diff --git a/tesseract_command_language/include/tesseract_command_language/joint_waypoint.h b/tesseract_command_language/include/tesseract_command_language/joint_waypoint.h
index 9809514198a..0a83cac72fb 100644
--- a/tesseract_command_language/include/tesseract_command_language/joint_waypoint.h
+++ b/tesseract_command_language/include/tesseract_command_language/joint_waypoint.h
@@ -29,7 +29,6 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <Eigen/Core>
-#include <memory>
 #include <vector>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
diff --git a/tesseract_command_language/include/tesseract_command_language/move_instruction.h b/tesseract_command_language/include/tesseract_command_language/move_instruction.h
index 430c9436ca8..6c0a4e841f7 100644
--- a/tesseract_command_language/include/tesseract_command_language/move_instruction.h
+++ b/tesseract_command_language/include/tesseract_command_language/move_instruction.h
@@ -28,7 +28,6 @@
 
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <vector>
 #include <Eigen/Geometry>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
diff --git a/tesseract_command_language/include/tesseract_command_language/poly/waypoint_poly.h b/tesseract_command_language/include/tesseract_command_language/poly/waypoint_poly.h
index 6d073bf41b0..9211fde3f79 100644
--- a/tesseract_command_language/include/tesseract_command_language/poly/waypoint_poly.h
+++ b/tesseract_command_language/include/tesseract_command_language/poly/waypoint_poly.h
@@ -28,9 +28,7 @@
 
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <memory>
 #include <string>
-#include <typeindex>
 #include <boost/serialization/base_object.hpp>
 #include <boost/serialization/export.hpp>
 #include <boost/concept_check.hpp>
diff --git a/tesseract_command_language/include/tesseract_command_language/profile_dictionary.h b/tesseract_command_language/include/tesseract_command_language/profile_dictionary.h
index 9e04f04f581..b67d4d58727 100644
--- a/tesseract_command_language/include/tesseract_command_language/profile_dictionary.h
+++ b/tesseract_command_language/include/tesseract_command_language/profile_dictionary.h
@@ -29,7 +29,6 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <any>
-#include <iostream>
 #include <typeindex>
 #include <unordered_map>
 #include <memory>
diff --git a/tesseract_command_language/include/tesseract_command_language/state_waypoint.h b/tesseract_command_language/include/tesseract_command_language/state_waypoint.h
index ea579ab8e59..85c84b4bbea 100644
--- a/tesseract_command_language/include/tesseract_command_language/state_waypoint.h
+++ b/tesseract_command_language/include/tesseract_command_language/state_waypoint.h
@@ -29,7 +29,6 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <Eigen/Core>
-#include <memory>
 #include <vector>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
diff --git a/tesseract_command_language/include/tesseract_command_language/test_suite/instruction_poly_unit.hpp b/tesseract_command_language/include/tesseract_command_language/test_suite/instruction_poly_unit.hpp
index 6783635c4ca..7cea72432c1 100644
--- a/tesseract_command_language/include/tesseract_command_language/test_suite/instruction_poly_unit.hpp
+++ b/tesseract_command_language/include/tesseract_command_language/test_suite/instruction_poly_unit.hpp
@@ -32,7 +32,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/archive/xml_oarchive.hpp>
 #include <boost/archive/xml_iarchive.hpp>
 #include <boost/uuid/random_generator.hpp>
-#include <fstream>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_command_language/poly/instruction_poly.h>
diff --git a/tesseract_command_language/include/tesseract_command_language/test_suite/waypoint_poly_unit.hpp b/tesseract_command_language/include/tesseract_command_language/test_suite/waypoint_poly_unit.hpp
index 1a310cdd116..76cee1dd35d 100644
--- a/tesseract_command_language/include/tesseract_command_language/test_suite/waypoint_poly_unit.hpp
+++ b/tesseract_command_language/include/tesseract_command_language/test_suite/waypoint_poly_unit.hpp
@@ -31,7 +31,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <gtest/gtest.h>
 #include <boost/archive/xml_oarchive.hpp>
 #include <boost/archive/xml_iarchive.hpp>
-#include <fstream>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_command_language/poly/waypoint_poly.h>
diff --git a/tesseract_command_language/src/cartesian_waypoint.cpp b/tesseract_command_language/src/cartesian_waypoint.cpp
index 80836f2a5db..88e0c35fed4 100644
--- a/tesseract_command_language/src/cartesian_waypoint.cpp
+++ b/tesseract_command_language/src/cartesian_waypoint.cpp
@@ -1,6 +1,7 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/nvp.hpp>
+#include <iostream>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_common/eigen_serialization.h>
diff --git a/tesseract_command_language/src/joint_waypoint.cpp b/tesseract_command_language/src/joint_waypoint.cpp
index d4c0219c24c..9592e47ab16 100644
--- a/tesseract_command_language/src/joint_waypoint.cpp
+++ b/tesseract_command_language/src/joint_waypoint.cpp
@@ -4,6 +4,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/base_object.hpp>
 #include <boost/serialization/array.hpp>
 #include <boost/serialization/vector.hpp>
+#include <iostream>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_common/eigen_serialization.h>
diff --git a/tesseract_command_language/src/state_waypoint.cpp b/tesseract_command_language/src/state_waypoint.cpp
index a00df85ed7f..0cf95a44bb4 100644
--- a/tesseract_command_language/src/state_waypoint.cpp
+++ b/tesseract_command_language/src/state_waypoint.cpp
@@ -26,6 +26,9 @@
 
