diff --git a/src/proto/message_translation/tbots_protobuf.cpp b/src/proto/message_translation/tbots_protobuf.cpp
index cc21417cd7..087f70b1ce 100644
--- a/src/proto/message_translation/tbots_protobuf.cpp
+++ b/src/proto/message_translation/tbots_protobuf.cpp
@@ -4,16 +4,16 @@
 #include "software/logger/logger.h"
 
 
-std::unique_ptr<TbotsProto::World> createWorld(const World& world)
+std::unique_ptr<TbotsProto::World> createWorldProto(const World& world)
 {
     // create msg
     auto world_msg                        = std::make_unique<TbotsProto::World>();
-    *(world_msg->mutable_time_sent())     = *createCurrentTimestamp();
-    *(world_msg->mutable_field())         = *createField(world.field());
-    *(world_msg->mutable_friendly_team()) = *createTeam(world.friendlyTeam());
-    *(world_msg->mutable_enemy_team())    = *createTeam(world.enemyTeam());
-    *(world_msg->mutable_ball())          = *createBall(world.ball());
-    *(world_msg->mutable_game_state())    = *createGameState(world.gameState());
+    *(world_msg->mutable_time_sent())     = *createCurrentTimestampProto();
+    *(world_msg->mutable_field())         = *createFieldProto(world.field());
+    *(world_msg->mutable_friendly_team()) = *createTeamProto(world.friendlyTeam());
+    *(world_msg->mutable_enemy_team())    = *createTeamProto(world.enemyTeam());
+    *(world_msg->mutable_ball())          = *createBallProto(world.ball());
+    *(world_msg->mutable_game_state())    = *createGameStateProto(world.gameState());
     if (world.getDribbleDisplacement().has_value())
     {
         *(world_msg->mutable_dribble_displacement()) =
@@ -22,17 +22,17 @@ std::unique_ptr<TbotsProto::World> createWorld(const World& world)
     return world_msg;
 }
 
-std::unique_ptr<TbotsProto::World> createWorldWithSequenceNumber(
+std::unique_ptr<TbotsProto::World> createWorldWithSequenceNumberProto(
     const World& world, const uint64_t sequence_number)
 {
     // create msg
     auto world_msg                        = std::make_unique<TbotsProto::World>();
-    *(world_msg->mutable_time_sent())     = *createCurrentTimestamp();
-    *(world_msg->mutable_field())         = *createField(world.field());
-    *(world_msg->mutable_friendly_team()) = *createTeam(world.friendlyTeam());
-    *(world_msg->mutable_enemy_team())    = *createTeam(world.enemyTeam());
-    *(world_msg->mutable_ball())          = *createBall(world.ball());
-    *(world_msg->mutable_game_state())    = *createGameState(world.gameState());
+    *(world_msg->mutable_time_sent())     = *createCurrentTimestampProto();
+    *(world_msg->mutable_field())         = *createFieldProto(world.field());
+    *(world_msg->mutable_friendly_team()) = *createTeamProto(world.friendlyTeam());
+    *(world_msg->mutable_enemy_team())    = *createTeamProto(world.enemyTeam());
+    *(world_msg->mutable_ball())          = *createBallProto(world.ball());
+    *(world_msg->mutable_game_state())    = *createGameStateProto(world.gameState());
     world_msg->set_sequence_number(sequence_number);
     if (world.getDribbleDisplacement().has_value())
     {
@@ -43,7 +43,7 @@ std::unique_ptr<TbotsProto::World> createWorldWithSequenceNumber(
 }
 
 
-std::unique_ptr<TbotsProto::Team> createTeam(const Team& team)
+std::unique_ptr<TbotsProto::Team> createTeamProto(const Team& team)
 {
     // create msg
     auto team_msg      = std::make_unique<TbotsProto::Team>();
@@ -51,7 +51,7 @@ std::unique_ptr<TbotsProto::Team> createTeam(const Team& team)
 
     std::for_each(robots.begin(), robots.end(),
                   [&](const Robot& robot)
-                  { *(team_msg->add_team_robots()) = *createRobot(robot); });
+                  { *(team_msg->add_team_robots()) = *createRobotProto(robot); });
 
     auto goalie_id = team.getGoalieId();
     if (goalie_id.has_value())
@@ -62,13 +62,13 @@ std::unique_ptr<TbotsProto::Team> createTeam(const Team& team)
     return team_msg;
 }
 
