diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/fluid_pressure/fluid_pressure_display.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/fluid_pressure/fluid_pressure_display.hpp
index 1a2286c4f..2095fb263 100644
--- a/rviz_default_plugins/include/rviz_default_plugins/displays/fluid_pressure/fluid_pressure_display.hpp
+++ b/rviz_default_plugins/include/rviz_default_plugins/displays/fluid_pressure/fluid_pressure_display.hpp
@@ -56,9 +56,10 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC FluidPressureDisplay
   FluidPressureDisplay();
   ~FluidPressureDisplay() override;
 
-private:
+protected:
   void processMessage(const sensor_msgs::msg::FluidPressure::ConstSharedPtr message) override;
 
+private:
   void setInitialValues() override;
   void hideUnneededProperties() override;
 };
diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/illuminance/illuminance_display.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/illuminance/illuminance_display.hpp
index a71b2a937..513bf9ad1 100644
--- a/rviz_default_plugins/include/rviz_default_plugins/displays/illuminance/illuminance_display.hpp
+++ b/rviz_default_plugins/include/rviz_default_plugins/displays/illuminance/illuminance_display.hpp
@@ -56,9 +56,10 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC IlluminanceDisplay
   IlluminanceDisplay();
   ~IlluminanceDisplay() override;
 
-private:
+protected:
   void processMessage(const sensor_msgs::msg::Illuminance::ConstSharedPtr message) override;
 
+private:
   void setInitialValues() override;
   void hideUnneededProperties() override;
 };
diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/marker/marker_display.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/marker/marker_display.hpp
index 297c81450..e678d8c5f 100644
--- a/rviz_default_plugins/include/rviz_default_plugins/displays/marker/marker_display.hpp
+++ b/rviz_default_plugins/include/rviz_default_plugins/displays/marker/marker_display.hpp
@@ -69,10 +69,9 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC MarkerDisplay
 protected:
   void subscribe() override;
   void unsubscribe() override;
-
-private:
   void processMessage(visualization_msgs::msg::Marker::ConstSharedPtr msg) override;
 
+private:
   void createMarkerArraySubscription();
 
   rclcpp::Subscription<visualization_msgs::msg::MarkerArray>::SharedPtr array_sub_;
diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/marker_array/marker_array_display.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/marker_array/marker_array_display.hpp
index fa4637521..cd2856df9 100644
--- a/rviz_default_plugins/include/rviz_default_plugins/displays/marker_array/marker_array_display.hpp
+++ b/rviz_default_plugins/include/rviz_default_plugins/displays/marker_array/marker_array_display.hpp
@@ -65,9 +65,10 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC MarkerArrayDisplay
 
   void reset() override;
 
-private:
+protected:
   void processMessage(visualization_msgs::msg::MarkerArray::ConstSharedPtr array) override;
 
+private:
   std::unique_ptr<MarkerCommon> marker_common_;
 };
 
diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp
index 1b035452a..767fe0c54 100644
--- a/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp
+++ b/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp
@@ -178,9 +178,11 @@ private Q_SLOTS:
   void setXyzTransformerOptions(rviz_common::properties::EnumProperty * prop);
   void setColorTransformerOptions(rviz_common::properties::EnumProperty * prop);
 
+protected:
+  void processMessage(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud);
+
 private:
   bool transformCloud(const CloudInfoPtr & cloud, bool fully_update_transformers);
-  void processMessage(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud);
   bool transformPoints(
     const CloudInfoPtr & cloud_info, V_PointCloudPoint & cloud_points, bool update_transformers);
   void setProblematicPointsToInfinity(V_PointCloudPoint & cloud_points);
diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/pose/pose_display.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/pose/pose_display.hpp
index 18b0277cf..7ebf26db0 100644
--- a/rviz_default_plugins/include/rviz_default_plugins/displays/pose/pose_display.hpp
+++ b/rviz_default_plugins/include/rviz_default_plugins/displays/pose/pose_display.hpp
@@ -89,6 +89,7 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC PoseDisplay : public
   /** @brief Overridden from MessageFilterDisplay to get arrow/axes visibility correct. */
   void onEnable() override;
   void onDisable() override;
+  void processMessage(geometry_msgs::msg::PoseStamped::ConstSharedPtr message) override;
 
 private Q_SLOTS:
   void updateShapeVisibility();
@@ -98,7 +99,6 @@ private Q_SLOTS:
   void updateArrowGeometry();
 
 private:
-  void processMessage(geometry_msgs::msg::PoseStamped::ConstSharedPtr message) override;
   void setupSelectionHandler();
 
   std::unique_ptr<rviz_rendering::Arrow> arrow_;
diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/pose_covariance/pose_with_covariance_display.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/pose_covariance/pose_with_covariance_display.hpp
index 63c4e5d6d..859158099 100644
--- a/rviz_default_plugins/include/rviz_default_plugins/displays/pose_covariance/pose_with_covariance_display.hpp
+++ b/rviz_default_plugins/include/rviz_default_plugins/displays/pose_covariance/pose_with_covariance_display.hpp
@@ -89,6 +89,8 @@ class PoseWithCovarianceDisplay
 protected:
   /** @brief Overridden from MessageFilterDisplay to get Arrow/Axes visibility correct. */
   void onEnable() override;
+  void
+  processMessage(geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr message) override;
 
 private Q_SLOTS:
   void updateShapeVisibility();
@@ -99,8 +101,6 @@ private Q_SLOTS:
   void updateCovariance();
 
 private:
-  void
-  processMessage(geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr message) override;
   void setupSelectionHandler();
 
   std::shared_ptr<rviz_rendering::Arrow> arrow_;
diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/relative_humidity/relative_humidity_display.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/relative_humidity/relative_humidity_display.hpp
index be96714f3..11700b1f6 100644
--- a/rviz_default_plugins/include/rviz_default_plugins/displays/relative_humidity/relative_humidity_display.hpp
+++ b/rviz_default_plugins/include/rviz_default_plugins/displays/relative_humidity/relative_humidity_display.hpp
@@ -56,9 +56,10 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC RelativeHumidityDisplay
   RelativeHumidityDisplay();
   ~RelativeHumidityDisplay() override;
 
-private:
+protected:
   void processMessage(const sensor_msgs::msg::RelativeHumidity::ConstSharedPtr message) override;
 
+private:
   void setInitialValues() override;
   void hideUnneededProperties() override;
 };
diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/temperature/temperature_display.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/temperature/temperature_display.hpp
index 8c9603c0f..ee0a93e57 100644
--- a/rviz_default_plugins/include/rviz_default_plugins/displays/temperature/temperature_display.hpp
+++ b/rviz_default_plugins/include/rviz_default_plugins/displays/temperature/temperature_display.hpp
@@ -56,6 +56,7 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC TemperatureDisplay
   TemperatureDisplay();
   ~TemperatureDisplay() override;
 
+protected:
   void processMessage(const sensor_msgs::msg::Temperature::ConstSharedPtr message) override;
 
 private: