diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
index 15c572d2ed9..27125f67a07 100644
--- a/nav2_amcl/src/amcl_node.cpp
+++ b/nav2_amcl/src/amcl_node.cpp
@@ -1008,32 +1008,32 @@ rcl_interfaces::msg::SetParametersResult AmclNode::validateParameterUpdatesCallb
         (param_name != "laser_min_range" || param_name != "laser_max_range"))
       {
         RCLCPP_WARN(
-        get_logger(), "The value of parameter '%s' is incorrectly set to %f, "
-        "it should be >=0. Ignoring parameter update.",
-        param_name.c_str(), parameter.as_double());
+          get_logger(), "The value of parameter '%s' is incorrectly set to %f, "
+          "it should be >=0. Ignoring parameter update.",
+          param_name.c_str(), parameter.as_double());
         result.successful = false;
       }
     } else if (param_type == ParameterType::PARAMETER_INTEGER) {
       if (parameter.as_int() <= 0.0 && param_name == "resample_interval") {
         RCLCPP_WARN(
-        get_logger(), "The value of resample_interval is incorrectly set, "
-        "it should be >0. Ignoring parameter update.");
+          get_logger(), "The value of resample_interval is incorrectly set, "
+          "it should be >0. Ignoring parameter update.");
         result.successful = false;
       } else if (parameter.as_int() < 0.0) {
         RCLCPP_WARN(
-        get_logger(), "The value of parameter '%s' is incorrectly set to %ld, "
-        "it should be >=0. Ignoring parameter update.",
-        param_name.c_str(), parameter.as_int());
+          get_logger(), "The value of parameter '%s' is incorrectly set to %ld, "
+          "it should be >=0. Ignoring parameter update.",
+          param_name.c_str(), parameter.as_int());
         result.successful = false;
       } else if (param_name == "max_particles" && parameter.as_int() < min_particles_) {
         RCLCPP_WARN(
-        get_logger(), "The value of max_particles is incorrectly set, "
-        "it should be larger than min_particles. Ignoring parameter update.");
+          get_logger(), "The value of max_particles is incorrectly set, "
+          "it should be larger than min_particles. Ignoring parameter update.");
         result.successful = false;
       } else if (param_name == "min_particles" && parameter.as_int() > max_particles_) {
         RCLCPP_WARN(
-        get_logger(), "The value of min_particles is incorrectly set, "
-        "it should be smaller than max particles. Ignoring parameter update.");
+          get_logger(), "The value of min_particles is incorrectly set, "
+          "it should be smaller than max particles. Ignoring parameter update.");
         result.successful = false;
       }
     }
@@ -1397,17 +1397,20 @@ AmclNode::initServices()
 {
   global_loc_srv_ = create_service<std_srvs::srv::Empty>(
     "reinitialize_global_localization",
-    std::bind(&AmclNode::globalLocalizationCallback, this, std::placeholders::_1,
+    std::bind(
+      &AmclNode::globalLocalizationCallback, this, std::placeholders::_1,
       std::placeholders::_2, std::placeholders::_3));
 
   initial_guess_srv_ = create_service<nav2_msgs::srv::SetInitialPose>(
     "set_initial_pose",
-    std::bind(&AmclNode::initialPoseReceivedSrv, this, std::placeholders::_1, std::placeholders::_2,
+    std::bind(
+      &AmclNode::initialPoseReceivedSrv, this, std::placeholders::_1, std::placeholders::_2,
       std::placeholders::_3));
 
   nomotion_update_srv_ = create_service<std_srvs::srv::Empty>(
     "request_nomotion_update",
-    std::bind(&AmclNode::nomotionUpdateCallback, this, std::placeholders::_1, std::placeholders::_2,
+    std::bind(
+      &AmclNode::nomotionUpdateCallback, this, std::placeholders::_1, std::placeholders::_2,
       std::placeholders::_3));
 }
 
diff --git a/nav2_amcl/src/map/map_cspace.cpp b/nav2_amcl/src/map/map_cspace.cpp
index c59eac96327..7b179b9e0f7 100644
--- a/nav2_amcl/src/map/map_cspace.cpp
+++ b/nav2_amcl/src/map/map_cspace.cpp
@@ -132,7 +132,8 @@ void enqueue(
 
   map->cells[map_index].occ_dist = distance * map->scale;
 
-  Q.emplace(CellData{map, static_cast<unsigned int>(i), static_cast<unsigned int>(j),
+  Q.emplace(
+    CellData{map, static_cast<unsigned int>(i), static_cast<unsigned int>(j),
       static_cast<unsigned int>(src_i), static_cast<unsigned int>(src_j),
       map->cells[map_index].occ_dist});
 
@@ -179,27 +180,27 @@ void map_update_cspace(map_t * map, double max_occ_dist)
     CellData current_cell = Q.top();
     if (current_cell.i_ > 0) {
       enqueue(
-          map, current_cell.i_ - 1, current_cell.j_,
-          current_cell.src_i_, current_cell.src_j_,
-          Q, cdm, marked);
+        map, current_cell.i_ - 1, current_cell.j_,
+        current_cell.src_i_, current_cell.src_j_,
+        Q, cdm, marked);
     }
     if (current_cell.j_ > 0) {
       enqueue(
-          map, current_cell.i_, current_cell.j_ - 1,
-          current_cell.src_i_, current_cell.src_j_,
-          Q, cdm, marked);
+        map, current_cell.i_, current_cell.j_ - 1,
+        current_cell.src_i_, current_cell.src_j_,
+        Q, cdm, marked);
     }
     if (static_cast<int>(current_cell.i_) < map->size_x - 1) {
       enqueue(
-          map, current_cell.i_ + 1, current_cell.j_,
-          current_cell.src_i_, current_cell.src_j_,
-          Q, cdm, marked);
+        map, current_cell.i_ + 1, current_cell.j_,
+        current_cell.src_i_, current_cell.src_j_,
+        Q, cdm, marked);
     }
     if (static_cast<int>(current_cell.j_) < map->size_y - 1) {
       enqueue(
-          map, current_cell.i_, current_cell.j_ + 1,
-          current_cell.src_i_, current_cell.src_j_,
-          Q, cdm, marked);
+        map, current_cell.i_, current_cell.j_ + 1,
+        current_cell.src_i_, current_cell.src_j_,
+        Q, cdm, marked);
     }
 
     Q.pop();
diff --git a/nav2_amcl/test/test_dynamic_parameters.cpp b/nav2_amcl/test/test_dynamic_parameters.cpp
index e2234d5f577..5f7ec468242 100644
--- a/nav2_amcl/test/test_dynamic_parameters.cpp
+++ b/nav2_amcl/test/test_dynamic_parameters.cpp
@@ -140,7 +140,7 @@ TEST(WPTest, test_dynamic_parameters)
   EXPECT_EQ(amcl->get_parameter("min_particles").as_int(), 100);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp
index 2371975317c..e6618b63739 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp
@@ -93,12 +93,12 @@ class BehaviorTreeEngine
    */
   std::string extractBehaviorTreeID(const std::string & file_or_id);
 
-    /**
-   * @brief Function to create a BT from a BehaviorTree ID
-   * @param tree_id BehaviorTree ID
-   * @param blackboard Blackboard for BT
-   * @return BT::Tree Created behavior tree
-    */
+  /**
+ * @brief Function to create a BT from a BehaviorTree ID
+ * @param tree_id BehaviorTree ID
+ * @param blackboard Blackboard for BT
+ * @return BT::Tree Created behavior tree
+  */
   BT::Tree createTree(
     const std::string & tree_id,
     BT::Blackboard::Ptr blackboard);
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
index 74d3700620e..40c220ec33a 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
@@ -77,9 +77,10 @@ BtActionServer<ActionT, NodeT>::BtActionServer(
   };
 
   if (node->has_parameter("error_code_names")) {
-    throw std::runtime_error("parameter 'error_code_names' has been replaced by "
-      " 'error_code_name_prefixes' and MUST be removed.\n"
-      " Please review migration guide and update your configuration.");
+    throw std::runtime_error(
+            "parameter 'error_code_names' has been replaced by "
+            " 'error_code_name_prefixes' and MUST be removed.\n"
+            " Please review migration guide and update your configuration.");
   }
 
   // Declare and get error code name prefixes parameter
@@ -100,8 +101,9 @@ BtActionServer<ActionT, NodeT>::BtActionServer(
         << "Make sure these match your BT and there are not other sources of error codes you"
         << "reported to your application");
   } else {
-    RCLCPP_INFO_STREAM(logger_, "Error_code parameters were set to:"
-      << error_code_name_prefixes_str);
+    RCLCPP_INFO_STREAM(
+      logger_, "Error_code parameters were set to:"
+        << error_code_name_prefixes_str);
   }
 }
 
@@ -123,7 +125,8 @@ bool BtActionServer<ActionT, NodeT>::on_configure()
   // Use suffix '_rclcpp_node' to keep parameter file consistency #1773
 
   auto new_arguments = node->get_node_options().arguments();
-  nav2::replaceOrAddArgument(new_arguments, "-r", "__node", std::string("__node:=") +
+  nav2::replaceOrAddArgument(
+    new_arguments, "-r", "__node", std::string("__node:=") +
     std::string(node->get_name()) + "_" + client_node_name + "_rclcpp_node");
   auto options = node->get_node_options();
   options = options.arguments(new_arguments);
@@ -271,7 +274,8 @@ bool BtActionServer<ActionT, NodeT>::loadBehaviorTree(const std::string & bt_xml
             continue;
           }
           if (registered_ids.count(id)) {
-            RCLCPP_WARN(logger_, "Skipping conflicting BT file %s (duplicate ID %s)",
+            RCLCPP_WARN(
+              logger_, "Skipping conflicting BT file %s (duplicate ID %s)",
               entry.path().c_str(), id.c_str());
             continue;
           }
@@ -311,7 +315,8 @@ bool BtActionServer<ActionT, NodeT>::loadBehaviorTree(const std::string & bt_xml
       register_all_bt_files();
     }
   } catch (const std::exception & e) {
-    setInternalError(ActionT::Result::FAILED_TO_LOAD_BEHAVIOR_TREE,
+    setInternalError(
+      ActionT::Result::FAILED_TO_LOAD_BEHAVIOR_TREE,
       "Exception registering behavior trees: " + std::string(e.what()));
     return false;
   }
@@ -327,10 +332,11 @@ bool BtActionServer<ActionT, NodeT>::loadBehaviorTree(const std::string & bt_xml
       blackboard->set<std::chrono::milliseconds>("server_timeout", default_server_timeout_);
       blackboard->set<std::chrono::milliseconds>("bt_loop_duration", bt_loop_duration_);
       blackboard->set<std::chrono::milliseconds>(
-          "wait_for_service_timeout", wait_for_service_timeout_);
+        "wait_for_service_timeout", wait_for_service_timeout_);
     }
   } catch (const std::exception & e) {
-    setInternalError(ActionT::Result::FAILED_TO_LOAD_BEHAVIOR_TREE,
+    setInternalError(
+      ActionT::Result::FAILED_TO_LOAD_BEHAVIOR_TREE,
       std::string("Exception when creating BT tree from ID: ") + e.what());
     return false;
   }
@@ -405,7 +411,8 @@ void BtActionServer<ActionT, NodeT>::executeCallback()
 
     case nav2_behavior_tree::BtStatus::FAILED:
       action_server_->terminate_current(result);
-      RCLCPP_ERROR(logger_, "Goal failed error_code:%d error_msg:'%s'", result->error_code,
+      RCLCPP_ERROR(
+        logger_, "Goal failed error_code:%d error_msg:'%s'", result->error_code,
         result->error_msg.c_str());
       break;
 
@@ -425,7 +432,8 @@ void BtActionServer<ActionT, NodeT>::setInternalError(
 {
   internal_error_code_ = error_code;
   internal_error_msg_ = error_msg;
-  RCLCPP_ERROR(logger_, "Setting internal error error_code:%d, error_msg:%s",
+  RCLCPP_ERROR(
+    logger_, "Setting internal error error_code:%d, error_msg:%s",
     internal_error_code_, internal_error_msg_.c_str());
 }
 
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
index ca2d623cbff..4f516470c13 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
@@ -94,7 +94,7 @@ class ComputePathToPoseAction : public BtActionNode<nav2_msgs::action::ComputePa
         BT::InputPort<geometry_msgs::msg::PoseStamped>(
           "start",
           "Used as the planner start pose instead of the current robot pose, if use_start is"
-                   " not false (i.e. not provided or set to true)"),
+          " not false (i.e. not provided or set to true)"),
         BT::InputPort<bool>(
           "use_start", "For using or not using (i.e. ignoring) the provided start pose"),
         BT::InputPort<std::string>(
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_route_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_route_action.hpp
index 7fbbfdf2741..b8c02f8b1ae 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_route_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_route_action.hpp
@@ -103,7 +103,8 @@ class ComputeRouteAction : public BtActionNode<nav2_msgs::action::ComputeRoute>
           "use_poses", false, "Whether to use poses or IDs for start and goal"),
         BT::OutputPort<ActionResult::_route_type>(
           "route", "The route computed by ComputeRoute node"),
-        BT::OutputPort<builtin_interfaces::msg::Duration>("planning_time",
+        BT::OutputPort<builtin_interfaces::msg::Duration>(
+          "planning_time",
           "Time taken to compute route"),
         BT::OutputPort<nav_msgs::msg::Path>("path", "Path created by ComputeRoute node"),
         BT::OutputPort<ActionResult::_error_code_type>(
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_in_collision_goals_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_in_collision_goals_action.hpp
index a76394e2ffe..71a924cdfc1 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_in_collision_goals_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_in_collision_goals_action.hpp
@@ -64,7 +64,8 @@ class RemoveInCollisionGoals : public BtServiceNode<nav2_msgs::srv::GetCosts>
 
     return providedBasicPorts(
       {
-        BT::InputPort<nav_msgs::msg::Goals>("input_goals",
+        BT::InputPort<nav_msgs::msg::Goals>(
+          "input_goals",
           "Original goals to remove from"),
         BT::InputPort<double>(
           "cost_threshold", 254.0,
@@ -73,11 +74,14 @@ class RemoveInCollisionGoals : public BtServiceNode<nav2_msgs::srv::GetCosts>
         BT::InputPort<bool>(
           "consider_unknown_as_obstacle", false,
           "Whether to consider unknown cost as obstacle"),
-        BT::OutputPort<nav_msgs::msg::Goals>("output_goals",
+        BT::OutputPort<nav_msgs::msg::Goals>(
+          "output_goals",
           "Goals with in-collision goals removed"),
-        BT::InputPort<std::vector<nav2_msgs::msg::WaypointStatus>>("input_waypoint_statuses",
+        BT::InputPort<std::vector<nav2_msgs::msg::WaypointStatus>>(
+          "input_waypoint_statuses",
           "Original waypoint_statuses to mark waypoint status from"),
-        BT::OutputPort<std::vector<nav2_msgs::msg::WaypointStatus>>("output_waypoint_statuses",
+        BT::OutputPort<std::vector<nav2_msgs::msg::WaypointStatus>>(
+          "output_waypoint_statuses",
           "Waypoint_statuses with in-collision waypoints marked")
       });
   }
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp
index a651318379f..de4e366f802 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp
@@ -56,16 +56,20 @@ class RemovePassedGoals : public BT::ActionNodeBase
     BT::RegisterJsonDefinition<std::vector<nav2_msgs::msg::WaypointStatus>>();
 
     return {
-      BT::InputPort<nav_msgs::msg::Goals>("input_goals",
-          "Original goals to remove viapoints from"),
-      BT::OutputPort<nav_msgs::msg::Goals>("output_goals",
-          "Goals with passed viapoints removed"),
+      BT::InputPort<nav_msgs::msg::Goals>(
+        "input_goals",
+        "Original goals to remove viapoints from"),
+      BT::OutputPort<nav_msgs::msg::Goals>(
+        "output_goals",
+        "Goals with passed viapoints removed"),
       BT::InputPort<double>("radius", 0.5, "radius to goal for it to be considered for removal"),
       BT::InputPort<std::string>("robot_base_frame", "Robot base frame"),
-      BT::InputPort<std::vector<nav2_msgs::msg::WaypointStatus>>("input_waypoint_statuses",
-          "Original waypoint_statuses to mark waypoint status from"),
-      BT::OutputPort<std::vector<nav2_msgs::msg::WaypointStatus>>("output_waypoint_statuses",
-          "Waypoint_statuses with passed waypoints marked")
+      BT::InputPort<std::vector<nav2_msgs::msg::WaypointStatus>>(
+        "input_waypoint_statuses",
+        "Original waypoint_statuses to mark waypoint status from"),
+      BT::OutputPort<std::vector<nav2_msgs::msg::WaypointStatus>>(
+        "output_waypoint_statuses",
+        "Waypoint_statuses with passed waypoints marked")
     };
   }
 
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_path_valid_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_path_valid_condition.hpp
index 334eaefd6f0..d5df8b2838f 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_path_valid_condition.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_path_valid_condition.hpp
@@ -75,8 +75,8 @@ class IsPathValidCondition : public BT::ConditionNode
       BT::InputPort<std::chrono::milliseconds>("server_timeout"),
       BT::InputPort<unsigned int>("max_cost", 253, "Maximum cost of the path"),
       BT::InputPort<bool>(
-          "consider_unknown_as_obstacle", false,
-          "Whether to consider unknown cost as obstacle")
+        "consider_unknown_as_obstacle", false,
+        "Whether to consider unknown cost as obstacle")
     };
   }
 
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_pose_occupied_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_pose_occupied_condition.hpp
index 7ad6bb014a5..b29b4b90bd0 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_pose_occupied_condition.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_pose_occupied_condition.hpp
@@ -74,12 +74,12 @@ class IsPoseOccupiedCondition : public BT::ConditionNode
       BT::InputPort<geometry_msgs::msg::PoseStamped>("pose", "Pose to check if occupied"),
       BT::InputPort<std::string>("service_name", "global_costmap/get_cost_global_costmap"),
       BT::InputPort<double>(
-          "cost_threshold", 254.0,
-          "Cost threshold for considering a pose occupied"),
+        "cost_threshold", 254.0,
+        "Cost threshold for considering a pose occupied"),
       BT::InputPort<bool>("use_footprint", true, "Whether to use footprint cost"),
       BT::InputPort<bool>(
-          "consider_unknown_as_obstacle", false,
-          "Whether to consider unknown cost as obstacle"),
+        "consider_unknown_as_obstacle", false,
+        "Whether to consider unknown cost as obstacle"),
       BT::InputPort<std::chrono::milliseconds>("server_timeout"),
     };
   }
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_stopped_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_stopped_condition.hpp
index 2d1bbe31449..8886de27608 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_stopped_condition.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_stopped_condition.hpp
@@ -71,10 +71,12 @@ class IsStoppedCondition : public BT::ConditionNode
     BT::RegisterJsonDefinition<std::chrono::milliseconds>();
 
     return {
-      BT::InputPort<double>("velocity_threshold", 0.01,
-          "Velocity threshold below which robot is considered stopped"),
-      BT::InputPort<std::chrono::milliseconds>("duration_stopped", 1000ms,
-          "Duration (ms) the velocity must remain below the threshold"),
+      BT::InputPort<double>(
+        "velocity_threshold", 0.01,
+        "Velocity threshold below which robot is considered stopped"),
+      BT::InputPort<std::chrono::milliseconds>(
+        "duration_stopped", 1000ms,
+        "Duration (ms) the velocity must remain below the threshold"),
     };
   }
 
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp
index 61a909c53c6..e17ecf11f23 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp
@@ -64,10 +64,12 @@ class GoalUpdater : public BT::DecoratorNode
     return {
       BT::InputPort<geometry_msgs::msg::PoseStamped>("input_goal", "Original Goal"),
       BT::InputPort<nav_msgs::msg::Goals>("input_goals", "Original Goals"),
-      BT::OutputPort<geometry_msgs::msg::PoseStamped>("output_goal",
-          "Received Goal by subscription"),
-      BT::OutputPort<nav_msgs::msg::Goals>("output_goals",
-          "Received Goals by subscription")
+      BT::OutputPort<geometry_msgs::msg::PoseStamped>(
+        "output_goal",
+        "Received Goal by subscription"),
+      BT::OutputPort<nav_msgs::msg::Goals>(
+        "output_goals",
+        "Received Goals by subscription")
     };
   }
 
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/utils/loop_rate.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/utils/loop_rate.hpp
index d7ebd5b4ac9..728855f9807 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/utils/loop_rate.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/utils/loop_rate.hpp
@@ -61,7 +61,7 @@ class LoopRate
     auto time_to_sleep = next_interval - now;
     std::chrono::nanoseconds time_to_sleep_ns(time_to_sleep.nanoseconds());
     // Sleep (can get interrupted by emitWakeUpSignal())
-    tree_->sleep(time_to_sleep_ns);
+    tree_->sleep(std::chrono::duration_cast<std::chrono::microseconds>(time_to_sleep_ns));
     return true;
   }
 
diff --git a/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp b/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp
index 0d80527c913..3ff618a007b 100644
--- a/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp
+++ b/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp
@@ -41,9 +41,9 @@ void ComputePathToPoseAction::on_tick()
       // in case we don't have a "start" pose
       goal_.use_start = false;
       RCLCPP_ERROR(
-          node_->get_logger(),
-          "use_start is set to true but no start pose was provided, falling back to default "
-          "behavior, i.e. using the current robot pose");
+        node_->get_logger(),
+        "use_start is set to true but no start pose was provided, falling back to default "
+        "behavior, i.e. using the current robot pose");
     }
   } else {
     // else if "use_start" is not provided, but "start" is, then use it in order to not change
diff --git a/nav2_behavior_tree/plugins/condition/are_poses_near_condition.cpp b/nav2_behavior_tree/plugins/condition/are_poses_near_condition.cpp
index b915f6e5b7a..c4f570eed60 100644
--- a/nav2_behavior_tree/plugins/condition/are_poses_near_condition.cpp
+++ b/nav2_behavior_tree/plugins/condition/are_poses_near_condition.cpp
@@ -63,9 +63,9 @@ bool ArePosesNearCondition::arePosesNearby()
 
   if (pose1.header.frame_id != pose2.header.frame_id) {
     if (!nav2_util::transformPoseInTargetFrame(
-      pose1, pose1, *tf_, global_frame_, transform_tolerance_) ||
+        pose1, pose1, *tf_, global_frame_, transform_tolerance_) ||
       !nav2_util::transformPoseInTargetFrame(
-      pose2, pose2, *tf_, global_frame_, transform_tolerance_))
+        pose2, pose2, *tf_, global_frame_, transform_tolerance_))
     {
       RCLCPP_ERROR(node_->get_logger(), "Failed to transform poses to the same frame");
       return false;
diff --git a/nav2_behavior_tree/plugins/condition/is_pose_occupied_condition.cpp b/nav2_behavior_tree/plugins/condition/is_pose_occupied_condition.cpp
index 8d253e5e0a1..855b66e011a 100644
--- a/nav2_behavior_tree/plugins/condition/is_pose_occupied_condition.cpp
+++ b/nav2_behavior_tree/plugins/condition/is_pose_occupied_condition.cpp
@@ -58,14 +58,14 @@ BT::NodeStatus IsPoseOccupiedCondition::tick()
 
   auto response = client_->invoke(request, server_timeout_);
 
-  if(!response->success) {
+  if (!response->success) {
     RCLCPP_ERROR(
       node_->get_logger(),
       "GetCosts service call failed");
     return BT::NodeStatus::FAILURE;
   }
 
-  if((response->costs[0] == 255 && !consider_unknown_as_obstacle_) ||
+  if ((response->costs[0] == 255 && !consider_unknown_as_obstacle_) ||
     response->costs[0] < cost_threshold_)
   {
     return BT::NodeStatus::FAILURE;
diff --git a/nav2_behavior_tree/plugins/control/persistent_sequence.cpp b/nav2_behavior_tree/plugins/control/persistent_sequence.cpp
index f38b78dc85d..2a73639b99b 100644
--- a/nav2_behavior_tree/plugins/control/persistent_sequence.cpp
+++ b/nav2_behavior_tree/plugins/control/persistent_sequence.cpp
@@ -31,8 +31,8 @@ BT::NodeStatus PersistentSequenceNode::tick()
   int current_child_idx;
   if (!getInput("current_child_idx", current_child_idx)) {
     throw BT::RuntimeError(
-      "Missing required input [current_child_idx] in PersistentSequenceNode. "
-      "Set via <Script code=\"current_child_idx := 0\" />");
+            "Missing required input [current_child_idx] in PersistentSequenceNode. "
+            "Set via <Script code=\"current_child_idx := 0\" />");
   }
 
   setStatus(BT::NodeStatus::RUNNING);
diff --git a/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp b/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp
index d5b67155d30..e106026ac1f 100644
--- a/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp
+++ b/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp
@@ -56,7 +56,8 @@ void GoalUpdater::createROSInterfaces()
   std::string goal_updater_topic_new;
   std::string goals_updater_topic_new;
   node_->get_parameter_or<std::string>("goal_updater_topic", goal_updater_topic_new, "goal_update");
-  node_->get_parameter_or<std::string>("goals_updater_topic", goals_updater_topic_new,
+  node_->get_parameter_or<std::string>(
+    "goals_updater_topic", goals_updater_topic_new,
     "goals_update");
 
