diff --git a/CMakeLists.txt b/CMakeLists.txt
index f7a7c89f..4c208058 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,7 +13,7 @@ find_package(ignition-cmake3 REQUIRED)
 #============================================================================
 # Configure the project
 #============================================================================
-ign_configure_project(
+gz_configure_project(
   REPLACE_IGNITION_INCLUDE_PATH gz/sensors
   VERSION_SUFFIX pre1)
 
@@ -38,26 +38,26 @@ message(STATUS "\n\n-- ====== Finding Dependencies ======")
 #--------------------------------------
 # Find Protobuf
 set(REQ_PROTOBUF_VER 3)
-ign_find_package(IgnProtobuf
+gz_find_package(IgnProtobuf
                  VERSION ${REQ_PROTOBUF_VER}
                  REQUIRED
                  PRETTY Protobuf)
 
 #--------------------------------------
 # Find ignition-math
-ign_find_package(ignition-math7 REQUIRED)
+gz_find_package(ignition-math7 REQUIRED)
 set(IGN_MATH_VER ${ignition-math7_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-common
-ign_find_package(ignition-common5
+gz_find_package(ignition-common5
                  COMPONENTS profiler
                  REQUIRED)
 set(IGN_COMMON_VER ${ignition-common5_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-transport
-ign_find_package(ignition-transport12 REQUIRED)
+gz_find_package(ignition-transport12 REQUIRED)
 set(IGN_TRANSPORT_VER ${ignition-transport12_VERSION_MAJOR})
 
 #--------------------------------------
@@ -68,7 +68,7 @@ if ((NOT ${CMAKE_VERSION} VERSION_LESS 3.11) AND (NOT OpenGL_GL_PREFERENCE))
   set(OpenGL_GL_PREFERENCE "GLVND")
 endif()
 
-ign_find_package(ignition-rendering7 REQUIRED OPTIONAL_COMPONENTS ogre ogre2)
+gz_find_package(ignition-rendering7 REQUIRED OPTIONAL_COMPONENTS ogre ogre2)
 set(IGN_RENDERING_VER ${ignition-rendering7_VERSION_MAJOR})
 
 if (TARGET ignition-rendering${IGN_RENDERING_VER}::ogre)
@@ -83,23 +83,23 @@ endif()
 
 #--------------------------------------
 # Find ignition-msgs
-ign_find_package(ignition-msgs9 REQUIRED)
+gz_find_package(ignition-msgs9 REQUIRED)
 set(IGN_MSGS_VER ${ignition-msgs9_VERSION_MAJOR})
 
 #--------------------------------------
 # Find SDFormat
-ign_find_package(sdformat13 REQUIRED)
+gz_find_package(sdformat13 REQUIRED)
 set(SDF_VER ${sdformat13_VERSION_MAJOR})
 
 #============================================================================
 # Configure the build
 #============================================================================
-ign_configure_build(QUIT_IF_BUILD_ERRORS)
+gz_configure_build(QUIT_IF_BUILD_ERRORS)
 
 #============================================================================
 # Create package information
 #============================================================================
-ign_create_packages()
+gz_create_packages()
 
 #============================================================================
 # Configure documentation
@@ -107,7 +107,7 @@ ign_create_packages()
 configure_file(${CMAKE_SOURCE_DIR}/api.md.in ${CMAKE_BINARY_DIR}/api.md)
 configure_file(${CMAKE_SOURCE_DIR}/tutorials.md.in ${CMAKE_BINARY_DIR}/tutorials.md)
 
-ign_create_docs(
+gz_create_docs(
   API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
   TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md")
 
diff --git a/include/gz/sensors/CMakeLists.txt b/include/gz/sensors/CMakeLists.txt
index 439642e6..bf4411e8 100644
--- a/include/gz/sensors/CMakeLists.txt
+++ b/include/gz/sensors/CMakeLists.txt
@@ -1 +1 @@
-ign_install_all_headers()
+gz_install_all_headers()
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index e6afdff6..962edfab 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -37,7 +37,7 @@ if (MSVC)
 endif()
 
 # Create the library target.
-ign_create_core_library(SOURCES ${sources} CXX_STANDARD 14)
+gz_create_core_library(SOURCES ${sources} CXX_STANDARD 14)
 
 target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
   PUBLIC
@@ -51,14 +51,14 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
 )
 target_compile_definitions(${PROJECT_LIBRARY_TARGET_NAME} PUBLIC DepthPoints_EXPORTS)
 
-ign_add_component(rendering SOURCES ${rendering_sources} GET_TARGET_NAME rendering_target)
+gz_add_component(rendering SOURCES ${rendering_sources} GET_TARGET_NAME rendering_target)
 target_link_libraries(${rendering_target}
   PUBLIC
     ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER}
 )
 
 set(camera_sources CameraSensor.cc)
-ign_add_component(camera SOURCES ${camera_sources} GET_TARGET_NAME camera_target)
+gz_add_component(camera SOURCES ${camera_sources} GET_TARGET_NAME camera_target)
 # custom compile definitions since the one provided automatically is versioned and will
 # make the code need to change with every major version
 target_compile_definitions(${camera_target} PUBLIC CameraSensor_EXPORTS)
@@ -71,7 +71,7 @@ target_link_libraries(${camera_target}
 )
 
 set(depth_camera_sources DepthCameraSensor.cc)
-ign_add_component(depth_camera SOURCES ${depth_camera_sources} GET_TARGET_NAME depth_camera_target)
+gz_add_component(depth_camera SOURCES ${depth_camera_sources} GET_TARGET_NAME depth_camera_target)
 target_compile_definitions(${depth_camera_target} PUBLIC DepthCameraSensor_EXPORTS)
 target_link_libraries(${depth_camera_target}
   PRIVATE
@@ -81,7 +81,7 @@ target_link_libraries(${depth_camera_target}
 )
 
 set(lidar_sources Lidar.cc)
-ign_add_component(lidar SOURCES ${lidar_sources} GET_TARGET_NAME lidar_target)
+gz_add_component(lidar SOURCES ${lidar_sources} GET_TARGET_NAME lidar_target)
 target_compile_definitions(${lidar_target} PUBLIC Lidar_EXPORTS)
 target_link_libraries(${lidar_target}
   PUBLIC
@@ -92,7 +92,7 @@ target_link_libraries(${lidar_target}
 )
 
 set(gpu_lidar_sources GpuLidarSensor.cc)
-ign_add_component(gpu_lidar SOURCES ${gpu_lidar_sources} GET_TARGET_NAME gpu_lidar_target)
+gz_add_component(gpu_lidar SOURCES ${gpu_lidar_sources} GET_TARGET_NAME gpu_lidar_target)
 target_compile_definitions(${gpu_lidar_target} PUBLIC GpuLidarSensor_EXPORTS)
 target_link_libraries(${gpu_lidar_target}
   PRIVATE
@@ -102,7 +102,7 @@ target_link_libraries(${gpu_lidar_target}
 )
 
 set(logical_camera_sources LogicalCameraSensor.cc)
-ign_add_component(logical_camera SOURCES ${logical_camera_sources} GET_TARGET_NAME logical_camera_target)
+gz_add_component(logical_camera SOURCES ${logical_camera_sources} GET_TARGET_NAME logical_camera_target)
 target_compile_definitions(${logical_camera_target} PUBLIC LogicalCameraSensor_EXPORTS)
 target_link_libraries(${logical_camera_target}
   PRIVATE
@@ -111,25 +111,25 @@ target_link_libraries(${logical_camera_target}
 )
 
 set(magnetometer_sources MagnetometerSensor.cc)
-ign_add_component(magnetometer SOURCES ${magnetometer_sources} GET_TARGET_NAME magnetometer_target)
+gz_add_component(magnetometer SOURCES ${magnetometer_sources} GET_TARGET_NAME magnetometer_target)
 
 set(imu_sources ImuSensor.cc)
-ign_add_component(imu SOURCES ${imu_sources} GET_TARGET_NAME imu_target)
+gz_add_component(imu SOURCES ${imu_sources} GET_TARGET_NAME imu_target)
 
 set(force_torque_sources ForceTorqueSensor.cc)
-ign_add_component(force_torque SOURCES ${force_torque_sources} GET_TARGET_NAME force_torque_target)
+gz_add_component(force_torque SOURCES ${force_torque_sources} GET_TARGET_NAME force_torque_target)
 
 set(altimeter_sources AltimeterSensor.cc)
-ign_add_component(altimeter SOURCES ${altimeter_sources} GET_TARGET_NAME altimeter_target)
+gz_add_component(altimeter SOURCES ${altimeter_sources} GET_TARGET_NAME altimeter_target)
 
 set(air_pressure_sources AirPressureSensor.cc)
-ign_add_component(air_pressure SOURCES ${air_pressure_sources} GET_TARGET_NAME air_pressure_target)
+gz_add_component(air_pressure SOURCES ${air_pressure_sources} GET_TARGET_NAME air_pressure_target)
 
 set(navsat_sources NavSatSensor.cc)
-ign_add_component(navsat SOURCES ${navsat_sources} GET_TARGET_NAME navsat_target)
+gz_add_component(navsat SOURCES ${navsat_sources} GET_TARGET_NAME navsat_target)
 
 set(rgbd_camera_sources RgbdCameraSensor.cc)
-ign_add_component(rgbd_camera SOURCES ${rgbd_camera_sources} GET_TARGET_NAME rgbd_camera_target)
+gz_add_component(rgbd_camera SOURCES ${rgbd_camera_sources} GET_TARGET_NAME rgbd_camera_target)
 target_compile_definitions(${rgbd_camera_target} PUBLIC RgbdCameraSensor_EXPORTS)
 target_link_libraries(${rgbd_camera_target}
   PRIVATE
@@ -139,7 +139,7 @@ target_link_libraries(${rgbd_camera_target}
 )
 
