diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 29307b2a..c6175165 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -1,6 +1,12 @@
 name: Ubuntu CI
 
-on: [push, pull_request]
+on:
+  pull_request:
+  push:
+    branches:
+      - 'ign-common[0-9]'
+      - 'gz-common[0-9]'
+      - 'main'
 
 jobs:
   jammy-ci:
diff --git a/.github/workflows/triage.yml b/.github/workflows/triage.yml
index 2c94852d..2332244b 100644
--- a/.github/workflows/triage.yml
+++ b/.github/workflows/triage.yml
@@ -14,4 +14,3 @@ jobs:
         with:
           project-url: https://github.com/orgs/gazebosim/projects/7
           github-token: ${{ secrets.TRIAGE_TOKEN }}
-
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7ec210da..67db83b5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -79,6 +79,7 @@ gz_find_package(
 # Find GDAL
 gz_find_package(GDAL VERSION 3.0
   PKGCONFIG gdal
+  PKGCONFIG_VER_COMPARISON >=
   PRIVATE_FOR geospatial
   REQUIRED_BY geospatial)
 
@@ -117,7 +118,7 @@ configure_file("${PROJECT_SOURCE_DIR}/cppcheck.suppress.in"
                ${PROJECT_BINARY_DIR}/cppcheck.suppress)
 
 gz_configure_build(QUIT_IF_BUILD_ERRORS
-  COMPONENTS av events geospatial graphics io profiler testing)
+  COMPONENTS av events graphics geospatial io profiler testing)
 
 #============================================================================
 # Create package information
diff --git a/Changelog.md b/Changelog.md
index b11aad9b..01d5bbd4 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -4,6 +4,58 @@
 
 ## Gazebo Common 5.x
 
+## Gazebo Common 5.5.0 (2024-02-26)
+
+1. Be louder when graphics is missing for geospatial
+    * [Pull request #573](https://github.com/gazebosim/gz-common/pull/573)
+
+1. Multiple memory cleanup fixes
+    * [Pull request #571](https://github.com/gazebosim/gz-common/pull/571)
+
+1. Clarify GDAL version requirement
+    * [Pull request #574](https://github.com/gazebosim/gz-common/pull/574)
+
+1. 🎈  3.17.0
+    * [Pull request #567](https://github.com/gazebosim/gz-common/pull/567)
+
+1. Update CI badges in README
+    * [Pull request #566](https://github.com/gazebosim/gz-common/pull/566)
+
+1. Backwards compatible assimp texture name fix
+    * [Pull request #565](https://github.com/gazebosim/gz-common/pull/565)
+
+1. Fix error output when creating directories
+    * [Pull request #561](https://github.com/gazebosim/gz-common/pull/561)
+
+1. Update github action workflows
+    * [Pull request #558](https://github.com/gazebosim/gz-common/pull/558)
+
+1. Fix segfault in case of no write access to log dir
+    * [Pull request #546](https://github.com/gazebosim/gz-common/pull/546)
+
+1. ign -> gz
+    * [Pull request #547](https://github.com/gazebosim/gz-common/pull/547)
+
+1. Support loading glb with compressed jpeg textures
+    * [Pull request #545](https://github.com/gazebosim/gz-common/pull/545)
+
+1. Fix glTF / glb root node transform
+    * [Pull request #543](https://github.com/gazebosim/gz-common/pull/543)
+
+1. EnumIface: suppress deprecation warning
+    * [Pull request #540](https://github.com/gazebosim/gz-common/pull/540)
+
+1. Prevent loading lightmaps if mesh is a glb file that has an occlusion-metallic-roughness texture
+    * [Pull request #538](https://github.com/gazebosim/gz-common/pull/538)
+
+1. 🎈 3.16.0
+    * [Pull request #519](https://github.com/gazebosim/gz-common/pull/519)
+
+1. Fix cstdint with GCC 13
+    * [Pull request #528](https://github.com/gazebosim/gz-common/pull/528)
+    * [Pull request #517](https://github.com/gazebosim/gz-common/pull/517)
+    * [Pull request #513](https://github.com/gazebosim/gz-common/pull/513)
+
 ## Gazebo Common 5.4.2 (2023-09-26)
 
 1. Documentation fixes
@@ -673,6 +725,52 @@
 
 ## Gazebo Common 3.x
 
+## Gazebo Common 3.17.0 (2024-01-05)
+
+1. Fix error output when creating directories
+    * [Pull request #561](https://github.com/gazebosim/gz-common/pull/561)
+
+1. Update github action workflows
+    * [Pull request #558](https://github.com/gazebosim/gz-common/pull/558)
+
+1. Fix segfault in case of no write access to log dir
+    * [Pull request #546](https://github.com/gazebosim/gz-common/pull/546)
+
+## Gazebo Common 3.16.0 (2023-06-05)
+
+1. Include cstdint to build with GCC 13
+    * [Pull request #517](https://github.com/gazebosim/gz-common/pull/517)
+
+1. Fix missing cstdint header in latest gcc build
+    * [Pull request #513](https://github.com/gazebosim/gz-common/pull/513)
+
+1. Fix for ffmpeg v6
+    * [Pull request #497](https://github.com/gazebosim/gz-common/pull/497)
+
+1. Include cstring for memcpy
+    * [Pull request #501](https://github.com/gazebosim/gz-common/pull/501)
+
+1. Fixed MeshManager Singleton
+    * [Pull request #451](https://github.com/gazebosim/gz-common/pull/451)
+
+1. Rename COPYING to LICENSE
+    * [Pull request #494](https://github.com/gazebosim/gz-common/pull/494)
+
+1. Add marcoag as codeowner
+    * [Pull request #493](https://github.com/gazebosim/gz-common/pull/493)
+
+1. CI workflow: use checkout v3
+    * [Pull request #490](https://github.com/gazebosim/gz-common/pull/490)
+
+1. Improved coverage remotery
+    * [Pull request #467](https://github.com/gazebosim/gz-common/pull/467)
+
+1. Added BVH and STL loader tests
+    * [Pull request #466](https://github.com/gazebosim/gz-common/pull/466)
+
+1. Increased Image coverage
+    * [Pull request #465](https://github.com/gazebosim/gz-common/pull/465)
+
 ## Gazebo Common 3.15.1 (2022-10-11)
 
