diff --git a/moveit_core/exceptions/src/exceptions.cpp b/moveit_core/exceptions/src/exceptions.cpp
index ca0087bd9e..05cc9bc7ae 100644
--- a/moveit_core/exceptions/src/exceptions.cpp
+++ b/moveit_core/exceptions/src/exceptions.cpp
@@ -45,11 +45,12 @@ namespace moveit
 
 ConstructException::ConstructException(const std::string& what_arg) : std::runtime_error(what_arg)
 {
-  RCLCPP_ERROR(getLogger("exception"), "Error during construction of object: %s\nException thrown.", what_arg.c_str());
+  RCLCPP_ERROR(getLogger("moveit_exception"), "Error during construction of object: %s\nException thrown.",
+               what_arg.c_str());
 }
 
 Exception::Exception(const std::string& what_arg) : std::runtime_error(what_arg)
 {
-  RCLCPP_ERROR(getLogger("exception"), "%s\nException thrown.", what_arg.c_str());
+  RCLCPP_ERROR(getLogger("moveit_exception"), "%s\nException thrown.", what_arg.c_str());
 }
 }  // namespace moveit
diff --git a/moveit_core/robot_trajectory/test/test_robot_trajectory.cpp b/moveit_core/robot_trajectory/test/test_robot_trajectory.cpp
index e663924c34..4a22a813ce 100644
--- a/moveit_core/robot_trajectory/test/test_robot_trajectory.cpp
+++ b/moveit_core/robot_trajectory/test/test_robot_trajectory.cpp
@@ -63,8 +63,6 @@ class RobotTrajectoryTestFixture : public testing::Test
 
   void TearDown() override
   {
-    robot_model_.reset();
-    robot_state_.reset();
   }
 
   void initTestTrajectory(robot_trajectory::RobotTrajectoryPtr& trajectory)
@@ -339,19 +337,19 @@ class OneRobot : public testing::Test
 
     trajectory = std::make_shared<robot_trajectory::RobotTrajectory>(robot_model_, arm_jmg_name_);
 
-    ASSERT_EQ(trajectory->getGroupName(), arm_jmg_name_) << "Generated trajectory group name does not match";
-    ASSERT_TRUE(trajectory->empty()) << "Generated trajectory not empty";
+    EXPECT_EQ(trajectory->getGroupName(), arm_jmg_name_) << "Generated trajectory group name does not match";
+    EXPECT_TRUE(trajectory->empty()) << "Generated trajectory not empty";
 
     double duration_from_previous = 0.1;
     std::size_t waypoint_count = 5;
     for (std::size_t ix = 0; ix < waypoint_count; ++ix)
       trajectory->addSuffixWayPoint(*robot_state_, duration_from_previous);
     // Quick check that getDuration is working correctly
-    ASSERT_EQ(trajectory->getDuration(), duration_from_previous * waypoint_count)
+    EXPECT_EQ(trajectory->getDuration(), duration_from_previous * waypoint_count)
         << "Generated trajectory duration incorrect";
-    ASSERT_EQ(waypoint_count, trajectory->getWayPointDurations().size())
+    EXPECT_EQ(waypoint_count, trajectory->getWayPointDurations().size())
         << "Generated trajectory has the wrong number of waypoints";
-    ASSERT_EQ(waypoint_count, trajectory->size());
+    EXPECT_EQ(waypoint_count, trajectory->size());
   }
 
 protected:
diff --git a/moveit_core/utils/src/logger.cpp b/moveit_core/utils/src/logger.cpp
index 33c5e26e60..992915662f 100644
--- a/moveit_core/utils/src/logger.cpp
+++ b/moveit_core/utils/src/logger.cpp
@@ -52,7 +52,7 @@ rclcpp::Logger& getGlobalRootLogger()
     // A random number is appended to the name used for the node to make it unique.
     // This unique node and logger name is only used if a user does not set a logger
     // through the `setNodeLoggerName` method to their node's logger.
-    auto name = fmt::format("____moveit_{}", rsl::rng()());
+    auto name = fmt::format("moveit_{}", rsl::rng()());
     try
     {
       static auto* moveit_node = new rclcpp::Node(name);
diff --git a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
index a646de69c0..09c811d2c9 100644
--- a/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
+++ b/moveit_ros/benchmarks/src/BenchmarkExecutor.cpp
@@ -68,7 +68,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("BenchmarkExecutor");
+  return moveit::getLogger("benchmark_executor");
 }
 }  // namespace
 
diff --git a/moveit_ros/benchmarks/src/BenchmarkOptions.cpp b/moveit_ros/benchmarks/src/BenchmarkOptions.cpp
index b4f64e082d..54ca8fee0f 100644
--- a/moveit_ros/benchmarks/src/BenchmarkOptions.cpp
+++ b/moveit_ros/benchmarks/src/BenchmarkOptions.cpp
@@ -44,7 +44,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("BenchmarkOptions");
+  return moveit::getLogger("benchmark_options");
 }
 }  // namespace
 
diff --git a/moveit_ros/move_group/src/default_capabilities/apply_planning_scene_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/apply_planning_scene_service_capability.cpp
index df7089e305..8ab96e122f 100644
--- a/moveit_ros/move_group/src/default_capabilities/apply_planning_scene_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/apply_planning_scene_service_capability.cpp
@@ -42,7 +42,7 @@
 namespace move_group
 {
 
-ApplyPlanningSceneService::ApplyPlanningSceneService() : MoveGroupCapability("ApplyPlanningSceneService")
+ApplyPlanningSceneService::ApplyPlanningSceneService() : MoveGroupCapability("apply_planning_scene_service")
 {
 }
 
diff --git a/moveit_ros/move_group/src/default_capabilities/clear_octomap_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/clear_octomap_service_capability.cpp
index af9231d74f..4af2520f3d 100644
--- a/moveit_ros/move_group/src/default_capabilities/clear_octomap_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/clear_octomap_service_capability.cpp
@@ -47,7 +47,7 @@ rclcpp::Logger getLogger()
 }
 }  // namespace
 
-move_group::ClearOctomapService::ClearOctomapService() : MoveGroupCapability("ClearOctomapService")
+move_group::ClearOctomapService::ClearOctomapService() : MoveGroupCapability("clear_octomap_service")
 {
 }
 
@@ -63,7 +63,7 @@ void move_group::ClearOctomapService::clearOctomap(const std::shared_ptr<std_srv
                                                    const std::shared_ptr<std_srvs::srv::Empty::Response>& /*res*/)
 {
   if (!context_->planning_scene_monitor_)
-    RCLCPP_ERROR(getLogger(), "Cannot clear octomap since planning_scene_monitor_ does not exist.");
+    RCLCPP_ERROR(getLogger(), "Cannot clear octomap since planning scene monitor has not been initialized.");
 
   RCLCPP_INFO(getLogger(), "Clearing octomap...");
   context_->planning_scene_monitor_->clearOctomap();
diff --git a/moveit_ros/move_group/src/default_capabilities/execute_trajectory_action_capability.cpp b/moveit_ros/move_group/src/default_capabilities/execute_trajectory_action_capability.cpp
index 8cf823e23e..582ec20696 100644
--- a/moveit_ros/move_group/src/default_capabilities/execute_trajectory_action_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/execute_trajectory_action_capability.cpp
@@ -53,7 +53,7 @@ rclcpp::Logger getLogger()
 }
 }  // namespace
 
-MoveGroupExecuteTrajectoryAction::MoveGroupExecuteTrajectoryAction() : MoveGroupCapability("ExecuteTrajectoryAction")
+MoveGroupExecuteTrajectoryAction::MoveGroupExecuteTrajectoryAction() : MoveGroupCapability("execute_trajectory_action")
 {
 }
 
diff --git a/moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.cpp
index 5379a45c71..09aac4eed2 100644
--- a/moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/get_planning_scene_service_capability.cpp
@@ -39,7 +39,7 @@
 
 namespace move_group
 {
-MoveGroupGetPlanningSceneService::MoveGroupGetPlanningSceneService() : MoveGroupCapability("GetPlanningSceneService")
+MoveGroupGetPlanningSceneService::MoveGroupGetPlanningSceneService() : MoveGroupCapability("get_planning_scene_service")
 {
 }
 
diff --git a/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp
index 3cd14be915..f27073e6fa 100644
--- a/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp
@@ -45,7 +45,7 @@
 namespace move_group
 {
 