-std::unique_ptr<TbotsProto::Robot> createRobot(const Robot& robot)
+std::unique_ptr<TbotsProto::Robot> createRobotProto(const Robot& robot)
 {
     // create msg
     auto robot_msg = std::make_unique<TbotsProto::Robot>();
     robot_msg->set_id(robot.id());
     *(robot_msg->mutable_current_state()) = *createRobotStateProto(robot);
-    *(robot_msg->mutable_timestamp())     = *createTimestamp(robot.timestamp());
+    *(robot_msg->mutable_timestamp())     = *createTimestampProto(robot.timestamp());
 
     for (RobotCapability capability : robot.getUnavailableCapabilities())
     {
@@ -96,17 +96,17 @@ std::unique_ptr<TbotsProto::Robot> createRobot(const Robot& robot)
     return robot_msg;
 }
 
-std::unique_ptr<TbotsProto::Ball> createBall(const Ball& ball)
+std::unique_ptr<TbotsProto::Ball> createBallProto(const Ball& ball)
 {
     // create msg
     auto ball_msg                        = std::make_unique<TbotsProto::Ball>();
-    *(ball_msg->mutable_current_state()) = *createBallState(ball);
-    *(ball_msg->mutable_timestamp())     = *createTimestamp(ball.timestamp());
+    *(ball_msg->mutable_current_state()) = *createBallStateProto(ball);
+    *(ball_msg->mutable_timestamp())     = *createTimestampProto(ball.timestamp());
 
     return ball_msg;
 }
 
-std::unique_ptr<TbotsProto::Field> createField(const Field& field)
+std::unique_ptr<TbotsProto::Field> createFieldProto(const Field& field)
 {
     // create msg
     auto field_msg = std::make_unique<TbotsProto::Field>();
@@ -146,7 +146,7 @@ std::unique_ptr<TbotsProto::RobotState> createRobotStateProto(
     return robot_state_msg;
 }
 
-std::unique_ptr<TbotsProto::GameState> createGameState(const GameState& game_state)
+std::unique_ptr<TbotsProto::GameState> createGameStateProto(const GameState& game_state)
 {
     auto game_state_msg = std::make_unique<TbotsProto::GameState>();
 
@@ -283,7 +283,7 @@ std::unique_ptr<TbotsProto::GameState> createGameState(const GameState& game_sta
     auto ball_state = game_state.getBall();
     if (ball_state.has_value())
     {
-        *(game_state_msg->mutable_ball()) = *createBall(ball_state.value());
+        *(game_state_msg->mutable_ball()) = *createBallProto(ball_state.value());
     }
 
     auto ball_placement_point = game_state.getBallPlacementPoint();
@@ -296,7 +296,7 @@ std::unique_ptr<TbotsProto::GameState> createGameState(const GameState& game_sta
     return game_state_msg;
 }
 
-std::unique_ptr<TbotsProto::BallState> createBallState(const Ball& ball)
+std::unique_ptr<TbotsProto::BallState> createBallStateProto(const Ball& ball)
 {
     auto position       = createPointProto(ball.position());
     auto velocity       = createVectorProto(ball.velocity());
@@ -309,15 +309,15 @@ std::unique_ptr<TbotsProto::BallState> createBallState(const Ball& ball)
     return ball_state_msg;
 }
 
-std::unique_ptr<TbotsProto::Timestamp> createTimestamp(const Timestamp& timestamp)
+std::unique_ptr<TbotsProto::Timestamp> createTimestampProto(const Timestamp& timestamp)
 {
     auto timestamp_msg = std::make_unique<TbotsProto::Timestamp>();
     timestamp_msg->set_epoch_timestamp_seconds(timestamp.toSeconds());
     return timestamp_msg;
 }
 
-std::unique_ptr<TbotsProto::NamedValue> createNamedValue(const std::string name,
-                                                         float value)
+std::unique_ptr<TbotsProto::NamedValue> createNamedValueProto(const std::string name,
+                                                              float value)
 {
     auto named_value_msg = std::make_unique<TbotsProto::NamedValue>();
     named_value_msg->set_name(name);
@@ -325,7 +325,7 @@ std::unique_ptr<TbotsProto::NamedValue> createNamedValue(const std::string name,
     return named_value_msg;
 }
 
-std::unique_ptr<TbotsProto::PlotJugglerValue> createPlotJugglerValue(
+std::unique_ptr<TbotsProto::PlotJugglerValue> createPlotJugglerValueProto(
     const std::map<std::string, double>& values)
 {
     auto plot_juggler_value_msg = std::make_unique<TbotsProto::PlotJugglerValue>();
@@ -340,7 +340,7 @@ std::unique_ptr<TbotsProto::PlotJugglerValue> createPlotJugglerValue(
     return plot_juggler_value_msg;
 }
 
