_lidar_sensor.cc
+++ b/test/integration/gpu_lidar_sensor.cc
@@ -199,7 +199,7 @@ void GpuLidarSensorTest::CreateGpuLidar(const std::string &_renderEngine)
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
     return;
   }
@@ -318,7 +318,7 @@ void GpuLidarSensorTest::DetectBox(const std::string &_renderEngine)
     gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
     return;
   }
@@ -472,7 +472,7 @@ void GpuLidarSensorTest::TestThreeBoxes(const std::string &_renderEngine)
     gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
     return;
   }
@@ -613,7 +613,7 @@ void GpuLidarSensorTest::VerticalLidar(const std::string &_renderEngine)
     gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
     return;
   }
@@ -744,7 +744,7 @@ void GpuLidarSensorTest::ManualUpdate(const std::string &_renderEngine)
     gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
     return;
   }
@@ -849,7 +849,7 @@ void GpuLidarSensorTest::Topic(const std::string &_renderEngine)
   auto engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
     return;
   }
diff --git a/test/integration/rgbd_camera.cc b/test/integration/rgbd_camera.cc
index 475fe3c9..f9632c60 100644
--- a/test/integration/rgbd_camera.cc
+++ b/test/integration/rgbd_camera.cc
@@ -205,7 +205,7 @@ void RgbdCameraSensorTest::ImagesWithBuiltinSDF(
   if ((_renderEngine.compare("ogre") != 0) &&
       (_renderEngine.compare("ogre2") != 0))
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
               << "' doesn't support rgbd cameras" << std::endl;
     return;
   }
@@ -214,7 +214,7 @@ void RgbdCameraSensorTest::ImagesWithBuiltinSDF(
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
     return;
   }
diff --git a/test/integration/segmentation_camera.cc b/test/integration/segmentation_camera.cc
index 43eaa036..99145d23 100644
--- a/test/integration/segmentation_camera.cc
+++ b/test/integration/segmentation_camera.cc
@@ -198,7 +198,7 @@ void SegmentationCameraSensorTest::ImagesWithBuiltinSDF(
   // If ogre2 is not the engine, don't run the test
   if (_renderEngine.compare("ogre2") != 0)
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
       << "' doesn't support segmentation cameras" << std::endl;
     return;
   }
@@ -206,7 +206,7 @@ void SegmentationCameraSensorTest::ImagesWithBuiltinSDF(
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
     return;
   }
diff --git a/test/integration/thermal_camera.cc b/test/integration/thermal_camera.cc
index 5f0ef607..a39ce960 100644
--- a/test/integration/thermal_camera.cc
+++ b/test/integration/thermal_camera.cc
@@ -138,7 +138,7 @@ void ThermalCameraSensorTest::ImagesWithBuiltinSDF(
   if ((_renderEngine.compare("ogre") != 0) &&
       (_renderEngine.compare("ogre2") != 0))
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
               << "' doesn't support thermal cameras" << std::endl;
     return;
   }
@@ -147,7 +147,7 @@ void ThermalCameraSensorTest::ImagesWithBuiltinSDF(
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
     return;
   }
@@ -400,7 +400,7 @@ void ThermalCameraSensorTest::Images8BitWithBuiltinSDF(
   // If ogre2 is not the engine, don't run the test
   if ((_renderEngine.compare("ogre2") != 0))
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
               << "' doesn't support 8 bit thermal cameras" << std::endl;
     return;
   }
@@ -409,7 +409,7 @@ void ThermalCameraSensorTest::Images8BitWithBuiltinSDF(
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
     return;
   }
diff --git a/test/integration/triggered_camera.cc b/test/integration/triggered_camera.cc
index 305f7df7..72fdae7c 100644
--- a/test/integration/triggered_camera.cc
+++ b/test/integration/triggered_camera.cc
@@ -82,7 +82,7 @@ void TriggeredCameraTest::ImagesWithBuiltinSDF(const std::string &_renderEngine)
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
            << "' is not supported" << std::endl;
     return;
   }
diff --git a/test/integration/wide_angle_camera.cc b/test/integration/wide_angle_camera.cc
index 21750473..93b88660 100644
--- a/test/integration/wide_angle_camera.cc
+++ b/test/integration/wide_angle_camera.cc
@@ -118,7 +118,7 @@ void WideAngleCameraSensorTest::ImagesWithBuiltinSDF(
   auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
-    igndbg << "Engine '" << _renderEngine
+    gzdbg << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
     return;
   }