diff --git a/include/gz/gui/MainWindow.hh b/include/gz/gui/MainWindow.hh
index 2ae1c0e89..72e6d4d29 100644
--- a/include/gz/gui/MainWindow.hh
+++ b/include/gz/gui/MainWindow.hh
@@ -409,7 +409,7 @@ namespace gz::gui
 
       /// \brief Get the action performed when GUI closes without prompt.
       /// \return The action.
-      public: Q_INVOKABLE ExitAction DefaultExitAction() const;
+      public: Q_INVOKABLE gz::gui::ExitAction DefaultExitAction() const;
 
       /// \brief Set the action performed when GUI closes without prompt.
       /// \param[in] _defaultExitAction The action.
diff --git a/src/Application.cc b/src/Application.cc
index d6a3fb290..87201de81 100644
--- a/src/Application.cc
+++ b/src/Application.cc
@@ -331,7 +331,7 @@ bool Application::LoadConfig(const std::string &_config)
     if (!configPathEnv.empty())
     {
       std::vector<std::string> parentPaths = common::Split(configPathEnv, ':');
-      for (auto parentPath : parentPaths)
+      for (const auto &parentPath : parentPaths)
       {
         std::string tempPath = common::joinPaths(parentPath, configFull);
         if (common::exists(tempPath))
@@ -364,12 +364,12 @@ bool Application::LoadConfig(const std::string &_config)
 
   // Clear all previous plugins
   auto plugins = this->dataPtr->mainWin->findChildren<Plugin *>();
-  for (auto plugin : plugins)
+  for (auto *plugin : plugins)
   {
     auto pluginName = plugin->CardItem()->objectName();
     this->RemovePlugin(pluginName.toStdString());
   }
-  if (this->dataPtr->pluginsAdded.size() > 0)
+  if (!this->dataPtr->pluginsAdded.empty())
   {
     gzerr << "The plugin list was not properly cleaned up." << std::endl;
   }
@@ -377,10 +377,11 @@ bool Application::LoadConfig(const std::string &_config)
 
   // Process each plugin
   bool successful = true;
-  for (auto pluginElem = doc.FirstChildElement("plugin"); pluginElem != nullptr;
-      pluginElem = pluginElem->NextSiblingElement("plugin"))
+  for (auto *pluginElem = doc.FirstChildElement("plugin");
+       pluginElem != nullptr;
+       pluginElem = pluginElem->NextSiblingElement("plugin"))
   {
-    auto filename = pluginElem->Attribute("filename");
+    const auto *filename = pluginElem->Attribute("filename");
     if (!this->LoadPlugin(filename, pluginElem))
     {
       successful = false;
@@ -393,7 +394,7 @@ bool Application::LoadConfig(const std::string &_config)
   }
 
   // Process window properties
-  if (auto winElem = doc.FirstChildElement("window"))
+  if (auto *winElem = doc.FirstChildElement("window"))
   {
     gzdbg << "Loading window config" << std::endl;
 
@@ -407,7 +408,7 @@ bool Application::LoadConfig(const std::string &_config)
     this->dataPtr->windowConfig.MergeFromXML(std::string(printer.CStr()));
 
     // Closing behavior.
-    if (auto defaultExitActionElem =
+    if (auto *defaultExitActionElem =
       winElem->FirstChildElement("default_exit_action"))
     {
       ExitAction action{ExitAction::CLOSE_GUI};
@@ -426,43 +427,43 @@ bool Application::LoadConfig(const std::string &_config)
     }
 
     // Dialog on exit
-    if (auto dialogOnExitElem = winElem->FirstChildElement("dialog_on_exit"))
+    if (auto *dialogOnExitElem = winElem->FirstChildElement("dialog_on_exit"))
     {
       bool showDialogOnExit{false};
       dialogOnExitElem->QueryBoolText(&showDialogOnExit);
       this->dataPtr->mainWin->SetShowDialogOnExit(showDialogOnExit);
     }
 
-    if (auto dialogOnExitOptionsElem =
+    if (auto *dialogOnExitOptionsElem =
       winElem->FirstChildElement("dialog_on_exit_options"))
     {
-      if (auto promptElem =
+      if (auto *promptElem =
         dialogOnExitOptionsElem->FirstChildElement("prompt_text"))
       {
         this->dataPtr->mainWin->SetDialogOnExitText(
           QString::fromStdString(promptElem->GetText()));
       }
-      if (auto showShutdownElem =
+      if (auto *showShutdownElem =
         dialogOnExitOptionsElem->FirstChildElement("show_shutdown_button"))
       {
         bool showShutdownButton{false};
         showShutdownElem->QueryBoolText(&showShutdownButton);
         this->dataPtr->mainWin->SetExitDialogShowShutdown(showShutdownButton);
       }
-      if (auto showCloseGuiElem =
+      if (auto *showCloseGuiElem =
         dialogOnExitOptionsElem->FirstChildElement("show_close_gui_button"))
       {
         bool showCloseGuiButton{false};
         showCloseGuiElem->QueryBoolText(&showCloseGuiButton);
         this->dataPtr->mainWin->SetExitDialogShowCloseGui(showCloseGuiButton);
       }
-      if (auto shutdownTextElem =
+      if (auto *shutdownTextElem =
         dialogOnExitOptionsElem->FirstChildElement("shutdown_button_text"))
       {
         this->dataPtr->mainWin->SetExitDialogShutdownText(
           QString::fromStdString(shutdownTextElem->GetText()));
       }
-      if (auto closeGuiTextElem =
+      if (auto *closeGuiTextElem =
         dialogOnExitOptionsElem->FirstChildElement("close_gui_button_text"))
       {
         this->dataPtr->mainWin->SetExitDialogCloseGuiText(
@@ -472,7 +473,7 @@ bool Application::LoadConfig(const std::string &_config)
 
     // Server control service topic
     std::string serverControlService{"/server_control"};
-    auto serverControlElem =
+    auto *serverControlElem =
       winElem->FirstChildElement("server_control_service");
     if (nullptr != serverControlElem && nullptr != serverControlElem->GetText())
     {
@@ -563,7 +564,7 @@ bool Application::LoadPlugin(const std::string &_filename,
   // gz::gui::Plugin interface
   plugin::PluginPtr commonPlugin;
   std::shared_ptr<gui::Plugin> plugin{nullptr};
-  for (auto pluginName : pluginNames)
+  for (const auto &pluginName : pluginNames)
   {
     commonPlugin = pluginLoader.Instantiate(pluginName);
     if (!commonPlugin)
@@ -580,7 +581,7 @@ bool Application::LoadPlugin(const std::string &_filename,
               "] : couldn't instantiate plugin on path [" << pathToLib <<
               "]. Tried plugin names: " << std::endl;
 
-    for (auto pluginName : pluginNames)
+    for (const auto &pluginName : pluginNames)
     {
       gzerr << " * " << pluginName << std::endl;
     }
@@ -620,7 +621,7 @@ bool Application::LoadPlugin(const std::string &_filename,
   else
     this->InitializeDialogs();
 
-  this->PluginAdded(plugin->CardItem()->objectName());
+  emit this->PluginAdded(plugin->CardItem()->objectName());
   gzmsg << "Loaded plugin [" << _filename << "] from path [" << pathToLib
          << "]" << std::endl;
 
@@ -633,7 +634,7 @@ std::shared_ptr<Plugin> Application::PluginByName(
 {
   for (auto &plugin : this->dataPtr->pluginsAdded)
   {
-    auto cardItem = plugin->CardItem();
+    auto *cardItem = plugin->CardItem();
     if (!cardItem)
       continue;
 
@@ -683,7 +684,7 @@ bool Application::AddPluginsToWindow()
     return false;
 
   // Get main window background item
-  auto bgItem = this->dataPtr->mainWin->QuickWindow()
+  auto *bgItem = this->dataPtr->mainWin->QuickWindow()
       ->findChild<QQuickItem *>("background");
   if (!this->dataPtr->pluginsToAdd.empty() && !bgItem)
   {
@@ -705,7 +706,7 @@ bool Application::AddPluginsToWindow()
       continue;
     }
 
-    auto cardItem = plugin->CardItem();
+    auto *cardItem = plugin->CardItem();
     if (!cardItem)
       continue;
 
@@ -714,7 +715,7 @@ bool Application::AddPluginsToWindow()
     QMetaObject::invokeMethod(bgItem, "addSplitItem",
         Q_RETURN_ARG(QVariant, splitName));
 
-    auto splitItem = bgItem->findChild<QQuickItem *>(
+    auto *splitItem = bgItem->findChild<QQuickItem *>(
         splitName.toString());
     if (!splitItem)
     {
@@ -755,12 +756,12 @@ bool Application::InitializeDialogs()
     this->dataPtr->pluginsToAdd.pop();
 
     // Create card
-    auto cardItem = plugin->CardItem();
+    auto *cardItem = plugin->CardItem();
     if (!cardItem)
       continue;
 
     // Create dialog
-    auto dialog = new Dialog();
+    auto *dialog = new Dialog();
     if (!dialog || !dialog->QuickWindow())
       continue;
 
@@ -787,10 +788,7 @@ bool Application::InitializeDialogs()
     gzdbg << "Initialized dialog [" << title.toStdString() << "]" << std::endl;
   }
 
-  if (this->dataPtr->pluginsAdded.empty())
-    return false;
-
-  return true;
+  return !this->dataPtr->pluginsAdded.empty();
 }
 
 /////////////////////////////////////////////////
@@ -844,7 +842,7 @@ std::vector<std::pair<std::string, std::vector<std::string>>>
         ps.push_back(plugin);
     }
 
-    plugins.push_back(std::make_pair(path, ps));
+    plugins.emplace_back(path, ps);
   }
 
   return plugins;
diff --git a/src/Application_TEST.cc b/src/Application_TEST.cc
index c3f3faefb..f23ce8ab0 100644
--- a/src/Application_TEST.cc
+++ b/src/Application_TEST.cc
@@ -336,7 +336,7 @@ TEST(ApplicationTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Dialog))
 
     // Close dialog after some time
     auto closed = false;
-    QTimer::singleShot(300, [&] {
+    QTimer::singleShot(300, &app, [&] {
       auto ds = app.allWindows();
 
       // The main dialog - some systems return more, not sure why
@@ -371,7 +371,7 @@ TEST(ApplicationTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Dialog))
 
     // Close dialogs after some time
     auto closed = false;
-    QTimer::singleShot(300, [&] {
+    QTimer::singleShot(300, &app, [&] {
       auto ds = app.allWindows();
 
       // 2 dialog - some systems return more, not sure why
diff --git a/src/Helpers_TEST.cc b/src/Helpers_TEST.cc
index 4556cf7fa..e99f48bf4 100644
--- a/src/Helpers_TEST.cc
+++ b/src/Helpers_TEST.cc
@@ -171,8 +171,8 @@ TEST(HelpersTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(worldNames))
   // Has names
   EXPECT_FALSE(worldNames().empty());
   ASSERT_EQ(2, worldNames().size());
-  EXPECT_EQ("banana", worldNames()[0]);
-  EXPECT_EQ("grape", worldNames()[1]);
+  EXPECT_EQ("banana", worldNames().at(0));
+  EXPECT_EQ("grape", worldNames().at(1));
 
   mainWindow->setProperty("worldNames", QStringList());
 
diff --git a/src/MainWindow.cc b/src/MainWindow.cc
index ad075b466..bff0186a9 100644
--- a/src/MainWindow.cc
+++ b/src/MainWindow.cc
@@ -148,7 +148,7 @@ QStringList MainWindow::PluginListModel() const
   }
 
   // Error
-  for (auto plugin : this->dataPtr->windowConfig.showPlugins)
+  for (const auto &plugin : this->dataPtr->windowConfig.showPlugins)
   {
     if (!pluginNames.contains(QString::fromStdString(plugin)))
     {
@@ -241,14 +241,14 @@ void MainWindow::SaveConfig(const std::string &_path)
   {
     std::string str = "Unable to open file: " + _path;
     str += ".\nCheck file permissions.";
-    this->notify(QString::fromStdString(str));
+    emit this->notify(QString::fromStdString(str));
   }
   else
     out << this->dataPtr->windowConfig.XMLString();
 
   std::string msg("Saved configuration to <b>" + _path + "</b>");
 
-  this->notify(QString::fromStdString(msg));
+  emit this->notify(QString::fromStdString(msg));
   gzmsg << msg << std::endl;
 }
 
@@ -330,7 +330,7 @@ bool MainWindow::ApplyConfig(const WindowConfig &_config)
   this->dataPtr->windowConfig = _config;
 
   // Notify view
-  this->configChanged();
+  emit this->configChanged();
 
   return true;
 }
@@ -701,7 +701,7 @@ int MainWindow::PluginCount() const
 void MainWindow::SetPluginCount(const int _pluginCount)
 {
   this->dataPtr->pluginCount = _pluginCount;
-  this->PluginCountChanged();
+  emit this->PluginCountChanged();
 }
 
 /////////////////////////////////////////////////
@@ -714,7 +714,7 @@ QString MainWindow::MaterialTheme() const
 void MainWindow::SetMaterialTheme(const QString &_materialTheme)
 {
   this->dataPtr->windowConfig.materialTheme = _materialTheme.toStdString();
-  this->MaterialThemeChanged();
+  emit this->MaterialThemeChanged();
 }
 
 /////////////////////////////////////////////////
@@ -727,7 +727,7 @@ QString MainWindow::MaterialPrimary() const
 void MainWindow::SetMaterialPrimary(const QString &_materialPrimary)
 {
   this->dataPtr->windowConfig.materialPrimary = _materialPrimary.toStdString();
-  this->MaterialPrimaryChanged();
+  emit this->MaterialPrimaryChanged();
 }
 
 /////////////////////////////////////////////////
@@ -740,7 +740,7 @@ QString MainWindow::MaterialAccent() const
 void MainWindow::SetMaterialAccent(const QString &_materialAccent)
 {
   this->dataPtr->windowConfig.materialAccent = _materialAccent.toStdString();
-  this->MaterialAccentChanged();
+  emit this->MaterialAccentChanged();
 }
 
 /////////////////////////////////////////////////
@@ -754,7 +754,7 @@ void MainWindow::SetToolBarColorLight(const QString &_toolBarColorLight)
 {
   this->dataPtr->windowConfig.toolBarColorLight =
       _toolBarColorLight.toStdString();
-  this->ToolBarColorLightChanged();
+  emit this->ToolBarColorLightChanged();
 }
 
 /////////////////////////////////////////////////
@@ -769,7 +769,7 @@ void MainWindow::SetToolBarTextColorLight(const QString &_toolBarTextColorLight)
 {
   this->dataPtr->windowConfig.toolBarTextColorLight =
       _toolBarTextColorLight.toStdString();
-  this->ToolBarTextColorLightChanged();
+  emit this->ToolBarTextColorLightChanged();
 }
 
 /////////////////////////////////////////////////
@@ -783,7 +783,7 @@ void MainWindow::SetToolBarColorDark(const QString &_toolBarColorDark)
 {
   this->dataPtr->windowConfig.toolBarColorDark =
       _toolBarColorDark.toStdString();
-  this->ToolBarColorDarkChanged();
+  emit this->ToolBarColorDarkChanged();
 }
 
 /////////////////////////////////////////////////
@@ -798,7 +798,7 @@ void MainWindow::SetToolBarTextColorDark(const QString &_toolBarTextColorDark)
 {
   this->dataPtr->windowConfig.toolBarTextColorDark =
       _toolBarTextColorDark.toStdString();
-  this->ToolBarTextColorDarkChanged();
+  emit this->ToolBarTextColorDarkChanged();
 }
 
 /////////////////////////////////////////////////
@@ -814,7 +814,7 @@ void MainWindow::SetPluginToolBarColorLight(
 {
   this->dataPtr->windowConfig.pluginToolBarColorLight =
       _pluginToolBarColorLight.toStdString();
-  this->PluginToolBarColorLightChanged();
+  emit this->PluginToolBarColorLightChanged();
 }
 
 /////////////////////////////////////////////////
@@ -830,7 +830,7 @@ void MainWindow::SetPluginToolBarTextColorLight(
 {
   this->dataPtr->windowConfig.pluginToolBarTextColorLight =
       _pluginToolBarTextColorLight.toStdString();
-  this->PluginToolBarTextColorLightChanged();
+  emit this->PluginToolBarTextColorLightChanged();
 }
 
 /////////////////////////////////////////////////
@@ -846,7 +846,7 @@ void MainWindow::SetPluginToolBarColorDark(
 {
   this->dataPtr->windowConfig.pluginToolBarColorDark =
       _pluginToolBarColorDark.toStdString();
-  this->PluginToolBarColorDarkChanged();
+  emit this->PluginToolBarColorDarkChanged();
 }
 
 /////////////////////////////////////////////////
@@ -862,7 +862,7 @@ void MainWindow::SetPluginToolBarTextColorDark(
 {
   this->dataPtr->windowConfig.pluginToolBarTextColorDark =
       _pluginToolBarTextColorDark.toStdString();
-  this->PluginToolBarTextColorDarkChanged();
+  emit this->PluginToolBarTextColorDarkChanged();
 }
 
 /////////////////////////////////////////////////
@@ -881,7 +881,7 @@ bool MainWindow::ShowDrawer() const
 void MainWindow::SetShowDrawer(const bool _showDrawer)
 {
   this->dataPtr->windowConfig.showDrawer = _showDrawer;
-  this->ShowDrawerChanged();
+  emit this->ShowDrawerChanged();
 }
 
 /////////////////////////////////////////////////
@@ -895,7 +895,7 @@ void MainWindow::SetShowDefaultDrawerOpts(const bool _showDefaultDrawerOpts)
 {
   this->dataPtr->windowConfig.showDefaultDrawerOpts =
       _showDefaultDrawerOpts;
-  this->ShowDefaultDrawerOptsChanged();
+  emit this->ShowDefaultDrawerOptsChanged();
 }
 
 /////////////////////////////////////////////////
@@ -908,7 +908,7 @@ bool MainWindow::ShowPluginMenu() const
 void MainWindow::SetShowPluginMenu(const bool _showPluginMenu)
 {
   this->dataPtr->windowConfig.showPluginMenu = _showPluginMenu;
-  this->ShowPluginMenuChanged();
+  emit this->ShowPluginMenuChanged();
 }
 
 /////////////////////////////////////////////////
@@ -921,7 +921,7 @@ ExitAction MainWindow::DefaultExitAction() const
 void MainWindow::SetDefaultExitAction(ExitAction _defaultExitAction)
 {
   this->dataPtr->defaultExitAction = _defaultExitAction;
-  this->DefaultExitActionChanged();
+  emit this->DefaultExitActionChanged();
 }
 
 /////////////////////////////////////////////////
@@ -934,7 +934,7 @@ bool MainWindow::ShowDialogOnExit() const
 void MainWindow::SetShowDialogOnExit(bool _showDialogOnExit)
 {
   this->dataPtr->showDialogOnExit = _showDialogOnExit;
-  this->ShowDialogOnExitChanged();
+  emit this->ShowDialogOnExitChanged();
 }
 
 /////////////////////////////////////////////////
@@ -954,7 +954,7 @@ void MainWindow::SetDialogOnExitText(
   const QString &_dialogOnExitText)
 {
   this->dataPtr->dialogOnExitText = _dialogOnExitText;
-  this->DialogOnExitTextChanged();
+  emit this->DialogOnExitTextChanged();
 }
 
 /////////////////////////////////////////////////
@@ -967,7 +967,7 @@ bool MainWindow::ExitDialogShowShutdown() const
 void MainWindow::SetExitDialogShowShutdown(bool _exitDialogShowShutdown)
 {
   this->dataPtr->exitDialogShowShutdown = _exitDialogShowShutdown;
-  this->ExitDialogShowShutdownChanged();
+  emit this->ExitDialogShowShutdownChanged();
 }
 
 /////////////////////////////////////////////////
@@ -980,7 +980,7 @@ bool MainWindow::ExitDialogShowCloseGui() const
 void MainWindow::SetExitDialogShowCloseGui(bool _exitDialogShowCloseGui)
 {
   this->dataPtr->exitDialogShowCloseGui = _exitDialogShowCloseGui;
-  this->ExitDialogShowCloseGuiChanged();
+  emit this->ExitDialogShowCloseGuiChanged();
 }
 
 /////////////////////////////////////////////////
@@ -994,7 +994,7 @@ void MainWindow::SetExitDialogShutdownText(
   const QString &_exitDialogShutdownText)
 {
   this->dataPtr->exitDialogShutdownText = _exitDialogShutdownText;
-  this->ExitDialogShutdownTextChanged();
+  emit this->ExitDialogShutdownTextChanged();
 }
 
 /////////////////////////////////////////////////
@@ -1008,7 +1008,7 @@ void MainWindow::SetExitDialogCloseGuiText(
   const QString &_exitDialogCloseGuiText)
 {
   this->dataPtr->exitDialogCloseGuiText = _exitDialogCloseGuiText;
-  this->ExitDialogCloseGuiTextChanged();
+  emit this->ExitDialogCloseGuiTextChanged();
 }
 
 /////////////////////////////////////////////////
diff --git a/src/MainWindow_TEST.cc b/src/MainWindow_TEST.cc
index c5c12e21d..f81749b61 100644
--- a/src/MainWindow_TEST.cc
+++ b/src/MainWindow_TEST.cc
@@ -342,7 +342,7 @@ TEST(MainWindowTest,
 