-std::unique_ptr<TbotsProto::DebugShapes> createDebugShapes(
+std::unique_ptr<TbotsProto::DebugShapes> createDebugShapesProto(
     const std::vector<TbotsProto::DebugShapes::DebugShape>& debug_shapes)
 {
     auto debug_shape_list_msg = std::make_unique<TbotsProto::DebugShapes>();
@@ -349,7 +349,7 @@ std::unique_ptr<TbotsProto::DebugShapes> createDebugShapes(
     return debug_shape_list_msg;
 }
 
-std::unique_ptr<TbotsProto::Timestamp> createCurrentTimestamp()
+std::unique_ptr<TbotsProto::Timestamp> createCurrentTimestampProto()
 {
     auto timestamp_msg    = std::make_unique<TbotsProto::Timestamp>();
     const auto clock_time = std::chrono::system_clock::now();
@@ -378,7 +378,7 @@ BallState createBallState(const TbotsProto::BallState ball_state)
                      ball_state.distance_from_ground());
 }
 
-std::unique_ptr<TbotsProto::PassVisualization> createPassVisualization(
+std::unique_ptr<TbotsProto::PassVisualization> createPassVisualizationProto(
     const std::vector<PassWithRating>& passes_with_rating)
 {
     auto pass_visualization_msg = std::make_unique<TbotsProto::PassVisualization>();
@@ -401,7 +401,8 @@ std::unique_ptr<TbotsProto::PassVisualization> createPassVisualization(
     return pass_visualization_msg;
 }
 
-std::unique_ptr<TbotsProto::WorldStateReceivedTrigger> createWorldStateReceivedTrigger()
+std::unique_ptr<TbotsProto::WorldStateReceivedTrigger>
+createWorldStateReceivedTriggerProto()
 {
     auto world_state_received_trigger_msg =
         std::make_unique<TbotsProto::WorldStateReceivedTrigger>();
@@ -409,7 +410,7 @@ std::unique_ptr<TbotsProto::WorldStateReceivedTrigger> createWorldStateReceivedT
     return world_state_received_trigger_msg;
 }
 
-std::unique_ptr<TbotsProto::CostVisualization> createCostVisualization(
+std::unique_ptr<TbotsProto::CostVisualization> createCostVisualizationProto(
     const std::vector<double>& costs, int num_rows, int num_cols)
 {
     auto cost_visualization_msg = std::make_unique<TbotsProto::CostVisualization>();
diff --git a/src/proto/message_translation/tbots_protobuf.h b/src/proto/message_translation/tbots_protobuf.h
index 50ab53c374..2a58515edb 100644
--- a/src/proto/message_translation/tbots_protobuf.h
+++ b/src/proto/message_translation/tbots_protobuf.h
@@ -10,6 +10,7 @@
 #include "software/ai/passing/pass_with_rating.h"
 #include "software/world/world.h"
 
+/** testing */
 /**
  * Returns a TbotsProto::World proto given a World.
  *
@@ -18,7 +19,7 @@
  * @return The unique_ptr to a TbotsProto::World proto containing the field, friendly
  * team, enemy team, ball, and the game state.
  */
-std::unique_ptr<TbotsProto::World> createWorld(const World& world);
+std::unique_ptr<TbotsProto::World> createWorldProto(const World& world);
 
 /**
  * Returns a TbotsProto::World proto with a sequence number given a World and a sequence
@@ -30,7 +31,7 @@ std::unique_ptr<TbotsProto::World> createWorld(const World& world);
  * @return The unique_ptr to a TbotsProto::World proto containing the field, friendly
  * team, enemy team, ball, game state, and the sequence number.
  */
-std::unique_ptr<TbotsProto::World> createWorldWithSequenceNumber(
+std::unique_ptr<TbotsProto::World> createWorldWithSequenceNumberProto(
     const World& world, const uint64_t sequence_number);
 
 /**
@@ -41,7 +42,7 @@ std::unique_ptr<TbotsProto::World> createWorldWithSequenceNumber(
  * @return The unique_ptr to a TbotsProto::Team proto containing a list of robots and
  * goalie ID
  */
-std::unique_ptr<TbotsProto::Team> createTeam(const Team& team);
+std::unique_ptr<TbotsProto::Team> createTeamProto(const Team& team);
 
 /**
  * Returns a TbotsProto::Robot proto given a Robot.
@@ -51,7 +52,7 @@ std::unique_ptr<TbotsProto::Team> createTeam(const Team& team);
  * @return The unique_ptr to a TbotsProto::Robot proto containing the robot ID and robot
  * state
  */
-std::unique_ptr<TbotsProto::Robot> createRobot(const Robot& robot);
+std::unique_ptr<TbotsProto::Robot> createRobotProto(const Robot& robot);
 
 /**
  * Returns a TbotsProto::Ball proto given a Ball.
@@ -61,7 +62,7 @@ std::unique_ptr<TbotsProto::Robot> createRobot(const Robot& robot);
  * @return The unique_ptr to a TbotsProto::Ball proto containing the ball state and the
  * ball acceleration
  */
-std::unique_ptr<TbotsProto::Ball> createBall(const Ball& ball);
+std::unique_ptr<TbotsProto::Ball> createBallProto(const Ball& ball);
 
 /**
  * Returns a TbotsProto::Field proto given a Field.
@@ -71,7 +72,7 @@ std::unique_ptr<TbotsProto::Ball> createBall(const Ball& ball);
  * @return The unique_ptr to a TbotsProto::Field proto containing the Ball ID and Ball
  * state
  */
-std::unique_ptr<TbotsProto::Field> createField(const Field& field);
+std::unique_ptr<TbotsProto::Field> createFieldProto(const Field& field);
 
 /**
  * Returns (Robot, Game, Ball) State given a (Robot, Game, Ball)
@@ -83,8 +84,8 @@ std::unique_ptr<TbotsProto::Field> createField(const Field& field);
 std::unique_ptr<TbotsProto::RobotState> createRobotStateProto(const Robot& robot);
 std::unique_ptr<TbotsProto::RobotState> createRobotStateProto(
     const RobotState& robot_state);
-std::unique_ptr<TbotsProto::GameState> createGameState(const GameState& game_state);
-std::unique_ptr<TbotsProto::BallState> createBallState(const Ball& ball);
+std::unique_ptr<TbotsProto::GameState> createGameStateProto(const GameState& game_state);
+std::unique_ptr<TbotsProto::BallState> createBallStateProto(const Ball& ball);
 
 /**
  * Returns a TbotsProto::Timestamp proto given a timestamp.
@@ -94,7 +95,7 @@ std::unique_ptr<TbotsProto::BallState> createBallState(const Ball& ball);
  * @return The unique_ptr to a TbotsProto::Timestamp proto containing the timestamp with
  * the same time zone as the timestamp argument.
  */
-std::unique_ptr<TbotsProto::Timestamp> createTimestamp(const Timestamp& timestamp);
+std::unique_ptr<TbotsProto::Timestamp> createTimestampProto(const Timestamp& timestamp);
 
 /**
  * Returns a TbotsProto::NamedValue proto given a name and value.
@@ -105,15 +106,15 @@ std::unique_ptr<TbotsProto::Timestamp> createTimestamp(const Timestamp& timestam
  * @return The unique_ptr to a TbotsProto::NamedValue proto containing data with
  *         specified name and value
  */
-std::unique_ptr<TbotsProto::NamedValue> createNamedValue(const std::string name,
-                                                         float value);
+std::unique_ptr<TbotsProto::NamedValue> createNamedValueProto(const std::string name,
+                                                              float value);
 
 /**
  * Returns a TbotsProto::PlotJugglerValue proto containing the name
  * value pairs of the map.
  *
  * Could use LOG(PLOTJUGGLER) to plot the values. Example:
- *  LOG(PLOTJUGGLER) << *createPlotJugglerValue({
+ *  LOG(PLOTJUGGLER) << *createPlotJugglerValueProto({
  *      {"vx", velocity.x()},
  *      {"vy", velocity.y()}
  *  });
@@ -123,7 +124,7 @@ std::unique_ptr<TbotsProto::NamedValue> createNamedValue(const std::string name,
  * @return The unique_ptr to a TbotsProto::PlotJugglerValue proto containing data with
  *        specified names and values
  */
-std::unique_ptr<TbotsProto::PlotJugglerValue> createPlotJugglerValue(
+std::unique_ptr<TbotsProto::PlotJugglerValue> createPlotJugglerValueProto(
     const std::map<std::string, double>& values);
 
 /**
@@ -141,7 +142,7 @@ std::unique_ptr<TbotsProto::PlotJugglerValue> createPlotJugglerValue(
  * @return The unique_ptr to a TbotsProto::DebugShapes::DebugShape proto
  */
 template <class Shape>
-std::unique_ptr<TbotsProto::DebugShapes::DebugShape> createDebugShape(
+std::unique_ptr<TbotsProto::DebugShapes::DebugShape> createDebugShapeProto(
     const Shape& shape, const std::string& unique_id, const std::string& debug_text = "")
 {
     auto debug_shape = std::make_unique<TbotsProto::DebugShapes::DebugShape>();
@@ -155,10 +156,10 @@ std::unique_ptr<TbotsProto::DebugShapes::DebugShape> createDebugShape(
  * Returns a TbotsProto::DebugShapes proto containing the debug shapes
  *
  * Could use LOG(VISUALIZE) to plot these values. Example:
- *  LOG(VISUALIZE) << *createDebugShapes({
- *       *createDebugShape(circle, unique_id1, optional_text),
- *       *createDebugShape(polygon, unique_id2, optional_text),
- *       *createDebugShape(stadium, unique_id3, optional_text)
+ *  LOG(VISUALIZE) << *createDebugShapesProto({
+ *       *createDebugShapeProto(circle, unique_id1, optional_text),
+ *       *createDebugShapeProto(polygon, unique_id2, optional_text),
+ *       *createDebugShapeProto(stadium, unique_id3, optional_text)
  *  });
  *
  * @param debug_shapes A list of debug shapes proto to plot
@@ -166,7 +167,7 @@ std::unique_ptr<TbotsProto::DebugShapes::DebugShape> createDebugShape(
  * @return The unique_ptr to a TbotsProto::DebugShapes proto containing data with
  *        specified names and shapes
  */
-std::unique_ptr<TbotsProto::DebugShapes> createDebugShapes(
+std::unique_ptr<TbotsProto::DebugShapes> createDebugShapesProto(
     const std::vector<TbotsProto::DebugShapes::DebugShape>& debug_shapes);
 
 /**
@@ -185,7 +186,7 @@ std::unique_ptr<TbotsProto::Shape> createShapeProto(const Stadium& stadium);
  *
  * @return The unique_ptr to a TbotsProto::Timestamp with the current UTC time
  */
-std::unique_ptr<TbotsProto::Timestamp> createCurrentTimestamp();
+std::unique_ptr<TbotsProto::Timestamp> createCurrentTimestampProto();
 
 /**
  * Return RobotState given the TbotsProto::RobotState protobuf
@@ -210,7 +211,7 @@ BallState createBallState(const TbotsProto::BallState ball_state);
  *
  * @return The unique_ptr to a PassVisualization proto
  */
-std::unique_ptr<TbotsProto::PassVisualization> createPassVisualization(
+std::unique_ptr<TbotsProto::PassVisualization> createPassVisualizationProto(
     const std::vector<PassWithRating>& passes_with_rating);
 
 /**
@@ -220,7 +221,8 @@ std::unique_ptr<TbotsProto::PassVisualization> createPassVisualization(
  *         a boolean value for whether world state proto has been received
  *
  */
-std::unique_ptr<TbotsProto::WorldStateReceivedTrigger> createWorldStateReceivedTrigger();
+std::unique_ptr<TbotsProto::WorldStateReceivedTrigger>
+createWorldStateReceivedTriggerProto();
 
 /**
  * Returns a cost visualization given a vector of costs
@@ -231,7 +233,7 @@ std::unique_ptr<TbotsProto::WorldStateReceivedTrigger> createWorldStateReceivedT
  *
  * @return The unique_ptr to a CostVisualization proto
  */
-std::unique_ptr<TbotsProto::CostVisualization> createCostVisualization(
+std::unique_ptr<TbotsProto::CostVisualization> createCostVisualizationProto(
     const std::vector<double>& costs, int num_rows, int num_cols);
 
 /**
diff --git a/src/proto/message_translation/tbots_protobuf_test.cpp b/src/proto/message_translation/tbots_protobuf_test.cpp
index 9cdde04170..200672801a 100644
--- a/src/proto/message_translation/tbots_protobuf_test.cpp
+++ b/src/proto/message_translation/tbots_protobuf_test.cpp
@@ -112,7 +112,7 @@ class TbotsProtobufTest : public ::testing::Test
 
 TEST(TbotsProtobufTest, timestamp_msg_test)
 {
-    auto timestamp_msg = createCurrentTimestamp();
+    auto timestamp_msg = createCurrentTimestampProto();
     TbotsProtobufTest::assertSaneTimestamp(*timestamp_msg);
 }
 
@@ -137,7 +137,7 @@ TEST(TbotsProtobufTest, ball_state_msg_test)
     auto velocity = Vector(4.20, 4.20);
 
     Ball ball(position, velocity, Timestamp::fromSeconds(0));
-    auto ball_state_msg = createBallState(ball);
+    auto ball_state_msg = createBallStateProto(ball);
 
     TbotsProtobufTest::assertBallStateMessageFromBall(ball, *ball_state_msg);
 }
diff --git a/src/software/ai/passing/cost_function.cpp b/src/software/ai/passing/cost_function.cpp
index 7b5506911a..7746ff7ca7 100644
--- a/src/software/ai/passing/cost_function.cpp
+++ b/src/software/ai/passing/cost_function.cpp
@@ -475,5 +475,5 @@ void samplePassesForVisualization(const World& world,
         }
     }
 