 #include <tesseract_command_language/state_waypoint.h>
 #include <tesseract_common/utils.h>
+TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
+#include <iostream>
+TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_planning
 {
diff --git a/tesseract_examples/include/tesseract_examples/basic_cartesian_example.h b/tesseract_examples/include/tesseract_examples/basic_cartesian_example.h
index cdf5ce189d3..c38a76762c5 100644
--- a/tesseract_examples/include/tesseract_examples/basic_cartesian_example.h
+++ b/tesseract_examples/include/tesseract_examples/basic_cartesian_example.h
@@ -27,9 +27,6 @@
 #define TESSERACT_EXAMPLES_BASIC_CARTESIAN_EXAMPLE_H
 
 #include <tesseract_common/macros.h>
-TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <string>
-TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_examples/example.h>
 
diff --git a/tesseract_examples/include/tesseract_examples/example.h b/tesseract_examples/include/tesseract_examples/example.h
index bf1787495df..a89b92d9932 100644
--- a/tesseract_examples/include/tesseract_examples/example.h
+++ b/tesseract_examples/include/tesseract_examples/example.h
@@ -27,9 +27,6 @@
 #define TESSERACT_ROS_EXAMPLES_EXAMPLES_H
 
 #include <tesseract_common/macros.h>
-TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <memory>
-TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_environment/environment.h>
 #include <tesseract_visualization/visualization.h>
diff --git a/tesseract_examples/include/tesseract_examples/freespace_ompl_example.h b/tesseract_examples/include/tesseract_examples/freespace_ompl_example.h
index a3023963d85..88bb49e3327 100644
--- a/tesseract_examples/include/tesseract_examples/freespace_ompl_example.h
+++ b/tesseract_examples/include/tesseract_examples/freespace_ompl_example.h
@@ -27,9 +27,6 @@
 #define TESSERACT_EXAMPLES_FREESPACE_OMPL_EXAMPLE_H
 
 #include <tesseract_common/macros.h>
-TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <string>
-TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_examples/example.h>
 
diff --git a/tesseract_examples/include/tesseract_examples/glass_upright_example.h b/tesseract_examples/include/tesseract_examples/glass_upright_example.h
index bda864a643f..7b0647b1065 100644
--- a/tesseract_examples/include/tesseract_examples/glass_upright_example.h
+++ b/tesseract_examples/include/tesseract_examples/glass_upright_example.h
@@ -27,9 +27,6 @@
 #define TESSERACT_EXAMPLES_GLASS_UPRIGHT_EXAMPLE_H
 