   // Access window after it's open
   bool closed{false};
-  QTimer::singleShot(300, [&closed]
+  QTimer::singleShot(300, App(), [&closed]
   {
     auto win = App()->findChild<MainWindow *>();
     ASSERT_NE(nullptr, win);
@@ -519,7 +519,10 @@ void FindExitDialogButtons(
   ASSERT_NE(nullptr, dialog);
 
   QObject *buttonBox{nullptr};
-  for (const auto& c : dialog->findChildren<QObject *>())
+  // Qt considers range-based for loops over temporary objects
+  // potentially dangerous, so explicitly create a container.
+  const auto children = dialog->findChildren<QObject *>();
+  for (const auto& c : children)
   {
     if (std::string(c->metaObject()->className()).find("ButtonBox") !=
         std::string::npos)
@@ -539,9 +542,9 @@ void FindExitDialogButtons(
   std::vector<QQuickItem *> buttons;
   for (int index = 0; index < buttonCount; ++index)
   {
-    QQuickItem *button;
+    QQuickItem *button {nullptr};
     QMetaObject::invokeMethod(buttonBox, "itemAt", Qt::DirectConnection,
-                              Q_RETURN_ARG(QQuickItem *, button),
+                              Q_RETURN_ARG(QQuickItem*, button),
                               Q_ARG(int, index));
 
     ASSERT_NE(std::string::npos,
diff --git a/src/PlottingInterface.cc b/src/PlottingInterface.cc
index 1ac0af2f5..b44ffcb10 100644
--- a/src/PlottingInterface.cc
+++ b/src/PlottingInterface.cc
@@ -161,7 +161,7 @@ Topic::Topic(const std::string &_name):
 //////////////////////////////////////////////////////
 Topic::~Topic()
 {
-  for (auto field : this->dataPtr->fields)
+  for (const auto &field : this->dataPtr->fields)
     delete field.second;
 }
 
@@ -207,7 +207,7 @@ std::map<std::string, PlotData*> &Topic::Fields()
 void Topic::Callback(const google::protobuf::Message &_msg)
 {
   // check for header time
-  double headerTime;
+  double headerTime = 0.0;
   if (!this->HasHeader(_msg, headerTime))
   {
     if (!this->dataPtr->plottingTime)
@@ -230,10 +230,10 @@ void Topic::Callback(const google::protobuf::Message &_msg)
   }
 
   // loop over the registered fields and update them
-  for (auto fieldIt : this->dataPtr->fields)
+  for (const auto &fieldIt : this->dataPtr->fields)
   {
-    auto msgDescriptor = _msg.GetDescriptor();
-    auto ref = _msg.GetReflection();
+    const auto *msgDescriptor = _msg.GetDescriptor();
+    const auto *ref = _msg.GetReflection();
 
     google::protobuf::Message *valueMsg = nullptr;
 
@@ -245,7 +245,7 @@ void Topic::Callback(const google::protobuf::Message &_msg)
     {
       std::string fieldName = fieldFullPath[i];
 
-      auto field = msgDescriptor->FindFieldByName(fieldName);
+      const auto *field = msgDescriptor->FindFieldByName(fieldName);
 
       msgDescriptor = field->message_type();
 
@@ -270,16 +270,16 @@ void Topic::Callback(const google::protobuf::Message &_msg)
     }
 
     std::string fieldName = fieldFullPath[pathSize-1];
-    double data;
+    double data = 0.0;
 
     if (valueMsg)
     {
-      auto field = valueMsg->GetDescriptor()->FindFieldByName(fieldName);
+      const auto *field = valueMsg->GetDescriptor()->FindFieldByName(fieldName);
       data = this->dataPtr->FieldData(*valueMsg, field);
     }
     else
     {
-      auto field = msgDescriptor->FindFieldByName(fieldName);
+      const auto *field = msgDescriptor->FindFieldByName(fieldName);
       data = this->dataPtr->FieldData(_msg, field);
     }
 
@@ -301,19 +301,19 @@ void Topic::Callback(const google::protobuf::Message &_msg)
 bool Topic::HasHeader(const google::protobuf::Message &_msg,
                       double &_headerTime)
 {
-  auto ref = _msg.GetReflection();
-  auto header = _msg.GetDescriptor()->FindFieldByName("header");
+  const auto *ref = _msg.GetReflection();
+  const auto *header = _msg.GetDescriptor()->FindFieldByName("header");
   auto found = ref->HasField(_msg, header);
 
   if (!found)
     return false;
 
-  auto stamp = header->message_type()->FindFieldByName("stamp");
+  const auto *stamp = header->message_type()->FindFieldByName("stamp");
 
   if (!stamp)
     return false;
 
-  auto headerMsg = ref->MutableMessage
+  auto *headerMsg = ref->MutableMessage
           (const_cast<google::protobuf::Message *>(&_msg), header);
 
   if (!headerMsg)
@@ -321,14 +321,14 @@ bool Topic::HasHeader(const google::protobuf::Message &_msg,
 
   ref = headerMsg->GetReflection();
 
-  auto stampMsg = ref->MutableMessage
+  auto *stampMsg = ref->MutableMessage
           (const_cast<google::protobuf::Message *>(headerMsg), stamp);
 
   if (!stampMsg)
     return false;
 
-  auto secField = stamp->message_type()->FindFieldByName("sec");
-  auto nsecField = stamp->message_type()->FindFieldByName("nsec");
+  const auto *secField = stamp->message_type()->FindFieldByName("sec");
+  const auto *nsecField = stamp->message_type()->FindFieldByName("nsec");
 
   auto sec = this->dataPtr->FieldData(*stampMsg, secField);
   auto nsec = this->dataPtr->FieldData(*stampMsg, nsecField);
@@ -341,7 +341,7 @@ bool Topic::HasHeader(const google::protobuf::Message &_msg,
 //////////////////////////////////////////////////////
 void Topic::UpdateGui(const std::string &_field)
 {
-  auto field = this->dataPtr->fields[_field];
+  auto *field = this->dataPtr->fields[_field];
 
   auto x = field->Time();
   auto y = field->Value();
@@ -366,8 +366,8 @@ void Topic::SetPlottingTimeRef(const std::shared_ptr<double> &_timeRef)
 double Topic::Implementation::FieldData(const google::protobuf::Message &_msg,
                                const google::protobuf::FieldDescriptor *_field)
 {
-  using namespace google::protobuf;
-  auto ref = _msg.GetReflection();
+  using FieldDescriptor = google::protobuf::FieldDescriptor;
+  const auto *ref = _msg.GetReflection();
   auto type = _field->type();
 
   if (type == FieldDescriptor::Type::TYPE_DOUBLE)
@@ -401,7 +401,7 @@ Transport::Transport():
 Transport::~Transport()
 {
   // unsubscribe from all topics in the transport
-  for (auto topic : this->dataPtr->topics)
+  for (const auto &topic : this->dataPtr->topics)
     this->dataPtr->node.Unsubscribe(topic.first);
 }
 
@@ -431,7 +431,7 @@ void Transport::Subscribe(const std::string &_topic,
   // new topic
   if (this->dataPtr->topics.count(_topic) == 0)
   {
-    auto topicHandler = new Topic(_topic);
+    auto *topicHandler = new Topic(_topic);
     this->dataPtr->topics[_topic] = topicHandler;
 
     topicHandler->Register(_fieldPath, _chart);
@@ -470,7 +470,7 @@ void Transport::UnsubscribeOutdatedTopics()
   std::vector<std::string> topics;
   this->dataPtr->node.TopicList(topics);
 
-  for (auto topic : this->dataPtr->topics)
+  for (const auto &topic : this->dataPtr->topics)
   {
     // check if the topic exist
     if (std::find(topics.begin(), topics.end(), topic.first) == topics.end())
@@ -483,7 +483,7 @@ void Transport::UnsubscribeOutdatedTopics()
 }
 
 //////////////////////////////////////////////////////
-PlottingInterface::PlottingInterface() : QObject(),
+PlottingInterface::PlottingInterface():
     dataPtr(gz::utils::MakeUniqueImpl<Implementation>())
 {
   connect(&this->dataPtr->transport,
diff --git a/src/Plugin.cc b/src/Plugin.cc
index 2f9e7855d..c36f36dd3 100644
--- a/src/Plugin.cc
+++ b/src/Plugin.cc
@@ -143,7 +143,10 @@ void Plugin::Load(const tinyxml2::XMLElement *_pluginElem)
     std::stringstream errors;
     errors << "Failed to instantiate QML file [" << qmlFile << "]."
            << std::endl;
-    for (auto error : component.errors())
+    // Qt considers range-based for loops over temporary objects
+    // potentially dangerous, so explicitly create a container.
+    const auto componentErrors = component.errors();
+    for (const auto &error : componentErrors)
     {
       errors << "* " << error.toString().toStdString() << std::endl;
     }
@@ -170,7 +173,7 @@ void Plugin::Load(const tinyxml2::XMLElement *_pluginElem)
   }
 
   // Load common configuration
-  auto guiElem = _pluginElem->FirstChildElement("gz-gui");
+  const auto *guiElem = _pluginElem->FirstChildElement("gz-gui");
   if (guiElem)
   {
     this->LoadCommonConfig(_pluginElem->FirstChildElement("gz-gui"));
@@ -186,7 +189,7 @@ void Plugin::LoadCommonConfig(const tinyxml2::XMLElement *_guiElem)
   if (nullptr == _guiElem)
     return;
 
-  auto elem = _guiElem->FirstChildElement("title");
+  const auto *elem = _guiElem->FirstChildElement("title");
   if (nullptr != elem && nullptr != elem->GetText())
   {
     this->title = elem->GetText();
@@ -205,7 +208,7 @@ void Plugin::LoadCommonConfig(const tinyxml2::XMLElement *_guiElem)
   }
 
   // Properties
-  for (auto propElem = _guiElem->FirstChildElement("property");
+  for (const auto *propElem = _guiElem->FirstChildElement("property");
       propElem != nullptr;
       propElem = propElem->NextSiblingElement("property"))
   {
@@ -215,19 +218,19 @@ void Plugin::LoadCommonConfig(const tinyxml2::XMLElement *_guiElem)
 
     if (type == "bool")
     {
-      bool value;
+      bool value = false;
       propElem->QueryBoolText(&value);
       variant = QVariant(value);
     }
     else if (type == "int")
     {
-      int value;
+      int value = 0;
       propElem->QueryIntText(&value);
       variant = QVariant(value);
     }
     else if (type == "double")
     {
-      double value;
+      double value = 0.0;
       propElem->QueryDoubleText(&value);
       variant = QVariant(value);
     }
@@ -251,17 +254,17 @@ void Plugin::LoadCommonConfig(const tinyxml2::XMLElement *_guiElem)
   }
 
   // Anchors
-  if (auto anchorElem = _guiElem->FirstChildElement("anchors"))
+  if (const auto *anchorElem = _guiElem->FirstChildElement("anchors"))
   {
     this->dataPtr->anchors.target = anchorElem->Attribute("target");
     this->dataPtr->anchors.lines.clear();
 
