diff --git a/nexus_visualization/CMakeLists.txt b/nexus_visualization/CMakeLists.txt
deleted file mode 100644
index a3c2eeb..0000000
--- a/nexus_visualization/CMakeLists.txt
+++ /dev/null
@@ -1,77 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(nexus_visualization)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-include(GNUInstallDirs)
-
-set(dep_pkgs
-  rclcpp
-  rclcpp_components
-  nexus_endpoints
-  nexus_orchestrator_msgs
-  rmf_building_map_msgs
-  rmf_visualization_msgs
-  geometry_msgs
-  visualization_msgs
-)
-foreach(pkg ${dep_pkgs})
-  find_package(${pkg} REQUIRED)
-endforeach()
-
-#===============================================================================
-add_library(workcell_state_visualizer SHARED src/workcell_state_visualizer.cpp)
-
-target_link_libraries(workcell_state_visualizer
-  PUBLIC
-    rclcpp::rclcpp
-    ${rclcpp_components_TARGETS}
-    nexus_endpoints::nexus_endpoints
-    ${nexus_orchestrator_msgs_TARGETS}
-    ${rmf_building_map_msgs_TARGETS}
-    ${rmf_visualization_msgs_TARGETS}
-    ${visualization_msgs_TARGETS}
-    ${geometry_msgs_TARGETS}
-)
-
-target_include_directories(workcell_state_visualizer
-  PRIVATE
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
-)
-
-target_compile_features(workcell_state_visualizer INTERFACE cxx_std_17)
-
-rclcpp_components_register_node(workcell_state_visualizer
-  PLUGIN "workcell_state_visualizer"
-  EXECUTABLE workcell_state_visualizer_node)
-
-#===============================================================================
-if(BUILD_TESTING)
-  find_package(ament_cmake_uncrustify REQUIRED)
-  find_package(rmf_utils REQUIRED)
-  find_file(uncrustify_config_file
-    NAMES "rmf_code_style.cfg"
-    PATHS "${rmf_utils_DIR}/../../../share/rmf_utils/")
-
-
-  # TODO(luca) reintroduce uncrustify
-  #ament_uncrustify(
-  #  ARGN src
-  #  CONFIG_FILE ${uncrustify_config_file}
-  #  MAX_LINE_LENGTH 80
-  #)
-
-endif()
-
-#===============================================================================
-install(
-  TARGETS workcell_state_visualizer
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
-  LIBRARY DESTINATION lib
-  ARCHIVE DESTINATION lib
-)
-
-ament_package()
diff --git a/nexus_visualization/package.xml b/nexus_visualization/package.xml
deleted file mode 100644
index c1b5030..0000000
--- a/nexus_visualization/package.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>nexus_visualization</name>
-  <version>0.0.0</version>
-  <description>Package to visualize workcells and their states in rviz</description>
-  <maintainer email="lucadv@intrinsic.ai">Luca Della Vedova</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <depend>nexus_endpoints</depend>
-  <depend>nexus_orchestrator_msgs</depend>
-  <depend>rclcpp</depend>
-  <depend>rclcpp_components</depend>
-  <depend>rmf_building_map_msgs</depend>
-  <depend>visualization_msgs</depend>
-  <depend>rmf_visualization_msgs</depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/nexus_visualization/src/workcell_state_visualizer.cpp b/nexus_visualization/src/workcell_state_visualizer.cpp
deleted file mode 100644
index a139abd..0000000
--- a/nexus_visualization/src/workcell_state_visualizer.cpp
+++ /dev/null
@@ -1,257 +0,0 @@
-/*
- * Copyright (C) 2024 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <chrono>
-
-#include "workcell_state_visualizer.hpp"
-
-using namespace std::chrono_literals;
-
-namespace nexus::visualization {
-
-//==============================================================================
-WorkcellStateVisualizer::WorkcellStateVisualizer(const rclcpp::NodeOptions& options)
-: Node("workcell_state_visualizer", options),
-  _next_available_id(0)
-{
-  RCLCPP_INFO(
-    this->get_logger(),
-    "Configuring workcell_state_visualizer..."
-  );
-
-  _current_level = this->declare_parameter("initial_map_name", "L1");
-  RCLCPP_INFO(
-    this->get_logger(),
-    "Setting parameter initial_map_name to %s", _current_level.c_str()
-  );
-
-  auto transient_qos = rclcpp::QoS(1).transient_local();
-  _map_sub = this->create_subscription<BuildingMap>(
-    "/map",
-    transient_qos,
-    [=](BuildingMap::ConstSharedPtr msg)
-    {
-      RCLCPP_INFO(
-        this->get_logger(),
-        "Received map"
-      );
-      // Note that this implementation depends on vertices being in the navgraphs
-      // We should probably parse the map but it could be in pixel units which is tricky
-      for (const auto& level : msg->levels)
-      {
-        for (const auto& graph : level.nav_graphs)
-        {
-          for (const auto& vertex : graph.vertices)
-          {
-            for (const auto& param : vertex.params)
-            {
-              if (param.name == "pickup_dispenser")
-              {
-                RCLCPP_INFO(
-                  this->get_logger(),
-                  "Found dispenser [%s]", param.value_string.c_str()
-                );
-                WorkcellDescription description;
-                description.workcell_id = vertex.name;
-                description.level_name = level.name;
-                description.location.position.x = vertex.x;
-                description.location.position.y = vertex.y;
-                _workcells.insert({vertex.name, Workcell {description, std::nullopt}});
-                _ids.insert({vertex.name, _next_available_id});
-                ++_next_available_id;
-              }
-            }
-          }
-        }
-      }
-      initialize_state_subscriptions();
-    });
-
-  _param_sub = this->create_subscription<RvizParam>(
-    "rmf_visualization/parameters",
-    rclcpp::SystemDefaultsQoS(),
-    [=](RvizParam::ConstSharedPtr msg)
-    {
-      if (msg->map_name.empty() || msg->map_name == _current_level)
-        return;
-
-      _current_level = msg->map_name;
-      publish_markers();
-    });
-
-  _marker_pub = this->create_publisher<MarkerArray>("/workcell_markers", transient_qos);
-
-  RCLCPP_INFO(
-    this->get_logger(),
-    "Running workcell_state_visualizer..."
-  );
-
-}
-
-void WorkcellStateVisualizer::initialize_state_subscriptions()
-{
-  for (const auto& [name, _] : _workcells)
-  {
-    _state_subs.emplace_back(nexus::endpoints::WorkcellStateTopic::create_subscription(this, name,
-      [this](nexus::endpoints::WorkcellStateTopic::MessageType::ConstSharedPtr msg)
-      {
-        auto state_it = _workcells.find(msg->workcell_id);
-        if (state_it == _workcells.end())
-        {
-          RCLCPP_WARN(this->get_logger(), "Received state for workcell [%s] but it was not found in the map", msg->workcell_id.c_str());
-          return;
-        }
-        state_it->second.state = *msg;
-      }));
-  }
-}
-
-void WorkcellStateVisualizer::publish_markers()
-{
-  auto set_body_pose =
-  [](const Workcell& workcell, Marker& marker)
-  {
-    marker.pose.position.x = workcell.description.location.position.x;
-    marker.pose.position.y = workcell.description.location.position.y;
-    marker.pose.position.z = 0.0;
-    marker.pose.orientation.w = 1.0;
-  };
-
-  auto set_text_pose =
-  [](const Workcell& workcell, const double x_offset, Marker& marker)
-  {
-    marker.pose.position.x = workcell.description.location.position.x + x_offset;
-    marker.pose.position.y = workcell.description.location.position.y;
-    marker.pose.position.z = 0.0;
-    marker.pose.orientation.w = 1.0;
-  };
-
-  auto fill_marker =
-  [&](
-    const std::string& name,
-    const Workcell& workcell,
-    const double radius,
-    MarkerArray& marker_array)
-  {
-    std::size_t id = _ids[name];
-    Marker body_marker;
-    body_marker.header.frame_id = "map";
-    body_marker.header.stamp = this->get_clock()->now();
-    body_marker.ns = "body";
-    body_marker.id = id;
-    body_marker.type = body_marker.CUBE;
-    body_marker.action = body_marker.ADD;
-    set_body_pose(workcell, body_marker);
-    body_marker.scale.x = radius;
-    body_marker.scale.y = radius;
-    body_marker.scale.z = radius;
-    // TODO(luca) color to match state
-    Color color;
-    std::string status;
-    color.a = 1.0;
-    if (!workcell.state.has_value())
-    {
-      // Indeterminate, grey
-      color.r = 0.3;
-      color.g = 0.3;
-      color.b = 0.3;
-      status = "UNKNOWN";
-    } else if (workcell.state.value().status == WorkcellState::STATUS_IDLE) {
-      // Idle, green
-      color.r = 0.0;
-      color.g = 0.8;
-      color.b = 0.0;