-    LOG(VISUALIZE) << *createCostVisualization(costs, num_rows, num_cols);
+    LOG(VISUALIZE) << *createCostVisualizationProto(costs, num_rows, num_cols);
 }
diff --git a/src/software/ai/passing/pass_generator.cpp b/src/software/ai/passing/pass_generator.cpp
index ab9618d9f4..861405123b 100644
--- a/src/software/ai/passing/pass_generator.cpp
+++ b/src/software/ai/passing/pass_generator.cpp
@@ -36,7 +36,7 @@ PassWithRating PassGenerator::getBestPass(const World& world,
         {
             for (const Point& receiving_position : receiving_positions)
             {
-                debug_shapes.push_back(*createDebugShape(
+                debug_shapes.push_back(*createDebugShapeProto(
                     Stadium(world.friendlyTeam().getRobotById(robot_id)->position(),
                             receiving_position, 0.02),
                     std::to_string(debug_shapes.size()) + "pg"));
@@ -44,10 +44,10 @@ PassWithRating PassGenerator::getBestPass(const World& world,
         }
         std::stringstream stream;
         stream << "BP:" << std::fixed << std::setprecision(3) << best_pass.rating;
-        debug_shapes.push_back(
-            *createDebugShape(Circle(best_pass.pass.receiverPoint(), 0.05),
-                              std::to_string(debug_shapes.size()) + "pg", stream.str()));
-        LOG(VISUALIZE) << *createDebugShapes(debug_shapes);
+        debug_shapes.push_back(*createDebugShapeProto(
+            Circle(best_pass.pass.receiverPoint(), 0.05),
+            std::to_string(debug_shapes.size()) + "pg", stream.str()));
+        LOG(VISUALIZE) << *createDebugShapesProto(debug_shapes);
     }
 
     // Generate sample passes across the field for cost visualization
diff --git a/src/software/ai/passing/receiver_position_generator.hpp b/src/software/ai/passing/receiver_position_generator.hpp
index bd3086c652..eb9ac80d2e 100644
--- a/src/software/ai/passing/receiver_position_generator.hpp
+++ b/src/software/ai/passing/receiver_position_generator.hpp
@@ -214,18 +214,18 @@ void ReceiverPositionGenerator<ZoneEnum>::visualizeBestReceivingPositionsAndZone
 {
     for (unsigned int i = 0; i < top_zones.size(); i++)
     {
-        debug_shapes.push_back(*createDebugShape(pitch_division_->getZone(top_zones[i]),
-                                                 std::to_string(i + 1),
-                                                 std::to_string(i + 1)));
+        debug_shapes.push_back(
+            *createDebugShapeProto(pitch_division_->getZone(top_zones[i]),
+                                   std::to_string(i + 1), std::to_string(i + 1)));
 
-        debug_shapes.push_back(*createDebugShape(
+        debug_shapes.push_back(*createDebugShapeProto(
             Circle(
                 best_receiving_positions.find(top_zones[i])->second.pass.receiverPoint(),
                 0.15),
             std::to_string(i + 1) + "rpg", std::to_string(i + 1) + "rpg"));
     }
 
-    LOG(VISUALIZE) << *createDebugShapes(debug_shapes);
+    LOG(VISUALIZE) << *createDebugShapesProto(debug_shapes);
 }
 
 template <class ZoneEnum>
diff --git a/src/software/backend/backend.cpp b/src/software/backend/backend.cpp
index e3ceb9a8b7..0c4e5821bd 100644
--- a/src/software/backend/backend.cpp
+++ b/src/software/backend/backend.cpp
@@ -9,7 +9,7 @@ void Backend::receiveRobotStatus(TbotsProto::RobotStatus msg)
 {
     SensorProto sensor_msg;
     *(sensor_msg.add_robot_status_msgs())         = msg;
-    *(sensor_msg.mutable_backend_received_time()) = *createCurrentTimestamp();
+    *(sensor_msg.mutable_backend_received_time()) = *createCurrentTimestampProto();
     Subject<SensorProto>::sendValueToObservers(sensor_msg);
 }
 
@@ -17,7 +17,7 @@ void Backend::receiveSSLWrapperPacket(SSLProto::SSL_WrapperPacket msg)
 {
     SensorProto sensor_msg;
     *(sensor_msg.mutable_ssl_vision_msg())        = msg;
-    *(sensor_msg.mutable_backend_received_time()) = *createCurrentTimestamp();
+    *(sensor_msg.mutable_backend_received_time()) = *createCurrentTimestampProto();
     Subject<SensorProto>::sendValueToObservers(sensor_msg);
 }
 