 1. Fix build on case-insensitive filesystems
diff --git a/README.md b/README.md
index 498c9201..628f501d 100644
--- a/README.md
+++ b/README.md
@@ -9,10 +9,10 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-common/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-common)
-Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_common-ci-main-focal-amd64)](https://build.osrfoundation.org/job/ignition_common-ci-main-focal-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_common-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_common-ci-main-homebrew-amd64)
-Windows       | [![Build Status](https://build.osrfoundation.org/job/ign_common-ci-win/badge/icon)](https://build.osrfoundation.org/job/ign_common-ci-win/)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-common/tree/gz-common5/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-common/tree/gz-common5)
+Ubuntu Jammy  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_common-ci-gz-common5-jammy-amd64)](https://build.osrfoundation.org/job/gz_common-ci-gz-common5-jammy-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_common-ci-gz-common5-homebrew-amd64)](https://build.osrfoundation.org/job/gz_common-ci-gz-common5-homebrew-amd64)
+Windows       | [![Build Status](https://build.osrfoundation.org/job/gz_common-5-win/badge/icon)](https://build.osrfoundation.org/job/gz_common-5-win/)
 
 Gazebo Common, a component of [Gazebo](https://gazebosim.org), provides a set of libraries that
 cover many different use cases. An audio-visual library supports
diff --git a/geospatial/src/CMakeLists.txt b/geospatial/src/CMakeLists.txt
index f9fdcedc..bf528bee 100644
--- a/geospatial/src/CMakeLists.txt
+++ b/geospatial/src/CMakeLists.txt
@@ -1,24 +1,27 @@
-gz_get_libsources_and_unittests(sources gtest_sources)
+if (TARGET ${PROJECT_LIBRARY_TARGET_NAME}-graphics)
+  gz_get_libsources_and_unittests(sources gtest_sources)
+  gz_add_component(geospatial
+    SOURCES ${sources}
+    DEPENDS_ON_COMPONENTS graphics
+    GET_TARGET_NAME geospatial_target)
 
-gz_add_component(geospatial
-  SOURCES ${sources}
-  DEPENDS_ON_COMPONENTS graphics
-  GET_TARGET_NAME geospatial_target)
+  target_link_libraries(${geospatial_target}
+    PUBLIC
+      ${PROJECT_LIBRARY_TARGET_NAME}-graphics
+      gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER}
+      gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER}
+    PRIVATE
+      ${GDAL_LIBRARY})
 
-target_link_libraries(${geospatial_target}
-  PUBLIC
-    ${PROJECT_LIBRARY_TARGET_NAME}-graphics
-    gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER}
-    gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER}
-  PRIVATE
-    ${GDAL_LIBRARY})
+  target_include_directories(${geospatial_target}
+    PRIVATE
+      ${GDAL_INCLUDE_DIR})
 
-target_include_directories(${geospatial_target}
-  PRIVATE
-    ${GDAL_INCLUDE_DIR})
-
-gz_build_tests(TYPE UNIT SOURCES ${gtest_sources}
-  LIB_DEPS
-    ${geospatial_target}
-    gz-common${GZ_COMMON_VER}-testing
-)
+  gz_build_tests(TYPE UNIT SOURCES ${gtest_sources}
+    LIB_DEPS
+      ${geospatial_target}
+      gz-common${GZ_COMMON_VER}-testing
+  )
+else()
+  message(WARNING "Skipping component [geospatial]: Missing component [graphics].\n    ^~~~~ Set SKIP_geospatial=true in cmake to suppress this warning.")
+endif()
diff --git a/graphics/include/gz/common/Image.hh b/graphics/include/gz/common/Image.hh
index 6a73d92e..69d8019a 100644
--- a/graphics/include/gz/common/Image.hh
+++ b/graphics/include/gz/common/Image.hh
@@ -85,7 +85,11 @@ namespace gz
                 BAYER_GBRG8,
                 BAYER_GRBG8,
                 COMPRESSED_PNG,
-                PIXEL_FORMAT_COUNT
+                PIXEL_FORMAT_COUNT,
+                // \todo(iche033) COMPRESSED_JPEG is added at the end to
+                // preserve ABI compatibility. Move this enum up when merging
+                // forward to main
+                COMPRESSED_JPEG
               };
 
 
diff --git a/graphics/src/AssimpLoader.cc b/graphics/src/AssimpLoader.cc
index 183880a5..49a9b5de 100644
--- a/graphics/src/AssimpLoader.cc
+++ b/graphics/src/AssimpLoader.cc
@@ -155,6 +155,15 @@ class AssimpLoader::Implementation
   /// calculated from the "old" parent model transform.
   /// \param[in] _skeleton the skeleton to work on
   public: void ApplyInvBindTransform(SkeletonPtr _skeleton) const;
+
+  /// Get the updated root node transform. The function updates the original
+  /// transform by setting the rotation to identity if requested.
+  /// \param[in] _scene Scene with axes info stored in meta data
+  /// \param[in] _useIdentityRotation Whether to set rotation to identity.
+  /// Note: This is currently set to false for glTF / glb meshes.
+  /// \return Updated transform
+  public: aiMatrix4x4 UpdatedRootNodeTransform(const aiScene *_scene,
+      bool _useIdentityRotation = true);
 };
 
 //////////////////////////////////////////////////
@@ -348,8 +357,26 @@ MaterialPtr AssimpLoader::Implementation::CreateMaterial(
   }
   float opacity = 1.0;
   ret = assimpMat->Get(AI_MATKEY_OPACITY, opacity);
-  mat->SetTransparency(1.0 - opacity);
-  mat->SetBlendFactors(opacity, 1.0 - opacity);
+  if (ret == AI_SUCCESS)
+  {
+    mat->SetTransparency(1.0 - opacity);
+    mat->SetBlendFactors(opacity, 1.0 - opacity);
+  }
+
+#ifndef GZ_ASSIMP_PRE_5_1_0
+  // basic support for transmission - currently just overrides opacity
+  // \todo(iche033) The transmission factor can be used with volume
+  // material extension to simulate effects like refraction
+  // so consider also extending support for other properties like
+  // AI_MATKEY_VOLUME_THICKNESS_FACTOR
+  float transmission = 0.0;
+  ret = assimpMat->Get(AI_MATKEY_TRANSMISSION_FACTOR, transmission);
+  if (ret == AI_SUCCESS)
+  {
+    mat->SetTransparency(transmission);
+  }
+#endif
+
   // TODO(luca) more than one texture, Gazebo assumes UV index 0
   Pbr pbr;
   aiString texturePath(_path.c_str());
@@ -542,26 +569,49 @@ std::pair<ImagePtr, ImagePtr>
 ImagePtr AssimpLoader::Implementation::LoadEmbeddedTexture(
     const aiTexture* _texture) const
 {
-  auto img = std::make_shared<Image>();
   if (_texture->mHeight == 0)
   {
+    Image::PixelFormatType format = Image::PixelFormatType::UNKNOWN_PIXEL_FORMAT;
     if (_texture->CheckFormat("png"))
     {
-      img->SetFromCompressedData((unsigned char*)_texture->pcData,
-          _texture->mWidth, Image::PixelFormatType::COMPRESSED_PNG);
+      format = Image::PixelFormatType::COMPRESSED_PNG;
+    }
+    else if (_texture->CheckFormat("jpg"))
+    {
+      format = Image::PixelFormatType::COMPRESSED_JPEG;
+    }
+    if (format != Image::PixelFormatType::UNKNOWN_PIXEL_FORMAT)
+    {
+      auto img = std::make_shared<Image>();
+      img->SetFromCompressedData(
+          reinterpret_cast<unsigned char *>(_texture->pcData),
+          _texture->mWidth, format);
+      return img;
+    }
+    else
+    {
+      gzerr << "Unable to load embedded texture. "
+            << "Unsupported compressed image format"
+            << std::endl;
     }
   }
-  return img;
+  return ImagePtr();
 }
 