-      status = "IDLE";
-    } else if (workcell.state.value().status == WorkcellState::STATUS_BUSY) {
-      // Busy, yellow 
-      color.r = 0.5;
-      color.g = 0.5;
-      color.b = 0.0;
-      status = "BUSY";
-    }
-    body_marker.color = color;
-
-    auto text_marker = body_marker;
-    text_marker.ns = "name";
-    text_marker.type = text_marker.TEXT_VIEW_FACING;
-    set_text_pose(workcell, radius * 2.0, text_marker);
-    std::string task_id = "<NONE>";
-    std::string message = "<NONE>";
-    const auto& state = workcell.state;
-    if (state.has_value())
-    {
-      if (!state.value().message.empty())
-      {
-        message = state.value().message;
-      }
-      if (!state.value().task_id.empty())
-      {
-        task_id = state.value().task_id;
-      }
-    }
-    text_marker.text = name + "\n" + "STATUS:" + status + "\n" + "TASK:" + task_id + "\n" + "MESSAGE:" + message;
-    text_marker.scale.z = 0.3;
-
-    marker_array.markers.push_back(std::move(body_marker));
-    marker_array.markers.push_back(std::move(text_marker));
-  };
-
-  auto delete_marker =
-  [&](
-    const std::string& name,
-    MarkerArray& marker_array)
-  {
-    std::size_t id = _ids[name];
-    Marker body_marker;
-    body_marker.header.frame_id = "map";
-    body_marker.header.stamp = this->get_clock()->now();
-    body_marker.ns = "body";
-    body_marker.id = id;
-    body_marker.type = body_marker.CUBE;
-    body_marker.action = body_marker.DELETE;
-    auto text_marker = body_marker;
-    text_marker.ns = "name";
-    text_marker.type = text_marker.TEXT_VIEW_FACING;
-    marker_array.markers.push_back(std::move(body_marker));
-    marker_array.markers.push_back(std::move(text_marker));
-  };
-
-  MarkerArray marker_array;
-  for (const auto& [name, workcell] : _workcells)
-  {
-    if (workcell.description.level_name != _current_level)
-    {
-      delete_marker(name, marker_array);
-    }
-      continue;
-
-    double radius = 1.0;
-    fill_marker(
-      name,
-      workcell,
-      radius,
-      marker_array
-    );
-  }
-  if (!marker_array.markers.empty())
-    _marker_pub->publish(marker_array);
-}
-}
-
-#include <rclcpp_components/register_node_macro.hpp>
-
-RCLCPP_COMPONENTS_REGISTER_NODE(nexus::visualization::WorkcellStateVisualizer)
diff --git a/nexus_visualization/src/workcell_state_visualizer.hpp b/nexus_visualization/src/workcell_state_visualizer.hpp
deleted file mode 100644
index f1536d7..0000000
--- a/nexus_visualization/src/workcell_state_visualizer.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-/*
- * Copyright (C) 2025 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef SRC__WORKCELL_STATE_VISUALIZER_HPP
-#define SRC__WORKCELL_STATE_VISUALIZER_HPP
-
-#include <rclcpp/rclcpp.hpp>
-
-#include <nexus_endpoints.hpp>
-#include <nexus_orchestrator_msgs/msg/workcell_state.hpp>
-
-#include <rmf_building_map_msgs/msg/building_map.hpp>
-#include <rmf_visualization_msgs/msg/rviz_param.hpp>
-
-#include <std_msgs/msg/color_rgba.hpp>
-#include <visualization_msgs/msg/marker_array.hpp>
-#include <visualization_msgs/msg/marker.hpp>
-
-#include <unordered_map>
-
-namespace nexus::visualization {
-
-//==============================================================================
-class WorkcellStateVisualizer : public rclcpp::Node
-{
-public:
-  using BuildingMap = rmf_building_map_msgs::msg::BuildingMap;
-  using RvizParam = rmf_visualization_msgs::msg::RvizParam;
-  using WorkcellDescription = nexus_orchestrator_msgs::msg::WorkcellDescription;
-  using WorkcellState = nexus_orchestrator_msgs::msg::WorkcellState;
-  using Marker = visualization_msgs::msg::Marker;
-  using MarkerArray = visualization_msgs::msg::MarkerArray;
-  using Color = std_msgs::msg::ColorRGBA;
-
-/// Constructor
-  WorkcellStateVisualizer(
-    const rclcpp::NodeOptions& options = rclcpp::NodeOptions());
-
-private:
-  struct Workcell {
-    WorkcellDescription description;
-    std::optional<WorkcellState> state;
-  };
-
-  void initialize_state_subscriptions();
-
-  void publish_markers();
-
-  std::string _current_level;
-
-  rclcpp::Subscription<BuildingMap>::SharedPtr _map_sub;
-  rclcpp::Subscription<RvizParam>::SharedPtr _param_sub;
-  std::vector<rclcpp::Subscription<nexus::endpoints::WorkcellStateTopic::MessageType>::SharedPtr> _state_subs;
-  rclcpp::Publisher<MarkerArray>::SharedPtr _marker_pub;
-
-  // Map workcell name to a unique marker id
-  std::unordered_map<std::string, std::size_t> _ids;
-  std::size_t _next_available_id;
-
-  std::unordered_map<std::string, Workcell> _workcells;
-};
-
-}
-
-#endif // SRC__WORKCELLSTATEVISUALIZER_HPP