 #include <tesseract_common/macros.h>
-TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <string>
-TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_examples/example.h>
 
diff --git a/tesseract_examples/include/tesseract_examples/glass_upright_ompl_example.h b/tesseract_examples/include/tesseract_examples/glass_upright_ompl_example.h
index 6d475462619..6ab1e056835 100644
--- a/tesseract_examples/include/tesseract_examples/glass_upright_ompl_example.h
+++ b/tesseract_examples/include/tesseract_examples/glass_upright_ompl_example.h
@@ -29,7 +29,6 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <trajopt/problem_description.hpp>
-#include <string>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_examples/example.h>
diff --git a/tesseract_examples/include/tesseract_examples/online_planning_example.h b/tesseract_examples/include/tesseract_examples/online_planning_example.h
index 16fd3e9d0f8..c681eb6737e 100644
--- a/tesseract_examples/include/tesseract_examples/online_planning_example.h
+++ b/tesseract_examples/include/tesseract_examples/online_planning_example.h
@@ -35,7 +35,7 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <string>
-#include <Eigen/Eigen>
+#include <Eigen/Core>
 #include <trajopt_sqp/qp_problem.h>
 
 #include <trajopt_ifopt/constraints/cartesian_position_constraint.h>
diff --git a/tesseract_examples/include/tesseract_examples/pick_and_place_example.h b/tesseract_examples/include/tesseract_examples/pick_and_place_example.h
index 81960c1f4a7..1b7e84453e4 100644
--- a/tesseract_examples/include/tesseract_examples/pick_and_place_example.h
+++ b/tesseract_examples/include/tesseract_examples/pick_and_place_example.h
@@ -28,7 +28,6 @@
 
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <string>
 #include <array>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
diff --git a/tesseract_examples/src/online_planning_example.cpp b/tesseract_examples/src/online_planning_example.cpp
index f2e2efa1626..35eb25d173b 100644
--- a/tesseract_examples/src/online_planning_example.cpp
+++ b/tesseract_examples/src/online_planning_example.cpp
@@ -31,7 +31,7 @@
  */
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <Eigen/Dense>
+#include <Eigen/Geometry>
 #include <console_bridge/console.h>
 
 #include <trajopt_sqp/ifopt_qp_problem.h>
diff --git a/tesseract_motion_planners/core/include/tesseract_motion_planners/core/planner.h b/tesseract_motion_planners/core/include/tesseract_motion_planners/core/planner.h
index c9a802af21d..128e6d96f56 100644
--- a/tesseract_motion_planners/core/include/tesseract_motion_planners/core/planner.h
+++ b/tesseract_motion_planners/core/include/tesseract_motion_planners/core/planner.h
@@ -26,11 +26,6 @@
 #ifndef TESSERACT_MOTION_PLANNERS_PLANNER_H
 #define TESSERACT_MOTION_PLANNERS_PLANNER_H
 
-#include <tesseract_common/macros.h>
-TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <unordered_map>
-TESSERACT_COMMON_IGNORE_WARNINGS_POP
-
 #include <tesseract_motion_planners/core/types.h>
 
 namespace tesseract_planning
diff --git a/tesseract_motion_planners/core/include/tesseract_motion_planners/core/utils.h b/tesseract_motion_planners/core/include/tesseract_motion_planners/core/utils.h
index c7d164728ec..d84e1039d40 100644
--- a/tesseract_motion_planners/core/include/tesseract_motion_planners/core/utils.h
+++ b/tesseract_motion_planners/core/include/tesseract_motion_planners/core/utils.h
@@ -29,7 +29,6 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <Eigen/Geometry>
-#include <memory>
 #include <console_bridge/console.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
diff --git a/tesseract_motion_planners/core/src/utils.cpp b/tesseract_motion_planners/core/src/utils.cpp
index e81607745a4..76fd556da65 100644
--- a/tesseract_motion_planners/core/src/utils.cpp
+++ b/tesseract_motion_planners/core/src/utils.cpp
@@ -26,8 +26,8 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <Eigen/Geometry>
+#include <iostream>
 #include <memory>
-#include <typeindex>
 #include <console_bridge/console.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
diff --git a/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/descartes_collision_edge_evaluator.h b/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/descartes_collision_edge_evaluator.h
index e025f52ec46..4b9ade35973 100644
--- a/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/descartes_collision_edge_evaluator.h
+++ b/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/descartes_collision_edge_evaluator.h
@@ -28,7 +28,6 @@
 
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <memory>
 #include <vector>
 #include <descartes_light/core/edge_evaluator.h>
 #include <tesseract_environment/environment.h>
diff --git a/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/descartes_robot_sampler.h b/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/descartes_robot_sampler.h
index 9da3cc06e04..0af002ef980 100644
--- a/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/descartes_robot_sampler.h
+++ b/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/descartes_robot_sampler.h
@@ -28,7 +28,7 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <descartes_light/core/waypoint_sampler.h>
-#include <Eigen/Dense>
+#include <Eigen/Geometry>
 #include <vector>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
diff --git a/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/impl/descartes_collision_edge_evaluator.hpp b/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/impl/descartes_collision_edge_evaluator.hpp
index 67e0e284d0b..81e061a0f5f 100644
--- a/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/impl/descartes_collision_edge_evaluator.hpp
+++ b/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/impl/descartes_collision_edge_evaluator.hpp
@@ -28,7 +28,6 @@
 
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <numeric>
 #include <thread>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
diff --git a/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/profile/descartes_profile.h b/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/profile/descartes_profile.h
index 6bbb4f1291a..b5b417f7260 100644
--- a/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/profile/descartes_profile.h
+++ b/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/profile/descartes_profile.h
@@ -28,7 +28,6 @@
 
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <vector>
 #include <memory>
 #include <Eigen/Geometry>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
diff --git a/tesseract_motion_planners/descartes/src/serialize.cpp b/tesseract_motion_planners/descartes/src/serialize.cpp
index 5a90404e730..ec6efc76332 100644
--- a/tesseract_motion_planners/descartes/src/serialize.cpp
+++ b/tesseract_motion_planners/descartes/src/serialize.cpp
@@ -27,7 +27,6 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <string>
-#include <fstream>
 #include <console_bridge/console.h>
 #include <boost/algorithm/string/classification.hpp>
 #include <boost/algorithm/string/split.hpp>
diff --git a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_pipeline.h b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_pipeline.h
index 5e4fec5b4d0..6b9258bb43f 100644
--- a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_pipeline.h
+++ b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_pipeline.h
@@ -29,7 +29,6 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <string>
-#include <vector>
 #include <memory>
 #include <optional>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
diff --git a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_task.h b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_task.h
index ad2aa6f09df..6ae7be862dd 100644
--- a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_task.h
+++ b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_task.h
@@ -29,7 +29,6 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <string>
-#include <vector>
 #include <memory>
 #include <optional>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
diff --git a/tesseract_task_composer/core/include/tesseract_task_composer/core/test_suite/task_composer_serialization_utils.hpp b/tesseract_task_composer/core/include/tesseract_task_composer/core/test_suite/task_composer_serialization_utils.hpp
index 54481caede9..26d8c5d25c8 100644
--- a/tesseract_task_composer/core/include/tesseract_task_composer/core/test_suite/task_composer_serialization_utils.hpp
+++ b/tesseract_task_composer/core/include/tesseract_task_composer/core/test_suite/task_composer_serialization_utils.hpp
@@ -8,7 +8,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/archive/xml_iarchive.hpp>
 #include <boost/serialization/unique_ptr.hpp>
 #include <boost/serialization/shared_ptr.hpp>
-#include <fstream>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_common/serialization.h>
diff --git a/tesseract_task_composer/examples/task_composer_raster_example.cpp b/tesseract_task_composer/examples/task_composer_raster_example.cpp
index b29c5017281..862e03fa6b5 100644
--- a/tesseract_task_composer/examples/task_composer_raster_example.cpp
+++ b/tesseract_task_composer/examples/task_composer_raster_example.cpp
@@ -2,6 +2,7 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <fstream>
+#include <iostream>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_graph.h>
diff --git a/tesseract_task_composer/examples/task_composer_trajopt_example.cpp b/tesseract_task_composer/examples/task_composer_trajopt_example.cpp
index 2d2e8ed813f..801d83cfed1 100644
--- a/tesseract_task_composer/examples/task_composer_trajopt_example.cpp
+++ b/tesseract_task_composer/examples/task_composer_trajopt_example.cpp
@@ -1,8 +1,8 @@
 