 set(thermal_camera_sources ThermalCameraSensor.cc)
-ign_add_component(thermal_camera SOURCES ${thermal_camera_sources} GET_TARGET_NAME thermal_camera_target)
+gz_add_component(thermal_camera SOURCES ${thermal_camera_sources} GET_TARGET_NAME thermal_camera_target)
 target_link_libraries(${thermal_camera_target}
   PRIVATE
     ${camera_target}
@@ -148,7 +148,7 @@ target_link_libraries(${thermal_camera_target}
 )
 
 set(segmentation_camera_sources SegmentationCameraSensor.cc)
-ign_add_component(segmentation_camera SOURCES ${segmentation_camera_sources} GET_TARGET_NAME segmentation_camera_target)
+gz_add_component(segmentation_camera SOURCES ${segmentation_camera_sources} GET_TARGET_NAME segmentation_camera_target)
 target_compile_definitions(${segmentation_camera_target} PUBLIC SegmentationCameraSensor_EXPORTS)
 target_link_libraries(${segmentation_camera_target}
   PRIVATE
@@ -158,7 +158,7 @@ target_link_libraries(${segmentation_camera_target}
 )
 
 set(wide_angle_camera_sources WideAngleCameraSensor.cc)
-ign_add_component(wide_angle_camera SOURCES ${wide_angle_camera_sources} GET_TARGET_NAME wide_angle_camera_target)
+gz_add_component(wide_angle_camera SOURCES ${wide_angle_camera_sources} GET_TARGET_NAME wide_angle_camera_target)
 target_link_libraries(${wide_angle_camera_target}
   PRIVATE
     ${camera_target}
@@ -167,10 +167,10 @@ target_link_libraries(${wide_angle_camera_target}
 )
 
 # Build the unit tests.
-ign_build_tests(TYPE UNIT SOURCES ${gtest_sources} LIB_DEPS ${rendering_target})
+gz_build_tests(TYPE UNIT SOURCES ${gtest_sources} LIB_DEPS ${rendering_target})
 
 # Build the unit tests that depend on components.
-ign_build_tests(TYPE UNIT SOURCES Lidar_TEST.cc LIB_DEPS ${lidar_target})
-ign_build_tests(TYPE UNIT SOURCES Camera_TEST.cc LIB_DEPS ${camera_target})
-ign_build_tests(TYPE UNIT SOURCES ImuSensor_TEST.cc LIB_DEPS ${imu_target})
+gz_build_tests(TYPE UNIT SOURCES Lidar_TEST.cc LIB_DEPS ${lidar_target})
+gz_build_tests(TYPE UNIT SOURCES Camera_TEST.cc LIB_DEPS ${camera_target})
+gz_build_tests(TYPE UNIT SOURCES ImuSensor_TEST.cc LIB_DEPS ${imu_target})
 
diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt
index 09738160..f2d1d59d 100644
--- a/test/integration/CMakeLists.txt
+++ b/test/integration/CMakeLists.txt
@@ -34,7 +34,7 @@ if (UNIX AND NOT APPLE)
 endif()
 
 if (DRI_TESTS)
-  ign_build_tests(TYPE INTEGRATION
+  gz_build_tests(TYPE INTEGRATION
     SOURCES
       ${dri_tests}
     LIB_DEPS
@@ -50,7 +50,7 @@ if (DRI_TESTS)
   )
 endif()
 
-ign_build_tests(TYPE INTEGRATION
+gz_build_tests(TYPE INTEGRATION
   SOURCES
     ${tests}
   LIB_DEPS
diff --git a/test/performance/CMakeLists.txt b/test/performance/CMakeLists.txt
index 7cf00db6..854be5c5 100644
--- a/test/performance/CMakeLists.txt
+++ b/test/performance/CMakeLists.txt
@@ -5,4 +5,4 @@ set(tests
 
 link_directories(${PROJECT_BINARY_DIR}/test)
 
-ign_build_tests(TYPE PERFORMANCE SOURCES ${tests})
+gz_build_tests(TYPE PERFORMANCE SOURCES ${tests})
diff --git a/test/regression/CMakeLists.txt b/test/regression/CMakeLists.txt
index ebbc7da6..aac9ecda 100644
--- a/test/regression/CMakeLists.txt
+++ b/test/regression/CMakeLists.txt
@@ -5,4 +5,4 @@ set(tests
 
 link_directories(${PROJECT_BINARY_DIR}/test)
 
-ign_build_tests(TYPE REGRESSION SOURCES ${tests})
+gz_build_tests(TYPE REGRESSION SOURCES ${tests})