 //////////////////////////////////////////////////
 std::string AssimpLoader::Implementation::GenerateTextureName(
     const aiScene* _scene, aiMaterial* _mat, const std::string& _type) const
 {
-  return ToString(_scene->mRootNode->mName) + "_" + ToString(_mat->GetName()) +
+#ifdef GZ_ASSIMP_PRE_5_2_0
+  auto rootName = _scene->mRootNode->mName;
+#else
+  auto rootName = _scene->mName;
+#endif
+  return ToString(rootName) + "_" + ToString(_mat->GetName()) +
     "_" + _type;
 }
 
+//////////////////////////////////////////////////
 SubMesh AssimpLoader::Implementation::CreateSubMesh(
     const aiMesh* _assimpMesh, const math::Matrix4d& _transform) const
 {
@@ -645,16 +695,15 @@ Mesh *AssimpLoader::Load(const std::string &_filename)
   }
   auto& rootNode = scene->mRootNode;
   auto rootName = ToString(rootNode->mName);
-  auto transform = scene->mRootNode->mTransformation;
-  aiVector3D rootScaling, rootAxis, rootPos;
-  float angle;
-  transform.Decompose(rootScaling, rootAxis, angle, rootPos);
-  // drop rotation, but keep scaling and position
-  // TODO(luca) it seems imported assets are rotated by 90 degrees
-  // as documented here https://github.com/assimp/assimp/issues/849
-  // remove workaround when fixed
-  transform = aiMatrix4x4(rootScaling, aiQuaternion(), rootPos);
 
+  // compute assimp root node transform
+  std::string extension = _filename.substr(_filename.rfind(".") + 1,
+      _filename.size());
+  std::transform(extension.begin(), extension.end(),
+      extension.begin(), ::tolower);
+  bool useIdentityRotation = (extension != "glb" && extension != "glTF");
+  auto transform = this->dataPtr->UpdatedRootNodeTransform(scene,
+    useIdentityRotation);
   auto rootTransform = this->dataPtr->ConvertTransform(transform);
 
   // Add the materials first
@@ -756,5 +805,29 @@ void AssimpLoader::Implementation::ApplyInvBindTransform(
   }
 }
 
+/////////////////////////////////////////////////
+aiMatrix4x4 AssimpLoader::Implementation::UpdatedRootNodeTransform(
+    const aiScene *_scene, bool _useIdentityRotation)
+{
+  // Some assets apear to be rotated by 90 degrees as documented here
+  // https://github.com/assimp/assimp/issues/849.
+  auto transform = _scene->mRootNode->mTransformation;
+  if (_useIdentityRotation)
+  {
+    // drop rotation, but keep scaling and position
+    aiVector3D rootScaling, rootAxis, rootPos;
+    float angle;
+    transform.Decompose(rootScaling, rootAxis, angle, rootPos);
+    transform = aiMatrix4x4(rootScaling, aiQuaternion(), rootPos);
+  }
+  // for glTF / glb meshes, it was found that the transform is needed to
+  // produce a result that is consistent with other engines / glTF viewers.
+  else
+  {
+    transform = _scene->mRootNode->mTransformation;
+  }
+  return transform;
+}
+
 }
 }
diff --git a/graphics/src/AssimpLoader_TEST.cc b/graphics/src/AssimpLoader_TEST.cc
index 95902723..0c8bed06 100644
--- a/graphics/src/AssimpLoader_TEST.cc
+++ b/graphics/src/AssimpLoader_TEST.cc
@@ -49,6 +49,7 @@ TEST_F(AssimpLoader, LoadBox)
 
   // Make sure we can read a submesh name
   EXPECT_STREQ("Cube", mesh->SubMeshByIndex(0).lock()->Name().c_str());
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -104,6 +105,8 @@ TEST_F(AssimpLoader, Material)
   matOpaque->BlendFactors(srcFactor, dstFactor);
   EXPECT_DOUBLE_EQ(1.0, srcFactor);
   EXPECT_DOUBLE_EQ(0.0, dstFactor);
+  delete mesh;
+  delete meshOpaque;
 }
 
 /////////////////////////////////////////////////
@@ -155,6 +158,7 @@ TEST_F(AssimpLoader, ShareVertices)
       }
     }
   }
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -164,6 +168,7 @@ TEST_F(AssimpLoader, LoadZeroCount)
   common::Mesh *mesh = loader.Load(
       common::testing::TestFile("data", "zero_count.dae"));
   ASSERT_TRUE(mesh);
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -251,6 +256,7 @@ TEST_F(AssimpLoader, TexCoordSets)
 
   subMeshB->SetTexCoordBySet(2u, math::Vector2d(0.1, 0.2), 1u);
   EXPECT_EQ(math::Vector2d(0.1, 0.2), subMeshB->TexCoordBySet(2u, 1u));
+  delete mesh;
 }
 
 // Test fails for assimp below 5.2.0
@@ -289,6 +295,7 @@ TEST_F(AssimpLoader, LoadBoxWithAnimationOutsideSkeleton)
         0, 0, 1, 0,
         0, 0, 0, 1);
   EXPECT_EQ(expectedTrans, poseEnd.at("Armature"));
+  delete mesh;
 }
 #endif
 
@@ -308,6 +315,7 @@ TEST_F(AssimpLoader, LoadBoxInstControllerWithoutSkeleton)
   common::SkeletonPtr skeleton = mesh->MeshSkeleton();
   EXPECT_LT(0u, skeleton->NodeCount());
   EXPECT_NE(nullptr, skeleton->NodeById("Armature_Bone"));
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -335,6 +343,7 @@ TEST_F(AssimpLoader, LoadBoxMultipleInstControllers)
   common::SkeletonPtr skeleton = mesh->MeshSkeleton();
   EXPECT_LT(0u, skeleton->NodeCount());
   EXPECT_NE(nullptr, skeleton->NodeById("Armature_Bone"));
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -374,6 +383,7 @@ TEST_F(AssimpLoader, LoadBoxNestedAnimation)
         0, 0, 1, 0,
         0, 0, 0, 1);
   EXPECT_EQ(expectedTrans, poseEnd.at("Armature_Bone"));
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -392,6 +402,7 @@ TEST_F(AssimpLoader, LoadBoxWithDefaultStride)
   ASSERT_NE(mesh->MeshSkeleton(), nullptr);
   // TODO(luca) not working, investigate
   // ASSERT_EQ(1u, mesh->MeshSkeleton()->AnimationCount());
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -409,6 +420,7 @@ TEST_F(AssimpLoader, LoadBoxWithMultipleGeoms)
   ASSERT_EQ(2u, mesh->SubMeshCount());
   EXPECT_EQ(24u, mesh->SubMeshByIndex(0).lock()->NodeAssignmentsCount());
   EXPECT_EQ(0u, mesh->SubMeshByIndex(1).lock()->NodeAssignmentsCount());
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -435,6 +447,7 @@ TEST_F(AssimpLoader, LoadBoxWithHierarchicalNodes)
 
   // nested node with name
   EXPECT_EQ("StaticCubeNested", mesh->SubMeshByIndex(4).lock()->Name());
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -448,6 +461,7 @@ TEST_F(AssimpLoader, MergeBoxWithDoubleSkeleton)
   // The two skeletons have been joined and their root is the
   // animation root, called Scene
   EXPECT_EQ(skeleton_ptr->RootNode()->Name(), std::string("Scene"));
+  delete mesh;
 }
 
 // For assimp below 5.2.0 mesh loading fails because of
@@ -487,6 +501,7 @@ TEST_F(AssimpLoader, LoadCylinderAnimatedFrom3dsMax)
   // EXPECT_EQ("Bone02", anim->Name());
   EXPECT_EQ(1u, anim->NodeCount());
   EXPECT_TRUE(anim->HasNode("Bone02"));
+  delete mesh;
 }
 #endif
 
@@ -521,6 +536,7 @@ TEST_F(AssimpLoader, LoadObjBox)
   EXPECT_EQ(mat->Diffuse(), math::Color(0.512f, 0.512f, 0.512f, 1.0f));
   EXPECT_EQ(mat->Specular(), math::Color(0.25, 0.25, 0.25, 1.0));
   EXPECT_DOUBLE_EQ(mat->Transparency(), 0.0);
+  delete mesh;
 }
 
 
@@ -536,6 +552,7 @@ TEST_F(AssimpLoader, ObjInvalidMaterial)
   common::Mesh *mesh = loader.Load(meshFilename);
 
   EXPECT_TRUE(mesh != nullptr);
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -550,6 +567,7 @@ TEST_F(AssimpLoader, NonExistingMesh)
   common::Mesh *mesh = loader.Load(meshFilename);
 
   EXPECT_EQ(mesh->SubMeshCount(), 0);
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -584,6 +602,7 @@ TEST_F(AssimpLoader, LoadFbxBox)
   EXPECT_EQ(mat->Diffuse(), math::Color(0.8f, 0.8f, 0.8f, 1.0f));
   EXPECT_EQ(mat->Specular(), math::Color(0.8f, 0.8f, 0.8f, 1.0f));
   EXPECT_DOUBLE_EQ(mat->Transparency(), 0.0);
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -618,6 +637,7 @@ TEST_F(AssimpLoader, LoadGlTF2Box)
   EXPECT_EQ(mat->Diffuse(), math::Color(0.8f, 0.8f, 0.8f, 1.0f));
   EXPECT_EQ(mat->Specular(), math::Color(0.0f, 0.0f, 0.0f, 1.0f));
   EXPECT_DOUBLE_EQ(mat->Transparency(), 0.0);
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -642,6 +662,71 @@ TEST_F(AssimpLoader, LoadGlTF2BoxExternalTexture)
   auto testTextureFile =
     common::testing::TestFile("data/gltf", "PurpleCube_Diffuse.png");
   EXPECT_EQ(testTextureFile, mat->TextureImage());
+  delete mesh;
+}
+
+/////////////////////////////////////////////////
+// Open a gltf mesh with transmission extension
+TEST_F(AssimpLoader, LoadGlTF2BoxTransmission)
+{
+#ifndef GZ_ASSIMP_PRE_5_1_0
+  common::AssimpLoader loader;
+  common::Mesh *mesh = loader.Load(
+      common::testing::TestFile("data", "box_transmission.glb"));
+
+  EXPECT_STREQ("unknown", mesh->Name().c_str());
+
+  // Make sure we can read the submesh name
+  EXPECT_STREQ("Cube", mesh->SubMeshByIndex(0).lock()->Name().c_str());
+
+  EXPECT_EQ(mesh->MaterialCount(), 1u);
+
+  const common::MaterialPtr mat = mesh->MaterialByIndex(0u);
+  ASSERT_TRUE(mat.get());
+  // transmission currently modeled as transparency
+  EXPECT_FLOAT_EQ(0.1, mat->Transparency());
+  delete mesh;
+#endif
+}
+
+/////////////////////////////////////////////////
+// This test loads a box glb mesh with embedded compressed jpeg texture
+TEST_F(AssimpLoader, LoadGlTF2BoxWithJPEGTexture)
+{
+  common::AssimpLoader loader;
+  common::Mesh *mesh = loader.Load(
+      common::testing::TestFile("data", "box_texture_jpg.glb"));
+
+  EXPECT_STREQ("unknown", mesh->Name().c_str());
+  EXPECT_EQ(math::Vector3d(1, 1, 1), mesh->Max());
+  EXPECT_EQ(math::Vector3d(-1, -1, -1), mesh->Min());
+
+  EXPECT_EQ(24u, mesh->VertexCount());
+  EXPECT_EQ(24u, mesh->NormalCount());
+  EXPECT_EQ(36u, mesh->IndexCount());
+  EXPECT_EQ(24u, mesh->TexCoordCount());
+  EXPECT_EQ(1u, mesh->SubMeshCount());
+  EXPECT_EQ(1u, mesh->MaterialCount());
+
+  // Make sure we can read the submesh name
+  EXPECT_STREQ("Cube", mesh->SubMeshByIndex(0).lock()->Name().c_str());
+
+  const common::MaterialPtr mat = mesh->MaterialByIndex(0u);
+  ASSERT_TRUE(mat.get());
+
+  // Make sure we read the material color values
+  EXPECT_EQ(math::Color(0.4f, 0.4f, 0.4f, 1.0f), mat->Ambient());
+  EXPECT_EQ(math::Color(1.0f, 1.0f, 1.0f, 1.0f), mat->Diffuse());
+  EXPECT_EQ(math::Color(0.0f, 0.0f, 0.0f, 1.0f), mat->Specular());
+  // Assimp 5.2.0 and above uses the scene name for its texture names,
+  // older version use the root node instead.
+#ifdef GZ_ASSIMP_PRE_5_2_0
+  EXPECT_EQ("Cube_Material_Diffuse", mat->TextureImage());
+#else
+  EXPECT_EQ("Scene_Material_Diffuse", mat->TextureImage());
+#endif
+  EXPECT_NE(nullptr, mat->TextureData());
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -694,7 +779,6 @@ TEST_F(AssimpLoader, LoadGlbPbrAsset)
   EXPECT_EQ(img->Pixel(0, 0), math::Color(0.0f, 0.0f, 0.0f, 1.0f));
   EXPECT_EQ(img->Pixel(100, 100), math::Color(1.0f, 1.0f, 1.0f, 1.0f));
 
-
   EXPECT_NE(pbr->NormalMapData(), nullptr);
   // Metallic roughness and alpha from textures only works in assimp > 5.2.0
 #ifndef GZ_ASSIMP_PRE_5_2_0
@@ -726,6 +810,7 @@ TEST_F(AssimpLoader, LoadGlbPbrAsset)
   EXPECT_STREQ("Action1", skel->Animation(0)->Name().c_str());
   EXPECT_STREQ("Action2", skel->Animation(1)->Name().c_str());
   EXPECT_STREQ("Action3", skel->Animation(2)->Name().c_str());
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -743,6 +828,51 @@ TEST_F(AssimpLoader, CheckNonRootDisplacement)
   EXPECT_EQ(nullptr, rootNode);
   auto xDisplacement = skelAnim->XDisplacement();
   ASSERT_TRUE(xDisplacement);
+  delete mesh;
+}
+
+/////////////////////////////////////////////////
+TEST_F(AssimpLoader, LoadGLTF2Triangle)
+{
+  common::AssimpLoader loader;
+  common::Mesh *mesh = loader.Load(
+      common::testing::TestFile("data",
+        "multiple_texture_coordinates_triangle.glb"));
+  ASSERT_TRUE(mesh);
+
+  EXPECT_EQ(6u, mesh->VertexCount());
+  EXPECT_EQ(6u, mesh->NormalCount());
+  EXPECT_EQ(6u, mesh->IndexCount());
+  EXPECT_EQ(6u, mesh->TexCoordCount());
+  EXPECT_EQ(2u, mesh->SubMeshCount());
+  EXPECT_EQ(1u, mesh->MaterialCount());
+
+  auto sm = mesh->SubMeshByIndex(0u);
+  auto subMesh = sm.lock();
+  EXPECT_NE(nullptr, subMesh);
+  EXPECT_EQ(math::Vector3d(0, 0, 0), subMesh->Vertex(0u));
+  EXPECT_EQ(math::Vector3d(10, 0, 0), subMesh->Vertex(1u));
+  EXPECT_EQ(math::Vector3d(10, 10, 0), subMesh->Vertex(2u));
+  EXPECT_EQ(math::Vector3d(0, 0, 1), subMesh->Normal(0u));
+  EXPECT_EQ(math::Vector3d(0, 0, 1), subMesh->Normal(1u));
+  EXPECT_EQ(math::Vector3d(0, 0, 1), subMesh->Normal(2u));
+  EXPECT_EQ(math::Vector2d(0, 1), subMesh->TexCoord(0u));
+  EXPECT_EQ(math::Vector2d(0, 1), subMesh->TexCoord(1u));
+  EXPECT_EQ(math::Vector2d(0, 1), subMesh->TexCoord(2u));
+
+  auto smb = mesh->SubMeshByIndex(1u);
+  auto subMeshB = smb.lock();
+  EXPECT_NE(nullptr, subMeshB);
+  EXPECT_EQ(math::Vector3d(10, 0, 0), subMeshB->Vertex(0u));
+  EXPECT_EQ(math::Vector3d(20, 0, 0), subMeshB->Vertex(1u));
+  EXPECT_EQ(math::Vector3d(20, 10, 0), subMeshB->Vertex(2u));
+  EXPECT_EQ(math::Vector3d(0, 0, 1), subMeshB->Normal(0u));
+  EXPECT_EQ(math::Vector3d(0, 0, 1), subMeshB->Normal(1u));
+  EXPECT_EQ(math::Vector3d(0, 0, 1), subMeshB->Normal(2u));
+  EXPECT_EQ(math::Vector2d(0, 1), subMeshB->TexCoord(0u));
+  EXPECT_EQ(math::Vector2d(0, 1), subMeshB->TexCoord(1u));
+  EXPECT_EQ(math::Vector2d(0, 1), subMeshB->TexCoord(2u));
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
diff --git a/graphics/src/CMakeLists.txt b/graphics/src/CMakeLists.txt
index cb8e64f8..b6de4d97 100644
--- a/graphics/src/CMakeLists.txt
+++ b/graphics/src/CMakeLists.txt
@@ -23,11 +23,18 @@ gz_build_tests(
 )
 
