diff --git a/crane_robot_skills/include/crane_robot_skills/skill_base.hpp b/crane_robot_skills/include/crane_robot_skills/skill_base.hpp
index fffe99c5f..98cc8ed03 100644
--- a/crane_robot_skills/include/crane_robot_skills/skill_base.hpp
+++ b/crane_robot_skills/include/crane_robot_skills/skill_base.hpp
@@ -149,6 +149,8 @@ class SkillInterface
     command_base->latest_msg.skill_name = name;
   }
 
+  virtual ~SkillInterface() { visualizer->clearBuffer(); }
+
   const std::string name;
 
   virtual Status run(
diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/planner_base.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/planner_base.hpp
index d3516fe91..f43bb02f3 100644
--- a/session/crane_planner_plugins/include/crane_planner_plugins/planner_base.hpp
+++ b/session/crane_planner_plugins/include/crane_planner_plugins/planner_base.hpp
@@ -54,6 +54,8 @@ class PlannerBase
   {
   }
 
+  virtual ~PlannerBase() { visualizer->clearBuffer(); }
+
   crane_msgs::srv::RobotSelect::Response doRobotSelect(
     const crane_msgs::srv::RobotSelect::Request::SharedPtr request,
     const std::unordered_map<uint8_t, RobotRole> & prev_roles, PlannerContext & context)
diff --git a/utility/crane_msg_wrappers/include/crane_msg_wrappers/crane_visualizer_wrapper.hpp b/utility/crane_msg_wrappers/include/crane_msg_wrappers/crane_visualizer_wrapper.hpp
index 938a04610..4418426f2 100644
--- a/utility/crane_msg_wrappers/include/crane_msg_wrappers/crane_visualizer_wrapper.hpp
+++ b/utility/crane_msg_wrappers/include/crane_msg_wrappers/crane_visualizer_wrapper.hpp
@@ -601,9 +601,12 @@ struct CraneVisualizerBuffer
       if (layer == "") {
         CraneVisualizerBuffer::buffer->message_buffer.svg_primitive_arrays.clear();
       } else {
-        ranges::actions::remove_if(
-          CraneVisualizerBuffer::buffer->message_buffer.svg_primitive_arrays,
-          [&layer](const auto & layer_array) { return layer_array.layer == layer; });
+        for (auto & svg_layer : CraneVisualizerBuffer::buffer->message_buffer.svg_primitive_arrays |
+                                  ranges::views::filter([&](auto svg_primitive_array) {
+                                    return svg_primitive_array.layer == layer;
+                                  })) {
+          svg_layer.svg_primitives.clear();
+        }
       }
     }
   }
@@ -633,6 +636,7 @@ struct CraneVisualizerBuffer
 
     void clearBuffer()
     {
+      clear();
       if (CraneVisualizerBuffer::active()) {
         CraneVisualizerBuffer::clear(layer);
       }