-    for (auto lineElem = anchorElem->FirstChildElement("line");
+    for (const auto *lineElem = anchorElem->FirstChildElement("line");
         lineElem != nullptr;
         lineElem = lineElem->NextSiblingElement("line"))
     {
-      auto ownLine = lineElem->Attribute("own");
-      auto targetLine = lineElem->Attribute("target");
+      const auto *ownLine = lineElem->Attribute("own");
+      const auto *targetLine = lineElem->Attribute("target");
 
       if (kAnchorLineSet.find(ownLine) == kAnchorLineSet.end())
       {
@@ -276,8 +279,7 @@ void Plugin::LoadCommonConfig(const tinyxml2::XMLElement *_guiElem)
         continue;
       }
 
-      this->dataPtr->anchors.lines.push_back(
-          std::make_pair(ownLine, targetLine));
+      this->dataPtr->anchors.lines.emplace_back(ownLine, targetLine);
     }
   }
 }
@@ -293,7 +295,7 @@ std::string Plugin::ConfigStr()
   doc.Parse(this->configStr.c_str());
 
   // <plugin>
-  auto pluginElem = doc.FirstChildElement("plugin");
+  auto *pluginElem = doc.FirstChildElement("plugin");
   if (!pluginElem)
   {
     // LCOV_EXCL_START
@@ -304,7 +306,7 @@ std::string Plugin::ConfigStr()
   }
 
   // <gz-gui>
-  auto guiElem = pluginElem->FirstChildElement("gz-gui");
+  auto *guiElem = pluginElem->FirstChildElement("gz-gui");
   if (!guiElem)
   {
     guiElem = doc.NewElement("gz-gui");
@@ -312,23 +314,23 @@ std::string Plugin::ConfigStr()
   }
 
   // Clean <property>s
-  for (auto propElem = guiElem->FirstChildElement("property");
+  for (auto *propElem = guiElem->FirstChildElement("property");
       propElem != nullptr;)
   {
-    auto nextProp = propElem->NextSiblingElement("property");
+    auto *nextProp = propElem->NextSiblingElement("property");
     guiElem->DeleteChild(propElem);
     propElem = nextProp;
   }
 
   // Add <property>s
-  auto meta = this->CardItem()->metaObject();
+  const auto *meta = this->CardItem()->metaObject();
   for (int i = 0; i < meta->propertyCount(); ++i)
   {
-    auto key = meta->property(i).name();
+    const auto *key = meta->property(i).name();
     auto type = std::string(meta->property(i).typeName());
 
     // Explicitly skip some keys
-    if (kIgnoredProps.find(key) != kAnchorLineSet.end())
+    if (kIgnoredProps.find(key) != kIgnoredProps.end())
       continue;
 
     // When setting, it will need to be string
@@ -344,7 +346,7 @@ std::string Plugin::ConfigStr()
     value = this->CardItem()->property(meta->property(i).name())
             .toString().toStdString();
 
-    auto elem = doc.NewElement("property");
+    auto *elem = doc.NewElement("property");
     elem->SetAttribute("key", key);
     elem->SetAttribute("type", type.c_str());
     elem->SetText(value.c_str());
@@ -356,10 +358,10 @@ std::string Plugin::ConfigStr()
   auto anchored = this->CardItem()->property("anchored").toBool();
   if (!anchored)
   {
-    for (auto anchorElem = guiElem->FirstChildElement("anchors");
+    for (auto *anchorElem = guiElem->FirstChildElement("anchors");
         anchorElem != nullptr;)
     {
-      auto nextAnchor = anchorElem->NextSiblingElement("anchors");
+      auto *nextAnchor = anchorElem->NextSiblingElement("anchors");
       guiElem->DeleteChild(anchorElem);
       anchorElem = nextAnchor;
     }
@@ -420,9 +422,8 @@ QQuickItem *Plugin::CardItem() const
 
   // Instantiate a card
   std::string qmlFile(":qml/GzCard.qml");
-  QQmlComponent cardComp(App()->Engine(),
-      QString(QString::fromStdString(qmlFile)));
-  auto cardItem = qobject_cast<QQuickItem *>(cardComp.create());
+  QQmlComponent cardComp(App()->Engine(), QString::fromStdString(qmlFile));
+  auto *cardItem = qobject_cast<QQuickItem *>(cardComp.create());
   if (!cardItem)
   {
     gzerr << "Internal error: Failed to instantiate QML file [" << qmlFile
@@ -434,14 +435,14 @@ QQuickItem *Plugin::CardItem() const
   QQmlEngine::setObjectOwnership(cardItem, QQmlEngine::CppOwnership);
 
   // Get card parts
-  auto cardContentItem = cardItem->findChild<QQuickItem *>("content");
+  auto *cardContentItem = cardItem->findChild<QQuickItem *>("content");
   if (!cardContentItem)
   {
     gzerr << "Null card content QQuickItem!" << std::endl;
     return nullptr;
   }
 
-  auto cardToolbarItem = cardItem->findChild<QQuickItem *>("cardToolbar");
+  auto *cardToolbarItem = cardItem->findChild<QQuickItem *>("cardToolbar");
   if (!cardToolbarItem)
   {
     gzerr << "Null toolbar content QQuickItem!" << std::endl;
@@ -452,7 +453,7 @@ QQuickItem *Plugin::CardItem() const
   cardItem->setProperty("pluginName",
       QString::fromStdString(this->Title()));
 
-  for (auto prop : this->dataPtr->cardProperties)
+  for (const auto &prop : this->dataPtr->cardProperties)
   {
     // Skip and only apply once it's reparented
     if (prop.first == "state")
@@ -509,7 +510,7 @@ void Plugin::PostParentChanges()
   this->ApplyAnchors();
 
   // Re-apply other properties like size and position if present
-  for (auto prop : this->dataPtr->cardProperties)
+  for (const auto &prop : this->dataPtr->cardProperties)
   {
     if (prop.first == "state")
       continue;
@@ -550,14 +551,14 @@ void Plugin::ApplyAnchors()
 
   if (this->dataPtr->anchors.target == "window")
   {
-    auto win = App()->findChild<MainWindow *>();
+    auto *win = App()->findChild<MainWindow *>();
     if (!win)
     {
       gzerr << "Internal error: missing window" << std::endl;
       return;
     }
 
-    auto bgItem = win->QuickWindow()->findChild<QQuickItem *>("background");
+    auto *bgItem = win->QuickWindow()->findChild<QQuickItem *>("background");
     if (!bgItem)
     {
       gzerr << "Internal error: missing background item" << std::endl;
@@ -588,9 +589,9 @@ void Plugin::ApplyAnchors()
   QMetaObject::invokeMethod(this->CardItem(), "clearAnchors");
 
   // Set anchors
-  auto cardAnchors = qvariant_cast<QObject *>(
+  auto *cardAnchors = qvariant_cast<QObject *>(
       this->CardItem()->property("anchors"));
-  for (auto line : this->dataPtr->anchors.lines)
+  for (const auto &line : this->dataPtr->anchors.lines)
   {
     cardAnchors->setProperty(line.first.c_str(),
         target->property(line.second.c_str()));
diff --git a/src/Plugin_TEST.cc b/src/Plugin_TEST.cc
index fefe02b4f..76d9fa78c 100644
--- a/src/Plugin_TEST.cc
+++ b/src/Plugin_TEST.cc
@@ -130,7 +130,7 @@ TEST(PluginTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Getters))
   EXPECT_EQ(1, win->findChildren<Plugin *>().size());
 
   // Get pointers
-  auto plugin = win->findChildren<Plugin *>()[0];
+  auto *plugin = win->findChildren<Plugin *>().at(0);
   ASSERT_NE(nullptr, plugin->PluginItem());
   ASSERT_NE(nullptr, plugin->CardItem());
   ASSERT_NE(nullptr, plugin->Context());
@@ -185,7 +185,7 @@ TEST(PluginTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(ConfigStr))
       pluginDoc.FirstChildElement("plugin")));
 
   // Create main window
-  auto win = app.findChild<MainWindow *>();
+  auto *win = app.findChild<MainWindow *>();
   ASSERT_NE(nullptr, win);
 
   // Check plugin count
@@ -194,20 +194,20 @@ TEST(PluginTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(ConfigStr))
   // Get the output for ConfigStr()
   std::string configStr;
   tinyxml2::XMLDocument configDoc;
-  auto plugin = win->findChildren<Plugin *>()[0];
+  auto *plugin = win->findChildren<Plugin *>().at(0);
   configStr = plugin->ConfigStr();
   configDoc.Parse(configStr.c_str());
 
   // <plugin>
-  auto pluginElem = configDoc.FirstChildElement("plugin");
+  auto *pluginElem = configDoc.FirstChildElement("plugin");
   ASSERT_NE(nullptr, pluginElem);
 
   // <gz-gui>
-  auto gzGuiElem = pluginElem->FirstChildElement("gz-gui");
+  auto *gzGuiElem = pluginElem->FirstChildElement("gz-gui");
   ASSERT_NE(nullptr, gzGuiElem);
 
   // Iterate properties
-  for (auto propElem = gzGuiElem->FirstChildElement("property");
+  for (auto *propElem = gzGuiElem->FirstChildElement("property");
       propElem != nullptr;)
   {
     // If property in map, mark it as "Verified"
@@ -222,7 +222,7 @@ TEST(PluginTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(ConfigStr))
           << propElem->Attribute("key");
       pluginProps[propElem->Attribute("key")] = "Verified";
     }
-    auto nextProp = propElem->NextSiblingElement("property");
+    auto *nextProp = propElem->NextSiblingElement("property");
     propElem = nextProp;
   }
 
@@ -253,7 +253,7 @@ TEST(PluginTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(ConfigStrInputNoPlugin))
       pluginDoc.FirstChildElement("plugin")));
 
   // Create main window
-  auto win = app.findChild<MainWindow *>();
+  auto *win = app.findChild<MainWindow *>();
   ASSERT_NE(nullptr, win);
 
   // Check plugin count
@@ -262,7 +262,7 @@ TEST(PluginTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(ConfigStrInputNoPlugin))
   // Get the output for ConfigStr()
   std::string configStr;
   tinyxml2::XMLDocument configDoc;
-  auto plugin = win->findChildren<Plugin *>()[0];
+  auto *plugin = win->findChildren<Plugin *>().at(0);
   configStr = plugin->ConfigStr();
   configDoc.Parse(configStr.c_str());
 
@@ -286,15 +286,15 @@ TEST(PluginTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(ConfigStrInputNoPlugin))
   pluginTypes["state"] = "string";
 
   // <plugin>
-  auto pluginElem = configDoc.FirstChildElement("plugin");
+  auto *pluginElem = configDoc.FirstChildElement("plugin");
   ASSERT_NE(nullptr, pluginElem);
 
   // <gz-gui>
-  auto gzGuiElem = pluginElem->FirstChildElement("gz-gui");
+  auto *gzGuiElem = pluginElem->FirstChildElement("gz-gui");
   ASSERT_NE(nullptr, gzGuiElem);
 
   // Iterate properties
-  for (auto propElem = gzGuiElem->FirstChildElement("property");
+  for (auto *propElem = gzGuiElem->FirstChildElement("property");
       propElem != nullptr;)
   {
     // If property in map, mark it as "Verified"
@@ -309,7 +309,7 @@ TEST(PluginTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(ConfigStrInputNoPlugin))
           << propElem->Attribute("key");
       pluginProps[propElem->Attribute("key")] = "Verified";
     }
-    auto nextProp = propElem->NextSiblingElement("property");
+    auto *nextProp = propElem->NextSiblingElement("property");
     propElem = nextProp;
   }
 
@@ -320,4 +320,3 @@ TEST(PluginTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(ConfigStrInputNoPlugin))
       << itr->first;
   }
 }
-
diff --git a/src/SearchModel.cc b/src/SearchModel.cc
index 6a41d93b1..795cb9958 100644
--- a/src/SearchModel.cc
+++ b/src/SearchModel.cc
@@ -47,7 +47,7 @@ bool SearchModel::filterAcceptsRow(const int _srcRow,
 
   // Each word must match at least once, either self, parent or child.
   auto words = this->search.split(" ");
-  for (auto word : words)
+  for (const auto &word : words)
   {
     if (word.isEmpty())
       continue;
@@ -152,6 +152,6 @@ void SearchModel::SetSearch(const QString &_search)
 
   // TODO(anyone): Figure out why filterChanged works for TopicViewer but not
   // TopicsStats
-  this->layoutChanged();
+  emit this->layoutChanged();
 }
 }  // namespace gz::gui
diff --git a/src/plugins/camera_fps/CameraFps.cc b/src/plugins/camera_fps/CameraFps.cc
index 6dc385b31..fa5e08a26 100644
--- a/src/plugins/camera_fps/CameraFps.cc
+++ b/src/plugins/camera_fps/CameraFps.cc
@@ -120,7 +120,7 @@ QString CameraFps::CameraFpsValue() const
 void CameraFps::SetCameraFpsValue(const QString &_value)
 {
   this->dataPtr->cameraFPSValue = _value;
-  this->CameraFpsValueChanged();
+  emit this->CameraFpsValueChanged();
 }
 }  // namespace gz::gui::plugins
 
diff --git a/src/plugins/camera_tracking/CameraTracking.cc b/src/plugins/camera_tracking/CameraTracking.cc
index 6f514edd6..cdf71cc97 100644
--- a/src/plugins/camera_tracking/CameraTracking.cc
+++ b/src/plugins/camera_tracking/CameraTracking.cc
@@ -434,7 +434,7 @@ CameraTracking::CameraTracking()
   : dataPtr(gz::utils::MakeUniqueImpl<Implementation>())
 {
   this->dataPtr->timer = new QTimer(this);
-  this->connect(this->dataPtr->timer, &QTimer::timeout, [=]()
+  connect(this->dataPtr->timer, &QTimer::timeout, this->dataPtr->timer, [=]()
   {
     std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
     if (!this->dataPtr->camera)
diff --git a/src/plugins/grid_config/GridConfig.cc b/src/plugins/grid_config/GridConfig.cc
index e6bb9a0ae..a49dd7a8d 100644
--- a/src/plugins/grid_config/GridConfig.cc
+++ b/src/plugins/grid_config/GridConfig.cc
@@ -286,7 +286,7 @@ void GridConfig::ConnectToGrid()
         this->dataPtr->gridParam.cellLength = grid->CellLength();
         this->dataPtr->gridParam.pose = grid->Parent()->LocalPose();
         this->dataPtr->gridParam.color = grid->Parent()->Material()->Ambient();
-        this->newParams(
+        emit this->newParams(
             grid->CellCount(),
             grid->VerticalCellCount(),
             grid->CellLength(),
@@ -320,7 +320,7 @@ QStringList GridConfig::NameList() const
 void GridConfig::SetNameList(const QStringList &_nameList)
 {
   this->dataPtr->nameList = _nameList;
-  this->NameListChanged();
+  emit this->NameListChanged();
 }
 
 /////////////////////////////////////////////////
@@ -403,7 +403,7 @@ void GridConfig::RefreshList()
   // Select first one
   if (this->dataPtr->nameList.count() > 0)
     this->OnName(this->dataPtr->nameList.at(0));
-  this->NameListChanged();
+  emit this->NameListChanged();
 }
 }  // namespace gz::gui
 
diff --git a/src/plugins/image_display/ImageDisplay.cc b/src/plugins/image_display/ImageDisplay.cc
index 85c648d23..d0a090d49 100644
--- a/src/plugins/image_display/ImageDisplay.cc
+++ b/src/plugins/image_display/ImageDisplay.cc
@@ -179,7 +179,7 @@ void ImageDisplay::ProcessImage()
   }
 
   this->dataPtr->provider->SetImage(image);
-  this->newImage();
+  emit this->newImage();
 }
 
 /////////////////////////////////////////////////
@@ -205,7 +205,7 @@ void ImageDisplay::OnTopic(const QString _topic)
 
   // Unsubscribe
   auto subs = this->dataPtr->node.SubscribedTopics();
-  for (auto sub : subs)
+  for (const auto &sub : subs)
     this->dataPtr->node.Unsubscribe(sub);
 
   // Subscribe to new topic
@@ -217,7 +217,7 @@ void ImageDisplay::OnTopic(const QString _topic)
     return;
     // LCOV_EXCL_STOP
   }
-  App()->findChild<MainWindow *>()->notifyWithDuration(
+  emit App()->findChild<MainWindow *>()->notifyWithDuration(
     QString::fromStdString("Subscribed to: <b>" + topic + "</b>"), 4000);
 }
 
@@ -230,12 +230,12 @@ void ImageDisplay::OnRefresh()
   // Get updated list
   std::vector<std::string> allTopics;
   this->dataPtr->node.TopicList(allTopics);
-  for (auto topic : allTopics)
+  for (const auto &topic : allTopics)
   {
     std::vector<transport::MessagePublisher> publishers;
     std::vector<transport::MessagePublisher> subscribers;
     this->dataPtr->node.TopicInfo(topic, publishers, subscribers);
-    for (auto pub : publishers)
+    for (const auto &pub : publishers)
     {
       if (pub.MsgTypeName() == "gz.msgs.Image")
       {
@@ -248,7 +248,7 @@ void ImageDisplay::OnRefresh()
   // Select first one
   if (this->dataPtr->topicList.count() > 0)
     this->OnTopic(this->dataPtr->topicList.at(0));
-  this->TopicListChanged();
+  emit this->TopicListChanged();
 }
 
 /////////////////////////////////////////////////
@@ -261,7 +261,7 @@ QStringList ImageDisplay::TopicList() const
 void ImageDisplay::SetTopicList(const QStringList &_topicList)
 {
   this->dataPtr->topicList = _topicList;
-  this->TopicListChanged();
+  emit this->TopicListChanged();
 }
 }  // namespace gz::gui::plugins
 
diff --git a/src/plugins/marker_manager/MarkerManager.cc b/src/plugins/marker_manager/MarkerManager.cc
index 811e86435..4a605eaf5 100644
--- a/src/plugins/marker_manager/MarkerManager.cc
+++ b/src/plugins/marker_manager/MarkerManager.cc
@@ -252,9 +252,9 @@ bool MarkerManager::Implementation::OnList(gz::msgs::Marker_V &_rep)
   _rep.clear_marker();
 
   // Create the list of visuals
-  for (auto mIter : this->visuals)
+  for (const auto &mIter : this->visuals)
   {
-    for (auto iter : mIter.second)
+    for (const auto &iter : mIter.second)
     {
       gz::msgs::Marker *markerMsg = _rep.add_marker();
       markerMsg->set_ns(mIter.first);
@@ -284,7 +284,8 @@ bool MarkerManager::Implementation::OnMarkerMsgArray(
 }
 
 //////////////////////////////////////////////////
-bool MarkerManager::Implementation::ProcessMarkerMsg(const gz::msgs::Marker &_msg)
+bool MarkerManager::Implementation::ProcessMarkerMsg(
+    const gz::msgs::Marker &_msg)
 {
   // Get the namespace, if it exists. Otherwise, use the global namespace
   std::string ns;
@@ -419,7 +420,7 @@ bool MarkerManager::Implementation::ProcessMarkerMsg(const gz::msgs::Marker &_ms
     // Remove all markers in the specified namespace
     else if (nsIter != this->visuals.end())
     {
-      for (auto it : nsIter->second)
+      for (const auto &it : nsIter->second)
       {
         this->scene->DestroyVisual(it.second);
       }
@@ -432,7 +433,7 @@ bool MarkerManager::Implementation::ProcessMarkerMsg(const gz::msgs::Marker &_ms
       for (nsIter = this->visuals.begin();
            nsIter != this->visuals.end(); ++nsIter)
       {
-        for (auto it : nsIter->second)
+        for (const auto &it : nsIter->second)
         {
           this->scene->DestroyVisual(it.second);
         }
diff --git a/src/plugins/minimal_scene/MinimalScene.cc b/src/plugins/minimal_scene/MinimalScene.cc
index 556ea8e10..7b92cf407 100644
--- a/src/plugins/minimal_scene/MinimalScene.cc
+++ b/src/plugins/minimal_scene/MinimalScene.cc
@@ -1129,7 +1129,7 @@ RenderWindowItem::~RenderWindowItem()
 void RenderWindowItem::StopRendering()
 {
   // Disconnect our QT connections.
-  for(auto conn : this->dataPtr->connections)
+  for (const auto &conn : qAsConst(this->dataPtr->connections))
     QObject::disconnect(conn);
 
   this->dataPtr->renderSync.Shutdown();
@@ -1692,7 +1692,7 @@ void MinimalScene::SetLoadingError(const QString &_loadingError)
       renderWindow->StopRendering();
   }
   this->loadingError = _loadingError;
-  this->LoadingErrorChanged();
+  emit this->LoadingErrorChanged();
 }
 }  // namespace gz::gui::plugins
 
diff --git a/src/plugins/minimal_scene/MinimalScene.hh b/src/plugins/minimal_scene/MinimalScene.hh
index e277a77b5..5f8bd433d 100644
--- a/src/plugins/minimal_scene/MinimalScene.hh
+++ b/src/plugins/minimal_scene/MinimalScene.hh
@@ -264,7 +264,7 @@ namespace gz::gui::plugins
     /// \brief Render when safe
     /// \param[in] _renderSync RenderSync to safely
     /// synchronize Qt and worker thread (this)
-    public slots: void RenderNext(RenderSync *_renderSync);
+    public slots: void RenderNext(gz::gui::plugins::RenderSync *_renderSync);
 
     /// \brief Shutdown the thread and the render engine
     public slots: void ShutDown();
@@ -380,101 +380,101 @@ namespace gz::gui::plugins
     /// \param[in] _view_controller The camera view controller type to set
     public: void SetCameraViewController(const std::string &_view_controller);
 
-    /// \brief Slot called when thread is ready to be started
-    public Q_SLOTS: void Ready();
+  /// \brief Slot called when thread is ready to be started
+  public Q_SLOTS: void Ready();
 
-    /// \brief Handle key press event for snapping
-    /// \param[in] _e The key event to process.
-    public: void HandleKeyPress(const common::KeyEvent &_e);
+  /// \brief Handle key press event for snapping
+  /// \param[in] _e The key event to process.
+  public: void HandleKeyPress(const common::KeyEvent &_e);
 
-    /// \brief Handle key release event for snapping
-    /// \param[in] _e The key event to process.
-    public: void HandleKeyRelease(const common::KeyEvent &_e);
+  /// \brief Handle key release event for snapping
+  /// \param[in] _e The key event to process.
+  public: void HandleKeyRelease(const common::KeyEvent &_e);
 
-    /// \brief Set a callback to be called in case there are errors.
-    /// \param[in] _cb Error callback
-    public: void SetErrorCb(std::function<void(const QString &)> _cb);
+  /// \brief Set a callback to be called in case there are errors.
+  /// \param[in] _cb Error callback
+  public: void SetErrorCb(std::function<void(const QString &)> _cb);
 
-    /// \brief Stop rendering and shutdown resources.
-    public: void StopRendering();
+  /// \brief Stop rendering and shutdown resources.
+  public: void StopRendering();
 
-    // Documentation inherited
-    protected: virtual void mousePressEvent(QMouseEvent *_e) override;
+  // Documentation inherited
+  protected: virtual void mousePressEvent(QMouseEvent *_e) override;
 
-    // Documentation inherited
-    protected: virtual void mouseReleaseEvent(QMouseEvent *_e) override;
+  // Documentation inherited
+  protected: virtual void mouseReleaseEvent(QMouseEvent *_e) override;
 
-    // Documentation inherited
-    protected: virtual void mouseMoveEvent(QMouseEvent *_e) override;
+  // Documentation inherited
+  protected: virtual void mouseMoveEvent(QMouseEvent *_e) override;
 
-    // Documentation inherited
-    protected: virtual void keyPressEvent(QKeyEvent *_e) override;
+  // Documentation inherited
+  protected: virtual void keyPressEvent(QKeyEvent *_e) override;
 
-    // Documentation inherited
-    protected: virtual void keyReleaseEvent(QKeyEvent *_e) override;
+  // Documentation inherited
+  protected: virtual void keyReleaseEvent(QKeyEvent *_e) override;
 
-    // Documentation inherited
-    protected: virtual void wheelEvent(QWheelEvent *_e) override;
+  // Documentation inherited
+  protected: virtual void wheelEvent(QWheelEvent *_e) override;
 
-    /// \brief Overrides the paint event to render the render engine
-    /// camera view
-    /// \param[in] _oldNode The node passed in previous updatePaintNode
-    /// function. It represents the visual representation of the item.
-    /// \param[in] _data The node transformation data.
-    /// \return Updated node.
-    private: QSGNode *updatePaintNode(QSGNode *_oldNode,
-        QQuickItem::UpdatePaintNodeData *_data) override;
+  /// \brief Overrides the paint event to render the render engine
+  /// camera view
+  /// \param[in] _oldNode The node passed in previous updatePaintNode
+  /// function. It represents the visual representation of the item.
+  /// \param[in] _data The node transformation data.
+  /// \return Updated node.
+  private: QSGNode *updatePaintNode(QSGNode *_oldNode,
+      QQuickItem::UpdatePaintNodeData *_data) override;
 
-    /// \internal
-    /// \brief Pointer to private data.
-    GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
-  };
-
-  /// \brief Texture node for displaying the render texture from gz-renderer
-  class TextureNode : public QObject, public QSGSimpleTextureNode
-  {
-    Q_OBJECT
-
-    /// \brief Constructor
-    /// \param[in] _window Window to display the texture
-    /// \param[in] _renderSync RenderSync to safely
-    /// synchronize Qt (this) and worker thread
-    /// \param[in] _graphicsAPI The type of graphics API
-    /// \param[in] _camera Camera owning the Texture Handle
-    public: explicit TextureNode(QQuickWindow *_window,
-                                 RenderSync &_renderSync,
-                                 const rendering::GraphicsAPI &_graphicsAPI,
-                                 rendering::CameraPtr &_camera);
-
-    /// \brief Destructor
-    public: ~TextureNode() override;
+  /// \internal
+  /// \brief Pointer to private data.
+  GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
+};
 
-    /// \brief This function gets called on the FBO rendering thread and will
-    ///  store the texture id and size and schedule an update on the window.
-    /// \param[in] _texturePtr Pointer to a texture Id
-    /// \param[in] _size Texture size
-    // public slots: void NewTexture(uint _id, const QSize &_size);
-    public slots: void NewTexture(void* _texturePtr, const QSize &_size);
-
-    /// \brief Before the scene graph starts to render, we update to the
-    /// pending texture
-    public slots: void PrepareNode();
-
-    /// \param[in] _renderSync RenderSync to send to the worker thread
-    signals: void TextureInUse(RenderSync *_renderSync);
-
-    /// \brief Signal emitted when a new texture is ready to trigger window
-    /// update
-    signals: void PendingNewTexture();
-
-    /// \brief Texture size
-    public: QSize size = QSize(0, 0);
-
-    /// \brief Mutex to protect the texture variables
-    public: QMutex mutex;
-
-    /// \brief See RenderSync
-    public: RenderSync &renderSync;
+/// \brief Texture node for displaying the render texture from gz-renderer
+class TextureNode : public QObject, public QSGSimpleTextureNode
+{
+  Q_OBJECT
+
+  /// \brief Constructor
+  /// \param[in] _window Window to display the texture
+  /// \param[in] _renderSync RenderSync to safely
+  /// synchronize Qt (this) and worker thread
+  /// \param[in] _graphicsAPI The type of graphics API
+  /// \param[in] _camera Camera owning the Texture Handle
+  public: explicit TextureNode(QQuickWindow *_window,
+                               RenderSync &_renderSync,
+                               const rendering::GraphicsAPI &_graphicsAPI,
+                               rendering::CameraPtr &_camera);
+
+  /// \brief Destructor
+  public: ~TextureNode() override;
+
+  /// \brief This function gets called on the FBO rendering thread and will
+  ///  store the texture id and size and schedule an update on the window.
+  /// \param[in] _texturePtr Pointer to a texture Id
+  /// \param[in] _size Texture size
+  // public slots: void NewTexture(uint _id, const QSize &_size);
+  public slots: void NewTexture(void* _texturePtr, const QSize &_size);
+
+  /// \brief Before the scene graph starts to render, we update to the
+  /// pending texture
+  public slots: void PrepareNode();
+
+  /// \param[in] _renderSync RenderSync to send to the worker thread
+        signals: void TextureInUse(gz::gui::plugins::RenderSync *_renderSync);
+
+  /// \brief Signal emitted when a new texture is ready to trigger window
+  /// update
+  signals: void PendingNewTexture();
+
+  /// \brief Texture size
+  public: QSize size = QSize(0, 0);
+
+  /// \brief Mutex to protect the texture variables
+  public: QMutex mutex;
+
+  /// \brief See RenderSync
+  public: RenderSync &renderSync;
 
     /// \brief Qt quick window
     public: QQuickWindow *window = nullptr;
diff --git a/src/plugins/navsat_map/NavSatMap.cc b/src/plugins/navsat_map/NavSatMap.cc
index 86333c373..8cd189cf0 100644
--- a/src/plugins/navsat_map/NavSatMap.cc
+++ b/src/plugins/navsat_map/NavSatMap.cc
@@ -97,7 +97,7 @@ void NavSatMap::ProcessMessage()
 {
   std::lock_guard<std::recursive_mutex> lock(this->dataPtr->navSatMutex);
 
-  this->newMessage(this->dataPtr->navSatMsg.latitude_deg(),
+  emit this->newMessage(this->dataPtr->navSatMsg.latitude_deg(),
       this->dataPtr->navSatMsg.longitude_deg());
 }
 
@@ -120,7 +120,7 @@ void NavSatMap::OnTopic(const QString _topic)
 
   // Unsubscribe
   auto subs = this->dataPtr->node.SubscribedTopics();
-  for (auto sub : subs)
+  for (const auto &sub : subs)
     this->dataPtr->node.Unsubscribe(sub);
 
   // Subscribe to new topic
@@ -140,12 +140,12 @@ void NavSatMap::OnRefresh()
   // Get updated list
   std::vector<std::string> allTopics;
   this->dataPtr->node.TopicList(allTopics);
-  for (auto topic : allTopics)
+  for (const auto &topic : allTopics)
   {
     std::vector<transport::MessagePublisher> publishers;
     std::vector<transport::MessagePublisher> subscribers;
     this->dataPtr->node.TopicInfo(topic, publishers, subscribers);
-    for (auto pub : publishers)
+    for (const auto &pub : publishers)
     {
       if (pub.MsgTypeName() == "gz.msgs.NavSat")
       {
@@ -158,7 +158,7 @@ void NavSatMap::OnRefresh()
   // Select first one
   if (this->dataPtr->topicList.count() > 0)
     this->OnTopic(this->dataPtr->topicList.at(0));
-  this->TopicListChanged();
+  emit this->TopicListChanged();
 }
 
 /////////////////////////////////////////////////
@@ -171,7 +171,7 @@ QStringList NavSatMap::TopicList() const
 void NavSatMap::SetTopicList(const QStringList &_topicList)
 {
   this->dataPtr->topicList = _topicList;
-  this->TopicListChanged();
+  emit this->TopicListChanged();
 }
 }  // namespace gz::gui::plugins
 
diff --git a/src/plugins/point_cloud/PointCloud.cc b/src/plugins/point_cloud/PointCloud.cc
index 6bd01665e..309dd89da 100644
--- a/src/plugins/point_cloud/PointCloud.cc
+++ b/src/plugins/point_cloud/PointCloud.cc
@@ -234,12 +234,12 @@ void PointCloud::OnRefresh()
   // Get updated list
   std::vector<std::string> allTopics;
   this->dataPtr->node.TopicList(allTopics);
-  for (auto topic : allTopics)
+  for (const auto &topic : allTopics)
   {
     std::vector<gz::transport::MessagePublisher> publishers;
     std::vector<gz::transport::MessagePublisher> subscribers;
     this->dataPtr->node.TopicInfo(topic, publishers, subscribers);
-    for (auto pub : publishers)
+    for (const auto &pub : publishers)
     {
       if (pub.MsgTypeName() == "gz.msgs.PointCloudPacked")
       {
@@ -254,17 +254,17 @@ void PointCloud::OnRefresh()
   }
   // Handle floats first, so by the time we get the point cloud it can be
   // colored
-  if (this->dataPtr->floatVTopicList.size() > 0)
+  if (!this->dataPtr->floatVTopicList.empty())
   {
     this->OnFloatVTopic(this->dataPtr->floatVTopicList.at(0));
   }
-  if (this->dataPtr->pointCloudTopicList.size() > 0)
+  if (!this->dataPtr->pointCloudTopicList.empty())
   {
     this->OnPointCloudTopic(this->dataPtr->pointCloudTopicList.at(0));
   }
 