   // Only create a new subscriber if the topic has changed or subscriber is empty
@@ -94,9 +95,9 @@ inline BT::NodeStatus GoalUpdater::tick()
 
   if (last_goal_received_set_) {
     if (last_goal_received_.header.stamp == rclcpp::Time(0)) {
-        // if the goal doesn't have a timestamp, we reject it
+      // if the goal doesn't have a timestamp, we reject it
       RCLCPP_WARN(
-          node_->get_logger(), "The received goal has no timestamp. Ignoring.");
+        node_->get_logger(), "The received goal has no timestamp. Ignoring.");
       setOutput("output_goal", goal);
     } else {
       auto last_goal_received_time = rclcpp::Time(last_goal_received_.header.stamp);
@@ -105,9 +106,9 @@ inline BT::NodeStatus GoalUpdater::tick()
         setOutput("output_goal", last_goal_received_);
       } else {
         RCLCPP_INFO(
-            node_->get_logger(), "The timestamp of the received goal (%f) is older than the "
-            "current goal (%f). Ignoring the received goal.",
-            last_goal_received_time.seconds(), goal_time.seconds());
+          node_->get_logger(), "The timestamp of the received goal (%f) is older than the "
+          "current goal (%f). Ignoring the received goal.",
+          last_goal_received_time.seconds(), goal_time.seconds());
         setOutput("output_goal", goal);
       }
     }
@@ -120,7 +121,7 @@ inline BT::NodeStatus GoalUpdater::tick()
       setOutput("output_goals", goals);
     } else if (last_goals_received_.header.stamp == rclcpp::Time(0)) {
       RCLCPP_WARN(
-          node_->get_logger(), "The received goals array has no timestamp. Ignoring.");
+        node_->get_logger(), "The received goals array has no timestamp. Ignoring.");
       setOutput("output_goals", goals);
     } else {
       auto last_goals_received_time = rclcpp::Time(last_goals_received_.header.stamp);
@@ -129,9 +130,9 @@ inline BT::NodeStatus GoalUpdater::tick()
         setOutput("output_goals", last_goals_received_);
       } else {
         RCLCPP_INFO(
-            node_->get_logger(), "The timestamp of the received goals (%f) is older than the "
-            "current goals (%f). Ignoring the received goals.",
-            last_goals_received_time.seconds(), goals_time.seconds());
+          node_->get_logger(), "The timestamp of the received goals (%f) is older than the "
+          "current goals (%f). Ignoring the received goals.",
+          last_goals_received_time.seconds(), goals_time.seconds());
         setOutput("output_goals", goals);
       }
     }
diff --git a/nav2_behavior_tree/src/behavior_tree_engine.cpp b/nav2_behavior_tree/src/behavior_tree_engine.cpp
index 68bb2676b99..de3eb350863 100644
--- a/nav2_behavior_tree/src/behavior_tree_engine.cpp
+++ b/nav2_behavior_tree/src/behavior_tree_engine.cpp
@@ -106,36 +106,41 @@ BehaviorTreeEngine::createTreeFromFile(
 std::string BehaviorTreeEngine::extractBehaviorTreeID(
   const std::string & bt_file)
 {
-  if(bt_file.empty()) {
-    RCLCPP_ERROR(rclcpp::get_logger("BehaviorTreeEngine"),
-        "Error: Empty BT file passed to extractBehaviorTreeID");
+  if (bt_file.empty()) {
+    RCLCPP_ERROR(
+      rclcpp::get_logger("BehaviorTreeEngine"),
+      "Error: Empty BT file passed to extractBehaviorTreeID");
     return "";
   }
   tinyxml2::XMLDocument doc;
   if (doc.LoadFile(bt_file.c_str()) != tinyxml2::XML_SUCCESS) {
-    RCLCPP_ERROR(rclcpp::get_logger("BehaviorTreeEngine"), "Error: Could not open or parse file %s",
-        bt_file.c_str());
+    RCLCPP_ERROR(
+      rclcpp::get_logger("BehaviorTreeEngine"), "Error: Could not open or parse file %s",
+      bt_file.c_str());
     return "";
   }
   tinyxml2::XMLElement * rootElement = doc.RootElement();
   if (!rootElement) {
-    RCLCPP_ERROR(rclcpp::get_logger("BehaviorTreeEngine"), "Error: Root element not found in %s",
-        bt_file.c_str());
+    RCLCPP_ERROR(
+      rclcpp::get_logger("BehaviorTreeEngine"), "Error: Root element not found in %s",
+      bt_file.c_str());
     return "";
   }
   tinyxml2::XMLElement * btElement = rootElement->FirstChildElement("BehaviorTree");
   if (!btElement) {
-    RCLCPP_ERROR(rclcpp::get_logger("BehaviorTreeEngine"),
-        "Error: <BehaviorTree> element not found in %s", bt_file.c_str());
+    RCLCPP_ERROR(
+      rclcpp::get_logger("BehaviorTreeEngine"),
+      "Error: <BehaviorTree> element not found in %s", bt_file.c_str());
     return "";
   }
   const char * idValue = btElement->Attribute("ID");
   if (idValue) {
     return std::string(idValue);
   } else {
-    RCLCPP_ERROR(rclcpp::get_logger("BehaviorTreeEngine"),
-        "Error: ID attribute not found on <BehaviorTree> element in %s",
-        bt_file.c_str());
+    RCLCPP_ERROR(
+      rclcpp::get_logger("BehaviorTreeEngine"),
+      "Error: ID attribute not found on <BehaviorTree> element in %s",
+      bt_file.c_str());
     return "";
   }
 }
diff --git a/nav2_behavior_tree/test/plugins/action/test_controller_selector_node.cpp b/nav2_behavior_tree/test/plugins/action/test_controller_selector_node.cpp
index 8de6cb2b77b..1362d024b2d 100644
--- a/nav2_behavior_tree/test/plugins/action/test_controller_selector_node.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_controller_selector_node.cpp
@@ -123,7 +123,7 @@ TEST_F(ControllerSelectorTestFixture, test_custom_topic)
 
   auto controller_selector_pub =
     node_->create_publisher<std_msgs::msg::String>(
-      "controller_selector_custom_topic_name", nav2::qos::LatchedPublisherQoS());
+    "controller_selector_custom_topic_name", nav2::qos::LatchedPublisherQoS());
   controller_selector_pub->on_activate();
 
   // publish a few updates of the selected_controller
@@ -170,7 +170,7 @@ TEST_F(ControllerSelectorTestFixture, test_default_topic)
 
   auto controller_selector_pub =
     node_->create_publisher<std_msgs::msg::String>(
-      "controller_selector", nav2::qos::LatchedPublisherQoS());
+    "controller_selector", nav2::qos::LatchedPublisherQoS());
   controller_selector_pub->on_activate();
 
   // publish a few updates of the selected_controller
diff --git a/nav2_behavior_tree/test/plugins/action/test_remove_in_collision_goals_action.cpp b/nav2_behavior_tree/test/plugins/action/test_remove_in_collision_goals_action.cpp
index fa252070685..0be598c8522 100644
--- a/nav2_behavior_tree/test/plugins/action/test_remove_in_collision_goals_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_remove_in_collision_goals_action.cpp
@@ -181,7 +181,8 @@ TEST_F(RemoveInCollisionGoalsTestFixture, test_tick_remove_in_collision_goals_su
   EXPECT_EQ(output_poses.goals[2], poses.goals[2]);
 }
 
-TEST_F(RemoveInCollisionGoalsTestFixture,
+TEST_F(
+  RemoveInCollisionGoalsTestFixture,
   test_tick_remove_in_collision_goals_success_and_output_waypoint_statues)
 {
   // create tree
@@ -218,7 +219,7 @@ TEST_F(RemoveInCollisionGoalsTestFixture,
 
   // create waypoint_statuses and set it on blackboard
   std::vector<nav2_msgs::msg::WaypointStatus> waypoint_statuses(poses.goals.size());
-  for (size_t i = 0 ; i < waypoint_statuses.size() ; ++i) {
+  for (size_t i = 0; i < waypoint_statuses.size(); ++i) {
     waypoint_statuses[i].waypoint_pose = poses.goals[i];
     waypoint_statuses[i].waypoint_index = i;
   }
@@ -250,7 +251,8 @@ TEST_F(RemoveInCollisionGoalsTestFixture,
   EXPECT_EQ(output_waypoint_statuses[3].waypoint_status, nav2_msgs::msg::WaypointStatus::SKIPPED);
 }
 
-TEST_F(RemoveInCollisionGoalsTestFixture,
+TEST_F(
+  RemoveInCollisionGoalsTestFixture,
   test_tick_remove_in_collision_goals_find_matching_waypoint_fail)
 {
   // create tree
@@ -287,7 +289,7 @@ TEST_F(RemoveInCollisionGoalsTestFixture,
 
   // create waypoint_statuses and set it on blackboard
   std::vector<nav2_msgs::msg::WaypointStatus> waypoint_statuses(poses.goals.size());
-  for (size_t i = 0 ; i < waypoint_statuses.size() ; ++i) {
+  for (size_t i = 0; i < waypoint_statuses.size(); ++i) {
     waypoint_statuses[i].waypoint_pose = poses.goals[i];
     waypoint_statuses[i].waypoint_index = i;
   }
diff --git a/nav2_behavior_tree/test/plugins/action/test_remove_passed_goals_action.cpp b/nav2_behavior_tree/test/plugins/action/test_remove_passed_goals_action.cpp
index 95ec8810415..e8a8971a264 100644
--- a/nav2_behavior_tree/test/plugins/action/test_remove_passed_goals_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_remove_passed_goals_action.cpp
@@ -144,7 +144,8 @@ TEST_F(RemovePassedGoalsTestFixture, test_tick)
   EXPECT_EQ(output_poses.goals[1], poses.goals[3]);
 }
 
-TEST_F(RemovePassedGoalsTestFixture,
+TEST_F(
+  RemovePassedGoalsTestFixture,
   test_tick_remove_passed_goals_success_and_output_waypoint_statuses)
 {
   geometry_msgs::msg::Pose pose;
@@ -186,7 +187,7 @@ TEST_F(RemovePassedGoalsTestFixture,
 
   // create waypoint_statuses and set it on blackboard
   std::vector<nav2_msgs::msg::WaypointStatus> waypoint_statuses(poses.goals.size());
-  for (size_t i = 0 ; i < waypoint_statuses.size() ; ++i) {
+  for (size_t i = 0; i < waypoint_statuses.size(); ++i) {
     waypoint_statuses[i].waypoint_pose = poses.goals[i];
     waypoint_statuses[i].waypoint_index = i;
   }
@@ -215,7 +216,8 @@ TEST_F(RemovePassedGoalsTestFixture,
   EXPECT_EQ(output_waypoint_statuses[3].waypoint_status, nav2_msgs::msg::WaypointStatus::PENDING);
 }
 
-TEST_F(RemovePassedGoalsTestFixture,
+TEST_F(
+  RemovePassedGoalsTestFixture,
   test_tick_remove_passed_goals_find_matching_waypoint_fail)
 {
   geometry_msgs::msg::Pose pose;
@@ -257,7 +259,7 @@ TEST_F(RemovePassedGoalsTestFixture,
 
   // create waypoint_statuses and set it on blackboard
   std::vector<nav2_msgs::msg::WaypointStatus> waypoint_statuses(poses.goals.size());
-  for (size_t i = 0 ; i < waypoint_statuses.size() ; ++i) {
+  for (size_t i = 0; i < waypoint_statuses.size(); ++i) {
     waypoint_statuses[i].waypoint_pose = poses.goals[i];
     waypoint_statuses[i].waypoint_index = i;
   }
diff --git a/nav2_behavior_tree/test/plugins/condition/test_is_stopped.cpp b/nav2_behavior_tree/test/plugins/condition/test_is_stopped.cpp
index c4c0d173ac2..ddde7e7f7bf 100644
--- a/nav2_behavior_tree/test/plugins/condition/test_is_stopped.cpp
+++ b/nav2_behavior_tree/test/plugins/condition/test_is_stopped.cpp
@@ -59,7 +59,8 @@ IsStoppedTestFixture::odom_smoother_ = nullptr;
 
 TEST_F(IsStoppedTestFixture, test_behavior)
 {
-  auto odom_pub = node_->create_publisher<nav_msgs::msg::Odometry>("odom",
+  auto odom_pub = node_->create_publisher<nav_msgs::msg::Odometry>(
+    "odom",
     rclcpp::SystemDefaultsQoS());
   odom_pub->on_activate();
   nav_msgs::msg::Odometry odom_msg;
diff --git a/nav2_behavior_tree/test/test_json_utils.cpp b/nav2_behavior_tree/test/test_json_utils.cpp
index c74cc85ed9c..7936384b2f2 100644
--- a/nav2_behavior_tree/test/test_json_utils.cpp
+++ b/nav2_behavior_tree/test/test_json_utils.cpp
@@ -230,7 +230,8 @@ TEST_F(JsonTest, test_quaternion)
         "x": 1.0, "y": 2.0, "z": 3.0, "w": 4.0
       }
     )";
-  ASSERT_NO_THROW(quaternion_test3 =
+  ASSERT_NO_THROW(
+    quaternion_test3 =
     BT::convertFromString<geometry_msgs::msg::Quaternion>(test_json));
   ASSERT_EQ(quaternion_test.x, quaternion_test3.x);
   ASSERT_EQ(quaternion_test.y, quaternion_test3.y);
@@ -315,7 +316,8 @@ TEST_F(JsonTest, test_pose_stamped)
         }
       }
     )";
-  ASSERT_NO_THROW(pose_stamped_test3 =
+  ASSERT_NO_THROW(
+    pose_stamped_test3 =
     BT::convertFromString<geometry_msgs::msg::PoseStamped>(test_json));
   ASSERT_EQ(pose_stamped_test.header, pose_stamped_test3.header);
   ASSERT_EQ(pose_stamped_test.pose.position, pose_stamped_test3.pose.position);
@@ -366,7 +368,8 @@ TEST_F(JsonTest, test_pose_stamped_vector)
   ASSERT_EQ(json["poses"][0]["pose"]["position"]["x"], 3.0);
   ASSERT_EQ(json["poses"][0]["pose"]["position"]["y"], 4.0);
   ASSERT_EQ(json["poses"][0]["pose"]["position"]["z"], 5.0);
-  ASSERT_EQ(json["poses"][0]["pose"]["orientation"]["__type"],
+  ASSERT_EQ(
+    json["poses"][0]["pose"]["orientation"]["__type"],
     "geometry_msgs::msg::Quaternion");
   ASSERT_EQ(json["poses"][0]["pose"]["orientation"]["x"], 6.0);
   ASSERT_EQ(json["poses"][0]["pose"]["orientation"]["y"], 7.0);
@@ -374,18 +377,21 @@ TEST_F(JsonTest, test_pose_stamped_vector)
   ASSERT_EQ(json["poses"][0]["pose"]["orientation"]["w"], 9.0);
   ASSERT_EQ(json["poses"][1]["__type"], "geometry_msgs::msg::PoseStamped");
   ASSERT_EQ(json["poses"][1]["header"]["__type"], "std_msgs::msg::Header");
-  ASSERT_EQ(json["poses"][1]["header"]["stamp"]["__type"],
+  ASSERT_EQ(
+    json["poses"][1]["header"]["stamp"]["__type"],
     "builtin_interfaces::msg::Time");
   ASSERT_EQ(json["poses"][1]["header"]["stamp"]["sec"], 10);
   ASSERT_EQ(json["poses"][1]["header"]["stamp"]["nanosec"], 11);
   ASSERT_EQ(json["poses"][1]["header"]["frame_id"], "odom");
   ASSERT_EQ(json["poses"][1]["pose"]["__type"], "geometry_msgs::msg::Pose");
-  ASSERT_EQ(json["poses"][1]["pose"]["position"]["__type"],
+  ASSERT_EQ(
+    json["poses"][1]["pose"]["position"]["__type"],
     "geometry_msgs::msg::Point");
   ASSERT_EQ(json["poses"][1]["pose"]["position"]["x"], 12.0);
   ASSERT_EQ(json["poses"][1]["pose"]["position"]["y"], 13.0);
   ASSERT_EQ(json["poses"][1]["pose"]["position"]["z"], 14.0);
-  ASSERT_EQ(json["poses"][1]["pose"]["orientation"]["__type"],
+  ASSERT_EQ(
+    json["poses"][1]["pose"]["orientation"]["__type"],
     "geometry_msgs::msg::Quaternion");
   ASSERT_EQ(json["poses"][1]["pose"]["orientation"]["x"], 15.0);
   ASSERT_EQ(json["poses"][1]["pose"]["orientation"]["y"], 16.0);
@@ -541,7 +547,8 @@ TEST_F(JsonTest, test_goals)
   ASSERT_EQ(json["goals"]["header"]["frame_id"], "map");
   ASSERT_EQ(json["goals"]["goals"][0]["__type"], "geometry_msgs::msg::PoseStamped");
   ASSERT_EQ(json["goals"]["goals"][0]["header"]["__type"], "std_msgs::msg::Header");
-  ASSERT_EQ(json["goals"]["goals"][0]["header"]["stamp"]["__type"],
+  ASSERT_EQ(
+    json["goals"]["goals"][0]["header"]["stamp"]["__type"],
     "builtin_interfaces::msg::Time");
   ASSERT_EQ(json["goals"]["goals"][0]["header"]["stamp"]["sec"], 3);
   ASSERT_EQ(json["goals"]["goals"][0]["header"]["stamp"]["nanosec"], 4);
@@ -551,7 +558,8 @@ TEST_F(JsonTest, test_goals)
   ASSERT_EQ(json["goals"]["goals"][0]["pose"]["position"]["x"], 5.0);
   ASSERT_EQ(json["goals"]["goals"][0]["pose"]["position"]["y"], 6.0);
   ASSERT_EQ(json["goals"]["goals"][0]["pose"]["position"]["z"], 7.0);
-  ASSERT_EQ(json["goals"]["goals"][0]["pose"]["orientation"]["__type"],
+  ASSERT_EQ(
+    json["goals"]["goals"][0]["pose"]["orientation"]["__type"],
     "geometry_msgs::msg::Quaternion");
   ASSERT_EQ(json["goals"]["goals"][0]["pose"]["orientation"]["x"], 8.0);
   ASSERT_EQ(json["goals"]["goals"][0]["pose"]["orientation"]["y"], 9.0);
@@ -559,7 +567,8 @@ TEST_F(JsonTest, test_goals)
   ASSERT_EQ(json["goals"]["goals"][0]["pose"]["orientation"]["w"], 11.0);
   ASSERT_EQ(json["goals"]["goals"][1]["__type"], "geometry_msgs::msg::PoseStamped");
   ASSERT_EQ(json["goals"]["goals"][1]["header"]["__type"], "std_msgs::msg::Header");
-  ASSERT_EQ(json["goals"]["goals"][1]["header"]["stamp"]["__type"],
+  ASSERT_EQ(
+    json["goals"]["goals"][1]["header"]["stamp"]["__type"],
     "builtin_interfaces::msg::Time");
   ASSERT_EQ(json["goals"]["goals"][1]["header"]["stamp"]["sec"], 12);
   ASSERT_EQ(json["goals"]["goals"][1]["header"]["stamp"]["nanosec"], 13);
@@ -569,7 +578,8 @@ TEST_F(JsonTest, test_goals)
   ASSERT_EQ(json["goals"]["goals"][1]["pose"]["position"]["x"], 14.0);
   ASSERT_EQ(json["goals"]["goals"][1]["pose"]["position"]["y"], 15.0);
   ASSERT_EQ(json["goals"]["goals"][1]["pose"]["position"]["z"], 16.0);
-  ASSERT_EQ(json["goals"]["goals"][1]["pose"]["orientation"]["__type"],
+  ASSERT_EQ(
+    json["goals"]["goals"][1]["pose"]["orientation"]["__type"],
     "geometry_msgs::msg::Quaternion");
   ASSERT_EQ(json["goals"]["goals"][1]["pose"]["orientation"]["x"], 17.0);
   ASSERT_EQ(json["goals"]["goals"][1]["pose"]["orientation"]["y"], 18.0);
@@ -653,7 +663,8 @@ TEST_F(JsonTest, test_goals)
         ]
       }
     )";
-  ASSERT_NO_THROW(goals_test3 =
+  ASSERT_NO_THROW(
+    goals_test3 =
     BT::convertFromString<nav_msgs::msg::Goals>(test_json));
   ASSERT_EQ(goals_test.goals[0].header, goals_test3.goals[0].header);
   ASSERT_EQ(goals_test.goals[0].pose.position, goals_test3.goals[0].pose.position);
@@ -707,18 +718,21 @@ TEST_F(JsonTest, test_path)
   ASSERT_EQ(json["path"]["header"]["frame_id"], "map");
   ASSERT_EQ(json["path"]["poses"][0]["__type"], "geometry_msgs::msg::PoseStamped");
   ASSERT_EQ(json["path"]["poses"][0]["header"]["__type"], "std_msgs::msg::Header");
-  ASSERT_EQ(json["path"]["poses"][0]["header"]["stamp"]["__type"],
+  ASSERT_EQ(
+    json["path"]["poses"][0]["header"]["stamp"]["__type"],
     "builtin_interfaces::msg::Time");
   ASSERT_EQ(json["path"]["poses"][0]["header"]["stamp"]["sec"], 3);
   ASSERT_EQ(json["path"]["poses"][0]["header"]["stamp"]["nanosec"], 4);
   ASSERT_EQ(json["path"]["poses"][0]["header"]["frame_id"], "map");
   ASSERT_EQ(json["path"]["poses"][0]["pose"]["__type"], "geometry_msgs::msg::Pose");
-  ASSERT_EQ(json["path"]["poses"][0]["pose"]["position"]["__type"],
+  ASSERT_EQ(
+    json["path"]["poses"][0]["pose"]["position"]["__type"],
     "geometry_msgs::msg::Point");
   ASSERT_EQ(json["path"]["poses"][0]["pose"]["position"]["x"], 5.0);
   ASSERT_EQ(json["path"]["poses"][0]["pose"]["position"]["y"], 6.0);
   ASSERT_EQ(json["path"]["poses"][0]["pose"]["position"]["z"], 7.0);
-  ASSERT_EQ(json["path"]["poses"][0]["pose"]["orientation"]["__type"],
+  ASSERT_EQ(
+    json["path"]["poses"][0]["pose"]["orientation"]["__type"],
     "geometry_msgs::msg::Quaternion");
   ASSERT_EQ(json["path"]["poses"][0]["pose"]["orientation"]["x"], 8.0);
   ASSERT_EQ(json["path"]["poses"][0]["pose"]["orientation"]["y"], 9.0);
@@ -726,18 +740,21 @@ TEST_F(JsonTest, test_path)
   ASSERT_EQ(json["path"]["poses"][0]["pose"]["orientation"]["w"], 11.0);
   ASSERT_EQ(json["path"]["poses"][1]["__type"], "geometry_msgs::msg::PoseStamped");
   ASSERT_EQ(json["path"]["poses"][1]["header"]["__type"], "std_msgs::msg::Header");
-  ASSERT_EQ(json["path"]["poses"][1]["header"]["stamp"]["__type"],
+  ASSERT_EQ(
+    json["path"]["poses"][1]["header"]["stamp"]["__type"],
     "builtin_interfaces::msg::Time");
   ASSERT_EQ(json["path"]["poses"][1]["header"]["stamp"]["sec"], 12);
   ASSERT_EQ(json["path"]["poses"][1]["header"]["stamp"]["nanosec"], 13);
   ASSERT_EQ(json["path"]["poses"][1]["header"]["frame_id"], "odom");
   ASSERT_EQ(json["path"]["poses"][1]["pose"]["__type"], "geometry_msgs::msg::Pose");
-  ASSERT_EQ(json["path"]["poses"][1]["pose"]["position"]["__type"],
+  ASSERT_EQ(
+    json["path"]["poses"][1]["pose"]["position"]["__type"],
     "geometry_msgs::msg::Point");
   ASSERT_EQ(json["path"]["poses"][1]["pose"]["position"]["x"], 14.0);
   ASSERT_EQ(json["path"]["poses"][1]["pose"]["position"]["y"], 15.0);
   ASSERT_EQ(json["path"]["poses"][1]["pose"]["position"]["z"], 16.0);
-  ASSERT_EQ(json["path"]["poses"][1]["pose"]["orientation"]["__type"],
+  ASSERT_EQ(
+    json["path"]["poses"][1]["pose"]["orientation"]["__type"],
     "geometry_msgs::msg::Quaternion");
   ASSERT_EQ(json["path"]["poses"][1]["pose"]["orientation"]["x"], 17.0);
   ASSERT_EQ(json["path"]["poses"][1]["pose"]["orientation"]["y"], 18.0);
@@ -823,7 +840,8 @@ TEST_F(JsonTest, test_path)
         ]
       }
     )";
-  ASSERT_NO_THROW(path_test3 =
+  ASSERT_NO_THROW(
+    path_test3 =
     BT::convertFromString<nav_msgs::msg::Path>(test_json));
   ASSERT_EQ(path_test.header, path_test3.header);
   ASSERT_EQ(path_test.poses[0].header, path_test3.poses[0].header);
@@ -862,23 +880,29 @@ TEST_F(JsonTest, test_waypoint_status)
   ASSERT_EQ(json["waypoint_status"]["__type"], "nav2_msgs::msg::WaypointStatus");
   ASSERT_EQ(json["waypoint_status"]["waypoint_status"], 1);
   ASSERT_EQ(json["waypoint_status"]["waypoint_index"], 2);
-  ASSERT_EQ(json["waypoint_status"]["waypoint_pose"]["__type"],
+  ASSERT_EQ(
+    json["waypoint_status"]["waypoint_pose"]["__type"],
     "geometry_msgs::msg::PoseStamped");
-  ASSERT_EQ(json["waypoint_status"]["waypoint_pose"]["header"]["__type"],
+  ASSERT_EQ(
+    json["waypoint_status"]["waypoint_pose"]["header"]["__type"],
     "std_msgs::msg::Header");
-  ASSERT_EQ(json["waypoint_status"]["waypoint_pose"]["header"]["stamp"]["__type"],
+  ASSERT_EQ(
+    json["waypoint_status"]["waypoint_pose"]["header"]["stamp"]["__type"],
     "builtin_interfaces::msg::Time");
   ASSERT_EQ(json["waypoint_status"]["waypoint_pose"]["header"]["stamp"]["sec"], 1);
   ASSERT_EQ(json["waypoint_status"]["waypoint_pose"]["header"]["stamp"]["nanosec"], 2);
   ASSERT_EQ(json["waypoint_status"]["waypoint_pose"]["header"]["frame_id"], "map");
-  ASSERT_EQ(json["waypoint_status"]["waypoint_pose"]["pose"]["__type"],
+  ASSERT_EQ(
+    json["waypoint_status"]["waypoint_pose"]["pose"]["__type"],
     "geometry_msgs::msg::Pose");
-  ASSERT_EQ(json["waypoint_status"]["waypoint_pose"]["pose"]["position"]["__type"],
+  ASSERT_EQ(
+    json["waypoint_status"]["waypoint_pose"]["pose"]["position"]["__type"],
     "geometry_msgs::msg::Point");
   ASSERT_EQ(json["waypoint_status"]["waypoint_pose"]["pose"]["position"]["x"], 3.0);
   ASSERT_EQ(json["waypoint_status"]["waypoint_pose"]["pose"]["position"]["y"], 4.0);
   ASSERT_EQ(json["waypoint_status"]["waypoint_pose"]["pose"]["position"]["z"], 5.0);
-  ASSERT_EQ(json["waypoint_status"]["waypoint_pose"]["pose"]["orientation"]["__type"],
+  ASSERT_EQ(
+    json["waypoint_status"]["waypoint_pose"]["pose"]["orientation"]["__type"],
     "geometry_msgs::msg::Quaternion");
   ASSERT_EQ(json["waypoint_status"]["waypoint_pose"]["pose"]["orientation"]["x"], 6.0);
   ASSERT_EQ(json["waypoint_status"]["waypoint_pose"]["pose"]["orientation"]["y"], 7.0);
@@ -892,25 +916,35 @@ TEST_F(JsonTest, test_waypoint_status)
     exporter.fromJson(json["waypoint_status"])->first.cast<nav2_msgs::msg::WaypointStatus>();
   ASSERT_EQ(waypoint_status_test.waypoint_status, waypoint_status_test2.waypoint_status);
   ASSERT_EQ(waypoint_status_test.waypoint_index, waypoint_status_test2.waypoint_index);
-  ASSERT_EQ(waypoint_status_test.waypoint_pose.header.stamp.sec,
+  ASSERT_EQ(
+    waypoint_status_test.waypoint_pose.header.stamp.sec,
     waypoint_status_test2.waypoint_pose.header.stamp.sec);
-  ASSERT_EQ(waypoint_status_test.waypoint_pose.header.stamp.nanosec,
+  ASSERT_EQ(
+    waypoint_status_test.waypoint_pose.header.stamp.nanosec,
     waypoint_status_test2.waypoint_pose.header.stamp.nanosec);
-  ASSERT_EQ(waypoint_status_test.waypoint_pose.header.frame_id,
+  ASSERT_EQ(
+    waypoint_status_test.waypoint_pose.header.frame_id,
     waypoint_status_test2.waypoint_pose.header.frame_id);
-  ASSERT_EQ(waypoint_status_test.waypoint_pose.pose.position.x,
+  ASSERT_EQ(
+    waypoint_status_test.waypoint_pose.pose.position.x,
     waypoint_status_test2.waypoint_pose.pose.position.x);
-  ASSERT_EQ(waypoint_status_test.waypoint_pose.pose.position.y,
+  ASSERT_EQ(
+    waypoint_status_test.waypoint_pose.pose.position.y,
     waypoint_status_test2.waypoint_pose.pose.position.y);
-  ASSERT_EQ(waypoint_status_test.waypoint_pose.pose.position.z,
+  ASSERT_EQ(
+    waypoint_status_test.waypoint_pose.pose.position.z,
     waypoint_status_test2.waypoint_pose.pose.position.z);
-  ASSERT_EQ(waypoint_status_test.waypoint_pose.pose.orientation.x,
+  ASSERT_EQ(
+    waypoint_status_test.waypoint_pose.pose.orientation.x,
     waypoint_status_test2.waypoint_pose.pose.orientation.x);
-  ASSERT_EQ(waypoint_status_test.waypoint_pose.pose.orientation.y,
+  ASSERT_EQ(
+    waypoint_status_test.waypoint_pose.pose.orientation.y,
     waypoint_status_test2.waypoint_pose.pose.orientation.y);
-  ASSERT_EQ(waypoint_status_test.waypoint_pose.pose.orientation.z,
+  ASSERT_EQ(
+    waypoint_status_test.waypoint_pose.pose.orientation.z,
     waypoint_status_test2.waypoint_pose.pose.orientation.z);
-  ASSERT_EQ(waypoint_status_test.waypoint_pose.pose.orientation.w,
+  ASSERT_EQ(
+    waypoint_status_test.waypoint_pose.pose.orientation.w,
     waypoint_status_test2.waypoint_pose.pose.orientation.w);
   ASSERT_EQ(waypoint_status_test.error_code, waypoint_status_test2.error_code);
   ASSERT_EQ(waypoint_status_test.error_msg, waypoint_status_test2.error_msg);
@@ -946,7 +980,8 @@ TEST_F(JsonTest, test_waypoint_status)
         "error_msg": "error"
       }
     )";
-  ASSERT_NO_THROW(waypoint_status_test3 =
+  ASSERT_NO_THROW(
+    waypoint_status_test3 =
     BT::convertFromString<nav2_msgs::msg::WaypointStatus>(test_json));
   ASSERT_EQ(waypoint_status_test.waypoint_status, waypoint_status_test3.waypoint_status);
   ASSERT_EQ(waypoint_status_test.waypoint_index, waypoint_status_test3.waypoint_index);
@@ -998,23 +1033,29 @@ TEST_F(JsonTest, test_waypoint_status_vector)
   ASSERT_EQ(json["waypoint_status_vector"][0]["__type"], "nav2_msgs::msg::WaypointStatus");
   ASSERT_EQ(json["waypoint_status_vector"][0]["waypoint_status"], 1);
   ASSERT_EQ(json["waypoint_status_vector"][0]["waypoint_index"], 2);
-  ASSERT_EQ(json["waypoint_status_vector"][0]["waypoint_pose"]["__type"],
+  ASSERT_EQ(
+    json["waypoint_status_vector"][0]["waypoint_pose"]["__type"],
     "geometry_msgs::msg::PoseStamped");
-  ASSERT_EQ(json["waypoint_status_vector"][0]["waypoint_pose"]["header"]["__type"],
+  ASSERT_EQ(
+    json["waypoint_status_vector"][0]["waypoint_pose"]["header"]["__type"],
     "std_msgs::msg::Header");
-  ASSERT_EQ(json["waypoint_status_vector"][0]["waypoint_pose"]["header"]["stamp"]["__type"],
+  ASSERT_EQ(
+    json["waypoint_status_vector"][0]["waypoint_pose"]["header"]["stamp"]["__type"],
     "builtin_interfaces::msg::Time");
   ASSERT_EQ(json["waypoint_status_vector"][0]["waypoint_pose"]["header"]["stamp"]["sec"], 1);
   ASSERT_EQ(json["waypoint_status_vector"][0]["waypoint_pose"]["header"]["stamp"]["nanosec"], 2);
   ASSERT_EQ(json["waypoint_status_vector"][0]["waypoint_pose"]["header"]["frame_id"], "map");
-  ASSERT_EQ(json["waypoint_status_vector"][0]["waypoint_pose"]["pose"]["__type"],
+  ASSERT_EQ(
+    json["waypoint_status_vector"][0]["waypoint_pose"]["pose"]["__type"],
     "geometry_msgs::msg::Pose");
-  ASSERT_EQ(json["waypoint_status_vector"][0]["waypoint_pose"]["pose"]["position"]["__type"],
+  ASSERT_EQ(
+    json["waypoint_status_vector"][0]["waypoint_pose"]["pose"]["position"]["__type"],
     "geometry_msgs::msg::Point");
   ASSERT_EQ(json["waypoint_status_vector"][0]["waypoint_pose"]["pose"]["position"]["x"], 3.0);
   ASSERT_EQ(json["waypoint_status_vector"][0]["waypoint_pose"]["pose"]["position"]["y"], 4.0);
   ASSERT_EQ(json["waypoint_status_vector"][0]["waypoint_pose"]["pose"]["position"]["z"], 5.0);
-  ASSERT_EQ(json["waypoint_status_vector"][0]["waypoint_pose"]["pose"]["orientation"]["__type"],
+  ASSERT_EQ(
+    json["waypoint_status_vector"][0]["waypoint_pose"]["pose"]["orientation"]["__type"],
     "geometry_msgs::msg::Quaternion");
   ASSERT_EQ(json["waypoint_status_vector"][0]["waypoint_pose"]["pose"]["orientation"]["x"], 6.0);
   ASSERT_EQ(json["waypoint_status_vector"][0]["waypoint_pose"]["pose"]["orientation"]["y"], 7.0);
@@ -1025,23 +1066,29 @@ TEST_F(JsonTest, test_waypoint_status_vector)
   ASSERT_EQ(json["waypoint_status_vector"][1]["__type"], "nav2_msgs::msg::WaypointStatus");
   ASSERT_EQ(json["waypoint_status_vector"][1]["waypoint_status"], 11);
   ASSERT_EQ(json["waypoint_status_vector"][1]["waypoint_index"], 12);
-  ASSERT_EQ(json["waypoint_status_vector"][1]["waypoint_pose"]["__type"],
+  ASSERT_EQ(
+    json["waypoint_status_vector"][1]["waypoint_pose"]["__type"],
     "geometry_msgs::msg::PoseStamped");
-  ASSERT_EQ(json["waypoint_status_vector"][1]["waypoint_pose"]["header"]["__type"],
+  ASSERT_EQ(
+    json["waypoint_status_vector"][1]["waypoint_pose"]["header"]["__type"],
     "std_msgs::msg::Header");
-  ASSERT_EQ(json["waypoint_status_vector"][1]["waypoint_pose"]["header"]["stamp"]["__type"],
+  ASSERT_EQ(
+    json["waypoint_status_vector"][1]["waypoint_pose"]["header"]["stamp"]["__type"],
     "builtin_interfaces::msg::Time");
   ASSERT_EQ(json["waypoint_status_vector"][1]["waypoint_pose"]["header"]["stamp"]["sec"], 13);
   ASSERT_EQ(json["waypoint_status_vector"][1]["waypoint_pose"]["header"]["stamp"]["nanosec"], 14);
   ASSERT_EQ(json["waypoint_status_vector"][1]["waypoint_pose"]["header"]["frame_id"], "odom");
-  ASSERT_EQ(json["waypoint_status_vector"][1]["waypoint_pose"]["pose"]["__type"],
+  ASSERT_EQ(
+    json["waypoint_status_vector"][1]["waypoint_pose"]["pose"]["__type"],
     "geometry_msgs::msg::Pose");
-  ASSERT_EQ(json["waypoint_status_vector"][1]["waypoint_pose"]["pose"]["position"]["__type"],
+  ASSERT_EQ(
+    json["waypoint_status_vector"][1]["waypoint_pose"]["pose"]["position"]["__type"],
     "geometry_msgs::msg::Point");
   ASSERT_EQ(json["waypoint_status_vector"][1]["waypoint_pose"]["pose"]["position"]["x"], 15.0);
   ASSERT_EQ(json["waypoint_status_vector"][1]["waypoint_pose"]["pose"]["position"]["y"], 16.0);
   ASSERT_EQ(json["waypoint_status_vector"][1]["waypoint_pose"]["pose"]["position"]["z"], 17.0);
-  ASSERT_EQ(json["waypoint_status_vector"][1]["waypoint_pose"]["pose"]["orientation"]["__type"],
+  ASSERT_EQ(
+    json["waypoint_status_vector"][1]["waypoint_pose"]["pose"]["orientation"]["__type"],
     "geometry_msgs::msg::Quaternion");
   ASSERT_EQ(json["waypoint_status_vector"][1]["waypoint_pose"]["pose"]["orientation"]["x"], 18.0);
   ASSERT_EQ(json["waypoint_status_vector"][1]["waypoint_pose"]["pose"]["orientation"]["y"], 19.0);
diff --git a/nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp b/nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp
index c3c6fa6cce4..abff5515c89 100644
--- a/nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp
+++ b/nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp
@@ -256,7 +256,8 @@ class DriveOnHeading : public TimedBehavior<ActionT>
       this->behavior_name_ + ".minimum_speed", 0.10);
 