-MoveGroupKinematicsService::MoveGroupKinematicsService() : MoveGroupCapability("KinematicsService")
+MoveGroupKinematicsService::MoveGroupKinematicsService() : MoveGroupCapability("kinematics_service")
 {
 }
 
diff --git a/moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp b/moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp
index 34dba3fac0..c0cc597390 100644
--- a/moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp
@@ -57,7 +57,7 @@ rclcpp::Logger getLogger()
 }  // namespace
 
 MoveGroupMoveAction::MoveGroupMoveAction()
-  : MoveGroupCapability("MoveAction"), move_state_(IDLE), preempt_requested_{ false }
+  : MoveGroupCapability("move_action"), move_state_(IDLE), preempt_requested_{ false }
 {
 }
 
diff --git a/moveit_ros/move_group/src/default_capabilities/plan_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/plan_service_capability.cpp
index b6b59472c1..4a44fcdb18 100644
--- a/moveit_ros/move_group/src/default_capabilities/plan_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/plan_service_capability.cpp
@@ -52,7 +52,7 @@ rclcpp::Logger getLogger()
 }
 }  // namespace
 
-MoveGroupPlanService::MoveGroupPlanService() : MoveGroupCapability("MotionPlanService")
+MoveGroupPlanService::MoveGroupPlanService() : MoveGroupCapability("motion_plan_service")
 {
 }
 
diff --git a/moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.cpp
index f6751eb0f4..76cf27ef1e 100644
--- a/moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/query_planners_service_capability.cpp
@@ -41,7 +41,7 @@
 
 namespace move_group
 {
-MoveGroupQueryPlannersService::MoveGroupQueryPlannersService() : MoveGroupCapability("QueryPlannersService")
+MoveGroupQueryPlannersService::MoveGroupQueryPlannersService() : MoveGroupCapability("query_planners_service")
 {
 }
 
diff --git a/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.cpp
index 31db2ccf51..0322631b06 100644
--- a/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.cpp
@@ -43,7 +43,7 @@
 
 namespace move_group
 {
-MoveGroupStateValidationService::MoveGroupStateValidationService() : MoveGroupCapability("StateValidationService")
+MoveGroupStateValidationService::MoveGroupStateValidationService() : MoveGroupCapability("state_salidation_service")
 {
 }
 
diff --git a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
index 247749cef9..95925840d9 100644
--- a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
@@ -47,7 +47,7 @@
 namespace move_group
 {
 
-TfPublisher::TfPublisher() : MoveGroupCapability("TfPublisher")
+TfPublisher::TfPublisher() : MoveGroupCapability("tf_publisher")
 {
 }
 
diff --git a/moveit_ros/move_group/src/move_group_capability.cpp b/moveit_ros/move_group/src/move_group_capability.cpp
index 66be57ddfd..aa8a1bdb9a 100644
--- a/moveit_ros/move_group/src/move_group_capability.cpp
+++ b/moveit_ros/move_group/src/move_group_capability.cpp
@@ -50,7 +50,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("MoveGroupCapability");
+  return moveit::getLogger("move_group_capability");
 }
 }  // namespace
 
diff --git a/moveit_ros/move_group/src/move_group_context.cpp b/moveit_ros/move_group/src/move_group_context.cpp
index c7cabc81d9..cacc9c86df 100644
--- a/moveit_ros/move_group/src/move_group_context.cpp
+++ b/moveit_ros/move_group/src/move_group_context.cpp
@@ -47,7 +47,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("MoveGroupContext");
+  return moveit::getLogger("move_group_context");
 }
 }  // namespace
 
diff --git a/moveit_ros/moveit_servo/src/utils/command.cpp b/moveit_ros/moveit_servo/src/utils/command.cpp
index f88a64a64e..62a40cdd1e 100644
--- a/moveit_ros/moveit_servo/src/utils/command.cpp
+++ b/moveit_ros/moveit_servo/src/utils/command.cpp
@@ -44,7 +44,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("servo_command");
+  return moveit::getLogger("servo");
 }
 
 /**