diff --git a/uuv_gazebo_plugins/uuv_gazebo_plugins/CMakeLists.txt b/uuv_gazebo_plugins/uuv_gazebo_plugins/CMakeLists.txt
index 16efc7ae3..32720ac2d 100644
--- a/uuv_gazebo_plugins/uuv_gazebo_plugins/CMakeLists.txt
+++ b/uuv_gazebo_plugins/uuv_gazebo_plugins/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(uuv_gazebo_plugins)
 
 # Specify C++11 standard
-add_definitions(-std=c++11)
+add_definitions(-std=c++17)
 
 find_package(catkin REQUIRED COMPONENTS
     gazebo_dev)
diff --git a/uuv_gazebo_plugins/uuv_gazebo_plugins/include/uuv_gazebo_plugins/BuoyantObject.hh b/uuv_gazebo_plugins/uuv_gazebo_plugins/include/uuv_gazebo_plugins/BuoyantObject.hh
index 5802903e9..27ff1c965 100644
--- a/uuv_gazebo_plugins/uuv_gazebo_plugins/include/uuv_gazebo_plugins/BuoyantObject.hh
+++ b/uuv_gazebo_plugins/uuv_gazebo_plugins/include/uuv_gazebo_plugins/BuoyantObject.hh
@@ -74,7 +74,7 @@ class BuoyantObject
   public: double GetGravity();
 
   /// \brief Sets bounding box
-  public: void SetBoundingBox(const ignition::math::Box &_bBox);
+  public: void SetBoundingBox(const ignition::math::AxisAlignedBox &_bBox);
 
   /// \brief Adds a field in the hydroWrench map
   public: void SetStoreVector(std::string _tag);
@@ -120,7 +120,7 @@ class BuoyantObject
 
   /// \brief TEMP for calculation of the buoyancy
   /// force close to the surface
-  protected: ignition::math::Box boundingBox;
+  protected: ignition::math::AxisAlignedBox boundingBox;
 
   /// \brief Storage for hydrodynamic and hydrostatic forces and torques
   /// for debugging purposes
diff --git a/uuv_gazebo_plugins/uuv_gazebo_plugins/src/BuoyantObject.cc b/uuv_gazebo_plugins/uuv_gazebo_plugins/src/BuoyantObject.cc
index a206aeafc..319fd208e 100644
--- a/uuv_gazebo_plugins/uuv_gazebo_plugins/src/BuoyantObject.cc
+++ b/uuv_gazebo_plugins/uuv_gazebo_plugins/src/BuoyantObject.cc
@@ -52,7 +52,7 @@ BuoyantObject::BuoyantObject(physics::LinkPtr _link)
   this->boundingBox = link->BoundingBox();
 #else
   math::Box bBox = link->GetBoundingBox();
-  this->boundingBox = ignition::math::Box(bBox.min.x, bBox.min.y, bBox.min.z,
+  this->boundingBox = ignition::math::AxisAlignedBox(bBox.min.x, bBox.min.y, bBox.min.z,
       bBox.max.x, bBox.max.y, bBox.max.z);
 #endif
   // Set neutrally buoyant flag to false
@@ -205,9 +205,9 @@ void BuoyantObject::ApplyBuoyancyForce()
 }
 
 /////////////////////////////////////////////////
-void BuoyantObject::SetBoundingBox(const ignition::math::Box &_bBox)
+void BuoyantObject::SetBoundingBox(const ignition::math::AxisAlignedBox &_bBox)
 {
-  this->boundingBox = ignition::math::Box(_bBox);
+  this->boundingBox = ignition::math::AxisAlignedBox(_bBox);
 
   gzmsg << "New bounding box for " << this->link->GetName() << "::"
     << this->boundingBox << std::endl;
diff --git a/uuv_gazebo_plugins/uuv_gazebo_plugins/src/HydrodynamicModel.cc b/uuv_gazebo_plugins/uuv_gazebo_plugins/src/HydrodynamicModel.cc
index a4b49ad37..4e975a1e4 100644
--- a/uuv_gazebo_plugins/uuv_gazebo_plugins/src/HydrodynamicModel.cc
+++ b/uuv_gazebo_plugins/uuv_gazebo_plugins/src/HydrodynamicModel.cc
@@ -75,7 +75,7 @@ HydrodynamicModel::HydrodynamicModel(sdf::ElementPtr _sdf,
       double width = sdfModel->Get<double>("width");
       double length = sdfModel->Get<double>("length");
       double height = sdfModel->Get<double>("height");
-      ignition::math::Box boundingBox = ignition::math::Box(
+      ignition::math::AxisAlignedBox boundingBox = ignition::math::AxisAlignedBox(
         ignition::math::Vector3d(-width / 2, -length / 2, -height / 2),
         ignition::math::Vector3d(width / 2, length / 2, height / 2));
       // Setting the the bounding box from the given dimensions
diff --git a/uuv_gazebo_plugins/uuv_gazebo_ros_plugins/CMakeLists.txt b/uuv_gazebo_plugins/uuv_gazebo_ros_plugins/CMakeLists.txt
index b79d5941a..7e3ba29e8 100644
--- a/uuv_gazebo_plugins/uuv_gazebo_ros_plugins/CMakeLists.txt
+++ b/uuv_gazebo_plugins/uuv_gazebo_ros_plugins/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(uuv_gazebo_ros_plugins)
 