     if (acceleration_limit_ <= 0.0 || deceleration_limit_ >= 0.0) {
-      RCLCPP_ERROR(this->logger_,
+      RCLCPP_ERROR(
+        this->logger_,
         "DriveOnHeading: acceleration_limit and deceleration_limit must be "
         "positive and negative respectively");
       acceleration_limit_ = std::abs(acceleration_limit_);
diff --git a/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp b/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
index 22db8701700..82b1d3d07c9 100644
--- a/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
+++ b/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
@@ -218,7 +218,8 @@ class TimedBehavior : public nav2_core::Behavior
     if (on_run_result.status != Status::SUCCEEDED) {
       result->error_code = on_run_result.error_code;
       result->error_msg = on_run_result.error_msg;
-      RCLCPP_INFO(logger_, "Initial checks failed for %s - %s", behavior_name_.c_str(),
+      RCLCPP_INFO(
+        logger_, "Initial checks failed for %s - %s", behavior_name_.c_str(),
         on_run_result.error_msg.c_str());
       action_server_->terminate_current(result);
       return;
diff --git a/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp b/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp
index 92b6dfb7320..9841314cd2b 100644
--- a/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp
+++ b/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp
@@ -35,8 +35,9 @@ NavigateThroughPosesNavigator::configure(
   path_blackboard_id_ =
     node->declare_or_get_parameter(getName() + ".path_blackboard_id", std::string("path"));
   waypoint_statuses_blackboard_id_ =
-    node->declare_or_get_parameter(getName() + ".waypoint_statuses_blackboard_id",
-      std::string("waypoint_statuses"));
+    node->declare_or_get_parameter(
+    getName() + ".waypoint_statuses_blackboard_id",
+    std::string("waypoint_statuses"));
 
   // Odometry smoother object for getting current speed
   odom_smoother_ = odom_smoother;
@@ -47,8 +48,8 @@ NavigateThroughPosesNavigator::configure(
     node->declare_or_get_parameter(getName() + ".groot_server_port", 1669);
 
   bt_action_server_->setGrootMonitoring(
-      enable_groot_monitoring,
-      groot_server_port);
+    enable_groot_monitoring,
+    groot_server_port);
 
   return true;
 }
@@ -73,7 +74,8 @@ bool
 NavigateThroughPosesNavigator::goalReceived(ActionT::Goal::ConstSharedPtr goal)
 {
   if (!bt_action_server_->loadBehaviorTree(goal->behavior_tree)) {
-    bt_action_server_->setInternalError(ActionT::Result::FAILED_TO_LOAD_BEHAVIOR_TREE,
+    bt_action_server_->setInternalError(
+      ActionT::Result::FAILED_TO_LOAD_BEHAVIOR_TREE,
       "Error loading BT: " + goal->behavior_tree + ". Navigation canceled.");
     return false;
   }
@@ -88,13 +90,15 @@ NavigateThroughPosesNavigator::goalCompleted(
 {
   if (result->error_code == 0) {
     if (bt_action_server_->populateInternalError(result)) {
-      RCLCPP_WARN(logger_,
+      RCLCPP_WARN(
+        logger_,
         "NavigateThroughPosesNavigator::goalCompleted, internal error %d:'%s'.",
         result->error_code,
         result->error_msg.c_str());
     }
   } else {
-    RCLCPP_WARN(logger_, "NavigateThroughPosesNavigator::goalCompleted error %d:'%s'.",
+    RCLCPP_WARN(
+      logger_, "NavigateThroughPosesNavigator::goalCompleted error %d:'%s'.",
       result->error_code,
       result->error_msg.c_str());
   }
@@ -240,7 +244,8 @@ NavigateThroughPosesNavigator::initializeGoalPoses(ActionT::Goal::ConstSharedPtr
       feedback_utils_.global_frame, feedback_utils_.robot_frame,
       feedback_utils_.transform_tolerance))
   {
-    bt_action_server_->setInternalError(ActionT::Result::TF_ERROR,
+    bt_action_server_->setInternalError(
+      ActionT::Result::TF_ERROR,
       "Initial robot pose is not available.");
     return false;
   }
@@ -252,7 +257,8 @@ NavigateThroughPosesNavigator::initializeGoalPoses(ActionT::Goal::ConstSharedPtr
         goal_pose, goal_pose, *feedback_utils_.tf, feedback_utils_.global_frame,
         feedback_utils_.transform_tolerance))
     {
-      bt_action_server_->setInternalError(ActionT::Result::TF_ERROR,
+      bt_action_server_->setInternalError(
+        ActionT::Result::TF_ERROR,
         "Failed to transform a goal pose (" + std::to_string(i) + ") provided with frame_id '" +
         goal_pose.header.frame_id +
         "' to the global frame '" +
@@ -267,7 +273,7 @@ NavigateThroughPosesNavigator::initializeGoalPoses(ActionT::Goal::ConstSharedPtr
     RCLCPP_INFO(
       logger_, "Begin navigating from current location through %zu poses to (%.2f, %.2f)",
       goals_array.goals.size(), goals_array.goals.back().pose.position.x,
-        goals_array.goals.back().pose.position.y);
+      goals_array.goals.back().pose.position.y);
   }
 
   // Reset state for new action feedback
@@ -276,17 +282,19 @@ NavigateThroughPosesNavigator::initializeGoalPoses(ActionT::Goal::ConstSharedPtr
   blackboard->set("number_recoveries", 0);  // NOLINT
 
   // Update the goal pose on the blackboard
-  blackboard->set<nav_msgs::msg::Goals>(goals_blackboard_id_,
-      std::move(goals_array));
+  blackboard->set<nav_msgs::msg::Goals>(
+    goals_blackboard_id_,
+    std::move(goals_array));
 
   // Reset the waypoint states vector in the blackboard
   std::vector<nav2_msgs::msg::WaypointStatus> waypoint_statuses(goals_array.goals.size());
-  for (size_t waypoint_index = 0 ; waypoint_index < goals_array.goals.size() ; ++waypoint_index) {
+  for (size_t waypoint_index = 0; waypoint_index < goals_array.goals.size(); ++waypoint_index) {
     waypoint_statuses[waypoint_index].waypoint_index = waypoint_index;
     waypoint_statuses[waypoint_index].waypoint_pose = goals_array.goals[waypoint_index];
   }
-  blackboard->set<decltype(waypoint_statuses)>(waypoint_statuses_blackboard_id_,
-      std::move(waypoint_statuses));
+  blackboard->set<decltype(waypoint_statuses)>(
+    waypoint_statuses_blackboard_id_,
+    std::move(waypoint_statuses));
 
   return true;
 }
diff --git a/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp b/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
index d4643a09ac8..866a1cd3ae8 100644
--- a/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
+++ b/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
@@ -29,10 +29,12 @@ NavigateToPoseNavigator::configure(
   start_time_ = rclcpp::Time(0);
   auto node = parent_node.lock();
 
-  goal_blackboard_id_ = node->declare_or_get_parameter(getName() + ".goal_blackboard_id",
-      std::string("goal"));
-  path_blackboard_id_ = node->declare_or_get_parameter(getName() + ".path_blackboard_id",
-      std::string("path"));
+  goal_blackboard_id_ = node->declare_or_get_parameter(
+    getName() + ".goal_blackboard_id",
+    std::string("goal"));
+  path_blackboard_id_ = node->declare_or_get_parameter(
+    getName() + ".path_blackboard_id",
+    std::string("path"));
 
   // Odometry smoother object for getting current speed
   odom_smoother_ = odom_smoother;
@@ -49,8 +51,8 @@ NavigateToPoseNavigator::configure(
     node->declare_or_get_parameter(getName() + ".groot_server_port", 1669);
 
   bt_action_server_->setGrootMonitoring(
-      enable_groot_monitoring,
-      groot_server_port);
+    enable_groot_monitoring,
+    groot_server_port);
 
   return true;
 }
@@ -83,7 +85,8 @@ bool
 NavigateToPoseNavigator::goalReceived(ActionT::Goal::ConstSharedPtr goal)
 {
   if (!bt_action_server_->loadBehaviorTree(goal->behavior_tree)) {
-    bt_action_server_->setInternalError(ActionT::Result::FAILED_TO_LOAD_BEHAVIOR_TREE,
+    bt_action_server_->setInternalError(
+      ActionT::Result::FAILED_TO_LOAD_BEHAVIOR_TREE,
       std::string("Error loading BT: ") + goal->behavior_tree + ". Navigation canceled.");
     return false;
   }
@@ -98,13 +101,15 @@ NavigateToPoseNavigator::goalCompleted(
 {
   if (result->error_code == 0) {
     if (bt_action_server_->populateInternalError(result)) {
-      RCLCPP_WARN(logger_,
+      RCLCPP_WARN(
+        logger_,
         "NavigateToPoseNavigator::goalCompleted, internal error %d:%s.",
         result->error_code,
         result->error_msg.c_str());
     }
   } else {
-    RCLCPP_WARN(logger_, "NavigateToPoseNavigator::goalCompleted error %d:%s.",
+    RCLCPP_WARN(
+      logger_, "NavigateToPoseNavigator::goalCompleted error %d:%s.",
       result->error_code,
       result->error_msg.c_str());
   }
@@ -220,7 +225,8 @@ NavigateToPoseNavigator::initializeGoalPose(ActionT::Goal::ConstSharedPtr goal)
       feedback_utils_.global_frame, feedback_utils_.robot_frame,
       feedback_utils_.transform_tolerance))
   {
-    bt_action_server_->setInternalError(ActionT::Result::TF_ERROR,
+    bt_action_server_->setInternalError(
+      ActionT::Result::TF_ERROR,
       "Initial robot pose is not available.");
     return false;
   }
@@ -230,7 +236,8 @@ NavigateToPoseNavigator::initializeGoalPose(ActionT::Goal::ConstSharedPtr goal)
       goal->pose, goal_pose, *feedback_utils_.tf, feedback_utils_.global_frame,
       feedback_utils_.transform_tolerance))
   {
-    bt_action_server_->setInternalError(ActionT::Result::TF_ERROR,
+    bt_action_server_->setInternalError(
+      ActionT::Result::TF_ERROR,
       "Failed to transform a goal pose provided with frame_id '" +
       goal->pose.header.frame_id +
       "' to the global frame '" +
diff --git a/nav2_collision_monitor/src/pointcloud.cpp b/nav2_collision_monitor/src/pointcloud.cpp
index 01f5f6e4cbf..eb99d0463bf 100644
--- a/nav2_collision_monitor/src/pointcloud.cpp
+++ b/nav2_collision_monitor/src/pointcloud.cpp
@@ -118,7 +118,8 @@ bool PointCloud::getData(
   if (use_global_height_ && height_present) {
     height_field = "height";
   } else if (use_global_height_) {
-    RCLCPP_ERROR(logger_, "[%s]: 'use_global_height' parameter true but height field not in cloud",
+    RCLCPP_ERROR(
+      logger_, "[%s]: 'use_global_height' parameter true but height field not in cloud",
       source_name_.c_str());
     return false;
   }
@@ -183,7 +184,7 @@ PointCloud::dynamicParametersCallback(
   for (auto parameter : parameters) {
     const auto & param_type = parameter.get_type();
     const auto & param_name = parameter.get_name();
-    if(param_name.find(source_name_ + ".") != 0) {
+    if (param_name.find(source_name_ + ".") != 0) {
       continue;
     }
     if (param_type == rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE) {
diff --git a/nav2_collision_monitor/src/polygon.cpp b/nav2_collision_monitor/src/polygon.cpp
index 7783611b740..0fc54fdb5af 100644
--- a/nav2_collision_monitor/src/polygon.cpp
+++ b/nav2_collision_monitor/src/polygon.cpp
@@ -546,7 +546,7 @@ Polygon::dynamicParametersCallback(
   for (auto parameter : parameters) {
     const auto & param_type = parameter.get_type();
     const auto & param_name = parameter.get_name();
-    if(param_name.find(polygon_name_ + ".") != 0) {
+    if (param_name.find(polygon_name_ + ".") != 0) {
       continue;
     }
     if (param_type == rcl_interfaces::msg::ParameterType::PARAMETER_BOOL) {
diff --git a/nav2_collision_monitor/src/source.cpp b/nav2_collision_monitor/src/source.cpp
index a48035966c1..4d1acb4ce34 100644
--- a/nav2_collision_monitor/src/source.cpp
+++ b/nav2_collision_monitor/src/source.cpp
@@ -117,7 +117,7 @@ Source::dynamicParametersCallback(
   for (auto parameter : parameters) {
     const auto & param_type = parameter.get_type();
     const auto & param_name = parameter.get_name();
-    if(param_name.find(source_name_ + ".") != 0) {
+    if (param_name.find(source_name_ + ".") != 0) {
       continue;
     }
     if (param_type == rcl_interfaces::msg::ParameterType::PARAMETER_BOOL) {
diff --git a/nav2_collision_monitor/src/velocity_polygon.cpp b/nav2_collision_monitor/src/velocity_polygon.cpp
index fe5b992755e..51265f0439e 100644
--- a/nav2_collision_monitor/src/velocity_polygon.cpp
+++ b/nav2_collision_monitor/src/velocity_polygon.cpp
@@ -52,7 +52,7 @@ bool VelocityPolygon::getParameters(
     // Get velocity_polygons parameter
     std::vector<std::string> velocity_polygons =
       node->declare_or_get_parameter<std::vector<std::string>>(
-        polygon_name_ + ".velocity_polygons");
+      polygon_name_ + ".velocity_polygons");
 
     // holonomic param
     holonomic_ = node->declare_or_get_parameter(
@@ -63,7 +63,7 @@ bool VelocityPolygon::getParameters(
       std::vector<Point> poly;
       std::string poly_string =
         node->declare_or_get_parameter<std::string>(
-          polygon_name_ + "." + velocity_polygon_name + ".points");
+        polygon_name_ + "." + velocity_polygon_name + ".points");
 
       if (!getPolygonFromString(poly_string, poly)) {
         return false;
diff --git a/nav2_collision_monitor/test/kinematics_test.cpp b/nav2_collision_monitor/test/kinematics_test.cpp
index 9fc183f86ba..5b373ac93af 100644
--- a/nav2_collision_monitor/test/kinematics_test.cpp
+++ b/nav2_collision_monitor/test/kinematics_test.cpp
@@ -89,7 +89,7 @@ TEST(KinematicsTest, testProjectState)
   EXPECT_NEAR(vel.tw, M_PI / 4.0, EPSILON);  // should be the same
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index 925cc4762f0..194f7c1f8f2 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -659,8 +659,8 @@ void ControllerServer::computeAndPublishVelocity()
   end_pose_.header.stamp = pose.header.stamp;
 
   if (!nav2_util::transformPoseInTargetFrame(
-        end_pose_, transformed_end_pose_, *costmap_ros_->getTfBuffer(),
-        costmap_ros_->getGlobalFrameID(), costmap_ros_->getTransformTolerance()))
+      end_pose_, transformed_end_pose_, *costmap_ros_->getTfBuffer(),
+      costmap_ros_->getGlobalFrameID(), costmap_ros_->getTransformTolerance()))
   {
     throw nav2_core::ControllerTFError("Failed to transform end pose to global frame");
   }
@@ -672,8 +672,8 @@ void ControllerServer::computeAndPublishVelocity()
     // Transform robot pose to path frame for path tracking calculations
     geometry_msgs::msg::PoseStamped robot_pose_in_path_frame;
     if (!nav2_util::transformPoseInTargetFrame(
-      pose, robot_pose_in_path_frame, *costmap_ros_->getTfBuffer(),
-            current_path_.header.frame_id, costmap_ros_->getTransformTolerance()))
+        pose, robot_pose_in_path_frame, *costmap_ros_->getTfBuffer(),
+        current_path_.header.frame_id, costmap_ros_->getTransformTolerance()))
     {
       throw nav2_core::ControllerTFError("Failed to transform robot pose to path frame");
     }
diff --git a/nav2_controller/test/test_dynamic_parameters.cpp b/nav2_controller/test/test_dynamic_parameters.cpp
index 7e309532851..551551b4aed 100644
--- a/nav2_controller/test/test_dynamic_parameters.cpp
+++ b/nav2_controller/test/test_dynamic_parameters.cpp
@@ -93,7 +93,7 @@ TEST(WPTest, test_dynamic_parameters)
   EXPECT_EQ(controller->get_parameter("failure_tolerance").as_double(), 5.0);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_core/include/nav2_core/behavior_tree_navigator.hpp b/nav2_core/include/nav2_core/behavior_tree_navigator.hpp
index fdabbf28133..d3e9f24de6b 100644
--- a/nav2_core/include/nav2_core/behavior_tree_navigator.hpp
+++ b/nav2_core/include/nav2_core/behavior_tree_navigator.hpp
@@ -204,7 +204,7 @@ class BehaviorTreeNavigator : public NavigatorBase
     auto search_directories = node->declare_or_get_parameter(
       "bt_search_directories",
       std::vector<std::string>{ament_index_cpp::get_package_share_directory(
-      "nav2_bt_navigator") + "/behavior_trees"}
+          "nav2_bt_navigator") + "/behavior_trees"}
     );
 