@@ -25,7 +25,7 @@ void Backend::receiveSSLReferee(SSLProto::Referee msg)
 {
     SensorProto sensor_msg;
     *(sensor_msg.mutable_ssl_referee_msg())       = msg;
-    *(sensor_msg.mutable_backend_received_time()) = *createCurrentTimestamp();
+    *(sensor_msg.mutable_backend_received_time()) = *createCurrentTimestampProto();
     Subject<SensorProto>::sendValueToObservers(sensor_msg);
 }
 
diff --git a/src/software/backend/unix_simulator_backend.cpp b/src/software/backend/unix_simulator_backend.cpp
index 66c7d33aaf..9eaf971b09 100644
--- a/src/software/backend/unix_simulator_backend.cpp
+++ b/src/software/backend/unix_simulator_backend.cpp
@@ -90,7 +90,7 @@ void UnixSimulatorBackend::onValueReceived(TbotsProto::PrimitiveSet primitives)
 {
     primitive_output->sendProto(primitives);
 
-    LOG(VISUALIZE) << *createNamedValue(
+    LOG(VISUALIZE) << *createNamedValueProto(
         "Primitive Hz",
         static_cast<float>(FirstInFirstOutThreadedObserver<
                            TbotsProto::PrimitiveSet>::getDataReceivedPerSecond()));
@@ -100,7 +100,7 @@ void UnixSimulatorBackend::onValueReceived(World world)
 {
     world_output->sendProto(*createWorldWithSequenceNumber(world, sequence_number++));
 
-    LOG(VISUALIZE) << *createNamedValue(
+    LOG(VISUALIZE) << *createNamedValueProto(
         "World Hz",
         static_cast<float>(
             FirstInFirstOutThreadedObserver<World>::getDataReceivedPerSecond()));
diff --git a/src/software/er_force_simulator_main.cpp b/src/software/er_force_simulator_main.cpp
index 92606942cc..7155b3100d 100644
--- a/src/software/er_force_simulator_main.cpp
+++ b/src/software/er_force_simulator_main.cpp
@@ -145,7 +145,7 @@ int main(int argc, char** argv)
                 if (!has_sent_world_state_trigger)
                 {
                     auto world_state_received_trigger_msg =
-                        *createWorldStateReceivedTrigger();
+                        *createWorldStateReceivedTriggerProto();
                     world_state_received_trigger.sendProto(
                         world_state_received_trigger_msg);
                     has_sent_world_state_trigger = true;
diff --git a/src/software/simulated_tests/simulated_er_force_sim_play_test_fixture.cpp b/src/software/simulated_tests/simulated_er_force_sim_play_test_fixture.cpp
index 3f7d1bad72..246d67a56b 100644
--- a/src/software/simulated_tests/simulated_er_force_sim_play_test_fixture.cpp
+++ b/src/software/simulated_tests/simulated_er_force_sim_play_test_fixture.cpp
@@ -92,7 +92,7 @@ void SimulatedErForceSimPlayTestFixture::updatePrimitives(
 
     double duration_ms = ::TestUtil::millisecondsSince(start_tick_time);
     registerFriendlyTickTime(duration_ms);
-    auto world_msg = createWorld(world_with_updated_game_state);
+    auto world_msg = createWorldProto(world_with_updated_game_state);
     simulator_to_update->setYellowRobotPrimitiveSet(*primitive_set_msg,
                                                     std::move(world_msg));
 }
diff --git a/src/software/simulated_tests/simulated_er_force_sim_test_fixture.cpp b/src/software/simulated_tests/simulated_er_force_sim_test_fixture.cpp
index f825628c46..12844927c0 100644
--- a/src/software/simulated_tests/simulated_er_force_sim_test_fixture.cpp
+++ b/src/software/simulated_tests/simulated_er_force_sim_test_fixture.cpp
@@ -533,7 +533,7 @@ bool SimulatedErForceSimTestFixture::tickTest(
     {
         *friendly_world = friendly_sensor_fusion.getWorld().value();
         *enemy_world    = enemy_sensor_fusion.getWorld().value();
-        LOG(VISUALIZE) << *createWorld(*friendly_world);
+        LOG(VISUALIZE) << *createWorldProto(*friendly_world);
 
         validation_functions_done = validateAndCheckCompletion(
             terminating_function_validators, non_terminating_function_validators);
diff --git a/src/software/world/ball_state_test.cpp b/src/software/world/ball_state_test.cpp
index 099473f140..927e1daf07 100644
--- a/src/software/world/ball_state_test.cpp
+++ b/src/software/world/ball_state_test.cpp
@@ -64,7 +64,7 @@ TEST(BallStateTest, construct_with_protobuf)
 {
     BallState ball_state_1(Point(1, -2.3), Vector(0, 0.4), 0.1);
     Ball ball(ball_state_1, Timestamp());
-    std::unique_ptr<TbotsProto::BallState> ball_state_proto = createBallState(ball);
+    std::unique_ptr<TbotsProto::BallState> ball_state_proto = createBallStateProto(ball);
     BallState ball_state_2(*ball_state_proto);
 