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
+#include <iostream>
 #include <memory>
-#include <numeric>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_graph.h>
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/check_input_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/check_input_task.h
index 29baa891704..72958b12ebf 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/check_input_task.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/check_input_task.h
@@ -29,7 +29,6 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
-#include <functional>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/profiles/check_input_profile.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/profiles/check_input_profile.h
index a74ad098ad9..6e336cbf7e0 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/profiles/check_input_profile.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/profiles/check_input_profile.h
@@ -29,7 +29,6 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <console_bridge/console.h>
-#include <vector>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_context.h>
diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/profiles/fix_state_bounds_profile.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/profiles/fix_state_bounds_profile.h
index ddd9a231b50..f8e97dfd41c 100644
--- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/profiles/fix_state_bounds_profile.h
+++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/profiles/fix_state_bounds_profile.h
@@ -28,8 +28,7 @@
 
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <numeric>
-#include <unordered_map>
+#include <limits>
 #include <memory>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
diff --git a/tesseract_task_composer/test/tesseract_task_composer_planning_unit.cpp b/tesseract_task_composer/test/tesseract_task_composer_planning_unit.cpp
index 81935c99392..3beb3ba157d 100644
--- a/tesseract_task_composer/test/tesseract_task_composer_planning_unit.cpp
+++ b/tesseract_task_composer/test/tesseract_task_composer_planning_unit.cpp
@@ -2,7 +2,6 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <gtest/gtest.h>
 #include <yaml-cpp/yaml.h>
-#include <sstream>
 #include <memory>
 #include <boost/algorithm/string.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
diff --git a/tesseract_task_composer/test/tesseract_task_composer_taskflow_unit.cpp b/tesseract_task_composer/test/tesseract_task_composer_taskflow_unit.cpp
index f43a9a787db..dc104173ca2 100644
--- a/tesseract_task_composer/test/tesseract_task_composer_taskflow_unit.cpp
+++ b/tesseract_task_composer/test/tesseract_task_composer_taskflow_unit.cpp
@@ -2,7 +2,6 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <gtest/gtest.h>
 #include <yaml-cpp/yaml.h>
-#include <sstream>
 #include <memory>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
diff --git a/tesseract_time_parameterization/core/include/tesseract_time_parameterization/core/tesseract_common_trajectory.h b/tesseract_time_parameterization/core/include/tesseract_time_parameterization/core/tesseract_common_trajectory.h
index 1581a6d3330..6735cac34fe 100644
--- a/tesseract_time_parameterization/core/include/tesseract_time_parameterization/core/tesseract_common_trajectory.h
+++ b/tesseract_time_parameterization/core/include/tesseract_time_parameterization/core/tesseract_common_trajectory.h
@@ -26,12 +26,7 @@
 #ifndef TESSERACT_COMMON_TRAJECTORY_H
 #define TESSERACT_COMMON_TRAJECTORY_H
 