     // Create the Behavior Tree Action Server for this navigator
diff --git a/nav2_costmap_2d/plugins/costmap_filters/binary_filter.cpp b/nav2_costmap_2d/plugins/costmap_filters/binary_filter.cpp
index c805a537396..8041c9d3a50 100644
--- a/nav2_costmap_2d/plugins/costmap_filters/binary_filter.cpp
+++ b/nav2_costmap_2d/plugins/costmap_filters/binary_filter.cpp
@@ -191,8 +191,9 @@ void BinaryFilter::process(
 
   // Converting mask_pose robot position to filter_mask_ indexes (mask_robot_i, mask_robot_j)
   unsigned int mask_robot_i, mask_robot_j;
-  if (!nav2_util::worldToMap(filter_mask_, mask_pose.position.x, mask_pose.position.y,
-    mask_robot_i, mask_robot_j))
+  if (!nav2_util::worldToMap(
+      filter_mask_, mask_pose.position.x, mask_pose.position.y,
+      mask_robot_i, mask_robot_j))
   {
     // Robot went out of mask range. Set "false" state by-default
     RCLCPP_WARN(
diff --git a/nav2_costmap_2d/plugins/costmap_filters/costmap_filter.cpp b/nav2_costmap_2d/plugins/costmap_filters/costmap_filter.cpp
index 58b89740b8b..bf5d861ccf3 100644
--- a/nav2_costmap_2d/plugins/costmap_filters/costmap_filter.cpp
+++ b/nav2_costmap_2d/plugins/costmap_filters/costmap_filter.cpp
@@ -85,7 +85,8 @@ void CostmapFilter::onInitialize()
     // Costmap Filter enabling service
     enable_service_ = node->create_service<std_srvs::srv::SetBool>(
       name_ + "/toggle_filter",
-      std::bind(&CostmapFilter::enableCallback, this, std::placeholders::_1,
+      std::bind(
+        &CostmapFilter::enableCallback, this, std::placeholders::_1,
         std::placeholders::_2, std::placeholders::_3));
   } catch (const std::exception & ex) {
     RCLCPP_ERROR(logger_, "Parameter problem: %s", ex.what());
diff --git a/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp b/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp
index c432a917e59..16eec023c6b 100644
--- a/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp
+++ b/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp
@@ -177,7 +177,7 @@ void KeepoutFilter::updateBounds(
   CostmapFilter::updateBounds(robot_x, robot_y, robot_yaw, min_x, min_y, max_x, max_y);
 
   // If new keepout zone received
-  if(has_updated_data_) {
+  if (has_updated_data_) {
     double wx, wy;
     layered_costmap_->getCostmap()->mapToWorld(x_, y_, wx, wy);
     *min_x = std::min(wx, *min_x);
@@ -202,8 +202,9 @@ void KeepoutFilter::updateBounds(
     geometry_msgs::msg::Pose mask_pose;
     if (transformPose(global_frame_, pose, filter_mask_->header.frame_id, mask_pose)) {
       unsigned int mask_robot_i, mask_robot_j;
-      if (nav2_util::worldToMap(filter_mask_, mask_pose.position.x, mask_pose.position.y,
-        mask_robot_i, mask_robot_j))
+      if (nav2_util::worldToMap(
+          filter_mask_, mask_pose.position.x, mask_pose.position.y,
+          mask_robot_i, mask_robot_j))
       {
         auto data = getMaskCost(filter_mask_, mask_robot_i, mask_robot_j);
         is_pose_lethal_ = (data == INSCRIBED_INFLATED_OBSTACLE || data == LETHAL_OBSTACLE);
diff --git a/nav2_costmap_2d/plugins/costmap_filters/speed_filter.cpp b/nav2_costmap_2d/plugins/costmap_filters/speed_filter.cpp
index c1e822cb03a..1d2f54d43c8 100644
--- a/nav2_costmap_2d/plugins/costmap_filters/speed_filter.cpp
+++ b/nav2_costmap_2d/plugins/costmap_filters/speed_filter.cpp
@@ -199,8 +199,9 @@ void SpeedFilter::process(
 
   // Converting mask_pose robot position to filter_mask_ indexes (mask_robot_i, mask_robot_j)
   unsigned int mask_robot_i, mask_robot_j;
-  if (!nav2_util::worldToMap(filter_mask_, mask_pose.position.x, mask_pose.position.y,
-    mask_robot_i, mask_robot_j))
+  if (!nav2_util::worldToMap(
+      filter_mask_, mask_pose.position.x, mask_pose.position.y,
+      mask_robot_i, mask_robot_j))
   {
     return;
   }
diff --git a/nav2_costmap_2d/plugins/obstacle_layer.cpp b/nav2_costmap_2d/plugins/obstacle_layer.cpp
index c09d60da61b..4b6c7506772 100644
--- a/nav2_costmap_2d/plugins/obstacle_layer.cpp
+++ b/nav2_costmap_2d/plugins/obstacle_layer.cpp
@@ -102,8 +102,9 @@ void ObstacleLayer::onInitialize()
   node->get_parameter("track_unknown_space", track_unknown_space);
   node->get_parameter("transform_tolerance", transform_tolerance);
   node->get_parameter(name_ + "." + "observation_sources", topics_string);
-  double tf_filter_tolerance = nav2::declare_or_get_parameter(node, name_ + "." +
-      "tf_filter_tolerance", 0.05);
+  double tf_filter_tolerance = nav2::declare_or_get_parameter(
+    node, name_ + "." +
+    "tf_filter_tolerance", 0.05);
 
   int combination_method_param{};
   node->get_parameter(name_ + "." + "combination_method", combination_method_param);
@@ -287,7 +288,8 @@ void ObstacleLayer::onInitialize()
       observation_subscribers_.push_back(sub);
 
       observation_notifiers_.push_back(filter);
-      observation_notifiers_.back()->setTolerance(rclcpp::Duration::from_seconds(
+      observation_notifiers_.back()->setTolerance(
+        rclcpp::Duration::from_seconds(
           tf_filter_tolerance));
 
     } else {
diff --git a/nav2_costmap_2d/plugins/plugin_container_layer.cpp b/nav2_costmap_2d/plugins/plugin_container_layer.cpp
index 76f58b003ce..7352ab07df4 100644
--- a/nav2_costmap_2d/plugins/plugin_container_layer.cpp
+++ b/nav2_costmap_2d/plugins/plugin_container_layer.cpp
@@ -35,12 +35,15 @@ void PluginContainerLayer::onInitialize()
     throw std::runtime_error{"Failed to lock node"};
   }
 
-  nav2::declare_parameter_if_not_declared(node, name_ + "." + "enabled",
-      rclcpp::ParameterValue(true));
-  nav2::declare_parameter_if_not_declared(node, name_ + "." + "plugins",
-      rclcpp::ParameterValue(std::vector<std::string>{}));
-  nav2::declare_parameter_if_not_declared(node, name_ + "." + "combination_method",
-      rclcpp::ParameterValue(1));
+  nav2::declare_parameter_if_not_declared(
+    node, name_ + "." + "enabled",
+    rclcpp::ParameterValue(true));
+  nav2::declare_parameter_if_not_declared(
+    node, name_ + "." + "plugins",
+    rclcpp::ParameterValue(std::vector<std::string>{}));
+  nav2::declare_parameter_if_not_declared(
+    node, name_ + "." + "combination_method",
+    rclcpp::ParameterValue(1));
 
   node->get_parameter(name_ + "." + "enabled", enabled_);
   node->get_parameter(name_ + "." + "plugins", plugin_names_);
@@ -185,7 +188,7 @@ bool PluginContainerLayer::isClearable()
   for (vector<std::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
     ++plugin)
   {
-    if((*plugin)->isClearable()) {
+    if ((*plugin)->isClearable()) {
       return true;
     }
   }
diff --git a/nav2_costmap_2d/plugins/static_layer.cpp b/nav2_costmap_2d/plugins/static_layer.cpp
index 94aa69f87f8..8ba7fc623db 100644
--- a/nav2_costmap_2d/plugins/static_layer.cpp
+++ b/nav2_costmap_2d/plugins/static_layer.cpp
@@ -527,8 +527,9 @@ StaticLayer::dynamicParametersCallback(
         if (footprint_clearing_enabled_) {
           restore_cleared_footprint_ = parameter.as_bool();
         } else {
-          RCLCPP_WARN(logger_, "restore_cleared_footprint cannot be used "
-                      "when footprint_clearing_enabled is False. Rejecting parameter update.");
+          RCLCPP_WARN(
+            logger_, "restore_cleared_footprint cannot be used "
+            "when footprint_clearing_enabled is False. Rejecting parameter update.");
         }
       }
     }
diff --git a/nav2_costmap_2d/src/costmap_2d_publisher.cpp b/nav2_costmap_2d/src/costmap_2d_publisher.cpp
index 48f163b78af..a811648fe29 100644
--- a/nav2_costmap_2d/src/costmap_2d_publisher.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_publisher.cpp
@@ -152,7 +152,8 @@ void Costmap2DPublisher::prepareGrid()
   grid_->data.resize(grid_->info.width * grid_->info.height);
 
   unsigned char * data = costmap_->getCharMap();
-  std::transform(data, data + grid_->data.size(), grid_->data.begin(),
+  std::transform(
+    data, data + grid_->data.size(), grid_->data.begin(),
     [](unsigned char c) {return cost_translation_table_[c];});
 }
 
@@ -201,8 +202,9 @@ std::unique_ptr<map_msgs::msg::OccupancyGridUpdate> Costmap2DPublisher::createGr
   std::uint32_t i = 0;
   for (std::uint32_t y = y0_; y < yn_; y++) {
     std::uint32_t row_start = y * map_width + x0_;
-    std::transform(costmap_data + row_start, costmap_data + row_start + update->width,
-        update->data.begin() + i,
+    std::transform(
+      costmap_data + row_start, costmap_data + row_start + update->width,
+      update->data.begin() + i,
       [](unsigned char c) {return cost_translation_table_[c];});
     i += update->width;
   }
diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index f43373d286b..0fa21ad1a50 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -78,11 +78,13 @@ rclcpp::NodeOptions getChildNodeOptions(
   const rclcpp::NodeOptions & parent_options)
 {
   std::vector<std::string> new_arguments = parent_options.arguments();
-  nav2::replaceOrAddArgument(new_arguments, "-r", "__ns",
-      "__ns:=" + nav2::add_namespaces(parent_namespace, name));
+  nav2::replaceOrAddArgument(
+    new_arguments, "-r", "__ns",
+    "__ns:=" + nav2::add_namespaces(parent_namespace, name));
   nav2::replaceOrAddArgument(new_arguments, "-r", "__node", name + ":" + "__node:=" + name);
-  nav2::replaceOrAddArgument(new_arguments, "-p", "use_sim_time",
-      "use_sim_time:=" + std::string(use_sim_time ? "true" : "false"));
+  nav2::replaceOrAddArgument(
+    new_arguments, "-p", "use_sim_time",
+    "use_sim_time:=" + std::string(use_sim_time ? "true" : "false"));
   return rclcpp::NodeOptions().arguments(new_arguments);
 }
 
@@ -186,11 +188,13 @@ Costmap2DROS::on_configure(const rclcpp_lifecycle::State & /*state*/)
     layered_costmap_->addPlugin(plugin);
 
     try {
-      plugin->initialize(layered_costmap_.get(), plugin_names_[i], tf_buffer_.get(),
-          shared_from_this(), callback_group_);
+      plugin->initialize(
+        layered_costmap_.get(), plugin_names_[i], tf_buffer_.get(),
+        shared_from_this(), callback_group_);
     } catch (const std::exception & e) {
-      RCLCPP_ERROR(get_logger(), "Failed to initialize costmap plugin %s! %s.",
-          plugin_names_[i].c_str(), e.what());
+      RCLCPP_ERROR(
+        get_logger(), "Failed to initialize costmap plugin %s! %s.",
+        plugin_names_[i].c_str(), e.what());
       return nav2::CallbackReturn::FAILURE;
     }
 
@@ -263,7 +267,8 @@ Costmap2DROS::on_configure(const rclcpp_lifecycle::State & /*state*/)
   // Service to get the cost at a point
   get_cost_service_ = create_service<nav2_msgs::srv::GetCosts>(
     std::string("get_cost_") + get_name(),
-    std::bind(&Costmap2DROS::getCostsCallback, this, std::placeholders::_1, std::placeholders::_2,
+    std::bind(
+      &Costmap2DROS::getCostsCallback, this, std::placeholders::_1, std::placeholders::_2,
       std::placeholders::_3));
 
   // Add cleaning service
@@ -876,7 +881,7 @@ void Costmap2DROS::getCostsCallback(
     } else {
       RCLCPP_DEBUG(
         get_logger(), "Received request to get cost at point (%f, %f)",
-          pose_transformed.pose.position.x,
+        pose_transformed.pose.position.x,
         pose_transformed.pose.position.y);
 
       bool in_bounds = costmap->worldToMap(
diff --git a/nav2_costmap_2d/test/integration/dyn_params_tests.cpp b/nav2_costmap_2d/test/integration/dyn_params_tests.cpp
index 684aaa58a12..7b00bf09e1d 100644
--- a/nav2_costmap_2d/test/integration/dyn_params_tests.cpp
+++ b/nav2_costmap_2d/test/integration/dyn_params_tests.cpp
@@ -102,7 +102,7 @@ TEST(DynParamTestNode, testDynParamsSet)
   costmap->on_shutdown(rclcpp_lifecycle::State());
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_costmap_2d/test/integration/footprint_tests.cpp b/nav2_costmap_2d/test/integration/footprint_tests.cpp
index 0bde175ce0a..44433e53856 100644
--- a/nav2_costmap_2d/test/integration/footprint_tests.cpp
+++ b/nav2_costmap_2d/test/integration/footprint_tests.cpp
@@ -195,7 +195,7 @@ TEST_F(TestNode, footprint_from_same_level_param)
   EXPECT_EQ(0.0f, footprint[2].z);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_costmap_2d/test/integration/inflation_tests.cpp b/nav2_costmap_2d/test/integration/inflation_tests.cpp
index 658791beeb5..590d4a9208f 100644
--- a/nav2_costmap_2d/test/integration/inflation_tests.cpp
+++ b/nav2_costmap_2d/test/integration/inflation_tests.cpp
@@ -634,7 +634,7 @@ TEST_F(TestNode, testDynParamsSet)
   costmap->on_shutdown(rclcpp_lifecycle::State());
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_costmap_2d/test/integration/obstacle_tests.cpp b/nav2_costmap_2d/test/integration/obstacle_tests.cpp
index 8a700f069fc..b55436a9fc7 100644
--- a/nav2_costmap_2d/test/integration/obstacle_tests.cpp
+++ b/nav2_costmap_2d/test/integration/obstacle_tests.cpp
@@ -618,7 +618,7 @@ TEST_F(TestNodeWithoutUnknownOverwrite, testMaxWithoutUnknownOverwriteCombinatio
   ASSERT_EQ(unknown_count, 100);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_costmap_2d/test/integration/plugin_container_tests.cpp b/nav2_costmap_2d/test/integration/plugin_container_tests.cpp
index dc8a4f4b3a2..5302ed2e70d 100644
--- a/nav2_costmap_2d/test/integration/plugin_container_tests.cpp
+++ b/nav2_costmap_2d/test/integration/plugin_container_tests.cpp
@@ -82,7 +82,8 @@ class TestNode : public ::testing::Test
     node_->declare_parameter("track_unknown_space", rclcpp::ParameterValue(false));
     node_->declare_parameter("use_maximum", rclcpp::ParameterValue(false));
     node_->declare_parameter("lethal_cost_threshold", rclcpp::ParameterValue(100));
-    node_->declare_parameter("unknown_cost_value",
+    node_->declare_parameter(
+      "unknown_cost_value",
       rclcpp::ParameterValue(static_cast<unsigned char>(0xff)));
     node_->declare_parameter("trinary_costmap", rclcpp::ParameterValue(true));
     node_->declare_parameter("transform_tolerance", rclcpp::ParameterValue(0.3));
@@ -190,7 +191,8 @@ TEST_F(TestNode, testObstacleLayers) {
 TEST_F(TestNode, testObstacleAndStaticLayers) {
   tf2_ros::Buffer tf(node_->get_clock());
 
-  node_->declare_parameter("pclayer_a.static.map_topic",
+  node_->declare_parameter(
+    "pclayer_a.static.map_topic",
     rclcpp::ParameterValue(std::string("map")));
 
   nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
@@ -225,13 +227,16 @@ TEST_F(TestNode, testObstacleAndStaticLayers) {
 TEST_F(TestNode, testDifferentInflationLayers) {
   tf2_ros::Buffer tf(node_->get_clock());
 
-  node_->declare_parameter("pclayer_a.static.map_topic",
+  node_->declare_parameter(
+    "pclayer_a.static.map_topic",
     rclcpp::ParameterValue(std::string("map")));
 
-  node_->declare_parameter("pclayer_b.inflation.cost_scaling_factor",
+  node_->declare_parameter(
+    "pclayer_b.inflation.cost_scaling_factor",
     rclcpp::ParameterValue(1.0));
 
-  node_->declare_parameter("pclayer_b.inflation.inflation_radius",
+  node_->declare_parameter(
+    "pclayer_b.inflation.inflation_radius",
     rclcpp::ParameterValue(1.0));
 
   nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
@@ -274,13 +279,16 @@ TEST_F(TestNode, testDifferentInflationLayers) {
 TEST_F(TestNode, testDifferentInflationLayers2) {
   tf2_ros::Buffer tf(node_->get_clock());
 
-  node_->declare_parameter("pclayer_a.static.map_topic",
+  node_->declare_parameter(
+    "pclayer_a.static.map_topic",
     rclcpp::ParameterValue(std::string("map")));
 
-  node_->declare_parameter("pclayer_a.inflation.cost_scaling_factor",
+  node_->declare_parameter(
+    "pclayer_a.inflation.cost_scaling_factor",
     rclcpp::ParameterValue(1.0));
 
-  node_->declare_parameter("pclayer_a.inflation.inflation_radius",
+  node_->declare_parameter(
+    "pclayer_a.inflation.inflation_radius",
     rclcpp::ParameterValue(1.0));
 
   nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
@@ -323,19 +331,24 @@ TEST_F(TestNode, testDifferentInflationLayers2) {
 TEST_F(TestNode, testResetting) {
   tf2_ros::Buffer tf(node_->get_clock());
 
-  node_->declare_parameter("pclayer_a.static.map_topic",
+  node_->declare_parameter(
+    "pclayer_a.static.map_topic",
     rclcpp::ParameterValue(std::string("map")));
 
-  node_->declare_parameter("pclayer_a.inflation.cost_scaling_factor",
+  node_->declare_parameter(
+    "pclayer_a.inflation.cost_scaling_factor",
     rclcpp::ParameterValue(1.0));
 
-  node_->declare_parameter("pclayer_a.inflation.inflation_radius",
+  node_->declare_parameter(
+    "pclayer_a.inflation.inflation_radius",
     rclcpp::ParameterValue(1.0));
 
-  node_->declare_parameter("pclayer_b.inflation.cost_scaling_factor",
+  node_->declare_parameter(
+    "pclayer_b.inflation.cost_scaling_factor",
     rclcpp::ParameterValue(1.0));
 
-  node_->declare_parameter("pclayer_b.inflation.inflation_radius",
+  node_->declare_parameter(
+    "pclayer_b.inflation.inflation_radius",
     rclcpp::ParameterValue(1.0));
 
   nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
@@ -394,19 +407,24 @@ TEST_F(TestNode, testResetting) {
 TEST_F(TestNode, testClearing) {
   tf2_ros::Buffer tf(node_->get_clock());
 
-  node_->declare_parameter("pclayer_a.static.map_topic",
+  node_->declare_parameter(
+    "pclayer_a.static.map_topic",
     rclcpp::ParameterValue(std::string("map")));
 
-  node_->declare_parameter("pclayer_a.inflation.cost_scaling_factor",
+  node_->declare_parameter(
+    "pclayer_a.inflation.cost_scaling_factor",
     rclcpp::ParameterValue(1.0));
 
-  node_->declare_parameter("pclayer_a.inflation.inflation_radius",
+  node_->declare_parameter(
+    "pclayer_a.inflation.inflation_radius",
     rclcpp::ParameterValue(1.0));
 
-  node_->declare_parameter("pclayer_b.inflation.cost_scaling_factor",
+  node_->declare_parameter(
+    "pclayer_b.inflation.cost_scaling_factor",
     rclcpp::ParameterValue(1.0));
 
-  node_->declare_parameter("pclayer_b.inflation.inflation_radius",
+  node_->declare_parameter(
+    "pclayer_b.inflation.inflation_radius",
     rclcpp::ParameterValue(1.0));
 
   nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
@@ -460,19 +478,24 @@ TEST_F(TestNode, testClearing) {
 TEST_F(TestNode, testOverwriteCombinationMethods) {
   tf2_ros::Buffer tf(node_->get_clock());
 
-  node_->declare_parameter("pclayer_a.static.map_topic",
+  node_->declare_parameter(
+    "pclayer_a.static.map_topic",
     rclcpp::ParameterValue(std::string("map")));
 
-  node_->declare_parameter("pclayer_a.inflation.cost_scaling_factor",
+  node_->declare_parameter(
+    "pclayer_a.inflation.cost_scaling_factor",
     rclcpp::ParameterValue(1.0));
 
-  node_->declare_parameter("pclayer_a.inflation.inflation_radius",
+  node_->declare_parameter(
+    "pclayer_a.inflation.inflation_radius",
     rclcpp::ParameterValue(1.0));
 
-  node_->declare_parameter("pclayer_b.inflation.cost_scaling_factor",
+  node_->declare_parameter(
+    "pclayer_b.inflation.cost_scaling_factor",
     rclcpp::ParameterValue(1.0));
 
-  node_->declare_parameter("pclayer_b.inflation.inflation_radius",
+  node_->declare_parameter(
+    "pclayer_b.inflation.inflation_radius",
     rclcpp::ParameterValue(1.0));
 
   nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
@@ -521,19 +544,24 @@ TEST_F(TestNode, testOverwriteCombinationMethods) {
 TEST_F(TestNode, testWithoutUnknownOverwriteCombinationMethods) {
   tf2_ros::Buffer tf(node_->get_clock());
 
-  node_->declare_parameter("pclayer_a.static.map_topic",
+  node_->declare_parameter(
+    "pclayer_a.static.map_topic",
     rclcpp::ParameterValue(std::string("map")));
 
-  node_->declare_parameter("pclayer_a.inflation.cost_scaling_factor",
+  node_->declare_parameter(
+    "pclayer_a.inflation.cost_scaling_factor",
     rclcpp::ParameterValue(1.0));
 
-  node_->declare_parameter("pclayer_a.inflation.inflation_radius",
+  node_->declare_parameter(
+    "pclayer_a.inflation.inflation_radius",
     rclcpp::ParameterValue(1.0));
 
-  node_->declare_parameter("pclayer_b.inflation.cost_scaling_factor",
+  node_->declare_parameter(
+    "pclayer_b.inflation.cost_scaling_factor",
     rclcpp::ParameterValue(1.0));
 
-  node_->declare_parameter("pclayer_b.inflation.inflation_radius",
+  node_->declare_parameter(
+    "pclayer_b.inflation.inflation_radius",
     rclcpp::ParameterValue(1.0));
 
   nav2_costmap_2d::LayeredCostmap layers("frame", false, true);
@@ -618,31 +646,39 @@ TEST_F(TestNode, testDynParamsSetPluginContainerLayer)
   plugins_str.push_back("plugin_container_layer_b");
   costmap->set_parameter(rclcpp::Parameter("plugins", plugins_str));
 
-  costmap->declare_parameter("plugin_container_layer_a.plugin",
+  costmap->declare_parameter(
+    "plugin_container_layer_a.plugin",
     rclcpp::ParameterValue(std::string("nav2_costmap_2d::PluginContainerLayer")));
-  costmap->declare_parameter("plugin_container_layer_b.plugin",
+  costmap->declare_parameter(
+    "plugin_container_layer_b.plugin",
     rclcpp::ParameterValue(std::string("nav2_costmap_2d::PluginContainerLayer")));
 
   std::vector<std::string> plugins_str_a;
   plugins_str_a.push_back("obstacle_layer");
   plugins_str_a.push_back("inflation_layer");
-  costmap->declare_parameter("plugin_container_layer_a.plugins",
+  costmap->declare_parameter(
+    "plugin_container_layer_a.plugins",
     rclcpp::ParameterValue(plugins_str_a));
 
-  costmap->declare_parameter("plugin_container_layer_a.obstacle_layer.plugin",
+  costmap->declare_parameter(
+    "plugin_container_layer_a.obstacle_layer.plugin",
     rclcpp::ParameterValue(std::string("nav2_costmap_2d::ObstacleLayer")));
-  costmap->declare_parameter("plugin_container_layer_a.inflation_layer.plugin",
+  costmap->declare_parameter(
+    "plugin_container_layer_a.inflation_layer.plugin",
     rclcpp::ParameterValue(std::string("nav2_costmap_2d::InflationLayer")));
 
   std::vector<std::string> plugins_str_b;
   plugins_str_b.push_back("static_layer");
   plugins_str_b.push_back("inflation_layer");
-  costmap->declare_parameter("plugin_container_layer_b.plugins",
+  costmap->declare_parameter(
+    "plugin_container_layer_b.plugins",
     rclcpp::ParameterValue(plugins_str_b));
 
-  costmap->declare_parameter("plugin_container_layer_b.static_layer.plugin",
+  costmap->declare_parameter(
+    "plugin_container_layer_b.static_layer.plugin",
     rclcpp::ParameterValue(std::string("nav2_costmap_2d::StaticLayer")));
-  costmap->declare_parameter("plugin_container_layer_b.inflation_layer.plugin",
+  costmap->declare_parameter(
+    "plugin_container_layer_b.inflation_layer.plugin",
     rclcpp::ParameterValue(std::string("nav2_costmap_2d::InflationLayer")));
 
 
@@ -681,7 +717,7 @@ TEST_F(TestNode, testDynParamsSetPluginContainerLayer)
   costmap->on_shutdown(rclcpp_lifecycle::State());
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_costmap_2d/test/integration/range_tests.cpp b/nav2_costmap_2d/test/integration/range_tests.cpp
index 30aba3f88f4..5d48dfabac1 100644
--- a/nav2_costmap_2d/test/integration/range_tests.cpp
+++ b/nav2_costmap_2d/test/integration/range_tests.cpp
@@ -277,7 +277,7 @@ TEST_F(TestNode, testProbabilisticModelDownward) {
   ASSERT_EQ(layers.getCostmap()->getCost(3, 7), 254);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_costmap_2d/test/integration/test_costmap_2d_publisher.cpp b/nav2_costmap_2d/test/integration/test_costmap_2d_publisher.cpp
index a365cdc9a7d..5252ea70547 100644
--- a/nav2_costmap_2d/test/integration/test_costmap_2d_publisher.cpp
+++ b/nav2_costmap_2d/test/integration/test_costmap_2d_publisher.cpp
@@ -168,7 +168,7 @@ TEST_F(CostmapRosTestFixture, costmap_pub_test)
   SUCCEED();
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_costmap_2d/test/integration/test_costmap_subscriber.cpp b/nav2_costmap_2d/test/integration/test_costmap_subscriber.cpp
index 4921fa38bb5..4299561451a 100644
--- a/nav2_costmap_2d/test/integration/test_costmap_subscriber.cpp
+++ b/nav2_costmap_2d/test/integration/test_costmap_subscriber.cpp
@@ -96,7 +96,7 @@ class TestCostmapSubscriberShould : public ::testing::Test
   {
     this->updateCostmapMsgCount++;
     std::vector<uint8_t> data;
-    for(unsigned int i = 0; i < update_msg->data.size(); i++) {
+    for (unsigned int i = 0; i < update_msg->data.size(); i++) {
       data.push_back(update_msg->data[i]);
     }
     receivedGrids.push_back(data);
@@ -262,7 +262,7 @@ TEST_F(TestCostmapSubscriberShould, handleCostmapUpdateMsgs)
       costmapToSend->setCost(observation.x, observation.y, observation.cost);
     }
     // Publish full costmap for the first iteration
-    if(!first_iteration) {
+    if (!first_iteration) {
       x0 = mapChange.x0;
       xn = mapChange.xn;
       y0 = mapChange.y0;
@@ -300,7 +300,7 @@ TEST_F(
   ASSERT_ANY_THROW(costmapSubscriber->getCostmap());
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_costmap_2d/test/integration/test_costmap_topic_collision_checker.cpp b/nav2_costmap_2d/test/integration/test_costmap_topic_collision_checker.cpp
index d7da1e104c5..b4ee7b3147e 100644
--- a/nav2_costmap_2d/test/integration/test_costmap_topic_collision_checker.cpp
+++ b/nav2_costmap_2d/test/integration/test_costmap_topic_collision_checker.cpp
@@ -358,7 +358,7 @@ TEST_F(TestNode, CollisionSpace)
   ASSERT_EQ(collision_checker_->testPose(4.5, 4.5, 0), false);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_costmap_2d/test/unit/binary_filter_test.cpp b/nav2_costmap_2d/test/unit/binary_filter_test.cpp
index bfce85d2106..fcc5be4d39c 100644
--- a/nav2_costmap_2d/test/unit/binary_filter_test.cpp
+++ b/nav2_costmap_2d/test/unit/binary_filter_test.cpp
@@ -638,7 +638,8 @@ void TestNode::testOutOfMask()
   pose.orientation = nav2_util::geometry_utils::orientationAroundZAxis(0.0);
   binary_filter_->process(*master_grid_, min_i, min_j, max_i, max_j, pose);
   binary_state = waitBinaryState();
-  verifyBinaryState(getSign(pose.position.x, pose.position.y, base, multiplier, flip_threshold),
+  verifyBinaryState(
+    getSign(pose.position.x, pose.position.y, base, multiplier, flip_threshold),
     binary_state);
 
   // Then go to out of mask bounds and ensure that binary state is set back to default
@@ -706,8 +707,10 @@ void TestNode::testResetFilter()
   publishTransform();
   binary_filter_->process(*master_grid_, min_i, min_j, max_i, max_j, pose);
   binary_state = waitBinaryState();
-  verifyBinaryState(getSign(pose.position.x, pose.position.y, base,
-    multiplier, flip_threshold), binary_state);
+  verifyBinaryState(
+    getSign(
+      pose.position.x, pose.position.y, base,
+      multiplier, flip_threshold), binary_state);
   binary_state_ = binary_state->data;
 
   // Reset binary filter and check its state was reset to default
diff --git a/nav2_costmap_2d/test/unit/coordinate_transform_test.cpp b/nav2_costmap_2d/test/unit/coordinate_transform_test.cpp
index b221943a782..e81698b14d5 100644
--- a/nav2_costmap_2d/test/unit/coordinate_transform_test.cpp
+++ b/nav2_costmap_2d/test/unit/coordinate_transform_test.cpp
@@ -45,7 +45,7 @@ TEST(mapToWorldNoBounds, MapToWorldNoBoundsNegativeMapCoords)
 }
 
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_costmap_2d/test/unit/copy_window_test.cpp b/nav2_costmap_2d/test/unit/copy_window_test.cpp
index 57ac89ce3b9..ecc952f43ee 100644
--- a/nav2_costmap_2d/test/unit/copy_window_test.cpp
+++ b/nav2_costmap_2d/test/unit/copy_window_test.cpp
@@ -43,7 +43,7 @@ TEST(CopyWindow, copyInvalidWindow)
   ASSERT_FALSE(dst.copyWindow(src, 0, 0, 6, 6, 0, 0));
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_costmap_2d/test/unit/costmap_conversion_test.cpp b/nav2_costmap_2d/test/unit/costmap_conversion_test.cpp
index aea641c7212..a1d62142e73 100644
--- a/nav2_costmap_2d/test/unit/costmap_conversion_test.cpp
+++ b/nav2_costmap_2d/test/unit/costmap_conversion_test.cpp
@@ -113,7 +113,7 @@ TEST_F(TestNode, convertOccGridToCostmap)
   verifyCostmap();
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_costmap_2d/test/unit/costmap_cost_service_test.cpp b/nav2_costmap_2d/test/unit/costmap_cost_service_test.cpp
index 1bfdfec6ee4..3eb6f5352e0 100644
--- a/nav2_costmap_2d/test/unit/costmap_cost_service_test.cpp
+++ b/nav2_costmap_2d/test/unit/costmap_cost_service_test.cpp
@@ -86,7 +86,7 @@ TEST_F(GetCostServiceTest, TestWithFootprint)
   }
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_costmap_2d/test/unit/declare_parameter_test.cpp b/nav2_costmap_2d/test/unit/declare_parameter_test.cpp
index f6ee271fce2..a426dd5a8a9 100644
--- a/nav2_costmap_2d/test/unit/declare_parameter_test.cpp
+++ b/nav2_costmap_2d/test/unit/declare_parameter_test.cpp
@@ -66,7 +66,7 @@ TEST(DeclareParameter, useInvalidParameter)
   }
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_costmap_2d/test/unit/denoise_layer_test.cpp b/nav2_costmap_2d/test/unit/denoise_layer_test.cpp
index c49a389b909..b3f7d8048a5 100644
--- a/nav2_costmap_2d/test/unit/denoise_layer_test.cpp
+++ b/nav2_costmap_2d/test/unit/denoise_layer_test.cpp
@@ -509,7 +509,7 @@ TEST_F(DenoiseLayerTester, initializeInvalid) {
     std::make_tuple(true, ConnectivityType::Way8, 1));
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_docking/opennav_docking/include/opennav_docking/simple_non_charging_dock.hpp b/nav2_docking/opennav_docking/include/opennav_docking/simple_non_charging_dock.hpp
index ef2c7082e2c..196bb83308c 100644
--- a/nav2_docking/opennav_docking/include/opennav_docking/simple_non_charging_dock.hpp
+++ b/nav2_docking/opennav_docking/include/opennav_docking/simple_non_charging_dock.hpp
@@ -57,14 +57,14 @@ class SimpleNonChargingDock : public opennav_docking_core::NonChargingDock
    */
   void cleanup() override;
 
-   /**
-    * @brief Method to active Behavior and any threads involved in execution.
-    */
+  /**
+   * @brief Method to active Behavior and any threads involved in execution.
+   */
   void activate() override;
 
-   /**
-    * @brief Method to deactivate Behavior and any threads involved in execution.
-    */
+  /**
+   * @brief Method to deactivate Behavior and any threads involved in execution.
+   */
   void deactivate() override;
 
   /**
diff --git a/nav2_docking/opennav_docking/src/controller.cpp b/nav2_docking/opennav_docking/src/controller.cpp
index 7838158f8af..0eea1e2d238 100644
--- a/nav2_docking/opennav_docking/src/controller.cpp
+++ b/nav2_docking/opennav_docking/src/controller.cpp
@@ -49,9 +49,9 @@ Controller::Controller(
   nav2::declare_parameter_if_not_declared(
     node, "controller.slowdown_radius", rclcpp::ParameterValue(0.25));
   nav2::declare_parameter_if_not_declared(
-      node, "controller.rotate_to_heading_angular_vel", rclcpp::ParameterValue(1.0));
+    node, "controller.rotate_to_heading_angular_vel", rclcpp::ParameterValue(1.0));
   nav2::declare_parameter_if_not_declared(
-      node, "controller.rotate_to_heading_max_angular_accel", rclcpp::ParameterValue(3.2));
+    node, "controller.rotate_to_heading_max_angular_accel", rclcpp::ParameterValue(3.2));
   nav2::declare_parameter_if_not_declared(
     node, "controller.use_collision_detection", rclcpp::ParameterValue(true));
   nav2::declare_parameter_if_not_declared(
@@ -99,7 +99,8 @@ Controller::Controller(
   }
 
   node->get_parameter("controller.rotate_to_heading_angular_vel", rotate_to_heading_angular_vel_);
-  node->get_parameter("controller.rotate_to_heading_max_angular_accel",
+  node->get_parameter(
+    "controller.rotate_to_heading_max_angular_accel",
     rotate_to_heading_max_angular_accel_);
 
   trajectory_pub_ =
diff --git a/nav2_docking/opennav_docking/src/docking_server.cpp b/nav2_docking/opennav_docking/src/docking_server.cpp
index d694f90ea87..ccdcd8fff57 100644
--- a/nav2_docking/opennav_docking/src/docking_server.cpp
+++ b/nav2_docking/opennav_docking/src/docking_server.cpp
@@ -72,8 +72,9 @@ DockingServer::on_configure(const rclcpp_lifecycle::State & state)
   try {
     if (get_parameter("dock_backwards", dock_backwards)) {
       dock_backwards_ = dock_backwards;
-      RCLCPP_WARN(get_logger(), "Parameter dock_backwards is deprecated. "
-      "Please use the dock_direction parameter in your dock plugin instead.");
+      RCLCPP_WARN(
+        get_logger(), "Parameter dock_backwards is deprecated. "
+        "Please use the dock_direction parameter in your dock plugin instead.");
     }
   } catch (rclcpp::exceptions::ParameterUninitializedException & ex) {
   }
@@ -445,7 +446,7 @@ void DockingServer::doInitialPerception(Dock * dock, geometry_msgs::msg::PoseSta
   while (!dock->plugin->getRefinedPose(dock_pose, dock->id)) {
     if (this->now() - start > timeout) {
       throw opennav_docking_core::FailedToDetectDock(
-        "Failed initial dock detection: Timeout exceeded");
+              "Failed initial dock detection: Timeout exceeded");
     }
 
     if (checkAndWarnIfCancelled<DockRobot>(docking_action_server_, "dock_robot") ||
diff --git a/nav2_docking/opennav_docking/test/test_controller.cpp b/nav2_docking/opennav_docking/test/test_controller.cpp
index e8de87d99c6..75057e34013 100644
--- a/nav2_docking/opennav_docking/test/test_controller.cpp
+++ b/nav2_docking/opennav_docking/test/test_controller.cpp
@@ -560,10 +560,10 @@ TEST(ControllerTests, RotateToHeading) {
   float rotate_to_heading_max_angular_accel = 3.2;
   nav2::declare_parameter_if_not_declared(
     node, "controller.rotate_to_heading_angular_vel",
-      rclcpp::ParameterValue(rotate_to_heading_angular_vel));
+    rclcpp::ParameterValue(rotate_to_heading_angular_vel));
   nav2::declare_parameter_if_not_declared(
     node, "controller.rotate_to_heading_max_angular_accel",
-      rclcpp::ParameterValue(rotate_to_heading_max_angular_accel));
+    rclcpp::ParameterValue(rotate_to_heading_max_angular_accel));
 
   auto controller = std::make_unique<opennav_docking::Controller>(
     node, nullptr, "test_base_frame", "test_base_frame");
@@ -596,8 +596,9 @@ TEST(ControllerTests, RotateToHeading) {
   cmd_vel =
     controller->computeRotateToHeadingCommand(angular_distance_to_heading, current_velocity, dt);
   EXPECT_DOUBLE_EQ(cmd_vel.linear.x, 0.0);
-  EXPECT_DOUBLE_EQ(cmd_vel.angular.z,
-      current_velocity.angular.z + rotate_to_heading_max_angular_accel * dt);
+  EXPECT_DOUBLE_EQ(
+    cmd_vel.angular.z,
+    current_velocity.angular.z + rotate_to_heading_max_angular_accel * dt);
 
   // Case 4: Negative angular distance, exceeding max feasible speed
   angular_distance_to_heading = -1.0;
@@ -605,8 +606,9 @@ TEST(ControllerTests, RotateToHeading) {
   cmd_vel =
     controller->computeRotateToHeadingCommand(angular_distance_to_heading, current_velocity, dt);
   EXPECT_DOUBLE_EQ(cmd_vel.linear.x, 0.0);
-  EXPECT_DOUBLE_EQ(cmd_vel.angular.z,
-      current_velocity.angular.z - rotate_to_heading_max_angular_accel * dt);
+  EXPECT_DOUBLE_EQ(
+    cmd_vel.angular.z,
+    current_velocity.angular.z - rotate_to_heading_max_angular_accel * dt);
 
   // Case 5: Zero angular distance
   angular_distance_to_heading = 0.0;
@@ -621,7 +623,7 @@ TEST(ControllerTests, RotateToHeading) {
 
 }  // namespace opennav_docking
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_docking/opennav_docking/test/test_dock_database.cpp b/nav2_docking/opennav_docking/test/test_dock_database.cpp
index df1dbde2e27..e2026f09df6 100644
--- a/nav2_docking/opennav_docking/test/test_dock_database.cpp
+++ b/nav2_docking/opennav_docking/test/test_dock_database.cpp
@@ -103,8 +103,9 @@ TEST(DatabaseTests, getDockInstancesBadConversionFile)
   // Set a valid path with a malformed file
   node->declare_parameter(
     "dock_database",
-    rclcpp::ParameterValue(ament_index_cpp::get_package_share_directory("opennav_docking") +
-    "/dock_files/test_dock_bad_conversion_file.yaml"));
+    rclcpp::ParameterValue(
+      ament_index_cpp::get_package_share_directory("opennav_docking") +
+      "/dock_files/test_dock_bad_conversion_file.yaml"));
 
   opennav_docking::DockDatabase db;
   db.initialize(node, nullptr);
@@ -203,7 +204,7 @@ TEST(DatabaseTests, reloadDbMutexLocked)
 
 }  // namespace opennav_docking
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_docking/opennav_docking/test/test_docking_server_unit.cpp b/nav2_docking/opennav_docking/test/test_docking_server_unit.cpp
index 22d676bf60a..d91ac480252 100644
--- a/nav2_docking/opennav_docking/test/test_docking_server_unit.cpp
+++ b/nav2_docking/opennav_docking/test/test_docking_server_unit.cpp
@@ -477,7 +477,7 @@ TEST(DockingServerTests, HandlesPluginStartFailure)
 
 }  // namespace opennav_docking
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_docking/opennav_docking/test/test_navigator.cpp b/nav2_docking/opennav_docking/test/test_navigator.cpp
index 6edb77db090..c5641c1c857 100644
--- a/nav2_docking/opennav_docking/test/test_navigator.cpp
+++ b/nav2_docking/opennav_docking/test/test_navigator.cpp
@@ -117,32 +117,37 @@ TEST(NavigatorTests, TestNavigator)
   // Should succeed, action server set to succeed
   dummy_navigator_node->setReturn(true);
   EXPECT_NO_THROW(
-    navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0),
+    navigator->goToPose(
+      geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0),
       is_preempted_false));
 
   // Should fail, timeout exceeded
   EXPECT_THROW(
-    navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(0.0, 0.0),
+    navigator->goToPose(
+      geometry_msgs::msg::PoseStamped(), rclcpp::Duration(0.0, 0.0),
       is_preempted_false),
     opennav_docking_core::FailedToStage);
 
   // Should fail, action server set to succeed
   dummy_navigator_node->setReturn(false);
   EXPECT_THROW(
-    navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0),
+    navigator->goToPose(
+      geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0),
       is_preempted_false),
     opennav_docking_core::FailedToStage);
 
   // First should fail, recursion should succeed
   dummy_navigator_node->setToggle();
   EXPECT_NO_THROW(
-    navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0),
+    navigator->goToPose(
+      geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0),
       is_preempted_false));
 
   // Should fail, preempted
   dummy_navigator_node->setReturn(true);
   EXPECT_THROW(
-    navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0),
+    navigator->goToPose(
+      geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0),
       is_preempted_true),
     opennav_docking_core::FailedToStage);
 
@@ -153,7 +158,7 @@ TEST(NavigatorTests, TestNavigator)
 
 }  // namespace opennav_docking
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_docking/opennav_docking/test/test_simple_charging_dock.cpp b/nav2_docking/opennav_docking/test/test_simple_charging_dock.cpp
index ee27bc0d33e..341c04b4d11 100644
--- a/nav2_docking/opennav_docking/test/test_simple_charging_dock.cpp
+++ b/nav2_docking/opennav_docking/test/test_simple_charging_dock.cpp
@@ -48,7 +48,7 @@ class SimpleChargingDockTestable : public opennav_docking::SimpleChargingDock
 public:
   using opennav_docking::SimpleChargingDock::SimpleChargingDock;
 
-   // Expose detector state for test verification
+  // Expose detector state for test verification
   bool isDetectorActive() const {return initial_pose_received_;}
 };
 
@@ -441,8 +441,9 @@ TEST(SimpleChargingDockTests, DetectorLifecycle)
 
   // Test with detector service configured
   node->declare_parameter("my_dock.use_external_detection_pose", rclcpp::ParameterValue(true));
-  node->declare_parameter("my_dock.detector_service_name",
-      rclcpp::ParameterValue("test_detector_service"));
+  node->declare_parameter(
+    "my_dock.detector_service_name",
+    rclcpp::ParameterValue("test_detector_service"));
   node->declare_parameter("my_dock.subscribe_toggle", rclcpp::ParameterValue(true));
 
   // Create a mock service to prevent timeout
@@ -644,7 +645,7 @@ TEST(SimpleChargingDockTests, SubscriptionPersistent)
 
 }  // namespace opennav_docking
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_docking/opennav_docking/test/test_simple_non_charging_dock.cpp b/nav2_docking/opennav_docking/test/test_simple_non_charging_dock.cpp
index 6e3d01c4428..225a5e4642b 100644
--- a/nav2_docking/opennav_docking/test/test_simple_non_charging_dock.cpp
+++ b/nav2_docking/opennav_docking/test/test_simple_non_charging_dock.cpp
@@ -48,7 +48,7 @@ class SimpleNonChargingDockTestable : public opennav_docking::SimpleNonChargingD
 public:
   using opennav_docking::SimpleNonChargingDock::SimpleNonChargingDock;
 
-   // Expose detector state for test verification
+  // Expose detector state for test verification
   bool isDetectorActive() const {return initial_pose_received_;}
 };
 
@@ -400,8 +400,9 @@ TEST(SimpleNonChargingDockTests, DetectorLifecycle)
 
   // Test with detector service configured
   node->declare_parameter("my_dock.use_external_detection_pose", rclcpp::ParameterValue(true));
-  node->declare_parameter("my_dock.detector_service_name",
-      rclcpp::ParameterValue("test_detector_service"));
+  node->declare_parameter(
+    "my_dock.detector_service_name",
+    rclcpp::ParameterValue("test_detector_service"));
   node->declare_parameter("my_dock.subscribe_toggle", rclcpp::ParameterValue(true));
 
   // Create a mock service to prevent timeout
@@ -607,7 +608,7 @@ TEST(SimpleNonChargingDockTests, SubscriptionPersistent)
 
 }  // namespace opennav_docking
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_docking/opennav_docking/test/test_utils.cpp b/nav2_docking/opennav_docking/test/test_utils.cpp
index dfa0b12efd2..e3607643a9b 100644
--- a/nav2_docking/opennav_docking/test/test_utils.cpp
+++ b/nav2_docking/opennav_docking/test/test_utils.cpp
@@ -170,7 +170,7 @@ TEST(UtilsTests, testGetDockDirectionFromString) {
 
 }  // namespace opennav_docking
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_dwb_controller/dwb_critics/src/goal_align.cpp b/nav2_dwb_controller/dwb_critics/src/goal_align.cpp
index f8b713c032f..01c12c82760 100644
--- a/nav2_dwb_controller/dwb_critics/src/goal_align.cpp
+++ b/nav2_dwb_controller/dwb_critics/src/goal_align.cpp
@@ -51,8 +51,9 @@ void GoalAlignCritic::onInit()
     throw std::runtime_error{"Failed to lock node"};
   }
 
-  forward_point_distance_ = node->declare_or_get_parameter(dwb_plugin_name_ + "." + name_ +
-      ".forward_point_distance", 0.325);
+  forward_point_distance_ = node->declare_or_get_parameter(
+    dwb_plugin_name_ + "." + name_ +
+    ".forward_point_distance", 0.325);
 }
 
 bool GoalAlignCritic::prepare(
@@ -65,7 +66,8 @@ bool GoalAlignCritic::prepare(
   // path for the robot center. Choosing the final position after
   // turning towards goal orientation causes instability when the
   // robot needs to make a 180 degree turn at the end
-  double angle_to_goal = atan2(goal.position.y - pose.position.y,
+  double angle_to_goal = atan2(
+    goal.position.y - pose.position.y,
     goal.position.x - pose.position.x);
 
   nav_msgs::msg::Path target_poses = global_plan;
diff --git a/nav2_dwb_controller/dwb_critics/src/oscillation.cpp b/nav2_dwb_controller/dwb_critics/src/oscillation.cpp
index 170a9764c1f..381578a3eab 100644
--- a/nav2_dwb_controller/dwb_critics/src/oscillation.cpp
+++ b/nav2_dwb_controller/dwb_critics/src/oscillation.cpp
@@ -98,8 +98,9 @@ void OscillationCritic::onInit()
 
   clock_ = node->get_clock();
 
-  oscillation_reset_dist_ = node->declare_or_get_parameter(dwb_plugin_name_ + "." + name_ +
-      ".oscillation_reset_dist", 0.05);
+  oscillation_reset_dist_ = node->declare_or_get_parameter(
+    dwb_plugin_name_ + "." + name_ +
+    ".oscillation_reset_dist", 0.05);
   oscillation_reset_dist_sq_ = oscillation_reset_dist_ * oscillation_reset_dist_;
   oscillation_reset_angle_ = node->declare_or_get_parameter(
     dwb_plugin_name_ + "." + name_ + ".oscillation_reset_angle", 0.2);
@@ -185,7 +186,7 @@ bool OscillationCritic::resetAvailable()
     tf2::fromMsg(prev_stationary_pose_.orientation, prev_stationary_pose_q);
 
     double th_diff = angles::shortest_angular_distance(
-       tf2::getYaw(pose_q), tf2::getYaw(prev_stationary_pose_q));
+      tf2::getYaw(pose_q), tf2::getYaw(prev_stationary_pose_q));
 
     if (fabs(th_diff) > oscillation_reset_angle_) {
       return true;
diff --git a/nav2_dwb_controller/dwb_plugins/src/kinematic_parameters.cpp b/nav2_dwb_controller/dwb_plugins/src/kinematic_parameters.cpp
index b6512272e86..3b40ea9e211 100644
--- a/nav2_dwb_controller/dwb_plugins/src/kinematic_parameters.cpp
+++ b/nav2_dwb_controller/dwb_plugins/src/kinematic_parameters.cpp
@@ -208,9 +208,9 @@ rcl_interfaces::msg::SetParametersResult KinematicsHandler::validateParameterUpd
         param_name == plugin_name_ + ".acc_lim_theta"))
       {
         RCLCPP_WARN(
-        logger_, "The value of parameter '%s' is incorrectly set to %f, "
-        "it should be >= 0. Ignoring parameter update.",
-        param_name.c_str(), parameter.as_double());
+          logger_, "The value of parameter '%s' is incorrectly set to %f, "
+          "it should be >= 0. Ignoring parameter update.",
+          param_name.c_str(), parameter.as_double());
         result.successful = false;
       } else if (parameter.as_double() > 0.0 && // NOLINT
         (param_name == plugin_name_ + ".decel_lim_x" ||
@@ -218,9 +218,9 @@ rcl_interfaces::msg::SetParametersResult KinematicsHandler::validateParameterUpd
         param_name == plugin_name_ + ".decel_lim_theta"))
       {
         RCLCPP_WARN(
-        logger_, "The value of parameter '%s' is incorrectly set to %f, "
-        "it should be <= 0. Ignoring parameter update.",
-        param_name.c_str(), parameter.as_double());
+          logger_, "The value of parameter '%s' is incorrectly set to %f, "
+          "it should be <= 0. Ignoring parameter update.",
+          param_name.c_str(), parameter.as_double());
         result.successful = false;
       }
     }
diff --git a/nav2_following/opennav_following/src/following_server.cpp b/nav2_following/opennav_following/src/following_server.cpp
index b2d46c7349e..9fc69c88f6b 100644
--- a/nav2_following/opennav_following/src/following_server.cpp
+++ b/nav2_following/opennav_following/src/following_server.cpp
@@ -101,7 +101,8 @@ FollowingServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
   auto get_use_collision_detection = false;
   get_parameter("controller.use_collision_detection", get_use_collision_detection);
   if (get_use_collision_detection) {
-    RCLCPP_ERROR(get_logger(),
+    RCLCPP_ERROR(
+      get_logger(),
       "Collision detection is not supported in the following server. Please disable "
       "the controller.use_collision_detection parameter.");
     return nav2::CallbackReturn::FAILURE;
@@ -249,7 +250,8 @@ void FollowingServer::followObject()
     auto target_frame = goal->tracked_frame;
     if (target_frame.empty()) {
       if (pose_topic.empty()) {
-        RCLCPP_ERROR(get_logger(),
+        RCLCPP_ERROR(
+          get_logger(),
           "Both pose topic and target frame are empty. Cannot follow object.");
         result->error_code = FollowObject::Result::FAILED_TO_DETECT_OBJECT;
         result->error_msg = "No pose topic or target frame provided.";
@@ -305,7 +307,8 @@ void FollowingServer::followObject()
           if (static_object_timeout_ > 0.0) {
             auto static_duration = this->now() - static_object_start_time_;
             if (static_duration.seconds() > static_object_timeout_) {
-              RCLCPP_INFO(get_logger(),
+              RCLCPP_INFO(
+                get_logger(),
                 "Object has been static for %.2f seconds (timeout: %.2f), stopping.",
                 static_duration.seconds(), static_object_timeout_);
               result->total_elapsed_time = this->now() - action_start_time_;
@@ -636,7 +639,8 @@ bool FollowingServer::getFramePose(
     pose.pose.position.z = transform.transform.translation.z;
     pose.pose.orientation = transform.transform.rotation;
   } catch (const tf2::TransformException & ex) {
-    RCLCPP_WARN(get_logger(),
+    RCLCPP_WARN(
+      get_logger(),
       "Failed to get transform for frame %s: %s", frame_id.c_str(), ex.what());
     return false;
   }
@@ -656,7 +660,7 @@ bool FollowingServer::getTrackingPose(
   if (!frame_id.empty()) {
     if (!getFramePose(pose, frame_id)) {
       throw opennav_docking_core::FailedToDetectDock(
-        "Failed to get pose in target frame: " + frame_id);
+              "Failed to get pose in target frame: " + frame_id);
     }
   } else {
     // Use the traditional pose detection from topic
diff --git a/nav2_graceful_controller/src/graceful_controller.cpp b/nav2_graceful_controller/src/graceful_controller.cpp
index e5a3a4fead2..a8c7d8e3aca 100644
--- a/nav2_graceful_controller/src/graceful_controller.cpp
+++ b/nav2_graceful_controller/src/graceful_controller.cpp
@@ -57,7 +57,7 @@ void GracefulController::configure(
     params_->v_linear_min, params_->v_linear_max, params_->v_angular_max);
 
   // Initialize footprint collision checker
-  if(params_->use_collision_detection) {
+  if (params_->use_collision_detection) {
     collision_checker_ = std::make_unique<nav2_costmap_2d::
         FootprintCollisionChecker<nav2_costmap_2d::Costmap2D *>>(costmap_ros_->getCostmap());
   }
@@ -407,8 +407,9 @@ geometry_msgs::msg::Twist GracefulController::rotateToTarget(double angle_to_tar
   geometry_msgs::msg::Twist vel;
   vel.linear.x = 0.0;
   vel.angular.z = params_->rotation_scaling_factor * angle_to_target * params_->v_angular_max;
-  vel.angular.z = std::copysign(1.0, vel.angular.z) * std::max(abs(vel.angular.z),
-      params_->v_angular_min_in_place);
+  vel.angular.z = std::copysign(1.0, vel.angular.z) * std::max(
+    abs(vel.angular.z),
+    params_->v_angular_min_in_place);
   return vel;
 }
 
diff --git a/nav2_graceful_controller/src/parameter_handler.cpp b/nav2_graceful_controller/src/parameter_handler.cpp
index 708f32e9d79..a9cc2f872fd 100644
--- a/nav2_graceful_controller/src/parameter_handler.cpp
+++ b/nav2_graceful_controller/src/parameter_handler.cpp
@@ -160,9 +160,9 @@ rcl_interfaces::msg::SetParametersResult ParameterHandler::validateParameterUpda
     if (param_type == ParameterType::PARAMETER_DOUBLE) {
       if (parameter.as_double() < 0.0) {
         RCLCPP_WARN(
-        logger_, "The value of parameter '%s' is incorrectly set to %f, "
-        "it should be >=0. Ignoring parameter update.",
-        param_name.c_str(), parameter.as_double());
+          logger_, "The value of parameter '%s' is incorrectly set to %f, "
+          "it should be >=0. Ignoring parameter update.",
+          param_name.c_str(), parameter.as_double());
         result.successful = false;
       }
     } else if (param_type == ParameterType::PARAMETER_BOOL) {
@@ -173,7 +173,7 @@ rcl_interfaces::msg::SetParametersResult ParameterHandler::validateParameterUpda
             "rejecting parameter change.");
           result.successful = false;
         }
-      } else if(param_name == plugin_name_ + ".initial_rotation") {
+      } else if (param_name == plugin_name_ + ".initial_rotation") {
         if (parameter.as_bool() && params_.allow_backward) {
           RCLCPP_WARN(
             logger_, "Initial rotation and allow backward parameters are both true, "
diff --git a/nav2_lifecycle_manager/src/lifecycle_manager.cpp b/nav2_lifecycle_manager/src/lifecycle_manager.cpp
index 6eb5db39c87..892f83a4540 100644
--- a/nav2_lifecycle_manager/src/lifecycle_manager.cpp
+++ b/nav2_lifecycle_manager/src/lifecycle_manager.cpp
@@ -304,7 +304,8 @@ LifecycleManager::changeStateForNode(const std::string & node_name, std::uint8_t
 {
   message(transition_label_map_[transition] + node_name);
 
-  if (!node_map_[node_name]->change_state(transition, std::chrono::milliseconds(-1),
+  if (!node_map_[node_name]->change_state(
+      transition, std::chrono::milliseconds(-1),
       service_timeout_) ||
     !(node_map_[node_name]->get_state(service_timeout_) == transition_state_map_[transition]))
   {
diff --git a/nav2_map_server/src/map_io.cpp b/nav2_map_server/src/map_io.cpp
index 989f38f1211..86bcbbd0add 100644
--- a/nav2_map_server/src/map_io.cpp
+++ b/nav2_map_server/src/map_io.cpp
@@ -598,8 +598,9 @@ void tryWriteMapToFile(
     e << YAML::BeginMap;
     e << YAML::Key << "image" << YAML::Value << image_name;
     e << YAML::Key << "mode" << YAML::Value << map_mode_to_string(save_parameters.mode);
-    e << YAML::Key << "resolution" << YAML::Value << to_string_with_precision(map.info.resolution,
-        3);
+    e << YAML::Key << "resolution" << YAML::Value << to_string_with_precision(
+      map.info.resolution,
+      3);
     e << YAML::Key << "origin" << YAML::Flow << YAML::BeginSeq <<
       to_string_with_precision(map.info.origin.position.x, 3) <<
       to_string_with_precision(map.info.origin.position.y, 3) << yaw << YAML::EndSeq;
diff --git a/nav2_map_server/src/vo_server/vector_object_server.cpp b/nav2_map_server/src/vo_server/vector_object_server.cpp
index 430bb9da443..78f2439cffd 100644
--- a/nav2_map_server/src/vo_server/vector_object_server.cpp
+++ b/nav2_map_server/src/vo_server/vector_object_server.cpp
@@ -145,9 +145,11 @@ bool VectorObjectServer::obtainParams()
   map_topic_ = nav2::declare_or_get_parameter(node, "map_topic", std::string{"vo_map"});
   global_frame_id_ = nav2::declare_or_get_parameter(node, "global_frame_id", std::string{"map"});
   resolution_ = nav2::declare_or_get_parameter(node, "resolution", 0.05);
-  default_value_ = nav2::declare_or_get_parameter(node, "default_value",
-      static_cast<int>(nav2_util::OCC_GRID_UNKNOWN));
-  overlay_type_ = static_cast<OverlayType>(nav2::declare_or_get_parameter(node, "overlay_type",
+  default_value_ = nav2::declare_or_get_parameter(
+    node, "default_value",
+    static_cast<int>(nav2_util::OCC_GRID_UNKNOWN));
+  overlay_type_ = static_cast<OverlayType>(nav2::declare_or_get_parameter(
+      node, "overlay_type",
       static_cast<int>(OverlayType::OVERLAY_SEQ)));
   update_frequency_ = nav2::declare_or_get_parameter(node, "update_frequency", 1.0);
   transform_tolerance_ = nav2::declare_or_get_parameter(node, "transform_tolerance", 0.1);
@@ -177,7 +179,8 @@ bool VectorObjectServer::obtainParams()
       }
       shapes_.push_back(circle);
     } else {
-      RCLCPP_ERROR(get_logger(),
+      RCLCPP_ERROR(
+        get_logger(),
         "Please specify the correct type for shape %s. Supported types are 'polygon' and 'circle'",
         shape_name.c_str());
       return false;
diff --git a/nav2_map_server/test/component/test_map_saver_node.cpp b/nav2_map_server/test/component/test_map_saver_node.cpp
index 40f85c7701f..e9cb1852b25 100644
--- a/nav2_map_server/test/component/test_map_saver_node.cpp
+++ b/nav2_map_server/test/component/test_map_saver_node.cpp
@@ -212,7 +212,7 @@ TEST_F(MapSaverTestFixture, SaveMapInvalidParameters)
   ASSERT_EQ(resp->result, false);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_map_server/test/component/test_map_server_node.cpp b/nav2_map_server/test/component/test_map_server_node.cpp
index ccebe4fdded..bb5dbb06683 100644
--- a/nav2_map_server/test/component/test_map_server_node.cpp
+++ b/nav2_map_server/test/component/test_map_server_node.cpp
@@ -227,7 +227,7 @@ TEST_F(MapServerTestFixture, NoInitialMap)
   verifyMapMsg(load_res->map);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_map_server/test/unit/test_costmap_filter_info_server.cpp b/nav2_map_server/test/unit/test_costmap_filter_info_server.cpp
index 0af3f159969..3cd17c78753 100644
--- a/nav2_map_server/test/unit/test_costmap_filter_info_server.cpp
+++ b/nav2_map_server/test/unit/test_costmap_filter_info_server.cpp
@@ -173,7 +173,7 @@ TEST_F(InfoServerTester, testCostmapFilterInfoDeactivateActivate)
   EXPECT_NEAR(info_->multiplier, MULTIPLIER, EPSILON);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_map_server/test/unit/test_map_io.cpp b/nav2_map_server/test/unit/test_map_io.cpp
index 9efbed9a585..acabdc539ec 100644
--- a/nav2_map_server/test/unit/test_map_io.cpp
+++ b/nav2_map_server/test/unit/test_map_io.cpp
@@ -330,7 +330,7 @@ TEST(HomeUserExpanderTestSuite, homeUserExpanderShouldExpandHomeSequenceWhenHome
   ASSERT_EQ(expectedOutputFileName, expand_user_home_dir_if_needed(fileName, "/home/user"));
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_mppi_controller/benchmark/optimizer_benchmark.cpp b/nav2_mppi_controller/benchmark/optimizer_benchmark.cpp
index afe8e83eea9..3a62aa610bf 100644
--- a/nav2_mppi_controller/benchmark/optimizer_benchmark.cpp
+++ b/nav2_mppi_controller/benchmark/optimizer_benchmark.cpp
@@ -92,7 +92,8 @@ void prepareAndRunBenchmark(
   nav2_core::GoalChecker * dummy_goal_checker{nullptr};
 
   for (auto _ : state) {
-    auto [cmd, trajectory] = optimizer->evalControl(pose, velocity, path, path.poses.back().pose,
+    auto [cmd, trajectory] = optimizer->evalControl(
+      pose, velocity, path, path.poses.back().pose,
       dummy_goal_checker);
   }
 }
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp
index 1fbc1483ac2..5741313a213 100644
--- a/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp
+++ b/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp
@@ -83,10 +83,12 @@ class MotionModel
 
     for (unsigned int i = 1; i < n_cols; i++) {
       auto lower_bound_vx = (state.vx.col(i - 1) >
-        0).select(state.vx.col(i - 1) + min_delta_vx,
+        0).select(
+        state.vx.col(i - 1) + min_delta_vx,
         state.vx.col(i - 1) - max_delta_vx);
       auto upper_bound_vx = (state.vx.col(i - 1) >
-        0).select(state.vx.col(i - 1) + max_delta_vx,
+        0).select(
+        state.vx.col(i - 1) + max_delta_vx,
         state.vx.col(i - 1) - min_delta_vx);
 
       state.cvx.col(i - 1) = state.cvx.col(i - 1)
@@ -101,10 +103,12 @@ class MotionModel
 
       if (is_holo) {
         auto lower_bound_vy = (state.vy.col(i - 1) >
-          0).select(state.vy.col(i - 1) + min_delta_vy,
+          0).select(
+          state.vy.col(i - 1) + min_delta_vy,
           state.vy.col(i - 1) - max_delta_vy);
         auto upper_bound_vy = (state.vy.col(i - 1) >
-          0).select(state.vy.col(i - 1) + max_delta_vy,
+          0).select(
+          state.vy.col(i - 1) + max_delta_vy,
           state.vy.col(i - 1) - min_delta_vy);
         state.cvy.col(i - 1) = state.cvy.col(i - 1)
           .cwiseMax(lower_bound_vy)
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp
index 4a3cc6b7c06..4871169bf52 100644
--- a/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp
+++ b/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp
@@ -253,10 +253,11 @@ inline geometry_msgs::msg::Pose getLastPathPose(const models::Path & path)
 template<typename T>
 auto normalize_angles(const T & angles)
 {
-  return (angles + M_PIF).unaryExpr([&](const float x) {
-             float remainder = std::fmod(x, 2.0f * M_PIF);
-             return remainder < 0.0f ? remainder + M_PIF : remainder - M_PIF;
-             });
+  return (angles + M_PIF).unaryExpr(
+    [&](const float x) {
+      float remainder = std::fmod(x, 2.0f * M_PIF);
+      return remainder < 0.0f ? remainder + M_PIF : remainder - M_PIF;
+    });
 }
 
 /**
@@ -604,15 +605,15 @@ struct Pose2D
 inline void shiftColumnsByOnePlace(Eigen::Ref<Eigen::ArrayXXf> e, int direction)
 {
   int size = e.size();
-  if(size == 1) {return;}
-  if(abs(direction) != 1) {
+  if (size == 1) {return;}
+  if (abs(direction) != 1) {
     throw std::logic_error("Invalid direction, only 1 and -1 are valid values.");
   }
 
-  if((e.cols() == 1 || e.rows() == 1) && size > 1) {
+  if ((e.cols() == 1 || e.rows() == 1) && size > 1) {
     auto start_ptr = direction == 1 ? e.data() + size - 2 : e.data() + 1;
     auto end_ptr = direction == 1 ? e.data() : e.data() + size - 1;
-    while(start_ptr != end_ptr) {
+    while (start_ptr != end_ptr) {
       *(start_ptr + direction) = *start_ptr;
       start_ptr -= direction;
     }
@@ -621,7 +622,7 @@ inline void shiftColumnsByOnePlace(Eigen::Ref<Eigen::ArrayXXf> e, int direction)
     auto start_ptr = direction == 1 ? e.data() + size - 2 * e.rows() : e.data() + e.rows();
     auto end_ptr = direction == 1 ? e.data() : e.data() + size - e.rows();
     auto span = e.rows();
-    while(start_ptr != end_ptr) {
+    while (start_ptr != end_ptr) {
       std::copy(start_ptr, start_ptr + span, start_ptr + direction * span);
       start_ptr -= (direction * span);
     }
@@ -641,10 +642,10 @@ inline auto normalize_yaws_between_points(
   const Eigen::Ref<const Eigen::ArrayXf> & yaw_between_points)
 {
   Eigen::ArrayXf yaws = utils::shortest_angular_distance(
-          last_yaws, yaw_between_points).abs();
+    last_yaws, yaw_between_points).abs();
   int size = yaws.size();
   Eigen::ArrayXf yaws_between_points_corrected(size);
-  for(int i = 0; i != size; i++) {
+  for (int i = 0; i != size; i++) {
     const float & yaw_between_point = yaw_between_points[i];
     yaws_between_points_corrected[i] = yaws[i] < M_PIF_2 ?
       yaw_between_point : angles::normalize_angle(yaw_between_point + M_PIF);
@@ -663,7 +664,7 @@ inline auto normalize_yaws_between_points(
 {
   int size = yaw_between_points.size();
   Eigen::ArrayXf yaws_between_points_corrected(size);
-  for(int i = 0; i != size; i++) {
+  for (int i = 0; i != size; i++) {
     const float & yaw_between_point = yaw_between_points[i];
     yaws_between_points_corrected[i] = fabs(
       angles::normalize_angle(yaw_between_point - goal_yaw)) < M_PIF_2 ?
diff --git a/nav2_mppi_controller/src/critic_manager.cpp b/nav2_mppi_controller/src/critic_manager.cpp
index 305140e2e13..e9bfaa65b6d 100644
--- a/nav2_mppi_controller/src/critic_manager.cpp
+++ b/nav2_mppi_controller/src/critic_manager.cpp
@@ -50,7 +50,7 @@ void CriticManager::loadCritics()
   auto node = parent_.lock();
   if (publish_critics_stats_) {
     critics_effect_pub_ = node->create_publisher<nav2_msgs::msg::CriticsStats>(
-    "~/critics_stats");
+      "~/critics_stats");
     critics_effect_pub_->on_activate();
   }
 
diff --git a/nav2_mppi_controller/src/critics/constraint_critic.cpp b/nav2_mppi_controller/src/critics/constraint_critic.cpp
index 882216b5e9e..18cdd754719 100644
--- a/nav2_mppi_controller/src/critics/constraint_critic.cpp
+++ b/nav2_mppi_controller/src/critics/constraint_critic.cpp
@@ -64,7 +64,7 @@ void ConstraintCritic::score(CriticData & data)
     unsigned int n_rows = data.state.vx.rows();
     unsigned int n_cols = data.state.vx.cols();
     Eigen::ArrayXXf sgn(n_rows, n_cols);
-    sgn = vx.unaryExpr([](const float x){return copysignf(1.0f, x);});
+    sgn = vx.unaryExpr([](const float x) {return copysignf(1.0f, x);});
 
     auto vel_total = sgn * (data.state.vx.square() + data.state.vy.square()).sqrt();
     if (power_ > 1u) {
diff --git a/nav2_mppi_controller/src/critics/cost_critic.cpp b/nav2_mppi_controller/src/critics/cost_critic.cpp
index 08681b144b6..0429fde25eb 100644
--- a/nav2_mppi_controller/src/critics/cost_critic.cpp
+++ b/nav2_mppi_controller/src/critics/cost_critic.cpp
@@ -59,17 +59,17 @@ void CostCritic::initialize()
 
   if (costmap_ros_->getUseRadius() == consider_footprint_) {
     RCLCPP_WARN(
-    logger_,
-    "Inconsistent configuration in collision checking. Please verify the robot's shape settings "
-    "in both the costmap and the cost critic.");
+      logger_,
+      "Inconsistent configuration in collision checking. Please verify the robot's shape settings "
+      "in both the costmap and the cost critic.");
     if (costmap_ros_->getUseRadius()) {
       throw nav2_core::ControllerException(
-      "Considering footprint in CostCritic but no robot footprint provided in the "
-      "costmap (robot radius used instead). Disable considering footprint.");
+              "Considering footprint in CostCritic but no robot footprint provided in the "
+              "costmap (robot radius used instead). Disable considering footprint.");
     }
   }
 
-  if(near_collision_cost_ > 253) {
+  if (near_collision_cost_ > 253) {
     RCLCPP_WARN(logger_, "Near collision cost is set higher than INSCRIBED_INFLATED_OBSTACLE");
   }
 
@@ -162,14 +162,17 @@ void CostCritic::score(CriticData & data)
   int outer_stride = strided_traj_rows * trajectory_point_step_;
 
   const auto traj_x = Eigen::Map<const Eigen::ArrayXXf, 0,
-      Eigen::Stride<-1, -1>>(data.trajectories.x.data(), strided_traj_rows, strided_traj_cols,
-      Eigen::Stride<-1, -1>(outer_stride, 1));
+      Eigen::Stride<-1, -1>>(
+    data.trajectories.x.data(), strided_traj_rows, strided_traj_cols,
+    Eigen::Stride<-1, -1>(outer_stride, 1));
   const auto traj_y = Eigen::Map<const Eigen::ArrayXXf, 0,
-      Eigen::Stride<-1, -1>>(data.trajectories.y.data(), strided_traj_rows, strided_traj_cols,
-      Eigen::Stride<-1, -1>(outer_stride, 1));
+      Eigen::Stride<-1, -1>>(
+    data.trajectories.y.data(), strided_traj_rows, strided_traj_cols,
+    Eigen::Stride<-1, -1>(outer_stride, 1));
   const auto traj_yaw = Eigen::Map<const Eigen::ArrayXXf, 0,
-      Eigen::Stride<-1, -1>>(data.trajectories.yaws.data(), strided_traj_rows, strided_traj_cols,
-      Eigen::Stride<-1, -1>(outer_stride, 1));
+      Eigen::Stride<-1, -1>>(
+    data.trajectories.yaws.data(), strided_traj_rows, strided_traj_cols,
+    Eigen::Stride<-1, -1>(outer_stride, 1));
 
   for (int i = 0; i < strided_traj_rows; ++i) {
     bool trajectory_collide = false;
diff --git a/nav2_mppi_controller/src/critics/goal_angle_critic.cpp b/nav2_mppi_controller/src/critics/goal_angle_critic.cpp
index 8792df2aaa2..a7e272b4a47 100644
--- a/nav2_mppi_controller/src/critics/goal_angle_critic.cpp
+++ b/nav2_mppi_controller/src/critics/goal_angle_critic.cpp
@@ -42,7 +42,7 @@ void GoalAngleCritic::score(CriticData & data)
 
   double goal_yaw = tf2::getYaw(goal.orientation);
 
-  if(power_ > 1u) {
+  if (power_ > 1u) {
     data.costs += (((utils::shortest_angular_distance(data.trajectories.yaws, goal_yaw).abs()).
       rowwise().mean()) * weight_).pow(power_).eval();
   } else {
diff --git a/nav2_mppi_controller/src/critics/goal_critic.cpp b/nav2_mppi_controller/src/critics/goal_critic.cpp
index 9889ef3f071..966d75d8e83 100644
--- a/nav2_mppi_controller/src/critics/goal_critic.cpp
+++ b/nav2_mppi_controller/src/critics/goal_critic.cpp
@@ -46,7 +46,7 @@ void GoalCritic::score(CriticData & data)
   const auto delta_x = data.trajectories.x - goal_x;
   const auto delta_y = data.trajectories.y - goal_y;
 
-  if(power_ > 1u) {
+  if (power_ > 1u) {
     data.costs += (((delta_x.square() + delta_y.square()).sqrt()).rowwise().mean() *
       weight_).pow(power_);
   } else {
diff --git a/nav2_mppi_controller/src/critics/obstacles_critic.cpp b/nav2_mppi_controller/src/critics/obstacles_critic.cpp
index 0577db0a76f..59d1fb0bf21 100644
--- a/nav2_mppi_controller/src/critics/obstacles_critic.cpp
+++ b/nav2_mppi_controller/src/critics/obstacles_critic.cpp
@@ -49,13 +49,13 @@ void ObstaclesCritic::initialize()
 
   if (costmap_ros_->getUseRadius() == consider_footprint_) {
     RCLCPP_WARN(
-    logger_,
-    "Inconsistent configuration in collision checking. Please verify the robot's shape settings "
-    "in both the costmap and the obstacle critic.");
+      logger_,
+      "Inconsistent configuration in collision checking. Please verify the robot's shape settings "
+      "in both the costmap and the obstacle critic.");
     if (costmap_ros_->getUseRadius()) {
       throw nav2_core::ControllerException(
-      "Considering footprint in collision checking but no robot footprint provided in the "
-      "costmap.");
+              "Considering footprint in collision checking but no robot footprint provided in the "
+              "costmap.");
     }
   }
 
@@ -141,7 +141,7 @@ void ObstaclesCritic::score(CriticData & data)
   const unsigned int batch_size = data.trajectories.x.rows();
   bool all_trajectories_collide = true;
 
-  for(unsigned int i = 0; i != batch_size; i++) {
+  for (unsigned int i = 0; i != batch_size; i++) {
     bool trajectory_collide = false;
     float traj_cost = 0.0f;
     const auto & traj = data.trajectories;
@@ -149,7 +149,7 @@ void ObstaclesCritic::score(CriticData & data)
     raw_cost(i) = 0.0f;
     repulsive_cost(i) = 0.0f;
 
