diff --git a/include/moveit_visual_tools/moveit_visual_tools.h b/include/moveit_visual_tools/moveit_visual_tools.h
index f7e92dd..26ad2d6 100644
--- a/include/moveit_visual_tools/moveit_visual_tools.h
+++ b/include/moveit_visual_tools/moveit_visual_tools.h
@@ -357,11 +357,11 @@ class MoveItVisualTools : public rviz_visual_tools::RvizVisualTools
    * \param color to display the collision object with
    * \return true on sucess
    **/
-  bool publishCollisionCuboid(const Eigen::Affine3d& pose, double width, double depth, double height, const std::string& name,
-                              const rviz_visual_tools::colors& color);
+  bool publishCollisionCuboid(const Eigen::Affine3d& pose, double width, double depth, double height,
+                              const std::string& name, const rviz_visual_tools::colors& color);
 
-  bool publishCollisionCuboid(const geometry_msgs::Pose& pose, double x, double y, double z, const std::string& name,
-                              const rviz_visual_tools::colors& color);
+  bool publishCollisionCuboid(const geometry_msgs::Pose& pose, double width, double depth, double height,
+                              const std::string& name, const rviz_visual_tools::colors& color);
 
   /**
    * \brief Create a MoveIt Collision cylinder between two points
diff --git a/src/moveit_visual_tools.cpp b/src/moveit_visual_tools.cpp
index 15ab7bd..c239060 100644
--- a/src/moveit_visual_tools.cpp
+++ b/src/moveit_visual_tools.cpp
@@ -687,16 +687,17 @@ bool MoveItVisualTools::publishCollisionCuboid(const geometry_msgs::Point& point
   return processCollisionObjectMsg(collision_obj, color);
 }
 
-bool MoveItVisualTools::publishCollisionCuboid(const Eigen::Affine3d& pose, double x, double y, double z,
+bool MoveItVisualTools::publishCollisionCuboid(const Eigen::Affine3d& pose, double width, double depth, double height,
                                                const std::string& name, const rviz_visual_tools::colors& color)
 {
   geometry_msgs::Pose pose_msg;
   tf::poseEigenToMsg(pose, pose_msg);
-  return publishCollisionCuboid(pose_msg, x, y, z, name, color);
+  return publishCollisionCuboid(pose_msg, width, depth, height, name, color);
 }
 
-bool MoveItVisualTools::publishCollisionCuboid(const geometry_msgs::Pose& pose, double width, double depth, double height,
-                                               const std::string& name, const rviz_visual_tools::colors& color)
+bool MoveItVisualTools::publishCollisionCuboid(const geometry_msgs::Pose& pose, double width, double depth,
+                                               double height, const std::string& name,
+                                               const rviz_visual_tools::colors& color)
 {
   moveit_msgs::CollisionObject collision_obj;
   collision_obj.header.stamp = ros::Time::now();