-#include <tesseract_common/macros.h>
 #include <tesseract_common/joint_state.h>
-TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <vector>
-TESSERACT_COMMON_IGNORE_WARNINGS_POP
-
 #include <tesseract_time_parameterization/core/trajectory_container.h>
 
 namespace tesseract_planning
diff --git a/tesseract_time_parameterization/core/include/tesseract_time_parameterization/core/trajectory_container.h b/tesseract_time_parameterization/core/include/tesseract_time_parameterization/core/trajectory_container.h
index 24f14130526..ff63e3fd07b 100644
--- a/tesseract_time_parameterization/core/include/tesseract_time_parameterization/core/trajectory_container.h
+++ b/tesseract_time_parameterization/core/include/tesseract_time_parameterization/core/trajectory_container.h
@@ -28,7 +28,7 @@
 
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <Eigen/Eigen>
+#include <Eigen/Core>
 #include <memory>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
diff --git a/tesseract_time_parameterization/core/include/tesseract_time_parameterization/core/utils.h b/tesseract_time_parameterization/core/include/tesseract_time_parameterization/core/utils.h
index 31935c80ca3..d54f4e4cd88 100644
--- a/tesseract_time_parameterization/core/include/tesseract_time_parameterization/core/utils.h
+++ b/tesseract_time_parameterization/core/include/tesseract_time_parameterization/core/utils.h
@@ -26,7 +26,6 @@
 
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <Eigen/Eigen>
 #include <console_bridge/console.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
diff --git a/tesseract_time_parameterization/isp/include/tesseract_time_parameterization/isp/iterative_spline_parameterization.h b/tesseract_time_parameterization/isp/include/tesseract_time_parameterization/isp/iterative_spline_parameterization.h
index 77f19a58c21..1e650f87ea8 100644
--- a/tesseract_time_parameterization/isp/include/tesseract_time_parameterization/isp/iterative_spline_parameterization.h
+++ b/tesseract_time_parameterization/isp/include/tesseract_time_parameterization/isp/iterative_spline_parameterization.h
@@ -40,7 +40,7 @@
 
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <Eigen/Eigen>
+#include <Eigen/Core>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_time_parameterization/core/trajectory_container.h>
diff --git a/tesseract_time_parameterization/ruckig/include/tesseract_time_parameterization/ruckig/ruckig_trajectory_smoothing.h b/tesseract_time_parameterization/ruckig/include/tesseract_time_parameterization/ruckig/ruckig_trajectory_smoothing.h
index 856cb2363cb..48fe93a147b 100644
--- a/tesseract_time_parameterization/ruckig/include/tesseract_time_parameterization/ruckig/ruckig_trajectory_smoothing.h
+++ b/tesseract_time_parameterization/ruckig/include/tesseract_time_parameterization/ruckig/ruckig_trajectory_smoothing.h
@@ -27,7 +27,7 @@
 
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <Eigen/Eigen>
+#include <Eigen/Core>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_time_parameterization/core/trajectory_container.h>
diff --git a/tesseract_time_parameterization/totg/include/tesseract_time_parameterization/totg/time_optimal_trajectory_generation.h b/tesseract_time_parameterization/totg/include/tesseract_time_parameterization/totg/time_optimal_trajectory_generation.h
index 45b1f8efc9f..eb20006f7af 100644
--- a/tesseract_time_parameterization/totg/include/tesseract_time_parameterization/totg/time_optimal_trajectory_generation.h
+++ b/tesseract_time_parameterization/totg/include/tesseract_time_parameterization/totg/time_optimal_trajectory_generation.h
@@ -41,7 +41,7 @@
 
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <Eigen/Eigen>
+#include <Eigen/Core>
 #include <list>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP