diff --git a/perception/mil_vision/CMakeLists.txt b/perception/mil_vision/CMakeLists.txt
index dda345ad..3e2c246b 100644
--- a/perception/mil_vision/CMakeLists.txt
+++ b/perception/mil_vision/CMakeLists.txt
@@ -24,6 +24,7 @@ find_package(catkin
     pcl_ros
     tf2_sensor_msgs
     tf2_geometry_msgs
+    mil_tools
 )
 
 find_package(PCL 1.7 REQUIRED)
@@ -83,7 +84,7 @@ add_library(
     src/mil_vision_lib/colorizer/color_observation.cpp
 )
 target_include_directories(mil_vision_lib PUBLIC include/mil_vision_lib)
-target_link_libraries(mil_vision_lib mil_tools_lib ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${PCL_COMMON_LIBRARIES} ${PCL_COMMON_LIBRARIES})
+target_link_libraries(mil_vision_lib ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${PCL_COMMON_LIBRARIES} ${PCL_COMMON_LIBRARIES})
 
 add_executable(camera_stream_demo nodes/camera_stream_demo.cpp)
 add_dependencies(camera_stream_demo mil_vision_lib ${catkin_EXPORTED_TARGETS})
diff --git a/perception/mil_vision/include/mil_vision_lib/active_contours.hpp b/perception/mil_vision/include/mil_vision_lib/active_contours.hpp
index f3a4d658..ed187f0e 100644
--- a/perception/mil_vision/include/mil_vision_lib/active_contours.hpp
+++ b/perception/mil_vision/include/mil_vision_lib/active_contours.hpp
@@ -14,7 +14,7 @@
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/highgui/highgui.hpp>
 
-namespace nav
+namespace mil_vision
 {
 
 class SegmentDescription;
@@ -65,4 +65,4 @@ class ActiveContour
   ActiveContour();
 };
   
-}  // namespace nav
+}  // namespace mil_vision
diff --git a/perception/mil_vision/include/mil_vision_lib/colorizer/camera_observer.hpp b/perception/mil_vision/include/mil_vision_lib/colorizer/camera_observer.hpp
index 73950829..58eefcc3 100644
--- a/perception/mil_vision/include/mil_vision_lib/colorizer/camera_observer.hpp
+++ b/perception/mil_vision/include/mil_vision_lib/colorizer/camera_observer.hpp
@@ -6,7 +6,7 @@
 #include <image_geometry/pinhole_camera_model.h>
 #include <opencv2/core/eigen.hpp>
 
-namespace nav{
+namespace mil_vision{
   
 class CameraObserver
 {
@@ -42,4 +42,4 @@ class CameraObserver
 
 };
 
-}  // namespace nav
+}  // namespace mil_vision
diff --git a/perception/mil_vision/include/mil_vision_lib/colorizer/color_observation.hpp b/perception/mil_vision/include/mil_vision_lib/colorizer/color_observation.hpp
index 890f8dff..fb7ec651 100644
--- a/perception/mil_vision/include/mil_vision_lib/colorizer/color_observation.hpp
+++ b/perception/mil_vision/include/mil_vision_lib/colorizer/color_observation.hpp
@@ -6,7 +6,7 @@
 #include <Eigen/Core>
 
 
-namespace nav{
+namespace mil_vision{
 
 struct alignas(16) ColorObservation
 {
@@ -42,4 +42,4 @@ struct PointColorStats
   int n;
 };
 
-}  //namespace nav
\ No newline at end of file
+}  //namespace mil_vision
\ No newline at end of file
diff --git a/perception/mil_vision/include/mil_vision_lib/colorizer/common.hpp b/perception/mil_vision/include/mil_vision_lib/colorizer/common.hpp
index 465e6240..2930fd3f 100644
--- a/perception/mil_vision/include/mil_vision_lib/colorizer/common.hpp
+++ b/perception/mil_vision/include/mil_vision_lib/colorizer/common.hpp
@@ -20,11 +20,11 @@
 #include <future>
 #include <list>
 
-namespace nav{
+namespace mil_vision{
 
 template<typename T = pcl::PointXYZ> using PCD = pcl::PointCloud<T>;
 template<typename T = pcl::PointXYZ> using PCDPtr = std::shared_ptr<PCD<T>>;
 template<typename T> using SPtrVector = std::vector<std::shared_ptr<T>>;
 template<typename T> using UPtrVector = std::vector<std::unique_ptr<T>>;
 
-} // namespace nav
\ No newline at end of file
+} // namespace mil_vision
\ No newline at end of file
diff --git a/perception/mil_vision/include/mil_vision_lib/colorizer/pcd_colorizer.hpp b/perception/mil_vision/include/mil_vision_lib/colorizer/pcd_colorizer.hpp
index a81b1747..03a81e67 100644
--- a/perception/mil_vision/include/mil_vision_lib/colorizer/pcd_colorizer.hpp
+++ b/perception/mil_vision/include/mil_vision_lib/colorizer/pcd_colorizer.hpp
@@ -8,7 +8,7 @@
 #include <pcl_ros/transforms.h>
 #include <tf/transform_listener.h>
 
-namespace nav{
+namespace mil_vision{
 
 class PcdColorizer{
   /*
@@ -69,4 +69,4 @@ class PcdColorizer{
 
 }; // end class PcdColorizer
 
-} // namespace nav
+} // namespace mil_vision
diff --git a/perception/mil_vision/include/mil_vision_lib/colorizer/single_cloud_processor.hpp b/perception/mil_vision/include/mil_vision_lib/colorizer/single_cloud_processor.hpp
index 675c0a5c..446b9b78 100644
--- a/perception/mil_vision/include/mil_vision_lib/colorizer/single_cloud_processor.hpp
+++ b/perception/mil_vision/include/mil_vision_lib/colorizer/single_cloud_processor.hpp
@@ -7,7 +7,7 @@
 #include <pcl_ros/transforms.h>
 #include <tf/transform_listener.h>
 
-namespace nav {
+namespace mil_vision {
 
 class SingleCloudProcessor
 {
@@ -38,4 +38,4 @@ class SingleCloudProcessor
 
 };
 
-}  // namespace nav
+}  // namespace mil_vision
diff --git a/perception/mil_vision/include/mil_vision_lib/cv_tools.hpp b/perception/mil_vision/include/mil_vision_lib/cv_tools.hpp
index 3a9fba30..bd608942 100644
--- a/perception/mil_vision/include/mil_vision_lib/cv_tools.hpp
+++ b/perception/mil_vision/include/mil_vision_lib/cv_tools.hpp
@@ -23,7 +23,7 @@
 
 // #define SEGMENTATION_DEBUG
 
-namespace nav {
+namespace mil_vision {
 
 /// UTILS
 
diff --git a/perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_frame.hpp b/perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_frame.hpp
index dee3c788..c3cf6c5a 100644
--- a/perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_frame.hpp
+++ b/perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_frame.hpp
@@ -11,7 +11,7 @@
 #include <exception>
 
 
-namespace nav
+namespace mil_vision
 {
 
 enum class PixelType
@@ -139,7 +139,7 @@ class CameraFrame
     float_t _img_scale = 1.0f;
 
     // Stores the pixel data type
-    nav::PixelType TYPE = nav::PixelType::_UNKNOWN;
+    mil_vision::PixelType TYPE = mil_vision::PixelType::_UNKNOWN;
 
 
     ///////////////////////////////////////////////////////////////////////////////////////////////
@@ -198,5 +198,5 @@ catch(const std::exception &e)
     ROS_WARN(e.what());
 }
 
-}  // namespace nav
+}  // namespace mil_vision
 
diff --git a/perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_frame_sequence.hpp b/perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_frame_sequence.hpp
index 7b34d7ee..3369f122 100644
--- a/perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_frame_sequence.hpp
+++ b/perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_frame_sequence.hpp
@@ -6,7 +6,7 @@
 #include <vector>
 #include <memory>
 
-namespace nav
+namespace mil_vision
 {
 
 template<typename cam_model_ptr_t, typename img_scalar_t, typename time_t_,typename float_t = float>
@@ -68,4 +68,4 @@ class CameraFrameSequence
 
 };
 
-}  // namespace nav
\ No newline at end of file
+}  // namespace mil_vision
\ No newline at end of file
diff --git a/perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_model.hpp b/perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_model.hpp
index 477b5497..3e6c7ee2 100644
--- a/perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_model.hpp
+++ b/perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_model.hpp
@@ -3,7 +3,7 @@
 #include <Eigen/Core>
 #include <ros/ros.h>
 
-namespace nav{
+namespace mil_vision{
 
 template<typename T = float>
 class CameraModel{
@@ -59,4 +59,4 @@ Eigen::Matrix<T, 3, 4> CameraModel<T>::get_projection_matrix()
     return K * R * aug; 
 }
 
-} // namespace nav
\ No newline at end of file
+} // namespace mil_vision
\ No newline at end of file
diff --git a/perception/mil_vision/include/mil_vision_lib/image_acquisition/ros_camera_stream.hpp b/perception/mil_vision/include/mil_vision_lib/image_acquisition/ros_camera_stream.hpp
index d68f23e3..bfe1a120 100644
--- a/perception/mil_vision/include/mil_vision_lib/image_acquisition/ros_camera_stream.hpp
+++ b/perception/mil_vision/include/mil_vision_lib/image_acquisition/ros_camera_stream.hpp
@@ -18,7 +18,7 @@
 #include <iostream>
 
 
-namespace nav
+namespace mil_vision
 {
 
 template<typename img_scalar_t = uint8_t, typename float_t = float>
@@ -130,7 +130,7 @@ class ROSCameraStream : public CameraFrameSequence<std::shared_ptr<image_geometr
   // Shared CameraFrame properties if camera geometry is constant
   int COLS = -1;
   int ROWS = -1;
-  nav::PixelType TYPE = nav::PixelType::_UNKNOWN;
+  mil_vision::PixelType TYPE = mil_vision::PixelType::_UNKNOWN;
 
   // Mutex for multithreaded access to camera frame data
   std::mutex _mtx;
@@ -168,7 +168,7 @@ class ROSCameraStream : public CameraFrameSequence<std::shared_ptr<image_geometr
 template<typename img_scalar_t, typename float_t>
 bool ROSCameraStream<img_scalar_t, float_t>::init(std::string &camera_topic)
 {
-  using mil::tools::operator "" _s;  // convert raw string literal to std::string
+  using mil_tools::operator "" _s;  // convert raw string literal to std::string
   _img_topic = camera_topic;
   bool success = false;
   image_transport::CameraSubscriber cam_sub;
@@ -237,7 +237,7 @@ template<typename img_scalar_t, typename float_t>
 typename ROSCameraStream<img_scalar_t, float_t>::CamFrameConstPtr
 ROSCameraStream<img_scalar_t, float_t>::getFrameFromTime(ros::Time desired_time)
 {
-  using mil::tools::operator "" _s;
+  using mil_tools::operator "" _s;
 
   // Check bounds on time
   if(desired_time < this->_start_time || desired_time > this->_end_time)
@@ -269,7 +269,7 @@ template<typename img_scalar_t, typename float_t>
 typename ROSCameraStream<img_scalar_t, float_t>::CamFrameConstPtr 
 ROSCameraStream<img_scalar_t, float_t>::operator[](int i)
 {
-  using mil::tools::operator "" _s;
+  using mil_tools::operator "" _s;
 
   // Prevent adding new frames while frames are being accessed
   _mtx.lock();
@@ -337,4 +337,4 @@ ROSCameraStream<img_scalar_t, float_t>::~ROSCameraStream()
   _cb_queue.disable();
 }
 
-} // namespace nav
\ No newline at end of file
+} // namespace mil_vision
diff --git a/perception/mil_vision/include/mil_vision_lib/image_filtering.hpp b/perception/mil_vision/include/mil_vision_lib/image_filtering.hpp
index 7200f102..3b7b08cf 100644
--- a/perception/mil_vision/include/mil_vision_lib/image_filtering.hpp
+++ b/perception/mil_vision/include/mil_vision_lib/image_filtering.hpp
@@ -7,7 +7,7 @@
 
 #include <mil_tools/mil_tools.hpp>
 
-namespace nav
+namespace mil_vision
 {
 
 /*
@@ -39,4 +39,4 @@ cv::Mat makeRotInvariant(const cv::Mat &kernel, int rotations=8);
 */
 float getRadialSymmetryAngle(const cv::Mat &kernel, float ang_res=0.1, bool deg=false);
 
-} // namespace nav
+} // namespace mil_vision
diff --git a/perception/mil_vision/include/mil_vision_lib/pcd_sub_pub_algorithm.hpp b/perception/mil_vision/include/mil_vision_lib/pcd_sub_pub_algorithm.hpp
index 42f3b700..7ef4bd3e 100644
--- a/perception/mil_vision/include/mil_vision_lib/pcd_sub_pub_algorithm.hpp
+++ b/perception/mil_vision/include/mil_vision_lib/pcd_sub_pub_algorithm.hpp
@@ -7,7 +7,7 @@
 #include <functional>
 
 
-namespace nav{
+namespace mil_vision{
 
 template <typename output_T = pcl::PointXYZ, typename input_T = pcl::PointXYZ>
 class PcdSubPubAlgorithm{
@@ -78,4 +78,4 @@ class PcdSubPubAlgorithm{
   std::string _err_msg;
 };
 
-}  //namespace nav
\ No newline at end of file
+}  //namespace mil_vision
\ No newline at end of file
diff --git a/perception/mil_vision/include/mil_vision_lib/point_cloud_algorithms.hpp b/perception/mil_vision/include/mil_vision_lib/point_cloud_algorithms.hpp
index 12558c2b..295dddcf 100644
--- a/perception/mil_vision/include/mil_vision_lib/point_cloud_algorithms.hpp
+++ b/perception/mil_vision/include/mil_vision_lib/point_cloud_algorithms.hpp
@@ -8,7 +8,7 @@
 #include <pcl_ros/point_cloud.h>
 #include <pcl_ros/transforms.h>
 
-namespace nav{
+namespace mil_vision {
 
 class PcdSubPubAlgorithm{
   /*
@@ -67,4 +67,4 @@ class PcdColorizer : public PcdSubPubAlgorithm{
   sensor_msgs::CameraInfoConstPtr latest_frame_info_msg;
 };
 
-} // namwspace nav
\ No newline at end of file
+} // namwspace nav
diff --git a/perception/mil_vision/include/mil_vision_lib/visualization.hpp b/perception/mil_vision/include/mil_vision_lib/visualization.hpp
index d3c420c0..00b92f56 100644
--- a/perception/mil_vision/include/mil_vision_lib/visualization.hpp
+++ b/perception/mil_vision/include/mil_vision_lib/visualization.hpp
@@ -8,7 +8,7 @@
 #include "ros/ros.h"
 #include "geometry_msgs/Pose.h"
 
-namespace nav {
+namespace mil_vision {
 
 // ******* 3D Visualization *******
 class RvizVisualizer {
diff --git a/perception/mil_vision/nodes/camera_stream_demo.cpp b/perception/mil_vision/nodes/camera_stream_demo.cpp
index b6d6fae1..adbab43a 100755
--- a/perception/mil_vision/nodes/camera_stream_demo.cpp
+++ b/perception/mil_vision/nodes/camera_stream_demo.cpp
@@ -15,7 +15,7 @@ int main(int argc, char **argv)
 
   // Template argument should be cv::Vec3b for color images or uint8_t 
   // For grayscale images
-  nav::ROSCameraStream<cv::Vec3b> left_cam_stream(nh, history_length);  // Constructs empty inactive
+  mil_vision::ROSCameraStream<cv::Vec3b> left_cam_stream(nh, history_length);  // Constructs empty inactive
                                                                         // camera stream object
   if(!left_cam_stream.init(cam_topic)) // Initializes object, if sucessful, object will automatically 
     return -1;                         // store a history of images published to cam_topic in its buffer
diff --git a/perception/mil_vision/src/mil_vision_lib/active_contours.cpp b/perception/mil_vision/src/mil_vision_lib/active_contours.cpp
index e12ad7ed..a5fb1006 100644
--- a/perception/mil_vision/src/mil_vision_lib/active_contours.cpp
+++ b/perception/mil_vision/src/mil_vision_lib/active_contours.cpp
@@ -3,7 +3,7 @@
 using namespace std;
 using namespace cv;
 
-namespace nav
+namespace mil_vision
 {
 
 namespace Perturbations
@@ -226,7 +226,7 @@ bool ClosedCurve::validateCurve(std::vector<cv::Point2i>& curve)
       if(count > 1)
       {
         auto conflict_pt = find_if(forbidden_neighbors.begin(), forbidden_neighbors.end(),
-          [pt](Point2i test_pt){ return nav::Perturbations::isNeighborPoint(pt, test_pt); });
+          [pt](Point2i test_pt){ return mil_vision::Perturbations::isNeighborPoint(pt, test_pt); });
         cout << "failure pts: " << curve[1] << "\t" << (conflict_pt != forbidden_neighbors.end()? Point2i(0,0) : *conflict_pt) << endl;
         return false;
       }
@@ -236,7 +236,7 @@ bool ClosedCurve::validateCurve(std::vector<cv::Point2i>& curve)
       if(count > 0)
       {
         auto conflict_pt = find_if(forbidden_neighbors.begin(), forbidden_neighbors.end(),
-          [pt](Point2i test_pt){ return nav::Perturbations::isNeighborPoint(pt, test_pt); });
+          [pt](Point2i test_pt){ return mil_vision::Perturbations::isNeighborPoint(pt, test_pt); });
         cout << "failure pts: " << curve[1] << "\t" << (conflict_pt != forbidden_neighbors.end()? Point2i(0,0) : *conflict_pt) << endl;
         return false;
       }
@@ -250,4 +250,4 @@ vector<float> calcCosts(const Mat& img, vector<ClosedCurve::Perturbation> candid
 
 }
 
-}  // namespace nav
+}  // namespace mil_vision
diff --git a/perception/mil_vision/src/mil_vision_lib/colorizer/camera_observer.cpp b/perception/mil_vision/src/mil_vision_lib/colorizer/camera_observer.cpp
index eac494fe..99b83fdd 100644
--- a/perception/mil_vision/src/mil_vision_lib/colorizer/camera_observer.cpp
+++ b/perception/mil_vision/src/mil_vision_lib/colorizer/camera_observer.cpp
@@ -1,8 +1,8 @@
 #include <colorizer/camera_observer.hpp>
 
-namespace nav{
+namespace mil_vision{
 
-using mil::tools::operator "" _s; // converts to std::string
+using mil_tools::operator "" _s; // converts to std::string
   
 CameraObserver::CameraObserver(ros::NodeHandle &nh, std::string &pcd_in_topic, std::string &cam_topic, size_t hist_size)
 : _nh{nh}, _cam_stream{nh, hist_size}
@@ -70,4 +70,4 @@ ColorObservation::VecImg CameraObserver::get_color_observations(const PCD<pcl::P
   
 }
 
-}  // namespace nav
+}  // namespace mil_vision
diff --git a/perception/mil_vision/src/mil_vision_lib/colorizer/color_observation.cpp b/perception/mil_vision/src/mil_vision_lib/colorizer/color_observation.cpp
index bc8ec4e6..41f4867c 100644
--- a/perception/mil_vision/src/mil_vision_lib/colorizer/color_observation.cpp
+++ b/perception/mil_vision/src/mil_vision_lib/colorizer/color_observation.cpp
@@ -1,7 +1,7 @@
 #include <colorizer/color_observation.hpp>
 
 
-namespace nav{
+namespace mil_vision{
 
 UnoccludedPointsImg::UnoccludedPointsImg()
 // : frame_ptr(frame_ptr),
@@ -12,4 +12,4 @@ UnoccludedPointsImg::UnoccludedPointsImg()
 
 }
 
-} // namespace nav
\ No newline at end of file
+} // namespace mil_vision
\ No newline at end of file
diff --git a/perception/mil_vision/src/mil_vision_lib/colorizer/pcd_colorizer.cpp b/perception/mil_vision/src/mil_vision_lib/colorizer/pcd_colorizer.cpp
index 8e3f67a4..210843e6 100644
--- a/perception/mil_vision/src/mil_vision_lib/colorizer/pcd_colorizer.cpp
+++ b/perception/mil_vision/src/mil_vision_lib/colorizer/pcd_colorizer.cpp
@@ -3,13 +3,13 @@
 using namespace std;
 using namespace cv;
 
-namespace nav{
+namespace mil_vision{
 
 PcdColorizer::PcdColorizer(ros::NodeHandle nh, string input_pcd_topic)
   : _nh(nh), _img_hist_size{10}, _cloud_processor{nh, input_pcd_topic, _img_hist_size},
   _input_pcd_topic{input_pcd_topic}, _output_pcd_topic{input_pcd_topic + "_colored"}  
 {
-  using mil::tools::operator "" _s; // converts to std::string
+  using mil_tools::operator "" _s; // converts to std::string
 
   try
   {
@@ -52,7 +52,7 @@ void PcdColorizer::_cloud_cb(const PCD<>::ConstPtr &cloud_in)
 // {
 //   cout << "img hist size: " << _img_hist_size << endl;
 //   // Subscribe to all rectified color img topics
-//   auto rect_color_topics = mil::tools::getRectifiedImageTopics(true);
+//   auto rect_color_topics = mil_tools::getRectifiedImageTopics(true);
 //   if(rect_color_topics.size() == 0)
 //   {
 //     _err_msg += "COLORIZER: There are no rectified color camera topics currently publishing on this ROS master (";
@@ -170,4 +170,4 @@ void PcdColorizer::_cloud_cb(const PCD<>::ConstPtr &cloud_in)
 
 // }
 
-} // namespace nav
+} // namespace mil_vision
diff --git a/perception/mil_vision/src/mil_vision_lib/colorizer/single_cloud_processor.cpp b/perception/mil_vision/src/mil_vision_lib/colorizer/single_cloud_processor.cpp
index cd24af4e..4fdc8bf0 100644
--- a/perception/mil_vision/src/mil_vision_lib/colorizer/single_cloud_processor.cpp
+++ b/perception/mil_vision/src/mil_vision_lib/colorizer/single_cloud_processor.cpp
@@ -2,15 +2,15 @@
 
 // using namespace std;
 
-namespace nav {
+namespace mil_vision {
 
-using mil::tools::operator "" _s; // converts to std::string
+using mil_tools::operator "" _s; // converts to std::string
 
 SingleCloudProcessor::SingleCloudProcessor(ros::NodeHandle nh, std::string& in_pcd_topic, size_t hist_size)
 : _nh{nh}, _hist_size{hist_size}
 {
   ROS_INFO(("SingleCloudProcessor: Initializing with " + in_pcd_topic).c_str());
-  auto rect_color_topics = mil::tools::getRectifiedImageTopics(true);
+  auto rect_color_topics = mil_tools::getRectifiedImageTopics(true);
   if(rect_color_topics.size() == 0)
   {
     _err_msg += "COLORIZER: There are no rectified color camera topics currently publishing on this ROS master (";
@@ -55,4 +55,4 @@ void SingleCloudProcessor::operator()(const PCD<pcl::PointXYZ>::ConstPtr &pcd)
   // Summarize Confidence in each point color observation
 }
 
-}  // namespace nav
+}  // namespace mil_vision
diff --git a/perception/mil_vision/src/mil_vision_lib/cv_utils.cc b/perception/mil_vision/src/mil_vision_lib/cv_utils.cc
index a7f6de7d..07364acd 100644
--- a/perception/mil_vision/src/mil_vision_lib/cv_utils.cc
+++ b/perception/mil_vision/src/mil_vision_lib/cv_utils.cc
@@ -1,6 +1,6 @@
 #include <mil_vision_lib/cv_tools.hpp>
 
-namespace nav {
+namespace mil_vision {
 
 cv::Point contour_centroid(Contour &contour) {
   cv::Moments m = cv::moments(contour, true);
@@ -208,7 +208,7 @@ void statistical_image_segmentation(const cv::Mat &src, cv::Mat &dest,
 
   // Smooth histogram
   const int kernel_size = 11;
-  hist_smooth = nav::smooth_histogram(hist, kernel_size, sigma);
+  hist_smooth = mil_vision::smooth_histogram(hist, kernel_size, sigma);
 
   // Calculate histogram derivative (central finite difference)
   hist_derivative = hist_smooth.clone();
@@ -218,12 +218,12 @@ void statistical_image_segmentation(const cv::Mat &src, cv::Mat &dest,
     hist_derivative.at<float>(i) =
         (hist_smooth.at<float>(i + 1) - hist_smooth.at<float>(i - 1)) / 2.0;
   }
-  hist_derivative = nav::smooth_histogram(hist_derivative, kernel_size, sigma);
+  hist_derivative = mil_vision::smooth_histogram(hist_derivative, kernel_size, sigma);
 
   // Find target mode
   std::vector<cv::Point> histogram_modes =
-      nav::find_local_maxima(hist_smooth, 0.1);
-  int target_mode = nav::select_hist_mode(histogram_modes, target);
+      mil_vision::find_local_maxima(hist_smooth, 0.1);
+  int target_mode = mil_vision::select_hist_mode(histogram_modes, target);
   ros_log << "Target: " << target << std::endl;
   ros_log << "Mode Selected: " << target_mode << std::endl;
 
@@ -238,9 +238,9 @@ void statistical_image_segmentation(const cv::Mat &src, cv::Mat &dest,
   int low_abs_derivative_thresh =
       std::abs(hist_deriv_stddev[0] * low_thresh_gain);
   std::vector<cv::Point> derivative_maxima =
-      nav::find_local_maxima(hist_derivative, 0.01);
+      mil_vision::find_local_maxima(hist_derivative, 0.01);
   std::vector<cv::Point> derivative_minima =
-      nav::find_local_minima(hist_derivative, 0.01);
+      mil_vision::find_local_minima(hist_derivative, 0.01);
   int high_thresh_search_start = target_mode;
   int low_thresh_search_start = target_mode;
   ros_log << "high_thresh_search_start: " << target_mode << std::endl;
@@ -653,4 +653,4 @@ FrameHistory::get_frame_history(unsigned int frames_requested) {
   return frame_history;
 }
 
-} // namespace nav
+} // namespace mil_vision
diff --git a/perception/mil_vision/src/mil_vision_lib/image_filtering.cpp b/perception/mil_vision/src/mil_vision_lib/image_filtering.cpp
index 13c52ef4..a7bf1b1b 100644
--- a/perception/mil_vision/src/mil_vision_lib/image_filtering.cpp
+++ b/perception/mil_vision/src/mil_vision_lib/image_filtering.cpp
@@ -1,11 +1,11 @@
 #include <mil_vision_lib/image_filtering.hpp>
 
-namespace nav
+namespace mil_vision
 {
 
 cv::Mat rotateKernel(const cv::Mat &kernel, float theta, bool deg, bool no_expand)
 {
-  theta = deg? theta : theta * mil::PI / 180.0f;
+  theta = deg? theta : theta * mil_tools::PI / 180.0f;
   cv::Point2f c_org{kernel.cols * 0.5f, kernel.rows * 0.5f};  // center of original
 
   if(no_expand) // rotates without expanding the canvas
@@ -73,12 +73,12 @@ float getRadialSymmetryAngle(const cv::Mat &kernel, float ang_res, bool deg)
   cv::Mat elem_wise_mult{original.size(), CV_32S};
   cv::multiply(original, original, elem_wise_mult);
   auto standard = cv::sum(elem_wise_mult)[0];
-  float max = deg? 360.0f : 2 * mil::PI;
+  float max = deg? 360.0f : 2 * mil_tools::PI;
   float result = max;
   float best_score = 0;
   bool left_starting_region = false;
 
-  for(float theta = 0.0f; theta < max; theta += (deg? ang_res * 180.0f / mil::PI : ang_res))
+  for(float theta = 0.0f; theta < max; theta += (deg? ang_res * 180.0f / mil_tools::PI : ang_res))
   {
     cv::multiply(original, rotateKernel(original, theta, deg, true), elem_wise_mult);
     double score = standard / cv::sum(elem_wise_mult)[0];
@@ -109,4 +109,4 @@ float getRadialSymmetryAngle(const cv::Mat &kernel, float ang_res, bool deg)
   return result;
 }
 
-}  // namespace nav
+}  // namespace mil_vision
diff --git a/perception/mil_vision/src/mil_vision_lib/point_cloud_algorithms.cc b/perception/mil_vision/src/mil_vision_lib/point_cloud_algorithms.cc
index 88d7b854..a0d23231 100644
--- a/perception/mil_vision/src/mil_vision_lib/point_cloud_algorithms.cc
+++ b/perception/mil_vision/src/mil_vision_lib/point_cloud_algorithms.cc
@@ -3,7 +3,7 @@
 using namespace std;
 using namespace cv;
 
-namespace nav{
+namespace mil_vision {
 
 Mat g_color_sequence;
 
@@ -139,4 +139,4 @@ void PcdColorizer::_color_pcd(){
   }
 }
 
-} //namespace nav
\ No newline at end of file
+} //namespace mil_vision
diff --git a/perception/mil_vision/src/mil_vision_lib/visualization.cc b/perception/mil_vision/src/mil_vision_lib/visualization.cc
index f3f8293e..6f4ed049 100644
--- a/perception/mil_vision/src/mil_vision_lib/visualization.cc
+++ b/perception/mil_vision/src/mil_vision_lib/visualization.cc
@@ -1,7 +1,7 @@
 #include <mil_vision_lib/visualization.hpp>
 #include <visualization_msgs/Marker.h>
 
-namespace nav {
+namespace mil_vision {
 
 RvizVisualizer::RvizVisualizer(std::string rviz_topic) {
   rviz_pub = nh.advertise<visualization_msgs::Marker>(rviz_topic, 1);
diff --git a/utils/mil_msgs/CMakeLists.txt b/utils/mil_msgs/CMakeLists.txt
index a65ab09c..dac2cdae 100644
--- a/utils/mil_msgs/CMakeLists.txt
+++ b/utils/mil_msgs/CMakeLists.txt
@@ -5,14 +5,11 @@ find_package(catkin
     message_generation
     message_runtime
     geometry_msgs
-    tf
     actionlib
     interactive_markers
     std_msgs
     actionlib_msgs
-    cmake_modules
 )
-catkin_python_setup()
 
 add_action_files(FILES
   MoveTo.action
@@ -27,17 +24,10 @@ add_message_files(FILES
   Acceleration.msg
 )
 
-find_package(Eigen 3 REQUIRED)
-include_directories(${Eigen_INCLUDE_DIRS})
 generate_messages(
-    DEPENDENCIES std_msgs actionlib_msgs geometry_msgs mil_msgs
+    DEPENDENCIES std_msgs actionlib_msgs geometry_msgs
 )
 catkin_package(
-    DEPENDS Eigen
-    CATKIN_DEPENDS message_generation message_runtime geometry_msgs tf actionlib interactive_markers std_msgs actionlib_msgs
-    INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS} include
-    LIBRARIES
+    CATKIN_DEPENDS message_generation message_runtime geometry_msgs actionlib std_msgs actionlib_msgs
 )
 
-include_directories(${EIGEN_INCLUDE_DIRS} include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
-#install(PROGRAMS scripts/interactive_marker_moveto scripts/velocitymeasurements_to_vector3 scripts/param_saver DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
diff --git a/utils/mil_msgs/mil_msgs/__init__.py b/utils/mil_msgs/mil_msgs/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/utils/mil_msgs/package.xml b/utils/mil_msgs/package.xml
index f0cb7cb1..96494287 100644
--- a/utils/mil_msgs/package.xml
+++ b/utils/mil_msgs/package.xml
@@ -13,21 +13,16 @@
 
   <build_depend>message_runtime</build_depend>
   <build_depend>actionlib</build_depend>
-  <build_depend>interactive_markers</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>geometry_msgs</build_depend>
-  <build_depend>tf</build_depend>
   <build_depend>actionlib_msgs</build_depend>
-  <build_depend>cmake_modules</build_depend>
 
   <run_depend>message_runtime</run_depend>
   <run_depend>actionlib</run_depend>
-  <run_depend>interactive_markers</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>message_generation</run_depend>
   <run_depend>geometry_msgs</run_depend>
-  <run_depend>tf</run_depend>
   <run_depend>actionlib_msgs</run_depend>
 
 <export>
diff --git a/utils/mil_msgs/setup.py b/utils/mil_msgs/setup.py
deleted file mode 100644
index aa9637cd..00000000
--- a/utils/mil_msgs/setup.py
+++ /dev/null
@@ -1,10 +0,0 @@
-# ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
-
-from distutils.core import setup
-from catkin_pkg.python_setup import generate_distutils_setup
-
-setup_args = generate_distutils_setup(
-    packages=['mil_msgs'],
-)
-
-setup(**setup_args)
diff --git a/utils/mil_tools/CMakeLists.txt b/utils/mil_tools/CMakeLists.txt
index 4c1e7b9f..0b304579 100644
--- a/utils/mil_tools/CMakeLists.txt
+++ b/utils/mil_tools/CMakeLists.txt
@@ -8,13 +8,17 @@ find_package(catkin REQUIRED COMPONENTS
   rospy
   roscpp
   cv_bridge
+  cmake_modules
 )
 
+find_package(Eigen 3 REQUIRED)
+
 catkin_package(
+  DEPENDS Eigen
   INCLUDE_DIRS
     include
   LIBRARIES
-    mil_tools_lib
+    mil_tools
   CATKIN_DEPENDS
     roscpp
     cv_bridge
@@ -32,11 +36,15 @@ include_directories(
   SYSTEM
     ${catkin_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS}
+    ${Eigen_INCLUDE_DIRS}
 )
 
-add_library(mil_tools_lib
+add_library(mil_tools
   src/mil_tools/mil_tools.cpp
 )
-target_include_directories(mil_tools_lib PUBLIC include)
-target_link_libraries(mil_tools_lib ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_include_directories(mil_tools PUBLIC include)
+target_link_libraries(mil_tools ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+
+install(DIRECTORY include/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 
diff --git a/utils/mil_tools/include/mil_tools/mil_tools.hpp b/utils/mil_tools/include/mil_tools/mil_tools.hpp
index 90b174e1..30a7b63e 100644
--- a/utils/mil_tools/include/mil_tools/mil_tools.hpp
+++ b/utils/mil_tools/include/mil_tools/mil_tools.hpp
@@ -7,12 +7,10 @@
 #include <opencv2/core/core.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-namespace mil{
+namespace mil_tools{
 
 static const double PI = 3.1415926535897932;
 
-namespace tools
-{
 
 // Returns a vector of topic names (std::string) that end with "image_rect_color"
 // if color is false then it looks for those that end in "image_rect"
@@ -28,6 +26,4 @@ inline std::string operator "" _s(const char* str, size_t /*length*/)
 // Sorts contours by curve length
 void sortContours(std::vector<std::vector<cv::Point>>& contour_vec, bool ascending=true);
 
-}  // namespace mil::tools
-}  // namespace mil
-
+}
diff --git a/utils/mil_msgs/include/mil_msgs/msg_helpers.h b/utils/mil_tools/include/mil_tools/msg_helpers.h
similarity index 98%
rename from utils/mil_msgs/include/mil_msgs/msg_helpers.h
rename to utils/mil_tools/include/mil_tools/msg_helpers.h
index 578467b8..fddbfbfe 100644
--- a/utils/mil_msgs/include/mil_msgs/msg_helpers.h
+++ b/utils/mil_tools/include/mil_tools/msg_helpers.h
@@ -3,7 +3,7 @@
 #include <Eigen/Dense>
 #include <tf/tf.h>
 
-namespace uf_common {
+namespace mil_tools {
 
 template <class T>
 inline T make_rgba(double r, double g, double b, double a) {
diff --git a/utils/mil_msgs/include/mil_msgs/param_helpers.h b/utils/mil_tools/include/mil_tools/param_helpers.h
similarity index 99%
rename from utils/mil_msgs/include/mil_msgs/param_helpers.h
rename to utils/mil_tools/include/mil_tools/param_helpers.h
index 09c353b5..4e2881a1 100644
--- a/utils/mil_msgs/include/mil_msgs/param_helpers.h
+++ b/utils/mil_tools/include/mil_tools/param_helpers.h
@@ -6,7 +6,7 @@
 
 #include "msg_helpers.h"
 
-namespace uf_common {
+namespace mil_tools {
 
 void fail(std::string const &error_string) { throw std::runtime_error(error_string); }
 template <typename FirstType, typename SecondType, typename... MoreTypes>
diff --git a/utils/mil_tools/package.xml b/utils/mil_tools/package.xml
index 260b7ddc..03116810 100644
--- a/utils/mil_tools/package.xml
+++ b/utils/mil_tools/package.xml
@@ -14,6 +14,8 @@
   <run_depend>rospy</run_depend>
   <build_depend>cv_bridge</build_depend>
   <run_depend>cv_bridge</run_depend>
+  <build_depend>cmake_modules</build_depend>
   <export>
+      <cpp cflags="-I${prefix}/include `pkg-config --cflags eigen3`"/>
   </export>
 </package>
diff --git a/utils/mil_msgs/scripts/param_saver b/utils/mil_tools/scripts/param_sever
similarity index 95%
rename from utils/mil_msgs/scripts/param_saver
rename to utils/mil_tools/scripts/param_sever
index 95c114fa..4cddcace 100755
--- a/utils/mil_msgs/scripts/param_saver
+++ b/utils/mil_tools/scripts/param_sever
@@ -4,8 +4,6 @@ import os
 import random
 import yaml
 
-import roslib
-roslib.load_manifest('uf_common')
 import rospy
 
 
diff --git a/utils/mil_tools/src/mil_tools/mil_tools.cpp b/utils/mil_tools/src/mil_tools/mil_tools.cpp
index 00fd1c9f..27bb316a 100644
--- a/utils/mil_tools/src/mil_tools/mil_tools.cpp
+++ b/utils/mil_tools/src/mil_tools/mil_tools.cpp
@@ -1,7 +1,8 @@
 #include <mil_tools/mil_tools.hpp>
+#include <mil_tools/msg_helpers.h>
+#include <mil_tools/param_helpers.h>
 
-namespace mil{
-namespace tools{
+namespace mil_tools {
 
 using namespace std;
 
@@ -52,6 +53,4 @@ void sortContours(vector<vector<cv::Point2i>>& contour_vec, bool ascending)
 }
 
 
-}  // namespace mil::tools  
-}  // namespace mil
-
+}