-  this->PointCloudTopicListChanged();
-  this->FloatVTopicListChanged();
+  emit this->PointCloudTopicListChanged();
+  emit this->FloatVTopicListChanged();
 }
 
 /////////////////////////////////////////////////
@@ -278,7 +278,7 @@ void PointCloud::SetPointCloudTopicList(
     const QStringList &_pointCloudTopicList)
 {
   this->dataPtr->pointCloudTopicList = _pointCloudTopicList;
-  this->PointCloudTopicListChanged();
+  emit this->PointCloudTopicListChanged();
 }
 
 /////////////////////////////////////////////////
@@ -292,7 +292,7 @@ void PointCloud::SetFloatVTopicList(
     const QStringList &_floatVTopicList)
 {
   this->dataPtr->floatVTopicList = _floatVTopicList;
-  this->FloatVTopicListChanged();
+  emit this->FloatVTopicListChanged();
 }
 
 //////////////////////////////////////////////////
@@ -461,7 +461,7 @@ QColor PointCloud::MinColor() const
 void PointCloud::SetMinColor(const QColor &_minColor)
 {
   this->dataPtr->minColor = gz::gui::convert(_minColor);
-  this->MinColorChanged();
+  emit this->MinColorChanged();
   this->dataPtr->PublishMarkers();
 }
 
@@ -475,7 +475,7 @@ QColor PointCloud::MaxColor() const
 void PointCloud::SetMaxColor(const QColor &_maxColor)
 {
   this->dataPtr->maxColor = gz::gui::convert(_maxColor);
-  this->MaxColorChanged();
+  emit this->MaxColorChanged();
   this->dataPtr->PublishMarkers();
 }
 
@@ -489,7 +489,7 @@ float PointCloud::MinFloatV() const
 void PointCloud::SetMinFloatV(float _minFloatV)
 {
   this->dataPtr->minFloatV = _minFloatV;
-  this->MinFloatVChanged();
+  emit this->MinFloatVChanged();
 }
 
 /////////////////////////////////////////////////
@@ -502,7 +502,7 @@ float PointCloud::MaxFloatV() const
 void PointCloud::SetMaxFloatV(float _maxFloatV)
 {
   this->dataPtr->maxFloatV = _maxFloatV;
-  this->MaxFloatVChanged();
+  emit this->MaxFloatVChanged();
 }
 
 /////////////////////////////////////////////////
@@ -515,7 +515,7 @@ float PointCloud::PointSize() const
 void PointCloud::SetPointSize(float _pointSize)
 {
   this->dataPtr->pointSize = _pointSize;
-  this->PointSizeChanged();
+  emit this->PointSizeChanged();
   this->dataPtr->PublishMarkers();
 }
 }  // namespace gz::gui::plugins
diff --git a/src/plugins/publisher/Publisher.cc b/src/plugins/publisher/Publisher.cc
index cbcf4ce9f..25fec4f8d 100644
--- a/src/plugins/publisher/Publisher.cc
+++ b/src/plugins/publisher/Publisher.cc
@@ -95,7 +95,7 @@ void Publisher::OnPublish(const bool _checked)
     if (this->dataPtr->timer != nullptr)
     {
       this->dataPtr->timer->stop();
-      this->disconnect(this->dataPtr->timer, 0, 0, 0);
+      disconnect(this->dataPtr->timer, nullptr, nullptr, nullptr);
     }
     this->dataPtr->pub = transport::Node::Publisher();
     return;
@@ -107,7 +107,7 @@ void Publisher::OnPublish(const bool _checked)
 
   // Check it's possible to create message
   auto msg = msgs::Factory::New(msgType, msgData);
-  if (!msg || (msg->DebugString() == "" && msgData != ""))
+  if (!msg || (msg->DebugString().empty() && !msgData.empty()))
   {
     gzerr << "Unable to create message of type[" << msgType << "] "
       << "with data[" << msgData << "].\n";
@@ -135,7 +135,7 @@ void Publisher::OnPublish(const bool _checked)
   }
 
   this->dataPtr->timer->setInterval(1000/this->dataPtr->frequency);
-  this->connect(this->dataPtr->timer, &QTimer::timeout, [=]()
+  connect(this->dataPtr->timer, &QTimer::timeout, this->dataPtr->timer, [=]()
   {
     auto newMsg = msgs::Factory::New(msgType, msgData);
     this->dataPtr->pub.Publish(*newMsg);
@@ -153,7 +153,7 @@ QString Publisher::MsgType() const
 void Publisher::SetMsgType(const QString &_msgType)
 {
   this->dataPtr->msgType = _msgType;
-  this->MsgTypeChanged();
+  emit this->MsgTypeChanged();
 }
 
 /////////////////////////////////////////////////
@@ -166,7 +166,7 @@ QString Publisher::MsgData() const
 void Publisher::SetMsgData(const QString &_msgData)
 {
   this->dataPtr->msgData = _msgData;
-  this->MsgDataChanged();
+  emit this->MsgDataChanged();
 }
 
 /////////////////////////////////////////////////
@@ -179,7 +179,7 @@ QString Publisher::Topic() const
 void Publisher::SetTopic(const QString &_topic)
 {
   this->dataPtr->topic = _topic;
-  this->TopicChanged();
+  emit this->TopicChanged();
 }
 
 /////////////////////////////////////////////////
@@ -192,7 +192,7 @@ double Publisher::Frequency() const
 void Publisher::SetFrequency(const double _frequency)
 {
   this->dataPtr->frequency = _frequency;
-  this->FrequencyChanged();
+  emit this->FrequencyChanged();
 }
 }  // namespace gz::gui::plugins
 
diff --git a/src/plugins/screenshot/Screenshot.cc b/src/plugins/screenshot/Screenshot.cc
index a14387516..9d5ab6dcd 100644
--- a/src/plugins/screenshot/Screenshot.cc
+++ b/src/plugins/screenshot/Screenshot.cc
@@ -79,8 +79,6 @@ Screenshot::Screenshot()
       this->dataPtr->directory = defaultDir;
     }
   }
-
-  this->DirectoryChanged();
 }
 
 /////////////////////////////////////////////////
@@ -155,7 +153,7 @@ void Screenshot::SaveScreenshot()
 
   this->SetSavedScreenshotPath(QString::fromStdString(savePath));
 
-  App()->findChild<MainWindow *>()->notifyWithDuration(
+  emit App()->findChild<MainWindow *>()->notifyWithDuration(
     QString::fromStdString("Saved image to: <b>" + savePath + "</b>"), 4000);
 }
 
@@ -199,7 +197,7 @@ void Screenshot::SetDirectory(const QString &_dirUrl)
 {
   QString newDir = QUrl(_dirUrl).toLocalFile();
   this->dataPtr->directory = newDir.toStdString();
-  this->DirectoryChanged();
+  emit this->DirectoryChanged();
 }
 
 /////////////////////////////////////////////////
@@ -212,8 +210,8 @@ QString Screenshot::SavedScreenshotPath() const
 void Screenshot::SetSavedScreenshotPath(const QString &_filename)
 {
   this->dataPtr->savedScreenshotPath = _filename;
-  this->SavedScreenshotPathChanged();
-  this->savedScreenshot();
+  emit this->SavedScreenshotPathChanged();
+  emit this->savedScreenshot();
 }
 }  // namespace gz::gui::plugins
 
diff --git a/src/plugins/tape_measure/TapeMeasure.cc b/src/plugins/tape_measure/TapeMeasure.cc
index d5d5736d7..99a60c584 100644
--- a/src/plugins/tape_measure/TapeMeasure.cc
+++ b/src/plugins/tape_measure/TapeMeasure.cc
@@ -149,7 +149,7 @@ void TapeMeasure::Reset()
   this->dataPtr->endPoint = gz::math::Vector3d::Zero;
   this->dataPtr->distance = 0.0;
   this->dataPtr->measure = false;
-  this->newDistance();
+  emit this->newDistance();
   QGuiApplication::restoreOverrideCursor();
 
   // Notify 3D scene that we are done using the right click, so it can
@@ -247,7 +247,7 @@ bool TapeMeasure::eventFilter(QObject *_obj, QEvent *_event)
         this->DrawLine(this->dataPtr->kLineId, this->dataPtr->startPoint,
           point, this->dataPtr->hoverColor);
         this->dataPtr->distance = this->dataPtr->startPoint.Distance(point);
-        this->newDistance();
+        emit this->newDistance();
       }
     }
   }
@@ -278,7 +278,7 @@ bool TapeMeasure::eventFilter(QObject *_obj, QEvent *_event)
           this->dataPtr->endPoint, this->dataPtr->drawColor);
         this->dataPtr->distance =
           this->dataPtr->startPoint.Distance(this->dataPtr->endPoint);
-        this->newDistance();
+        emit this->newDistance();
         QGuiApplication::restoreOverrideCursor();
 
         // Notify 3D scene that we are done using the right click, so it can
diff --git a/src/plugins/teleop/Teleop.cc b/src/plugins/teleop/Teleop.cc
index ccc12f6ac..d17127515 100644
--- a/src/plugins/teleop/Teleop.cc
+++ b/src/plugins/teleop/Teleop.cc
@@ -168,7 +168,7 @@ void Teleop::SetTopic(const QString &_topic)
       (this->dataPtr->topic);
   if (!this->dataPtr->cmdVelPub)
   {
-    App()->findChild<MainWindow *>()->notifyWithDuration(
+    emit App()->findChild<MainWindow *>()->notifyWithDuration(
       QString::fromStdString("Error when advertising topic: " +
         this->dataPtr->topic), 4000);
     gzerr << "Error when advertising topic: " <<
@@ -176,18 +176,18 @@ void Teleop::SetTopic(const QString &_topic)
   }
   else
   {
-    App()->findChild<MainWindow *>()->notifyWithDuration(
+    emit App()->findChild<MainWindow *>()->notifyWithDuration(
       QString::fromStdString("Advertising topic: '<b>" +
         this->dataPtr->topic + "</b>'"), 4000);
   }
-  this->TopicChanged();
+  emit this->TopicChanged();
 }
 
 /////////////////////////////////////////////////
 void Teleop::SetMaxForwardVel(double _velocity)
 {
   this->dataPtr->maxForwardVel = _velocity;
-  this->MaxForwardVelChanged();
+  emit this->MaxForwardVelChanged();
 }
 
