diff --git a/tesseract_common/include/tesseract_common/fwd.h b/tesseract_common/include/tesseract_common/fwd.h
index 9e5f7258eae..5da074e5c4f 100644
--- a/tesseract_common/include/tesseract_common/fwd.h
+++ b/tesseract_common/include/tesseract_common/fwd.h
@@ -68,6 +68,9 @@ class PluginLoader;
 class Resource;
 class ResourceLocator;
 
+// serialization.h
+struct Serialization;
+
 // timer.h
 class Timer;
 }  // namespace tesseract_common
diff --git a/tesseract_common/include/tesseract_common/type_erasure.h b/tesseract_common/include/tesseract_common/type_erasure.h
index 062ec469a87..3ff546eba26 100644
--- a/tesseract_common/include/tesseract_common/type_erasure.h
+++ b/tesseract_common/include/tesseract_common/type_erasure.h
@@ -30,11 +30,13 @@
 #include <typeindex>
 #include <boost/serialization/base_object.hpp>
 #include <boost/serialization/nvp.hpp>
+#include <boost/serialization/assume_abstract.hpp>
 #include <boost/serialization/unique_ptr.hpp>
-#include <tesseract_common/serialization.h>
 
 namespace tesseract_common
 {
+struct Serialization;
+
 /** @brief This is the interface that all type erasures interfaces must inherit from */
 struct TypeErasureInterface
 {
@@ -59,7 +61,9 @@ struct TypeErasureInterface
   friend class boost::serialization::access;
   friend struct tesseract_common::Serialization;
   template <class Archive>
-  void serialize(Archive& /*ar*/, const unsigned int /*version*/){};  // NOLINT
+  void serialize(Archive& /*ar*/, const unsigned int /*version*/)
+  {
+  }  // NOLINT
 };
 
 template <typename ConcreteType, typename ConceptInterface>
@@ -150,7 +154,7 @@ struct TypeErasureBase
   {
   }
 
-  TypeErasureBase() : value_(nullptr){};  // NOLINT
+  TypeErasureBase() : value_(nullptr) {}  // NOLINT
 
   // Destructor
   ~TypeErasureBase() = default;
diff --git a/tesseract_visualization/include/tesseract_visualization/trajectory_player.h b/tesseract_visualization/include/tesseract_visualization/trajectory_player.h
index 3e5f91cf5ae..1bd1f4d8ca7 100644
--- a/tesseract_visualization/include/tesseract_visualization/trajectory_player.h
+++ b/tesseract_visualization/include/tesseract_visualization/trajectory_player.h
@@ -42,7 +42,12 @@ class TrajectoryInterpolator;
 class TrajectoryPlayer
 {
 public:
-  TrajectoryPlayer() = default;
+  TrajectoryPlayer();
+  ~TrajectoryPlayer();
+  TrajectoryPlayer(const TrajectoryPlayer&) = delete;
+  TrajectoryPlayer& operator=(const TrajectoryPlayer&) = delete;
+  TrajectoryPlayer(TrajectoryPlayer&&) = default;
+  TrajectoryPlayer& operator=(TrajectoryPlayer&&) = default;
 
   /**
    * @brief Set the the trajectory for the trajectory player
diff --git a/tesseract_visualization/src/trajectory_interpolator.cpp b/tesseract_visualization/src/trajectory_interpolator.cpp
index ecb24f41bc8..d77cdaf85f6 100644
--- a/tesseract_visualization/src/trajectory_interpolator.cpp
+++ b/tesseract_visualization/src/trajectory_interpolator.cpp
@@ -161,6 +161,6 @@ tesseract_common::JointState TrajectoryInterpolator::interpolate(const tesseract
   return out;
 }
 
-bool TrajectoryInterpolator::empty() const { return trajectory_.empty(); };
+bool TrajectoryInterpolator::empty() const { return trajectory_.empty(); }
 
 }  // namespace tesseract_visualization
diff --git a/tesseract_visualization/src/trajectory_player.cpp b/tesseract_visualization/src/trajectory_player.cpp
index 9f1a072f2e8..c98d8dddd6d 100644
--- a/tesseract_visualization/src/trajectory_player.cpp
+++ b/tesseract_visualization/src/trajectory_player.cpp
@@ -34,6 +34,9 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_visualization
 {
+TrajectoryPlayer::TrajectoryPlayer() = default;
+TrajectoryPlayer::~TrajectoryPlayer() = default;
+
 void TrajectoryPlayer::setTrajectory(const tesseract_common::JointTrajectory& trajectory)
 {
   // Prepare the new trajectory message