-    for(unsigned int j = 0; j != traj_len; j++) {
+    for (unsigned int j = 0; j != traj_len; j++) {
       pose_cost = costAtPose(traj.x(i, j), traj.y(i, j), traj.yaws(i, j));
       if (pose_cost.cost < 1.0f) {continue;}  // In free space
 
diff --git a/nav2_mppi_controller/src/critics/path_align_critic.cpp b/nav2_mppi_controller/src/critics/path_align_critic.cpp
index befa9e42eb9..cfcb7614273 100644
--- a/nav2_mppi_controller/src/critics/path_align_critic.cpp
+++ b/nav2_mppi_controller/src/critics/path_align_critic.cpp
@@ -98,14 +98,17 @@ void PathAlignCritic::score(CriticData & data)
   int outer_stride = strided_traj_rows * trajectory_point_step_;
   // Get strided trajectory information
   const auto T_x = Eigen::Map<const Eigen::ArrayXXf, 0,
-      Eigen::Stride<-1, -1>>(data.trajectories.x.data(),
-      strided_traj_rows, strided_traj_cols, Eigen::Stride<-1, -1>(outer_stride, 1));
+      Eigen::Stride<-1, -1>>(
+    data.trajectories.x.data(),
+    strided_traj_rows, strided_traj_cols, Eigen::Stride<-1, -1>(outer_stride, 1));
   const auto T_y = Eigen::Map<const Eigen::ArrayXXf, 0,
-      Eigen::Stride<-1, -1>>(data.trajectories.y.data(),
-      strided_traj_rows, strided_traj_cols, Eigen::Stride<-1, -1>(outer_stride, 1));
+      Eigen::Stride<-1, -1>>(
+    data.trajectories.y.data(),
+    strided_traj_rows, strided_traj_cols, Eigen::Stride<-1, -1>(outer_stride, 1));
   const auto T_yaw = Eigen::Map<const Eigen::ArrayXXf, 0,
-      Eigen::Stride<-1, -1>>(data.trajectories.yaws.data(), strided_traj_rows, strided_traj_cols,
-      Eigen::Stride<-1, -1>(outer_stride, 1));
+      Eigen::Stride<-1, -1>>(
+    data.trajectories.yaws.data(), strided_traj_rows, strided_traj_cols,
+    Eigen::Stride<-1, -1>(outer_stride, 1));
   const auto traj_sampled_size = T_x.cols();
 
   for (size_t t = 0; t < batch_size; ++t) {
diff --git a/nav2_mppi_controller/src/critics/path_angle_critic.cpp b/nav2_mppi_controller/src/critics/path_angle_critic.cpp
index 6f42d33b042..43002bd15a7 100644
--- a/nav2_mppi_controller/src/critics/path_angle_critic.cpp
+++ b/nav2_mppi_controller/src/critics/path_angle_critic.cpp
@@ -68,7 +68,7 @@ void PathAngleCritic::score(CriticData & data)
   utils::setPathFurthestPointIfNotSet(data);
   auto offsetted_idx = std::min(
     *data.furthest_reached_path_point + offset_from_furthest_,
-      static_cast<size_t>(data.path.x.size()) - 1);
+    static_cast<size_t>(data.path.x.size()) - 1);
 
   const float goal_x = data.path.x(offsetted_idx);
   const float goal_y = data.path.y(offsetted_idx);
@@ -99,7 +99,7 @@ void PathAngleCritic::score(CriticData & data)
   auto diff_y = goal_y - data.trajectories.y.col(last_idx);
   auto diff_x = goal_x - data.trajectories.x.col(last_idx);
   auto yaws_between_points = diff_y.binaryExpr(
-    diff_x, [&](const float & y, const float & x){return atan2f(y, x);}).eval();
+    diff_x, [&](const float & y, const float & x) {return atan2f(y, x);}).eval();
 
   switch (mode_) {
     case PathAngleMode::FORWARD_PREFERENCE:
@@ -117,7 +117,8 @@ void PathAngleCritic::score(CriticData & data)
     case PathAngleMode::NO_DIRECTIONAL_PREFERENCE:
       {
         auto last_yaws = data.trajectories.yaws.col(last_idx);
-        auto yaws_between_points_corrected = utils::normalize_yaws_between_points(last_yaws,
+        auto yaws_between_points_corrected = utils::normalize_yaws_between_points(
+          last_yaws,
           yaws_between_points);
         auto corrected_yaws = utils::shortest_angular_distance(
           last_yaws, yaws_between_points_corrected).abs();
@@ -131,7 +132,8 @@ void PathAngleCritic::score(CriticData & data)
     case PathAngleMode::CONSIDER_FEASIBLE_PATH_ORIENTATIONS:
       {
         auto last_yaws = data.trajectories.yaws.col(last_idx);
-        auto yaws_between_points_corrected = utils::normalize_yaws_between_points(goal_yaw,
+        auto yaws_between_points_corrected = utils::normalize_yaws_between_points(
+          goal_yaw,
           yaws_between_points);
         auto corrected_yaws = utils::shortest_angular_distance(
           last_yaws, yaws_between_points_corrected).abs();
diff --git a/nav2_mppi_controller/src/critics/prefer_forward_critic.cpp b/nav2_mppi_controller/src/critics/prefer_forward_critic.cpp
index 20c58324365..dec2b10d815 100644
--- a/nav2_mppi_controller/src/critics/prefer_forward_critic.cpp
+++ b/nav2_mppi_controller/src/critics/prefer_forward_critic.cpp
@@ -45,10 +45,10 @@ void PreferForwardCritic::score(CriticData & data)
 
   if (power_ > 1u) {
     data.costs += (
-      (data.state.vx.unaryExpr([&](const float & x){return std::max(-x, 0.0f);}) *
+      (data.state.vx.unaryExpr([&](const float & x) {return std::max(-x, 0.0f);}) *
       data.model_dt).rowwise().sum() * weight_).pow(power_);
   } else {
-    data.costs += (data.state.vx.unaryExpr([&](const float & x){return std::max(-x, 0.0f);}) *
+    data.costs += (data.state.vx.unaryExpr([&](const float & x) {return std::max(-x, 0.0f);}) *
       data.model_dt).rowwise().sum() * weight_;
   }
 }
diff --git a/nav2_mppi_controller/src/noise_generator.cpp b/nav2_mppi_controller/src/noise_generator.cpp
index a704ef8b5cf..eea580fe569 100644
--- a/nav2_mppi_controller/src/noise_generator.cpp
+++ b/nav2_mppi_controller/src/noise_generator.cpp
@@ -109,12 +109,12 @@ void NoiseGenerator::generateNoisedControls()
 {
   auto & s = settings_;
   noises_vx_ = Eigen::ArrayXXf::NullaryExpr(
-    s.batch_size, s.time_steps, [&] () {return ndistribution_vx_(generator_);});
+    s.batch_size, s.time_steps, [&]() {return ndistribution_vx_(generator_);});
   noises_wz_ = Eigen::ArrayXXf::NullaryExpr(
-    s.batch_size, s.time_steps, [&] () {return ndistribution_wz_(generator_);});
-  if(is_holonomic_) {
+    s.batch_size, s.time_steps, [&]() {return ndistribution_wz_(generator_);});
+  if (is_holonomic_) {
     noises_vy_ = Eigen::ArrayXXf::NullaryExpr(
-      s.batch_size, s.time_steps, [&] () {return ndistribution_vy_(generator_);});
+      s.batch_size, s.time_steps, [&]() {return ndistribution_vy_(generator_);});
   }
 }
 
diff --git a/nav2_mppi_controller/src/optimizer.cpp b/nav2_mppi_controller/src/optimizer.cpp
index 3e8b0e451e1..8a5ab45d8b9 100644
--- a/nav2_mppi_controller/src/optimizer.cpp
+++ b/nav2_mppi_controller/src/optimizer.cpp
@@ -199,7 +199,7 @@ std::tuple<geometry_msgs::msg::TwistStamped, Eigen::ArrayXXf> Optimizer::evalCon
     optimize();
     optimal_trajectory = getOptimizedTrajectory();
     switch (trajectory_validator_->validateTrajectory(
-      optimal_trajectory, control_sequence_, robot_pose, robot_speed, plan, goal))
+        optimal_trajectory, control_sequence_, robot_pose, robot_speed, plan, goal))
     {
       case mppi::ValidationResult::SOFT_RESET:
         trajectory_valid = false;
@@ -207,7 +207,7 @@ std::tuple<geometry_msgs::msg::TwistStamped, Eigen::ArrayXXf> Optimizer::evalCon
         break;
       case mppi::ValidationResult::FAILURE:
         throw nav2_core::NoValidControl(
-          "Trajectory validator failed to validate trajectory, hard reset triggered.");
+                "Trajectory validator failed to validate trajectory, hard reset triggered.");
       case mppi::ValidationResult::SUCCESS:
       default:
         trajectory_valid = true;
@@ -320,7 +320,7 @@ void Optimizer::applyControlSequenceConstraints()
   for (unsigned int i = 1; i != control_sequence_.vx.size(); i++) {
     float & vx_curr = control_sequence_.vx(i);
     vx_curr = utils::clamp(s.constraints.vx_min, s.constraints.vx_max, vx_curr);
-    if(vx_last > 0) {
+    if (vx_last > 0) {
       vx_curr = utils::clamp(vx_last + min_delta_vx, vx_last + max_delta_vx, vx_curr);
     } else {
       vx_curr = utils::clamp(vx_last - max_delta_vx, vx_last - min_delta_vx, vx_curr);
@@ -335,7 +335,7 @@ void Optimizer::applyControlSequenceConstraints()
     if (isHolonomic()) {
       float & vy_curr = control_sequence_.vy(i);
       vy_curr = utils::clamp(-s.constraints.vy, s.constraints.vy, vy_curr);
-      if(vy_last > 0) {
+      if (vy_last > 0) {
         vy_curr = utils::clamp(vy_last + min_delta_vy, vy_last + max_delta_vy, vy_curr);
       } else {
         vy_curr = utils::clamp(vy_last - max_delta_vy, vy_last - min_delta_vy, vy_curr);
@@ -389,7 +389,7 @@ void Optimizer::integrateStateVelocities(
   }
 
   float last_yaw = initial_yaw;
-  for(size_t i = 0; i != n_size; i++) {
+  for (size_t i = 0; i != n_size; i++) {
     last_yaw += wz(i) * settings_.model_dt;
     traj_yaws(i) = last_yaw;
   }
@@ -412,7 +412,7 @@ void Optimizer::integrateStateVelocities(
 
   float last_x = state_.pose.pose.position.x;
   float last_y = state_.pose.pose.position.y;
-  for(size_t i = 0; i != n_size; i++) {
+  for (size_t i = 0; i != n_size; i++) {
     last_x += dx(i) * settings_.model_dt;
     last_y += dy(i) * settings_.model_dt;
     traj_x(i) = last_x;
@@ -448,9 +448,11 @@ void Optimizer::integrateStateVelocities(
     dy += state.vy * yaw_cos;
   }
 
-  Eigen::ArrayXf last_x = Eigen::ArrayXf::Constant(trajectories.x.rows(),
+  Eigen::ArrayXf last_x = Eigen::ArrayXf::Constant(
+    trajectories.x.rows(),
     state.pose.pose.position.x);
-  Eigen::ArrayXf last_y = Eigen::ArrayXf::Constant(trajectories.y.rows(),
+  Eigen::ArrayXf last_y = Eigen::ArrayXf::Constant(
+    trajectories.y.rows(),
     state.pose.pose.position.y);
 
   for (size_t i = 0; i != n_cols; i++) {
diff --git a/nav2_mppi_controller/src/path_handler.cpp b/nav2_mppi_controller/src/path_handler.cpp
index 55931f6bc62..04f2dcc58dc 100644
--- a/nav2_mppi_controller/src/path_handler.cpp
+++ b/nav2_mppi_controller/src/path_handler.cpp
@@ -86,8 +86,9 @@ PathHandler::getGlobalPlanConsideringBoundsInCostmapFrame(
     geometry_msgs::msg::PoseStamped costmap_plan_pose;
     global_plan_pose->header.stamp = global_pose.header.stamp;
     global_plan_pose->header.frame_id = global_plan_.header.frame_id;
-    nav2_util::transformPoseInTargetFrame(*global_plan_pose, costmap_plan_pose, *tf_buffer_,
-        costmap_->getGlobalFrameID(), transform_tolerance_);
+    nav2_util::transformPoseInTargetFrame(
+      *global_plan_pose, costmap_plan_pose, *tf_buffer_,
+      costmap_->getGlobalFrameID(), transform_tolerance_);
 
     // Check if pose is inside the costmap
     if (!costmap_->getCostmap()->worldToMap(
@@ -111,7 +112,8 @@ geometry_msgs::msg::PoseStamped PathHandler::transformToGlobalPlanFrame(
   }
 
   geometry_msgs::msg::PoseStamped robot_pose;
-  if (!nav2_util::transformPoseInTargetFrame(pose, robot_pose, *tf_buffer_,
+  if (!nav2_util::transformPoseInTargetFrame(
+      pose, robot_pose, *tf_buffer_,
       global_plan_up_to_inversion_.header.frame_id, transform_tolerance_))
   {
     throw nav2_core::ControllerTFError(
@@ -179,7 +181,8 @@ geometry_msgs::msg::PoseStamped PathHandler::getTransformedGoal(
     throw nav2_core::ControllerTFError("Goal pose has an empty frame_id");
   }
   geometry_msgs::msg::PoseStamped transformed_goal;
-  if (!nav2_util::transformPoseInTargetFrame(goal, transformed_goal, *tf_buffer_,
+  if (!nav2_util::transformPoseInTargetFrame(
+      goal, transformed_goal, *tf_buffer_,
       costmap_->getGlobalFrameID(), transform_tolerance_))
   {
     throw nav2_core::ControllerTFError("Unable to transform goal pose into costmap frame");
diff --git a/nav2_mppi_controller/test/controller_state_transition_test.cpp b/nav2_mppi_controller/test/controller_state_transition_test.cpp
index ef32775a5b6..5bdfb8a1121 100644
--- a/nav2_mppi_controller/test/controller_state_transition_test.cpp
+++ b/nav2_mppi_controller/test/controller_state_transition_test.cpp
@@ -67,7 +67,7 @@ TEST(ControllerStateTransitionTest, ControllerNotFail)
   controller->cleanup();
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_mppi_controller/test/critic_manager_test.cpp b/nav2_mppi_controller/test/critic_manager_test.cpp
index ff0116ed7de..b542dbf9e40 100644
--- a/nav2_mppi_controller/test/critic_manager_test.cpp
+++ b/nav2_mppi_controller/test/critic_manager_test.cpp
@@ -146,7 +146,7 @@ TEST(CriticManagerTests, CriticLoadingTest)
   EXPECT_EQ(critic_manager.getCriticNum(), 2u);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_mppi_controller/test/critics_tests.cpp b/nav2_mppi_controller/test/critics_tests.cpp
index 88e823019a7..51ad7897fb0 100644
--- a/nav2_mppi_controller/test/critics_tests.cpp
+++ b/nav2_mppi_controller/test/critics_tests.cpp
@@ -175,7 +175,7 @@ TEST(CriticTests, CostCriticMisAlignedParams) {
   std::string name = "test";
   ParametersHandler param_handler(node, name);
   rclcpp_lifecycle::State lstate;
-   auto getParam = param_handler.getParamGetter("critic");
+  auto getParam = param_handler.getParamGetter("critic");
   bool consider_footprint;
   getParam(consider_footprint, "consider_footprint", true);
   costmap_ros->on_configure(lstate);
@@ -196,7 +196,7 @@ TEST(CriticTests, CostCriticAlignedParams) {
   std::string name = "test";
   ParametersHandler param_handler(node, name);
   rclcpp_lifecycle::State lstate;
-   auto getParam = param_handler.getParamGetter("critic");
+  auto getParam = param_handler.getParamGetter("critic");
   bool consider_footprint;
   getParam(consider_footprint, "consider_footprint", false);
   costmap_ros->on_configure(lstate);
@@ -566,7 +566,7 @@ TEST(CriticTests, TwirlingCritic)
   // Now try again with some wiggling noise
   std::mt19937 engine;
   std::normal_distribution<float> normal_dist = std::normal_distribution(0.0f, 0.5f);
-  state.wz.row(0) = Eigen::ArrayXf::NullaryExpr(30, [&] () {return normal_dist(engine);});
+  state.wz.row(0) = Eigen::ArrayXf::NullaryExpr(30, [&]() {return normal_dist(engine);});
   critic.score(data);
   EXPECT_NEAR(costs(0), 2.581, 4e-1);  // (mean of noise with mu=0, sigma=0.5 * 10.0 weight
 }
diff --git a/nav2_mppi_controller/test/models_test.cpp b/nav2_mppi_controller/test/models_test.cpp
index 90de9abb0fc..a556f2ba99f 100644
--- a/nav2_mppi_controller/test/models_test.cpp
+++ b/nav2_mppi_controller/test/models_test.cpp
@@ -140,7 +140,7 @@ TEST(ModelsTest, TrajectoriesTest)
   EXPECT_EQ(trajectories.yaws.cols(), 40);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_mppi_controller/test/motion_model_tests.cpp b/nav2_mppi_controller/test/motion_model_tests.cpp
index a40be555fce..25a91cf11ee 100644
--- a/nav2_mppi_controller/test/motion_model_tests.cpp
+++ b/nav2_mppi_controller/test/motion_model_tests.cpp
@@ -251,7 +251,7 @@ TEST(MotionModelTests, AckermannReversingTest)
   model.reset();
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_mppi_controller/test/noise_generator_test.cpp b/nav2_mppi_controller/test/noise_generator_test.cpp
index a051782d311..31e2f9ff1ef 100644
--- a/nav2_mppi_controller/test/noise_generator_test.cpp
+++ b/nav2_mppi_controller/test/noise_generator_test.cpp
@@ -39,7 +39,7 @@ TEST(NoiseGeneratorTest, NoiseGeneratorLifecycle)
   auto node = std::make_shared<nav2::LifecycleNode>("node");
   node->declare_parameter("test_name.regenerate_noises", rclcpp::ParameterValue(false));
   std::string name = "test";
-ParametersHandler handler(node, name);
+  ParametersHandler handler(node, name);
 
   generator.initialize(settings, false, "test_name", &handler);
   generator.reset(settings, false);
@@ -52,7 +52,7 @@ TEST(NoiseGeneratorTest, NoiseGeneratorMain)
   auto node = std::make_shared<nav2::LifecycleNode>("node");
   node->declare_parameter("test_name.regenerate_noises", rclcpp::ParameterValue(true));
   std::string name = "test";
-ParametersHandler handler(node, name);
+  ParametersHandler handler(node, name);
   NoiseGenerator generator;
   mppi::models::OptimizerSettings settings;
   settings.batch_size = 100;
@@ -141,7 +141,7 @@ TEST(NoiseGeneratorTest, NoiseGeneratorMainNoRegenerate)
   auto node = std::make_shared<nav2::LifecycleNode>("node");
   node->declare_parameter("test_name.regenerate_noises", rclcpp::ParameterValue(false));
   std::string name = "test";
-ParametersHandler handler(node, name);
+  ParametersHandler handler(node, name);
   NoiseGenerator generator;
   mppi::models::OptimizerSettings settings;
   settings.batch_size = 100;
@@ -204,7 +204,7 @@ ParametersHandler handler(node, name);
   generator.shutdown();
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_mppi_controller/test/optimizer_smoke_test.cpp b/nav2_mppi_controller/test/optimizer_smoke_test.cpp
index c88422f3a84..e9101e4a640 100644
--- a/nav2_mppi_controller/test/optimizer_smoke_test.cpp
+++ b/nav2_mppi_controller/test/optimizer_smoke_test.cpp
@@ -80,7 +80,8 @@ TEST_P(OptimizerSuite, OptimizerTest) {
   auto goal = path.poses.back().pose;
   nav2_core::GoalChecker * dummy_goal_checker{nullptr};
 
-  auto [cmd, trajectory] = optimizer->evalControl(pose, velocity, path, goal,
+  auto [cmd, trajectory] = optimizer->evalControl(
+    pose, velocity, path, goal,
     dummy_goal_checker);
   EXPECT_GT(trajectory.rows(), 0);
   EXPECT_GT(trajectory.cols(), 0);
@@ -110,7 +111,7 @@ INSTANTIATE_TEST_SUITE_P(
       true))
 );
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_mppi_controller/test/optimizer_unit_tests.cpp b/nav2_mppi_controller/test/optimizer_unit_tests.cpp
index 78b1f5545cf..a1056531d91 100644
--- a/nav2_mppi_controller/test/optimizer_unit_tests.cpp
+++ b/nav2_mppi_controller/test/optimizer_unit_tests.cpp
@@ -730,32 +730,40 @@ TEST(OptimizerTests, Omni_openLoopMppiTest)
   geometry_msgs::msg::Pose goal;
   path.poses.resize(17);
 
-  auto [cmd1, optimal_trajectory1] = optimizer_tester.evalControl(pose, robot_speed, path,
+  auto [cmd1, optimal_trajectory1] = optimizer_tester.evalControl(
+    pose, robot_speed, path,
     goal, nullptr);
 
-  EXPECT_LE(std::abs(cmd1.twist.linear.x),
+  EXPECT_LE(
+    std::abs(cmd1.twist.linear.x),
     optimizer_tester.getSettings().model_dt * optimizer_tester.getControlConstraints().ax_max);
-  EXPECT_LE(std::abs(cmd1.twist.angular.z),
+  EXPECT_LE(
+    std::abs(cmd1.twist.angular.z),
     optimizer_tester.getSettings().model_dt * optimizer_tester.getControlConstraints().az_max);
-  EXPECT_LE(std::abs(cmd1.twist.linear.y),
+  EXPECT_LE(
+    std::abs(cmd1.twist.linear.y),
     optimizer_tester.getSettings().model_dt * optimizer_tester.getControlConstraints().ay_max);
 
-  auto [cmd2, optimal_trajectory2] = optimizer_tester.evalControl(pose, robot_speed, path,
+  auto [cmd2, optimal_trajectory2] = optimizer_tester.evalControl(
+    pose, robot_speed, path,
     goal, nullptr);
 
   const double vx_delta = std::abs(cmd2.twist.linear.x - cmd1.twist.linear.x);
   const double wz_delta = std::abs(cmd2.twist.angular.z - cmd1.twist.angular.z);
   const double vy_delta = std::abs(cmd2.twist.linear.y - cmd1.twist.linear.y);
 
-  EXPECT_LE(vx_delta,
+  EXPECT_LE(
+    vx_delta,
     optimizer_tester.getSettings().model_dt * optimizer_tester.getControlConstraints().ax_max);
-  EXPECT_LE(wz_delta,
+  EXPECT_LE(
+    wz_delta,
     optimizer_tester.getSettings().model_dt * optimizer_tester.getControlConstraints().az_max);
-  EXPECT_LE(vy_delta,
+  EXPECT_LE(
+    vy_delta,
     optimizer_tester.getSettings().model_dt * optimizer_tester.getControlConstraints().ay_max);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_mppi_controller/test/parameter_handler_test.cpp b/nav2_mppi_controller/test/parameter_handler_test.cpp
index 61a62e6e483..a172b52479c 100644
--- a/nav2_mppi_controller/test/parameter_handler_test.cpp
+++ b/nav2_mppi_controller/test/parameter_handler_test.cpp
@@ -165,7 +165,8 @@ TEST(ParameterHandlerTest, DynamicAndStaticParametersTest)
     node->get_node_services_interface());
 
   std::shared_future<rcl_interfaces::msg::SetParametersResult> result_future =
-    rec_param->set_parameters_atomically({
+    rec_param->set_parameters_atomically(
+  {
     rclcpp::Parameter("my_node.verbose", true),
     rclcpp::Parameter("test.dynamic_int", 10),
     rclcpp::Parameter("test.static_int", 10)
@@ -179,7 +180,8 @@ TEST(ParameterHandlerTest, DynamicAndStaticParametersTest)
   auto result = result_future.get();
   EXPECT_EQ(result.successful, false);
   EXPECT_FALSE(result.reason.empty());
-  EXPECT_EQ(result.reason, std::string("Rejected change to static parameter: ") +
+  EXPECT_EQ(
+    result.reason, std::string("Rejected change to static parameter: ") +
     "{\"name\": \"test.static_int\", \"type\": \"integer\", \"value\": \"10\"}");
 
   // Now, only param1 should change, param 2 should be the same
@@ -211,7 +213,8 @@ TEST(ParameterHandlerTest, DynamicAndStaticParametersNotVerboseTest)
     node->get_node_services_interface());
 
   std::shared_future<rcl_interfaces::msg::SetParametersResult> result_future =
-    rec_param->set_parameters_atomically({
+    rec_param->set_parameters_atomically(
+  {
     // Don't set default param rclcpp::Parameter("my_node.verbose", false),
     rclcpp::Parameter("test.dynamic_int", 10),
     rclcpp::Parameter("test.static_int", 10)
@@ -225,7 +228,8 @@ TEST(ParameterHandlerTest, DynamicAndStaticParametersNotVerboseTest)
   auto result = result_future.get();
   EXPECT_EQ(result.successful, false);
   EXPECT_FALSE(result.reason.empty());
-  EXPECT_EQ(result.reason, std::string("Rejected change to static parameter: ") +
+  EXPECT_EQ(
+    result.reason, std::string("Rejected change to static parameter: ") +
     "{\"name\": \"test.static_int\", \"type\": \"integer\", \"value\": \"10\"}");
 
   // Now, only param1 should change, param 2 should be the same
@@ -251,7 +255,8 @@ TEST(ParameterHandlerTest, DynamicAndStaticParametersNotDeclaredTest)
     node->get_node_services_interface());
 
   std::shared_future<rcl_interfaces::msg::SetParametersResult>
-  result_future = rec_param->set_parameters_atomically({
+  result_future = rec_param->set_parameters_atomically(
+  {
     rclcpp::Parameter("my_node.verbose", true),
   });
 
@@ -265,7 +270,8 @@ TEST(ParameterHandlerTest, DynamicAndStaticParametersNotDeclaredTest)
   EXPECT_TRUE(result.reason.empty());
 
   // Try to set some parameters that have not been declared via the service client
-  result_future = rec_param->set_parameters_atomically({
+  result_future = rec_param->set_parameters_atomically(
+  {
     rclcpp::Parameter("test.static_int", 10),
     rclcpp::Parameter("test.not_declared", true),
     rclcpp::Parameter("test.not_declared2", true),
@@ -284,7 +290,7 @@ TEST(ParameterHandlerTest, DynamicAndStaticParametersNotDeclaredTest)
   EXPECT_EQ(result.reason, std::string("One or more parameters were not declared before setting"));
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_mppi_controller/test/path_handler_test.cpp b/nav2_mppi_controller/test/path_handler_test.cpp
index e0f17e48411..8d25724fb53 100644
--- a/nav2_mppi_controller/test/path_handler_test.cpp
+++ b/nav2_mppi_controller/test/path_handler_test.cpp
@@ -233,7 +233,7 @@ TEST(PathHandlerTests, TestInversionToleranceChecks)
   EXPECT_TRUE(handler.isWithinInversionTolerancesWrapper(robot_pose));
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_mppi_controller/test/trajectory_visualizer_tests.cpp b/nav2_mppi_controller/test/trajectory_visualizer_tests.cpp
index 1228e81d60a..27ef0a69762 100644
--- a/nav2_mppi_controller/test/trajectory_visualizer_tests.cpp
+++ b/nav2_mppi_controller/test/trajectory_visualizer_tests.cpp
@@ -226,7 +226,7 @@ TEST(TrajectoryVisualizerTests, VisOptimalPath)
   }
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_mppi_controller/test/utils_test.cpp b/nav2_mppi_controller/test/utils_test.cpp
index 70733e37db4..7dba563252b 100644
--- a/nav2_mppi_controller/test/utils_test.cpp
+++ b/nav2_mppi_controller/test/utils_test.cpp
@@ -289,7 +289,7 @@ TEST(UtilsTests, SmootherTest)
   std::mt19937 engine;
   std::normal_distribution<float> normal_dist = std::normal_distribution(0.0f, 0.2f);
   auto noises = Eigen::ArrayXf::NullaryExpr(
-    30, [&] () {return normal_dist(engine);});
+    30, [&]() {return normal_dist(engine);});
   noisey_sequence.vx += noises;
   noisey_sequence.vy += noises;
   noisey_sequence.wz += noises;
@@ -488,25 +488,29 @@ TEST(UtilsTests, NormalizeYawsBetweenPointsTest)
   yaw_between_points.setZero(10);
 