 # Specify C++11 standard
-add_definitions(-std=c++11)
+add_definitions(-std=c++17)
 
 find_package(catkin REQUIRED COMPONENTS
   uuv_gazebo_plugins
diff --git a/uuv_sensor_plugins/uuv_sensor_ros_plugins/CMakeLists.txt b/uuv_sensor_plugins/uuv_sensor_ros_plugins/CMakeLists.txt
index c12d8ffe0..3e823e4b0 100644
--- a/uuv_sensor_plugins/uuv_sensor_ros_plugins/CMakeLists.txt
+++ b/uuv_sensor_plugins/uuv_sensor_ros_plugins/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(uuv_sensor_ros_plugins)
 
-add_definitions(-std=c++11)
+add_definitions(-std=c++17)
 
 # set(CMAKE_BUILD_TYPE RelWithDebInfo)
 
diff --git a/uuv_sensor_plugins/uuv_sensor_ros_plugins/src/gazebo_ros_image_sonar.cpp b/uuv_sensor_plugins/uuv_sensor_ros_plugins/src/gazebo_ros_image_sonar.cpp
index 6c3b7af9b..148e66842 100644
--- a/uuv_sensor_plugins/uuv_sensor_ros_plugins/src/gazebo_ros_image_sonar.cpp
+++ b/uuv_sensor_plugins/uuv_sensor_ros_plugins/src/gazebo_ros_image_sonar.cpp
@@ -942,9 +942,9 @@ cv::Mat GazeboRosImageSonar::ConstructVisualScanImage(cv::Mat& raw_scan)
   cv::Scalar white(255, 255, 255);
   cv::Size axes1(2./3.*scan.rows, 2./3.*scan.rows);
   cv::Size axes2(1./3.*scan.rows, 1./3.*scan.rows);
-  cv::ellipse(scan, center, axes, -90, -fov/2.-0.5, fov/2., white, 1, CV_AA); //, int lineType=LINE_8, 0);
-  cv::ellipse(scan, center, axes1, -90, -fov/2., fov/2., white, 1, CV_AA); //, int lineType=LINE_8, 0);
-  cv::ellipse(scan, center, axes2, -90, -fov/2., fov/2., white, 1, CV_AA); //, int lineType=LINE_8, 0);
+  cv::ellipse(scan, center, axes, -90, -fov/2.-0.5, fov/2., white, 1, cv::LINE_8, 0); //, int lineType=LINE_8, 0);
+  cv::ellipse(scan, center, axes1, -90, -fov/2., fov/2., white, 1, cv::LINE_8, 0); //, int lineType=LINE_8, 0);
+  cv::ellipse(scan, center, axes2, -90, -fov/2., fov/2., white, 1, cv::LINE_8, 0); //, int lineType=LINE_8, 0);
 
   for (int i = 0; i < 5; ++i) {
     float angle = -fov/2.-0.5 + (fov+0.5)*i/float(5-1);
@@ -955,7 +955,7 @@ cv::Mat GazeboRosImageSonar::ConstructVisualScanImage(cv::Mat& raw_scan)
     cv::Point corner(scan.cols/2+cornerx, scan.rows-cornery); 
     //cv::line(scan, center, left_corner, white, 2);
     //cv::line(scan, center, right_corner, white, 2);
-    cv::line(scan, center, corner, white, 1, CV_AA);
+    cv::line(scan, center, corner, white, 1, cv::LINE_8, 0);
   }
   
   cv_bridge::CvImage img_bridge;
diff --git a/uuv_world_plugins/uuv_world_plugins/CMakeLists.txt b/uuv_world_plugins/uuv_world_plugins/CMakeLists.txt
index b857d3a74..74e0aab7a 100644
--- a/uuv_world_plugins/uuv_world_plugins/CMakeLists.txt
+++ b/uuv_world_plugins/uuv_world_plugins/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(uuv_world_plugins)
 
 # Specify C++11 standard
-add_definitions(-std=c++11)
+add_definitions(-std=c++17)
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
diff --git a/uuv_world_plugins/uuv_world_ros_plugins/CMakeLists.txt b/uuv_world_plugins/uuv_world_ros_plugins/CMakeLists.txt
index 91c676553..efbfdee80 100644
--- a/uuv_world_plugins/uuv_world_ros_plugins/CMakeLists.txt
+++ b/uuv_world_plugins/uuv_world_ros_plugins/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(uuv_world_ros_plugins)
 
 # Specify C++11 standard
-add_definitions(-std=c++11)
+add_definitions(-std=c++17)
 
 find_package(catkin REQUIRED COMPONENTS
   roscpp