 # Assimp doesn't offer preprocessor version, use cmake to set a compatibility
-# mode for versions below 5.2.0
+# mode for versions below 5.2.0 and 5.1.0
 if(${GzAssimp_VERSION} STRLESS "5.2.0")
   message("Warning, assimp below 5.2.0 detected, setting compatibility mode")
   target_compile_definitions(${graphics_target} PRIVATE GZ_ASSIMP_PRE_5_2_0)
   if(TARGET UNIT_AssimpLoader_TEST)
     target_compile_definitions(UNIT_AssimpLoader_TEST PRIVATE GZ_ASSIMP_PRE_5_2_0)
   endif()
+  if(${GzAssimp_VERSION} STRLESS "5.1.0")
+    message("Warning, assimp below 5.1.0 detected, setting compatibility mode")
+    target_compile_definitions(${graphics_target} PRIVATE GZ_ASSIMP_PRE_5_1_0)
+    if(TARGET UNIT_AssimpLoader_TEST)
+      target_compile_definitions(UNIT_AssimpLoader_TEST PRIVATE GZ_ASSIMP_PRE_5_1_0)
+    endif()
+  endif()
 endif()
diff --git a/graphics/src/ColladaExporter_TEST.cc b/graphics/src/ColladaExporter_TEST.cc
index a6c7eb13..5b4851d2 100644
--- a/graphics/src/ColladaExporter_TEST.cc
+++ b/graphics/src/ColladaExporter_TEST.cc
@@ -112,6 +112,8 @@ TEST_F(ColladaExporter, ExportBox)
                 meshReloaded->SubMeshByIndex(i).lock()->TexCoord(j));
     }
   }
+  delete meshOriginal;
+  delete meshReloaded;
 }
 
 /////////////////////////////////////////////////
@@ -206,6 +208,8 @@ TEST_F(ColladaExporter, ExportCordlessDrill)
                 meshReloaded->SubMeshByIndex(i).lock()->TexCoord(j));
     }
   }
+  delete meshOriginal;
+  delete meshReloaded;
 }
 
 /////////////////////////////////////////////////
@@ -319,6 +323,10 @@ TEST_F(ColladaExporter, ExportMeshWithSubmeshes)
   EXPECT_EQ(outMesh.NormalCount(), meshReloaded->NormalCount());
   EXPECT_EQ(outMesh.TexCoordCount(),
       meshReloaded->TexCoordCount());
+
+  delete boxMesh;
+  delete drillMesh;
+  delete meshReloaded;
 }
 
 TEST_F(ColladaExporter, ExportLights)
@@ -448,4 +456,5 @@ TEST_F(ColladaExporter, ExportLights)
     }
   }
   EXPECT_EQ(node_with_light_count, 3);
+  delete meshOriginal;
 }
diff --git a/graphics/src/ColladaLoader.cc b/graphics/src/ColladaLoader.cc
index cbcb0bf7..2040222e 100644
--- a/graphics/src/ColladaLoader.cc
+++ b/graphics/src/ColladaLoader.cc
@@ -366,9 +366,7 @@ ColladaLoader::ColladaLoader()
 }
 
 //////////////////////////////////////////////////
-ColladaLoader::~ColladaLoader()
-{
-}
+ColladaLoader::~ColladaLoader() = default;
 
 //////////////////////////////////////////////////
 Mesh *ColladaLoader::Load(const std::string &_filename)
@@ -772,13 +770,16 @@ void ColladaLoader::Implementation::LoadController(
   {
     SkeletonNode *rootSkelNode =
         this->LoadSkeletonNodes(rootNodeXml, nullptr);
+
     if (nullptr == skeleton)
     {
-      skeleton = SkeletonPtr(new Skeleton(rootSkelNode));
+      skeleton = std::make_shared<Skeleton>(rootSkelNode);
       _mesh->SetSkeleton(skeleton);
     }
     else if (nullptr != rootSkelNode)
+    {
       this->MergeSkeleton(skeleton, rootSkelNode);
+    }
   }
   if (nullptr == skeleton)
   {
@@ -1191,7 +1192,7 @@ SkeletonNode *ColladaLoader::Implementation::LoadSkeletonNodes(
     return nullptr;
   }
 
-  auto node = this->LoadSingleSkeletonNode(_xml, _parent);
+  auto *node = this->LoadSingleSkeletonNode(_xml, _parent);
   this->SetSkeletonNodeTransform(_xml, node);
 
   auto childXml = _xml->FirstChildElement("node");
@@ -2800,8 +2801,14 @@ void ColladaLoader::Implementation::MergeSkeleton(SkeletonPtr _skeleton,
   if (currentRoot->Id() == _mergeNode->Id())
     return;
 
-  if (_mergeNode->ChildById(currentRoot->Id()))
+  auto *rootInMergeNode = _mergeNode->ChildById(currentRoot->Id());
+
+  if (rootInMergeNode != nullptr)
   {
+    if (rootInMergeNode != currentRoot)
+    {
+      delete currentRoot;
+    }
     _skeleton->RootNode(_mergeNode);
     return;
   }
@@ -2822,8 +2829,21 @@ void ColladaLoader::Implementation::MergeSkeleton(SkeletonPtr _skeleton,
     }
     if (mergeNodeContainsRoot)
     {
+      std::function<void(SkeletonNode*)> delete_children;
+      delete_children =
+        [&delete_children](SkeletonNode *node)-> void {
+          for (size_t ii = 0; ii < node->ChildCount(); ++ii)
+          {
+            auto *child = node->Child(ii);
+            delete_children(child);
+            delete child;
+          }
+      };
+
+      // Since we are replacing the whole tree, recursively clean up
+      // the existing skeleton nodes
       _skeleton->RootNode(_mergeNode);
-      // TODO(anyone) since we are replacing the whole tree delete the old one
+      delete_children(currentRoot);
       delete currentRoot;
       return;
     }
@@ -2834,6 +2854,7 @@ void ColladaLoader::Implementation::MergeSkeleton(SkeletonPtr _skeleton,
     dummyRoot =
         new SkeletonNode(nullptr, "dummy-root", "dummy-root");
   }
+
   if (dummyRoot != currentRoot)
   {
     dummyRoot->AddChild(currentRoot);
diff --git a/graphics/src/ColladaLoader_TEST.cc b/graphics/src/ColladaLoader_TEST.cc
index 1d1e9c97..87540999 100644
--- a/graphics/src/ColladaLoader_TEST.cc
+++ b/graphics/src/ColladaLoader_TEST.cc
@@ -49,6 +49,7 @@ TEST_F(ColladaLoader, LoadBox)
 
   // Make sure we can read a submesh name
   EXPECT_STREQ("Cube", mesh->SubMeshByIndex(0).lock()->Name().c_str());
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -100,6 +101,7 @@ TEST_F(ColladaLoader, ShareVertices)
       }
     }
   }
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -124,6 +126,7 @@ TEST_F(ColladaLoader, LoadZeroCount)
   EXPECT_NE(log.find("Normal source has a float_array with a count of zero"),
       std::string::npos);
 #endif
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -179,6 +182,9 @@ TEST_F(ColladaLoader, Material)
   matOpaque->BlendFactors(srcFactor, dstFactor);
   EXPECT_DOUBLE_EQ(1.0, srcFactor);
   EXPECT_DOUBLE_EQ(0.0, dstFactor);
+
+  delete mesh;
+  delete meshOpaque;
 }
 
 /////////////////////////////////////////////////
@@ -266,6 +272,7 @@ TEST_F(ColladaLoader, TexCoordSets)
 
   subMeshB->SetTexCoordBySet(2u, math::Vector2d(0.1, 0.2), 1u);
   EXPECT_EQ(math::Vector2d(0.1, 0.2), subMeshB->TexCoordBySet(2u, 1u));
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -302,6 +309,7 @@ TEST_F(ColladaLoader, LoadBoxWithAnimationOutsideSkeleton)
         0, 0, 1, 0,
         0, 0, 0, 1);
   EXPECT_EQ(expectedTrans, poseEnd.at("Armature"));
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -320,6 +328,7 @@ TEST_F(ColladaLoader, LoadBoxInstControllerWithoutSkeleton)
   common::SkeletonPtr skeleton = mesh->MeshSkeleton();
   EXPECT_LT(0u, skeleton->NodeCount());
   EXPECT_NE(nullptr, skeleton->NodeById("Armature_Bone"));
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -347,6 +356,7 @@ TEST_F(ColladaLoader, LoadBoxMultipleInstControllers)
   common::SkeletonPtr skeleton = mesh->MeshSkeleton();
   EXPECT_NE(nullptr, skeleton->NodeById("Armature_Bone"));
   EXPECT_NE(nullptr, skeleton->NodeById("Armature_Bone2"));
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -383,6 +393,7 @@ TEST_F(ColladaLoader, LoadBoxNestedAnimation)
         0, 0, 1, 0,
         0, 0, 0, 1);
   EXPECT_EQ(expectedTrans, poseEnd.at("Bone"));
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -398,6 +409,7 @@ TEST_F(ColladaLoader, LoadBoxWithDefaultStride)
   EXPECT_EQ(1u, mesh->MaterialCount());
   EXPECT_EQ(35u, mesh->TexCoordCount());
   ASSERT_EQ(1u, mesh->MeshSkeleton()->AnimationCount());
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -415,6 +427,7 @@ TEST_F(ColladaLoader, LoadBoxWithMultipleGeoms)
   ASSERT_EQ(2u, mesh->SubMeshCount());
   EXPECT_EQ(24u, mesh->SubMeshByIndex(0).lock()->NodeAssignmentsCount());
   EXPECT_EQ(0u, mesh->SubMeshByIndex(1).lock()->NodeAssignmentsCount());
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -440,6 +453,7 @@ TEST_F(ColladaLoader, LoadBoxWithHierarchicalNodes)
 
   // Parent of nested node with name
   EXPECT_EQ("StaticCubeParent2", mesh->SubMeshByIndex(4).lock()->Name());
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -453,6 +467,7 @@ TEST_F(ColladaLoader, MergeBoxWithDoubleSkeleton)
   // The two skeletons have been joined and their root is the
   // animation root, called Armature
   EXPECT_EQ(skeleton_ptr->RootNode()->Name(), std::string("Armature"));
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -488,6 +503,7 @@ TEST_F(ColladaLoader, LoadCylinderAnimatedFrom3dsMax)
   EXPECT_EQ("Bone02", anim->Name());
   EXPECT_EQ(1u, anim->NodeCount());
   EXPECT_TRUE(anim->HasNode("Bone02"));
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
diff --git a/graphics/src/Image.cc b/graphics/src/Image.cc
index a8f77d68..03aadd9d 100644
--- a/graphics/src/Image.cc
+++ b/graphics/src/Image.cc
@@ -268,10 +268,22 @@ void Image::SetFromCompressedData(unsigned char *_data,
     FreeImage_Unload(this->dataPtr->bitmap);
   this->dataPtr->bitmap = nullptr;
 
-  if (_format == COMPRESSED_PNG)
+  FREE_IMAGE_FORMAT format = FIF_UNKNOWN;
+  switch (_format)
+  {
+    case COMPRESSED_PNG:
+      format = FIF_PNG;
+      break;
+    case COMPRESSED_JPEG:
+      format = FIF_JPEG;
+      break;
+    default:
+      break;
+  }
+  if (format != FIF_UNKNOWN)
   {
     FIMEMORY *fiMem = FreeImage_OpenMemory(_data, _size);
-    this->dataPtr->bitmap = FreeImage_LoadFromMemory(FIF_PNG, fiMem);
+    this->dataPtr->bitmap = FreeImage_LoadFromMemory(format, fiMem);
     FreeImage_CloseMemory(fiMem);
   }
   else
@@ -415,7 +427,8 @@ math::Color Image::Pixel(unsigned int _x, unsigned int _y) const
         << _x << " " << _y << "] \n";
       return clr;
     }
-    clr.Set(firgb.rgbRed, firgb.rgbGreen, firgb.rgbBlue);
+    clr.Set(firgb.rgbRed / 255.0f, firgb.rgbGreen / 255.0f,
+            firgb.rgbBlue / 255.0f);
   }
   else
   {
@@ -488,7 +501,8 @@ math::Color Image::MaxColor() const
             << x << " " << y << "] \n";
           continue;
         }
-        clr.Set(firgb.rgbRed, firgb.rgbGreen, firgb.rgbBlue);
+        clr.Set(firgb.rgbRed / 255.0f, firgb.rgbGreen / 255.0f,
+                firgb.rgbBlue / 255.0f);
 
         if (clr.R() + clr.G() + clr.B() > maxClr.R() + maxClr.G() + maxClr.B())
         {
@@ -570,8 +584,17 @@ BOOL Image::Implementation::PixelIndex(
 //////////////////////////////////////////////////
 void Image::Rescale(int _width, int _height)
 {
-  this->dataPtr->bitmap = FreeImage_Rescale(
+  auto *scaled = FreeImage_Rescale(
       this->dataPtr->bitmap, _width, _height, FILTER_LANCZOS3);
+
+  if (!scaled)
+  {
+    gzerr << "Failed to rescale image\n";
+    return;
+  }
+
+  FreeImage_Unload(this->dataPtr->bitmap);
+  this->dataPtr->bitmap = scaled;
 }
 
 //////////////////////////////////////////////////
diff --git a/graphics/src/OBJLoader_TEST.cc b/graphics/src/OBJLoader_TEST.cc
index aa2b7941..8ed7571f 100644
--- a/graphics/src/OBJLoader_TEST.cc
+++ b/graphics/src/OBJLoader_TEST.cc
@@ -59,6 +59,8 @@ TEST_F(OBJLoaderTest, LoadObjBox)
   EXPECT_EQ(mat->Diffuse(), math::Color(0.512f, 0.512f, 0.512f, 1.0f));
   EXPECT_EQ(mat->Specular(), math::Color(0.25, 0.25, 0.25, 1.0));
   EXPECT_DOUBLE_EQ(mat->Transparency(), 0.0);
+
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -73,6 +75,7 @@ TEST_F(OBJLoaderTest, InvalidMaterial)
   gz::common::Mesh *mesh = objLoader.Load(meshFilename);
 
   EXPECT_TRUE(mesh != nullptr);
+  delete mesh;
 }
 
 /////////////////////////////////////////////////
@@ -104,6 +107,7 @@ TEST_F(OBJLoaderTest, PBR)
     EXPECT_EQ("LightDome_Metalness.png", pbr->MetalnessMap());
     EXPECT_EQ("LightDome_Roughness.png", pbr->RoughnessMap());
     EXPECT_EQ("LightDome_Normal.png", pbr->NormalMap());
+    delete mesh;
   }
 
   // load obj file exported by blender - it shoves pbr maps into
@@ -131,5 +135,6 @@ TEST_F(OBJLoaderTest, PBR)
     EXPECT_EQ("mesh_Metal.png", pbr->MetalnessMap());
     EXPECT_EQ("mesh_Rough.png", pbr->RoughnessMap());
     EXPECT_EQ("mesh_Normal.png", pbr->NormalMap());
+    delete mesh;
   }
 }
diff --git a/graphics/src/STLLoader_TEST.cc b/graphics/src/STLLoader_TEST.cc
index 7fd1e1d5..15189896 100644
--- a/graphics/src/STLLoader_TEST.cc
+++ b/graphics/src/STLLoader_TEST.cc
@@ -61,6 +61,7 @@ TEST_F(STLLoaderTest, LoadSTL)
   EXPECT_EQ(math::Vector3d(0, 0, -1), subMesh->Normal(2u));
 
   EXPECT_STREQ("", mesh->SubMeshByIndex(0).lock()->Name().c_str());
+  delete mesh;
 
   mesh = loader.Load(
       common::testing::TestFile("data", "cube_binary.stl"));
@@ -88,4 +89,5 @@ TEST_F(STLLoaderTest, LoadSTL)
   EXPECT_EQ(math::Vector3d(0, 0, -1), subMesh->Normal(2u));
 
   EXPECT_STREQ("", mesh->SubMeshByIndex(0).lock()->Name().c_str());
+  delete mesh;
 }
diff --git a/graphics/src/Skeleton.cc b/graphics/src/Skeleton.cc
index cf0bfb95..f63f4f0b 100644
--- a/graphics/src/Skeleton.cc
+++ b/graphics/src/Skeleton.cc
@@ -72,10 +72,9 @@ Skeleton::Skeleton()
 
 //////////////////////////////////////////////////
 Skeleton::Skeleton(SkeletonNode *_root)
-: dataPtr(gz::utils::MakeUniqueImpl<Implementation>())
+: Skeleton()
 {
-  this->dataPtr->root = _root;
-  this->BuildNodeMap();
+  this->RootNode(_root);
 }
 
 //////////////////////////////////////////////////
diff --git a/graphics/src/SkeletonAnimation_TEST.cc b/graphics/src/SkeletonAnimation_TEST.cc
index 61e74869..eecb8a36 100644
--- a/graphics/src/SkeletonAnimation_TEST.cc
+++ b/graphics/src/SkeletonAnimation_TEST.cc
@@ -32,4 +32,6 @@ TEST_F(SkeletonAnimation, CheckNoXDisplacement)
     new common::SkeletonAnimation("emptyAnimation");
   auto xDisplacement = skelAnim->XDisplacement();
   ASSERT_FALSE(xDisplacement);
+
+  delete skelAnim;
 }
diff --git a/graphics/src/SkeletonNode.cc b/graphics/src/SkeletonNode.cc
index dc562acf..b3e3e0c1 100644
--- a/graphics/src/SkeletonNode.cc
+++ b/graphics/src/SkeletonNode.cc
@@ -87,9 +87,7 @@ SkeletonNode::SkeletonNode(SkeletonNode *_parent,
 }
 
 //////////////////////////////////////////////////
-SkeletonNode::~SkeletonNode()
-{
-}
+SkeletonNode::~SkeletonNode() = default;
 
 //////////////////////////////////////////////////
 void SkeletonNode::Name(const std::string &_name)
diff --git a/profiler/src/ProfilerImpl.hh b/profiler/src/ProfilerImpl.hh
index 1df02934..c8234ca7 100644
--- a/profiler/src/ProfilerImpl.hh
+++ b/profiler/src/ProfilerImpl.hh
@@ -18,6 +18,7 @@
 #ifndef GZ_COMMON_PROFILERIMPL_HH_
 #define GZ_COMMON_PROFILERIMPL_HH_
 
+#include <cstdint>
 #include <string>
 
 namespace gz
diff --git a/src/EnumIface_TEST.cc b/src/EnumIface_TEST.cc
index 8f21f02c..1b16c626 100644
--- a/src/EnumIface_TEST.cc
+++ b/src/EnumIface_TEST.cc
@@ -43,7 +43,7 @@ auto myTypeIface = gz::common::gzEnum(
 /////////////////////////////////////////////////
 TEST_F(EnumIfaceTest, StringCoversion)
 {
-  MyType type;
+  MyType type = MyType::TYPE2;
 
   // Set value from string
   myTypeIface.Set(type, "TYPE1");
diff --git a/test/data/box_texture_jpg.glb b/test/data/box_texture_jpg.glb
new file mode 100644
index 00000000..6260273c
Binary files /dev/null and b/test/data/box_texture_jpg.glb differ
diff --git a/test/data/box_transmission.glb b/test/data/box_transmission.glb
new file mode 100644
index 00000000..adc74d38
Binary files /dev/null and b/test/data/box_transmission.glb differ
diff --git a/test/data/multiple_texture_coordinates_triangle.glb b/test/data/multiple_texture_coordinates_triangle.glb
new file mode 100644
index 00000000..547c93e3
Binary files /dev/null and b/test/data/multiple_texture_coordinates_triangle.glb differ