diff --git a/BUILD.bazel b/BUILD.bazel
index 280adfd4a..bed038e87 100644
--- a/BUILD.bazel
+++ b/BUILD.bazel
@@ -4,7 +4,11 @@ load("@rules_license//rules:license.bzl", "license")
 
 package(
     default_applicable_licenses = [":license"],
-    features = ["layering_check"],
+    default_visibility = ["__subpackages__"],
+    features = [
+        "layering_check",
+        "parse_headers",
+    ],
 )
 
 license(
@@ -94,6 +98,8 @@ cc_library(
             "include/sdf/*.hh",
         ],
         exclude = [
+            # Bazel does not generate top-level includes, so exclude the redirect
+            "include/sdf/sdf.hh",
         ],
     ),
     data = [
@@ -121,15 +127,24 @@ cc_library(
         "@gz-math//:Cylinder",
         "@gz-math//:Ellipsoid",
         "@gz-math//:Graph",
+        "@gz-math//:Helpers",
         "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Material",
+        "@gz-math//:Plane",
         "@gz-math//:Pose3",
+        "@gz-math//:Quaternion",
         "@gz-math//:SemanticVersion",
         "@gz-math//:Sphere",
         "@gz-math//:SphericalCoordinates",
         "@gz-math//:Temperature",
         "@gz-math//:Vector2",
+        "@gz-math//:Vector3",
         "@gz-utils//:Environment",
         "@gz-utils//:ImplPtr",
+        "@gz-utils//:NeverDestroyed",
+        "@gz-utils//:SuppressWarning",
+        "@tinyxml2",
     ],
 )
 
@@ -140,7 +155,9 @@ cc_test(
     ],
     deps = [
         ":sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
     ],
 )
 
@@ -152,6 +169,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -163,6 +181,7 @@ cc_test(
     ],
     deps = [
         ":sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -175,6 +194,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -187,7 +207,10 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Temperature",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -199,7 +222,12 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -210,6 +238,7 @@ cc_test(
     ],
     deps = [
         ":sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -222,7 +251,12 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -234,7 +268,12 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -246,7 +285,12 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -257,14 +301,18 @@ cc_test(
     ],
     deps = [
         ":sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-utils//:Environment",
     ],
 )
 
 cc_test(
     name = "Converter_TEST",
     srcs = [
+        "src/Converter.hh",
         "src/Converter_TEST.cc",
+        "src/XmlUtils.hh",
     ],
     data = [
         "sdf/1.10/1_9.convert",
@@ -276,6 +324,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -287,7 +336,9 @@ cc_test(
     ],
     deps = [
         ":sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -299,7 +350,12 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -311,6 +367,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -323,7 +380,12 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -333,8 +395,10 @@ cc_test(
         "src/Error_TEST.cc",
     ],
     deps = [
+        ":Config",
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -346,6 +410,7 @@ cc_test(
     ],
     deps = [
         ":sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -357,7 +422,9 @@ cc_test(
     ],
     deps = [
         ":sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-utils//:Environment",
     ],
 )
 
@@ -369,6 +436,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -381,6 +449,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -388,15 +457,20 @@ cc_test(
 cc_test(
     name = "FrameSemantics_TEST",
     srcs = [
+        "src/FrameSemantics.hh",
         "src/FrameSemantics_TEST.cc",
+        "src/ScopedGraph.hh",
     ],
     data = [
         "//test:sdf",
     ],
     deps = [
+        ":Config",
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Helpers",
     ],
 )
 
@@ -408,7 +482,12 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -420,6 +499,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -445,6 +525,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -457,6 +538,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -469,7 +551,9 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
     ],
 )
 
@@ -481,7 +565,9 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
     ],
 )
 
@@ -493,6 +579,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -505,7 +592,9 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Angle",
     ],
 )
 
@@ -517,7 +606,9 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
     ],
 )
 
@@ -529,7 +620,11 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Inertial",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -541,6 +636,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -553,7 +649,9 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Color",
     ],
 )
 
@@ -565,7 +663,11 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -577,7 +679,9 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
     ],
 )
 
@@ -589,6 +693,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -601,6 +706,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -613,6 +719,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -625,18 +732,24 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Angle",
+        "@gz-math//:Color",
+        "@gz-math//:Pose3",
     ],
 )
 
 cc_test(
     name = "ParamPassing_TEST",
     srcs = [
+        "src/ParamPassing.hh",
         "src/ParamPassing_TEST.cc",
     ],
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -653,18 +766,22 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-utils//:Environment",
     ],
 )
 
 cc_test(
     name = "parser_urdf_TEST",
     srcs = [
+        "src/parser_urdf.hh",
         "src/parser_urdf_TEST.cc",
     ],
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -680,6 +797,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -692,6 +810,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -704,7 +823,9 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Color",
     ],
 )
 
@@ -716,6 +837,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -728,7 +850,10 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Vector2",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -740,6 +865,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -752,6 +878,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -764,6 +891,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -776,6 +904,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -789,8 +918,10 @@ cc_test(
         "//test:sdf",
     ],
     deps = [
+        ":Config",
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -803,6 +934,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -815,10 +947,14 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
         "@gz-math//:Color",
         "@gz-math//:Pose3",
         "@gz-math//:Vector2",
+        "@gz-math//:Vector3",
+        "@gz-utils//:Environment",
+        "@gz-utils//:SuppressWarning",
     ],
 )
 
@@ -830,7 +966,9 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
     ],
 )
 
@@ -842,6 +980,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -854,6 +993,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -866,7 +1006,12 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -878,7 +1023,9 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -890,6 +1037,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -897,12 +1045,15 @@ cc_test(
 cc_test(
     name = "Utils_TEST",
     srcs = [
+        "src/Utils.hh",
         "src/Utils_TEST.cc",
     ],
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
     ],
 )
 
@@ -914,6 +1065,7 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -926,19 +1078,29 @@ cc_test(
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Color",
+        "@gz-math//:Inertial",
+        "@gz-math//:MassMatrix3",
+        "@gz-math//:Pose3",
+        "@gz-math//:SphericalCoordinates",
+        "@gz-math//:Vector3",
     ],
 )
 
 cc_test(
     name = "XmlUtils_TEST",
     srcs = [
+        "src/XmlUtils.hh",
         "src/XmlUtils_TEST.cc",
     ],
     deps = [
         ":sdformat",
         "//test:test_utils",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@tinyxml2",
     ],
 )
 
diff --git a/src/Converter.hh b/src/Converter.hh
index 27865a934..0c0551aff 100644
--- a/src/Converter.hh
+++ b/src/Converter.hh
@@ -25,6 +25,7 @@
 #include <sdf/config.hh>
 #include <sdf/Types.hh>
 #include "sdf/system_util.hh"
+#include <sdf/ParserConfig.hh>
 
 namespace sdf
 {
diff --git a/src/SDFImplPrivate.hh b/src/SDFImplPrivate.hh
index eefc57fcd..382718147 100644
--- a/src/SDFImplPrivate.hh
+++ b/src/SDFImplPrivate.hh
@@ -20,6 +20,7 @@
 #include <string>
 
 #include "sdf/Types.hh"
+#include "sdf/Element.hh"
 
 /// \ingroup sdf_parser
 /// \brief namespace for Simulation Description Format parser
diff --git a/test/BUILD.bazel b/test/BUILD.bazel
index 1c48caa3f..1a6e82814 100644
--- a/test/BUILD.bazel
+++ b/test/BUILD.bazel
@@ -41,6 +41,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -56,6 +57,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -71,6 +73,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -87,6 +90,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -102,6 +106,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -118,6 +123,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -133,6 +139,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -149,6 +156,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -165,6 +173,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -197,6 +206,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -212,6 +222,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -230,6 +241,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -245,6 +257,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -260,7 +273,9 @@ cc_test(
     ],
     deps = [
         ":test_utils",
+        "//:Config",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -276,6 +291,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -291,6 +307,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -306,6 +323,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -327,7 +345,9 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
     ],
 )
 
@@ -344,6 +364,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -359,6 +380,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -371,6 +393,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -387,6 +410,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -402,6 +426,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -417,7 +442,9 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
     ],
 )
 
@@ -429,7 +456,9 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Color",
     ],
 )
 
@@ -444,6 +473,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -456,6 +486,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -471,7 +502,9 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Color",
     ],
 )
 
@@ -486,6 +519,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -502,7 +536,10 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -517,6 +554,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -536,7 +574,10 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -552,6 +593,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -573,6 +615,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -589,6 +632,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -601,6 +645,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -616,7 +661,9 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -628,6 +675,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -639,6 +687,7 @@ cc_test(
     ],
     deps = [
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -654,6 +703,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -670,7 +720,11 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Angle",
+        "@gz-math//:Pose3",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -681,6 +735,7 @@ cc_test(
     ],
     deps = [
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -697,6 +752,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -712,7 +768,9 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Vector3",
     ],
 )
 
@@ -727,6 +785,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -742,6 +801,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -757,6 +817,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -772,7 +833,9 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
+        "@gz-math//:Color",
     ],
 )
 
@@ -800,6 +863,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -816,6 +880,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -831,6 +896,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -846,6 +912,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -861,6 +928,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -876,6 +944,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -894,6 +963,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -909,6 +979,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -926,6 +997,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -941,6 +1013,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -957,6 +1030,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )
@@ -972,6 +1046,7 @@ cc_test(
     deps = [
         ":test_utils",
         "//:sdformat",
+        "@googletest//:gtest",
         "@googletest//:gtest_main",
     ],
 )