 /////////////////////////////////////////////////
@@ -200,7 +200,7 @@ double Teleop::MaxForwardVel() const
 void Teleop::SetMaxVerticalVel(double _velocity)
 {
   this->dataPtr->maxVerticalVel = _velocity;
-  this->MaxVerticalVelChanged();
+  emit this->MaxVerticalVelChanged();
 }
 
 /////////////////////////////////////////////////
@@ -213,7 +213,7 @@ double Teleop::MaxVerticalVel() const
 void Teleop::SetMaxYawVel(double _velocity)
 {
   this->dataPtr->maxYawVel = _velocity;
-  this->MaxYawVelChanged();
+  emit this->MaxYawVelChanged();
 }
 
 /////////////////////////////////////////////////
diff --git a/src/plugins/topic_echo/TopicEcho.cc b/src/plugins/topic_echo/TopicEcho.cc
index e91c28478..eb6547c13 100644
--- a/src/plugins/topic_echo/TopicEcho.cc
+++ b/src/plugins/topic_echo/TopicEcho.cc
@@ -110,7 +110,7 @@ void TopicEcho::OnMessage(const google::protobuf::Message &_msg)
 
   std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
 
-  this->AddMsg(QString::fromStdString(_msg.DebugString()));
+  emit this->AddMsg(QString::fromStdString(_msg.DebugString()));
 }
 
 /////////////////////////////////////////////////
@@ -142,7 +142,7 @@ QString TopicEcho::Topic() const
 void TopicEcho::SetTopic(const QString &_topic)
 {
   this->dataPtr->topic = _topic;
-  this->TopicChanged();
+  emit this->TopicChanged();
 }
 
 /////////////////////////////////////////////////
@@ -162,7 +162,7 @@ bool TopicEcho::Paused() const
 void TopicEcho::SetPaused(const bool &_paused)
 {
   this->dataPtr->paused = _paused;
-  this->PausedChanged();
+  emit this->PausedChanged();
 }
 }  // namespace gz::gui::plugins
 
diff --git a/src/plugins/topic_echo/TopicEcho_TEST.cc b/src/plugins/topic_echo/TopicEcho_TEST.cc
index d91249bdd..edb746589 100644
--- a/src/plugins/topic_echo/TopicEcho_TEST.cc
+++ b/src/plugins/topic_echo/TopicEcho_TEST.cc
@@ -139,7 +139,7 @@ TEST(TopicEchoTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Echo))
 
   // Check message was echoed
   ASSERT_EQ(msgStringList->rowCount(), 1);
-  EXPECT_EQ(msgStringList->stringList()[0].toStdString(),
+  EXPECT_EQ(msgStringList->stringList().at(0).toStdString(),
             "data: \"example string\"\n");
 
   // Publish more than buffer size (messages numbered 0 to 14)
@@ -210,9 +210,9 @@ TEST(TopicEchoTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Echo))
   ASSERT_EQ(msgStringList->rowCount(), 11);
 
   // The last one is guaranteed to be the new message
-  EXPECT_EQ(msgStringList->stringList().last().toStdString(),
+  EXPECT_EQ(msgStringList->stringList().constLast().toStdString(),
             "data: \"new message\"\n")
-            << msgStringList->stringList().last().toStdString();
+            << msgStringList->stringList().constLast().toStdString();
 
   // Pause
   plugin->SetPaused(true);
@@ -232,9 +232,9 @@ TEST(TopicEchoTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Echo))
     ++sleep;
   }
   ASSERT_EQ(msgStringList->rowCount(), 11);
-  EXPECT_EQ(msgStringList->stringList().last().toStdString(),
+  EXPECT_EQ(msgStringList->stringList().constLast().toStdString(),
             "data: \"new message\"\n")
-            << msgStringList->stringList().last().toStdString();
+            << msgStringList->stringList().constLast().toStdString();
 
   // Decrease buffer
   bufferField->setProperty("value", 5);
@@ -260,9 +260,9 @@ TEST(TopicEchoTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Echo))
   ASSERT_EQ(msgStringList->rowCount(), 5);
 
   // The last message is still the new one
-  EXPECT_EQ(msgStringList->stringList().last().toStdString(),
+  EXPECT_EQ(msgStringList->stringList().constLast().toStdString(),
             "data: \"new message 2\"\n")
-            << msgStringList->stringList().last().toStdString();
+            << msgStringList->stringList().constLast().toStdString();
 
   // Stop echoing
   plugin->OnEcho(false);
diff --git a/src/plugins/topic_viewer/TopicViewer.cc b/src/plugins/topic_viewer/TopicViewer.cc
index edbecae45..96bb042f5 100644
--- a/src/plugins/topic_viewer/TopicViewer.cc
+++ b/src/plugins/topic_viewer/TopicViewer.cc
@@ -409,14 +409,14 @@ void TopicViewer::UpdateModel()
   }
 
   // remove the topics that don't exist in the network
-  for (auto topic : topicsToRemove)
+  for (const auto &topic : topicsToRemove)
   {
-    auto root = this->dataPtr->model->invisibleRootItem();
+    auto *root = this->dataPtr->model->invisibleRootItem();
 
     // search for the topic in the model
     for (int i = 0; i < root->rowCount(); ++i)
     {
-      auto child = root->child(i);
+      auto *child = root->child(i);
 
       if (child->data(NAME_ROLE).toString().toStdString() == topic.first &&
           child->data(TYPE_ROLE).toString().toStdString() == topic.second)
diff --git a/src/plugins/world_control/WorldControl.cc b/src/plugins/world_control/WorldControl.cc
index 86095179c..ebdc0f54b 100644
--- a/src/plugins/world_control/WorldControl.cc
+++ b/src/plugins/world_control/WorldControl.cc
@@ -153,7 +153,7 @@ void WorldControl::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
          << "]" << std::endl;
 
   // Play / pause buttons
-  if (auto playElem = _pluginElem->FirstChildElement("play_pause"))
+  if (const auto *playElem = _pluginElem->FirstChildElement("play_pause"))
   {
     auto has = false;
     playElem->QueryBoolText(&has);
@@ -162,21 +162,21 @@ void WorldControl::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
     if (has)
     {
       auto startPaused = this->dataPtr->pause;
-      if (auto pausedElem = _pluginElem->FirstChildElement("start_paused"))
+      if (const auto *pausedElem = _pluginElem->FirstChildElement("start_paused"))
       {
         pausedElem->QueryBoolText(&startPaused);
       }
       this->dataPtr->pause = startPaused;
       this->dataPtr->lastStatsMsgPaused = startPaused;
       if (startPaused)
-        this->paused();
+        emit this->paused();
       else
-        this->playing();
+        emit this->playing();
     }
   }
 
   // Step buttons
-  if (auto stepElem = _pluginElem->FirstChildElement("step"))
+  if (const auto *stepElem = _pluginElem->FirstChildElement("step"))
   {
     auto has = false;
     stepElem->QueryBoolText(&has);
@@ -185,7 +185,7 @@ void WorldControl::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
 
   // Subscribe to world stats
   std::string statsTopic;
-  auto statsTopicElem = _pluginElem->FirstChildElement("stats_topic");
+  const auto *statsTopicElem = _pluginElem->FirstChildElement("stats_topic");
   if (nullptr != statsTopicElem && nullptr != statsTopicElem->GetText())
     statsTopic = statsTopicElem->GetText();
 
@@ -230,7 +230,7 @@ void WorldControl::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
            << std::endl;
   }
 
-  if (auto elem = _pluginElem->FirstChildElement("use_event"))
+  if (const auto *elem = _pluginElem->FirstChildElement("use_event"))
     elem->QueryBoolText(&this->dataPtr->useEvent);
 
   if (this->dataPtr->useEvent)
@@ -261,10 +261,10 @@ void WorldControl::ProcessMsg()
   // this plugin has been registered by the server
   if (this->dataPtr->msg.paused() &&
       (!this->dataPtr->pause || !this->dataPtr->lastStatsMsgPaused))
-    this->paused();
+    emit this->paused();
   else if (!this->dataPtr->msg.paused() &&
       (this->dataPtr->pause || this->dataPtr->lastStatsMsgPaused))
-    this->playing();
+    emit this->playing();
 
   this->dataPtr->pause = this->dataPtr->msg.paused();
   this->dataPtr->lastStatsMsgPaused = this->dataPtr->msg.paused();
@@ -302,7 +302,7 @@ void WorldControl::OnPause()
 void WorldControl::OnReset()
 {
   msgs::WorldControl msg;
-  auto msgReset = new msgs::WorldReset();
+  auto *msgReset = new msgs::WorldReset();
   msgReset->set_all(true);
   msg.set_pause(true);
   msg.set_allocated_reset(msgReset);
diff --git a/src/plugins/world_stats/WorldStats.cc b/src/plugins/world_stats/WorldStats.cc
index 96c2ecead..7fdae646f 100644
--- a/src/plugins/world_stats/WorldStats.cc
+++ b/src/plugins/world_stats/WorldStats.cc
@@ -288,7 +288,7 @@ QString WorldStats::RealTimeFactor() const
 void WorldStats::SetRealTimeFactor(const QString &_realTimeFactor)
 {
   this->dataPtr->realTimeFactor = _realTimeFactor;
-  this->RealTimeFactorChanged();
+  emit this->RealTimeFactorChanged();
 }
 
 /////////////////////////////////////////////////
@@ -301,7 +301,7 @@ QString WorldStats::SimTime() const
 void WorldStats::SetSimTime(const QString &_simTime)
 {
   this->dataPtr->simTime = _simTime;
-  this->SimTimeChanged();
+  emit this->SimTimeChanged();
 }
 
 /////////////////////////////////////////////////
@@ -314,7 +314,7 @@ QString WorldStats::RealTime() const
 void WorldStats::SetRealTime(const QString &_realTime)
 {
   this->dataPtr->realTime = _realTime;
-  this->RealTimeChanged();
+  emit this->RealTimeChanged();
 }
 
 /////////////////////////////////////////////////
@@ -327,7 +327,7 @@ QString WorldStats::Iterations() const
 void WorldStats::SetIterations(const QString &_iterations)
 {
   this->dataPtr->iterations = _iterations;
-  this->IterationsChanged();
+  emit this->IterationsChanged();
 }
 }  // namespace gz::gui::plugins
 
diff --git a/test/integration/transport_scene_manager.cc b/test/integration/transport_scene_manager.cc
index 9c71e08e2..73481e228 100644
--- a/test/integration/transport_scene_manager.cc
+++ b/test/integration/transport_scene_manager.cc
@@ -73,7 +73,7 @@ TEST(TransportSceneManagerTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Load))
   EXPECT_EQ(plugin->Title(), "Transport Scene Manager");
 
   // Cleanup
-  for (const auto &p : plugins)
+  for (const auto &p : qAsConst(plugins))
   {
     auto pluginName = p->CardItem()->objectName().toStdString();
     EXPECT_TRUE(app.RemovePlugin(pluginName));