     EXPECT_TRUE(ball_state_1 == ball_state_2);
diff --git a/src/software/world/ball_test.cpp b/src/software/world/ball_test.cpp
index 4d0870a994..4b9ddba2e4 100644
--- a/src/software/world/ball_test.cpp
+++ b/src/software/world/ball_test.cpp
@@ -58,7 +58,7 @@ TEST_F(BallTest, construct_with_initial_state)
 TEST_F(BallTest, construct_with_protobuf)
 {
     Ball original_ball(Point(1.0, 1.0), Vector(2.0, 2.0), Timestamp::fromSeconds(3.0));
-    std::unique_ptr<TbotsProto::Ball> ball_proto = createBall(original_ball);
+    std::unique_ptr<TbotsProto::Ball> ball_proto = createBallProto(original_ball);
     Ball proto_converted_ball(*ball_proto);
 
     EXPECT_EQ(original_ball, proto_converted_ball);
diff --git a/src/software/world/field_test.cpp b/src/software/world/field_test.cpp
index 15b98f179b..04b7ae5dea 100644
--- a/src/software/world/field_test.cpp
+++ b/src/software/world/field_test.cpp
@@ -209,7 +209,7 @@ TEST_F(FieldTest, construct_with_parameters)
 TEST_F(FieldTest, construct_with_protobuf)
 {
     Field original_field = Field::createSSLDivisionAField();
-    auto field_proto     = createField(original_field);
+    auto field_proto     = createFieldProto(original_field);
     Field proto_converted_field(*field_proto);
 
     EXPECT_EQ(original_field, proto_converted_field);
diff --git a/src/software/world/game_state_test.cpp b/src/software/world/game_state_test.cpp
index 2ad740e47f..e850476b84 100644
--- a/src/software/world/game_state_test.cpp
+++ b/src/software/world/game_state_test.cpp
@@ -69,7 +69,7 @@ TEST(GameStateTest, construct_with_protobuf)
 {
     GameState original_game_state;
     original_game_state.updateRefereeCommand(RefereeCommand::DIRECT_FREE_US);
-    auto proto_game_state = createGameState(original_game_state);
+    auto proto_game_state = createGameStateProto(original_game_state);
     GameState proto_converted_game_state(*proto_game_state);
 
     EXPECT_EQ(original_game_state, proto_converted_game_state);
diff --git a/src/software/world/robot_test.cpp b/src/software/world/robot_test.cpp
index e3bda4b593..4ae2e5f79f 100644
--- a/src/software/world/robot_test.cpp
+++ b/src/software/world/robot_test.cpp
@@ -79,7 +79,7 @@ TEST_F(RobotTest, construct_with_protobuf)
               current_time,
               std::set<RobotCapability>{RobotCapability::Chip, RobotCapability::Move,
                                         RobotCapability::Kick, RobotCapability::Dribble});
-    auto robot_proto = createRobot(original_robot);
+    auto robot_proto = createRobotProto(original_robot);
     Robot proto_converted_robot(*robot_proto);
 
     EXPECT_THAT(
diff --git a/src/software/world/team_test.cpp b/src/software/world/team_test.cpp
index c0e55065f8..9941ed5a20 100644
--- a/src/software/world/team_test.cpp
+++ b/src/software/world/team_test.cpp
@@ -85,7 +85,7 @@ TEST_F(TeamTest, construct_with_protobuf)
     std::vector<Robot> robot_list = {robot_0, robot_1, robot_2};
 
     Team original_team = Team(robot_list);
-    auto proto_team    = createTeam(original_team);
+    auto proto_team    = createTeamProto(original_team);
     Team proto_converted_team(*proto_team);
 
     // Proto representation of Team does not store the robot_expiry_buffer_duration, so we
diff --git a/src/software/world/world_test.cpp b/src/software/world/world_test.cpp
index 76059fd78b..5a26b2d361 100644
--- a/src/software/world/world_test.cpp
+++ b/src/software/world/world_test.cpp
@@ -65,7 +65,7 @@ TEST_F(WorldTest, construction_with_parameters)
 
 TEST_F(WorldTest, construct_with_protobuf)
 {
-    auto world_proto = createWorld(world);
+    auto world_proto = createWorldProto(world);
     World proto_converted_world(*world_proto);
 
     // Can not compare the two World objects since TbotsProto::Team does not store the