   // Try with both angles 0
-  Eigen::ArrayXf yaws_between_points_corrected = utils::normalize_yaws_between_points(last_yaws,
+  Eigen::ArrayXf yaws_between_points_corrected = utils::normalize_yaws_between_points(
+    last_yaws,
     yaw_between_points);
   EXPECT_TRUE(yaws_between_points_corrected.isApprox(yaw_between_points));
 
   // Try with yaw between points as pi/4
   yaw_between_points.setConstant(M_PIF_2 / 2);
-  yaws_between_points_corrected = utils::normalize_yaws_between_points(last_yaws,
+  yaws_between_points_corrected = utils::normalize_yaws_between_points(
+    last_yaws,
     yaw_between_points);
   EXPECT_TRUE(yaws_between_points_corrected.isApprox(yaw_between_points));
 
   // Try with yaw between points as pi/2
   yaw_between_points.setConstant(M_PIF_2);
-  yaws_between_points_corrected = utils::normalize_yaws_between_points(last_yaws,
+  yaws_between_points_corrected = utils::normalize_yaws_between_points(
+    last_yaws,
     yaw_between_points);
   EXPECT_TRUE(yaws_between_points_corrected.isApprox(yaw_between_points));
 
   // Try with a few yaw between points  more than pi/2
   yaw_between_points[1] = 1.2 * M_PIF_2;
-  yaws_between_points_corrected = utils::normalize_yaws_between_points(last_yaws,
+  yaws_between_points_corrected = utils::normalize_yaws_between_points(
+    last_yaws,
     yaw_between_points);
   EXPECT_NEAR(yaws_between_points_corrected[1], -0.8 * M_PIF_2, 1e-3);
   EXPECT_NEAR(yaws_between_points_corrected[0], yaw_between_points[0], 1e-3);
@@ -514,7 +518,8 @@ TEST(UtilsTests, NormalizeYawsBetweenPointsTest)
 
   // Try with goal angle 0
   float goal_angle = 0;
-  yaws_between_points_corrected = utils::normalize_yaws_between_points(goal_angle,
+  yaws_between_points_corrected = utils::normalize_yaws_between_points(
+    goal_angle,
     yaw_between_points);
   EXPECT_NEAR(yaws_between_points_corrected[1], -0.8 * M_PIF_2, 1e-3);
 }
@@ -600,7 +605,7 @@ TEST(UtilsTests, getLastPathPoseTest)
   EXPECT_NEAR(last_path_pose.orientation.w, 0.0, 1e-3);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_navfn_planner/src/navfn_planner.cpp b/nav2_navfn_planner/src/navfn_planner.cpp
index dd5ac3f3e5f..a5f2a464b3a 100644
--- a/nav2_navfn_planner/src/navfn_planner.cpp
+++ b/nav2_navfn_planner/src/navfn_planner.cpp
@@ -532,7 +532,7 @@ NavfnPlanner::dynamicParametersCallback(std::vector<rclcpp::Parameter> parameter
   for (auto parameter : parameters) {
     const auto & param_type = parameter.get_type();
     const auto & param_name = parameter.get_name();
-    if(param_name.find(name_ + ".") != 0) {
+    if (param_name.find(name_ + ".") != 0) {
       continue;
     }
     if (param_type == ParameterType::PARAMETER_DOUBLE) {
diff --git a/nav2_navfn_planner/test/test_dynamic_parameters.cpp b/nav2_navfn_planner/test/test_dynamic_parameters.cpp
index 844e1d3f2c8..0e93e421c98 100644
--- a/nav2_navfn_planner/test/test_dynamic_parameters.cpp
+++ b/nav2_navfn_planner/test/test_dynamic_parameters.cpp
@@ -55,7 +55,7 @@ TEST(NavfnTest, testDynamicParameter)
   EXPECT_EQ(node->get_parameter("test.use_final_approach_orientation").as_bool(), true);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
index 998220d6533..bd438be648d 100644
--- a/nav2_planner/src/planner_server.cpp
+++ b/nav2_planner/src/planner_server.cpp
@@ -189,7 +189,8 @@ PlannerServer::on_activate(const rclcpp_lifecycle::State & /*state*/)
 
   is_path_valid_service_ = create_service<nav2_msgs::srv::IsPathValid>(
     "is_path_valid",
-    std::bind(&PlannerServer::isPathValid, this, std::placeholders::_1, std::placeholders::_2,
+    std::bind(
+      &PlannerServer::isPathValid, this, std::placeholders::_1, std::placeholders::_2,
       std::placeholders::_3));
 
   // Add callback for dynamic parameters
diff --git a/nav2_planner/test/test_dynamic_parameters.cpp b/nav2_planner/test/test_dynamic_parameters.cpp
index 1a773683c0d..5a57feae507 100644
--- a/nav2_planner/test/test_dynamic_parameters.cpp
+++ b/nav2_planner/test/test_dynamic_parameters.cpp
@@ -81,7 +81,7 @@ TEST(WPTest, test_dynamic_parameters)
   EXPECT_EQ(planner->get_parameter("expected_planner_frequency").as_double(), -1.0);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_regulated_pure_pursuit_controller/src/collision_checker.cpp b/nav2_regulated_pure_pursuit_controller/src/collision_checker.cpp
index c2cd9552dfa..8340bb5a1ce 100644
--- a/nav2_regulated_pure_pursuit_controller/src/collision_checker.cpp
+++ b/nav2_regulated_pure_pursuit_controller/src/collision_checker.cpp
@@ -93,8 +93,9 @@ bool CollisionChecker::isCollisionImminent(
   double max_allowed_time_to_collision_check = params_->max_allowed_time_to_collision_up_to_carrot;
   if (params_->min_distance_to_obstacle > 0.0) {
     max_allowed_time_to_collision_check = std::max(
-        params_->max_allowed_time_to_collision_up_to_carrot,
-        params_->min_distance_to_obstacle / std::max(std::abs(linear_vel),
+      params_->max_allowed_time_to_collision_up_to_carrot,
+      params_->min_distance_to_obstacle / std::max(
+        std::abs(linear_vel),
         params_->min_approach_linear_velocity)
     );
   }
diff --git a/nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp b/nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp
index edfbdb7d5f5..c430639c988 100644
--- a/nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp
+++ b/nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp
@@ -105,7 +105,7 @@ ParameterHandler::ParameterHandler(
     node, plugin_name_ + ".use_collision_detection",
     rclcpp::ParameterValue(true));
   declare_parameter_if_not_declared(
-      node, plugin_name_ + ".stateful", rclcpp::ParameterValue(true));
+    node, plugin_name_ + ".stateful", rclcpp::ParameterValue(true));
 
   node->get_parameter(plugin_name_ + ".desired_linear_vel", params_.desired_linear_vel);
   params_.base_desired_linear_vel = params_.desired_linear_vel;
@@ -245,14 +245,14 @@ rcl_interfaces::msg::SetParametersResult ParameterHandler::validateParameterUpda
         parameter.as_double() <= 0.0)
       {
         RCLCPP_WARN(
-        logger_, "The value inflation_cost_scaling_factor is incorrectly set, "
-        "it should be >0. Ignoring parameter update.");
+          logger_, "The value inflation_cost_scaling_factor is incorrectly set, "
+          "it should be >0. Ignoring parameter update.");
         result.successful = false;
       } else if (parameter.as_double() < 0.0) {
         RCLCPP_WARN(
-        logger_, "The value of parameter '%s' is incorrectly set to %f, "
-        "it should be >=0. Ignoring parameter update.",
-        param_name.c_str(), parameter.as_double());
+          logger_, "The value of parameter '%s' is incorrectly set to %f, "
+          "it should be >=0. Ignoring parameter update.",
+          param_name.c_str(), parameter.as_double());
         result.successful = false;
       }
     } else if (param_type == ParameterType::PARAMETER_BOOL) {
diff --git a/nav2_regulated_pure_pursuit_controller/src/path_handler.cpp b/nav2_regulated_pure_pursuit_controller/src/path_handler.cpp
index c91bb8dc8f7..68d138c2ea8 100644
--- a/nav2_regulated_pure_pursuit_controller/src/path_handler.cpp
+++ b/nav2_regulated_pure_pursuit_controller/src/path_handler.cpp
@@ -61,7 +61,8 @@ nav_msgs::msg::Path PathHandler::transformGlobalPlan(
 
   // let's get the pose of the robot in the frame of the plan
   geometry_msgs::msg::PoseStamped robot_pose;
-  if (!nav2_util::transformPoseInTargetFrame(pose, robot_pose, *tf_, global_plan_.header.frame_id,
+  if (!nav2_util::transformPoseInTargetFrame(
+      pose, robot_pose, *tf_, global_plan_.header.frame_id,
       transform_tolerance_))
   {
     throw nav2_core::ControllerTFError("Unable to transform robot pose into global plan's frame");
@@ -104,8 +105,9 @@ nav_msgs::msg::Path PathHandler::transformGlobalPlan(
       stamped_pose.header.frame_id = global_plan_.header.frame_id;
       stamped_pose.header.stamp = robot_pose.header.stamp;
       stamped_pose.pose = global_plan_pose.pose;
-      if (!nav2_util::transformPoseInTargetFrame(stamped_pose, transformed_pose, *tf_,
-        costmap_ros_->getBaseFrameID(), transform_tolerance_))
+      if (!nav2_util::transformPoseInTargetFrame(
+          stamped_pose, transformed_pose, *tf_,
+          costmap_ros_->getBaseFrameID(), transform_tolerance_))
       {
         throw nav2_core::ControllerTFError("Unable to transform plan pose into local frame");
       }
diff --git a/nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp b/nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp
index 4b3dbb905f8..e469fbf440f 100644
--- a/nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp
+++ b/nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp
@@ -874,7 +874,7 @@ TEST_F(TransformGlobalPlanTest, prune_after_leaving_costmap)
   EXPECT_NEAR(transformed_plan.poses[0].pose.position.y, 0.0, 0.5);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_ros_common/include/nav2_ros_common/interface_factories.hpp b/nav2_ros_common/include/nav2_ros_common/interface_factories.hpp
index 7af008718d5..3f9f9db5131 100644
--- a/nav2_ros_common/include/nav2_ros_common/interface_factories.hpp
+++ b/nav2_ros_common/include/nav2_ros_common/interface_factories.hpp
@@ -273,7 +273,7 @@ typename nav2::ServiceServer<SrvT>::SharedPtr create_service(
 {
   using Request = typename SrvT::Request;
   using Response = typename SrvT::Response;
-  using CallbackFn = std::function<void(
+  using CallbackFn = std::function<void (
         const std::shared_ptr<rmw_request_id_t>,
         const std::shared_ptr<Request>,
         std::shared_ptr<Response>)>;
@@ -323,7 +323,8 @@ typename nav2::ActionClient<ActionT>::SharedPtr create_action_client(
   rclcpp::CallbackGroup::SharedPtr callback_group = nullptr)
 {
   auto client = rclcpp_action::create_client<ActionT>(node, action_name, callback_group);
-  nav2::setIntrospectionMode(client,
+  nav2::setIntrospectionMode(
+    client,
     node->get_node_parameters_interface(), node->get_clock());
   return client;
 }
diff --git a/nav2_ros_common/include/nav2_ros_common/node_utils.hpp b/nav2_ros_common/include/nav2_ros_common/node_utils.hpp
index 59ed17c27b1..baafe5cd3c6 100644
--- a/nav2_ros_common/include/nav2_ros_common/node_utils.hpp
+++ b/nav2_ros_common/include/nav2_ros_common/node_utils.hpp
@@ -26,6 +26,15 @@
 #include "rcl_interfaces/srv/list_parameters.hpp"
 #include "pluginlib/exceptions.hpp"
 
+#ifdef __APPLE__
+  #include <pthread.h>
+  #include <mach/mach.h>
+  #include <mach/thread_policy.h>
+#else
+  #include <sched.h>
+  #include <errno.h>
+#endif
+
 using std::chrono::high_resolution_clock;
 using std::to_string;
 using std::string;
@@ -247,8 +256,9 @@ inline ParamType declare_or_get_parameter(
   }
 
   auto return_value = param_interface
-    ->declare_parameter(parameter_name, rclcpp::ParameterValue{default_value},
-      parameter_descriptor)
+    ->declare_parameter(
+    parameter_name, rclcpp::ParameterValue{default_value},
+    parameter_descriptor)
     .get<ParamType>();
 
   const bool no_param_override = param_interface->get_parameter_overrides().find(parameter_name) ==
@@ -256,8 +266,8 @@ inline ParamType declare_or_get_parameter(
   if (no_param_override) {
     if (warn_if_no_override) {
       RCLCPP_WARN_STREAM(
-            logger,
-            "Failed to get param " << parameter_name << " from overrides, using default value.");
+        logger,
+        "Failed to get param " << parameter_name << " from overrides, using default value.");
     }
     if (strict_param_loading) {
       std::string description = "Parameter " + parameter_name +
@@ -296,7 +306,8 @@ inline ParamType declare_or_get_parameter(
   declare_parameter_if_not_declared(node, "strict_param_loading", rclcpp::ParameterValue(false));
   bool strict_param_loading{false};
   node->get_parameter("strict_param_loading", strict_param_loading);
-  return declare_or_get_parameter(node->get_logger(), node->get_node_parameters_interface(),
+  return declare_or_get_parameter(
+    node->get_logger(), node->get_node_parameters_interface(),
     parameter_name, default_value, warn_if_no_override, strict_param_loading, parameter_descriptor);
 }
 
@@ -337,6 +348,32 @@ inline std::string get_plugin_type_param(
  */
 inline void setSoftRealTimePriority()
 {
+#ifdef __APPLE__
+  // macOS: Use Mach thread API to approximate real-time scheduling
+  thread_port_t thread = pthread_mach_thread_np(pthread_self());
+
+  thread_time_constraint_policy_data_t policy;
+  policy.period = 1000;       // in microseconds (1 kHz loop)
+  policy.computation = 800;   // expected compute time per period
+  policy.constraint = 1000;   // max latency
+  policy.preemptible = 1;     // allow preemption by higher-priority threads
+
+  kern_return_t result = thread_policy_set(
+    thread,
+    THREAD_TIME_CONSTRAINT_POLICY,
+    (thread_policy_t)&policy,
+    THREAD_TIME_CONSTRAINT_POLICY_COUNT
+  );
+
+  if (result != KERN_SUCCESS) {
+    std::string errmsg =
+      "Failed to set THREAD_TIME_CONSTRAINT_POLICY on macOS. "
+      "Thread remains at default priority. Mach Error Code: " +
+      std::to_string(result);
+    throw std::runtime_error(errmsg);
+  }
+#else
+  // Linux: True real-time scheduling (requires privileges)
   sched_param sch;
   sch.sched_priority = 49;
   if (sched_setscheduler(0, SCHED_FIFO, &sch) == -1) {
@@ -346,6 +383,7 @@ inline void setSoftRealTimePriority()
       "realtime prioritization! Error: ");
     throw std::runtime_error(errmsg + std::strerror(errno));
   }
+#endif
 }
 
 template<typename InterfaceT>
@@ -385,8 +423,9 @@ inline void replaceOrAddArgument(
   std::vector<std::string> & arguments, const std::string & option,
   const std::string & arg_name, const std::string & new_argument)
 {
-  auto argument = std::find_if(arguments.begin(), arguments.end(),
-      [arg_name](const std::string & value){return value.find(arg_name) != std::string::npos;});
+  auto argument = std::find_if(
+    arguments.begin(), arguments.end(),
+    [arg_name](const std::string & value) {return value.find(arg_name) != std::string::npos;});
   if (argument != arguments.end()) {
     *argument = new_argument;
   } else {
diff --git a/nav2_ros_common/include/nav2_ros_common/service_client.hpp b/nav2_ros_common/include/nav2_ros_common/service_client.hpp
index 1cf32f25fe0..76cb55c2e08 100644
--- a/nav2_ros_common/include/nav2_ros_common/service_client.hpp
+++ b/nav2_ros_common/include/nav2_ros_common/service_client.hpp
@@ -56,8 +56,9 @@ class ServiceClient
         rclcpp::CallbackGroupType::MutuallyExclusive,
         false);
       callback_group_executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
-      callback_group_executor_->add_callback_group(callback_group_,
-          provided_node->get_node_base_interface());
+      callback_group_executor_->add_callback_group(
+        callback_group_,
+        provided_node->get_node_base_interface());
     }
     // When a nullptr is passed, the client will use the default callback group
     client_ = rclcpp::create_client<ServiceT>(
@@ -68,7 +69,8 @@ class ServiceClient
       rclcpp::ServicesQoS(),  // Use consistent QoS settings
       callback_group_);
 
-    nav2::setIntrospectionMode(this->client_,
+    nav2::setIntrospectionMode(
+      this->client_,
       provided_node->get_node_parameters_interface(), clock_);
   }
 
diff --git a/nav2_ros_common/include/nav2_ros_common/service_server.hpp b/nav2_ros_common/include/nav2_ros_common/service_server.hpp
index 7e16a671736..9f7645a7fad 100644
--- a/nav2_ros_common/include/nav2_ros_common/service_server.hpp
+++ b/nav2_ros_common/include/nav2_ros_common/service_server.hpp
@@ -34,7 +34,7 @@ class ServiceServer
 public:
   using RequestType = typename ServiceT::Request;
   using ResponseType = typename ServiceT::Response;
-  using CallbackType = std::function<void(const std::shared_ptr<rmw_request_id_t>,
+  using CallbackType = std::function<void (const std::shared_ptr<rmw_request_id_t>,
       const std::shared_ptr<RequestType>, std::shared_ptr<ResponseType>)>;
   using SharedPtr = std::shared_ptr<ServiceServer<ServiceT>>;
   using UniquePtr = std::unique_ptr<ServiceServer<ServiceT>>;
@@ -58,7 +58,8 @@ class ServiceServer
       rclcpp::ServicesQoS(),  // Use consistent QoS settings
       callback_group);
 
-    nav2::setIntrospectionMode(this->server_,
+    nav2::setIntrospectionMode(
+      this->server_,
       node->get_node_parameters_interface(), node->get_clock());
   }
 
diff --git a/nav2_ros_common/include/nav2_ros_common/simple_action_server.hpp b/nav2_ros_common/include/nav2_ros_common/simple_action_server.hpp
index e0722598545..24a0aab3090 100644
--- a/nav2_ros_common/include/nav2_ros_common/simple_action_server.hpp
+++ b/nav2_ros_common/include/nav2_ros_common/simple_action_server.hpp
@@ -134,7 +134,8 @@ class SimpleActionServer
       rcl_action_server_get_default_options(),  // Use consistent QoS settings
       callback_group_);
 
-    nav2::setIntrospectionMode(this->action_server_,
+    nav2::setIntrospectionMode(
+      this->action_server_,
       node_parameters_interface_, node_clock_interface_->get_clock());
 
     if (spin_thread_) {
@@ -601,8 +602,9 @@ class SimpleActionServer
     if constexpr (has_error_code<typename ActionT::Result>::value &&
       has_error_msg<typename ActionT::Result>::value)
     {
-      warn_msg("Aborting handle. error_code:" + std::to_string(result->error_code) +
-             ", error_msg:'" + result->error_msg + "'.");
+      warn_msg(
+        "Aborting handle. error_code:" + std::to_string(result->error_code) +
+        ", error_msg:'" + result->error_msg + "'.");
     } else if constexpr (has_error_code<typename ActionT::Result>::value) {
       warn_msg("Aborting handle. error_code:" + std::to_string(result->error_code) + ".");
     } else {
diff --git a/nav2_ros_common/test/test_node_utils.cpp b/nav2_ros_common/test/test_node_utils.cpp
index c12765e3af3..a8e565e44b8 100644
--- a/nav2_ros_common/test/test_node_utils.cpp
+++ b/nav2_ros_common/test/test_node_utils.cpp
@@ -130,7 +130,7 @@ TEST(GetPluginTypeParam, GetPluginTypeParam)
   EXPECT_THROW(get_plugin_type_param(node, "Waldo"), std::runtime_error);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_ros_common/test/test_service_client.cpp b/nav2_ros_common/test/test_service_client.cpp
index ebb5d6705ba..df9c2fcd86f 100644
--- a/nav2_ros_common/test/test_service_client.cpp
+++ b/nav2_ros_common/test/test_service_client.cpp
@@ -49,7 +49,7 @@ TEST(ServiceClient, can_ServiceClient_use_passed_in_node)
   std::vector<std::string> introspection_modes = {
     "disabled", "metadata", "contents"
   };
-  for(const auto & mode : introspection_modes) {
+  for (const auto & mode : introspection_modes) {
     auto node = rclcpp::Node::make_shared("test_node" + mode);
     node->declare_parameter("introspection_mode", mode);
     TestServiceClient t("bar", node, true);
@@ -116,10 +116,10 @@ TEST(ServiceClient, can_ServiceClient_async_call) {
   // Define service server
   auto service_node = rclcpp::Node::make_shared("service_node");
   auto service = service_node->create_service<std_srvs::srv::Empty>(
-  "empty_srv",
+    "empty_srv",
     [&a](std_srvs::srv::Empty::Request::SharedPtr, std_srvs::srv::Empty::Response::SharedPtr) {
       a = 1;
-  });
+    });
   auto srv_thread = std::thread([&]() {rclcpp::spin(service_node);});
   // Define service client
   auto node = rclcpp::Node::make_shared("test_node");
diff --git a/nav2_ros_common/test/test_service_server.cpp b/nav2_ros_common/test/test_service_server.cpp
index 9e42d2a21d1..b2f6450fe2d 100644
--- a/nav2_ros_common/test/test_service_server.cpp
+++ b/nav2_ros_common/test/test_service_server.cpp
@@ -78,7 +78,7 @@ TEST(ServiceServer, can_handle_all_introspection_modes)
   }
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
   return RUN_ALL_TESTS();
diff --git a/nav2_rotation_shim_controller/test/test_shim_controller.cpp b/nav2_rotation_shim_controller/test/test_shim_controller.cpp
index ee87908d827..81d6588fc5c 100644
--- a/nav2_rotation_shim_controller/test/test_shim_controller.cpp
+++ b/nav2_rotation_shim_controller/test/test_shim_controller.cpp
@@ -639,7 +639,7 @@ TEST(RotationShimControllerTest, testDynamicParameter)
   EXPECT_EQ(node->get_parameter("test.use_path_orientations").as_bool(), true);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_route/include/nav2_route/goal_intent_search.hpp b/nav2_route/include/nav2_route/goal_intent_search.hpp
index 237402c3ea4..af66d46425c 100644
--- a/nav2_route/include/nav2_route/goal_intent_search.hpp
+++ b/nav2_route/include/nav2_route/goal_intent_search.hpp
@@ -71,8 +71,9 @@ class BreadthFirstSearch
 
     // Convert target to costmap space
     unsigned int goal_x, goal_y;
-    if (!costmap_->worldToMap(reference_node.pose.position.x, reference_node.pose.position.y,
-          goal_x, goal_y))
+    if (!costmap_->worldToMap(
+        reference_node.pose.position.x, reference_node.pose.position.y,
+        goal_x, goal_y))
     {
       return false;
     }
@@ -193,9 +194,9 @@ class BreadthFirstSearch
     return closest_node_idx_;
   }
 
- /**
-  * @brief Destructor
-  */
+  /**
+   * @brief Destructor
+   */
   ~BreadthFirstSearch() = default;
 
 protected:
diff --git a/nav2_route/include/nav2_route/plugins/route_operation_client.hpp b/nav2_route/include/nav2_route/plugins/route_operation_client.hpp
index 1dc94404e88..16df9c33a4e 100644
--- a/nav2_route/include/nav2_route/plugins/route_operation_client.hpp
+++ b/nav2_route/include/nav2_route/plugins/route_operation_client.hpp
@@ -161,7 +161,7 @@ class RouteOperationClient : public RouteOperation
         auto node = node_.lock();
         if (!node) {
           throw nav2_core::OperationFailed(
-            "Route operation service (" + getName() + ") failed to lock node.");
+                  "Route operation service (" + getName() + ") failed to lock node.");
         }
         auto client =
           node->create_client<SrvT>(srv_name, true);
@@ -169,8 +169,8 @@ class RouteOperationClient : public RouteOperation
       }
     } catch (const std::exception & e) {
       throw nav2_core::OperationFailed(
-        "Route operation service (" + getName() + ") failed to call service: " +
-        srv_name + " at Node " + std::to_string(node_achieved->nodeid));
+              "Route operation service (" + getName() + ") failed to call service: " +
+              srv_name + " at Node " + std::to_string(node_achieved->nodeid));
     }
 
     RCLCPP_INFO(
diff --git a/nav2_route/src/goal_intent_extractor.cpp b/nav2_route/src/goal_intent_extractor.cpp
index 483739aca05..ef3a1fdd62a 100644
--- a/nav2_route/src/goal_intent_extractor.cpp
+++ b/nav2_route/src/goal_intent_extractor.cpp
@@ -182,7 +182,7 @@ GoalIntentExtractor::findStartandGoal(const std::shared_ptr<const GoalT> goal)
     auto transformed_start = transformPose(start_, costmap_frame_id);
     GoalIntentSearch::LoSCollisionChecker los_checker(costmap);
     if (los_checker.worldToMap(
-      candidate_nodes.front().pose.position, transformed_start.pose.position))
+        candidate_nodes.front().pose.position, transformed_start.pose.position))
     {
       if (los_checker.isInCollision()) {
         GoalIntentSearch::BreadthFirstSearch bfs(costmap);
@@ -210,7 +210,7 @@ GoalIntentExtractor::findStartandGoal(const std::shared_ptr<const GoalT> goal)
     auto transformed_end = transformPose(goal_, costmap_frame_id);
     GoalIntentSearch::LoSCollisionChecker los_checker(costmap);
     if (los_checker.worldToMap(
-      candidate_nodes.front().pose.position, transformed_end.pose.position))
+        candidate_nodes.front().pose.position, transformed_end.pose.position))
     {
       if (los_checker.isInCollision()) {
         GoalIntentSearch::BreadthFirstSearch bfs(costmap);
diff --git a/nav2_route/src/plugins/edge_cost_functions/costmap_scorer.cpp b/nav2_route/src/plugins/edge_cost_functions/costmap_scorer.cpp
index 1af089a0384..0cf787a2f1b 100644
--- a/nav2_route/src/plugins/edge_cost_functions/costmap_scorer.cpp
+++ b/nav2_route/src/plugins/edge_cost_functions/costmap_scorer.cpp
@@ -69,7 +69,8 @@ void CostmapScorer::configure(
   if (costmap_topic != server_costmap_topic) {
     costmap_subscriber_ = std::make_shared<nav2_costmap_2d::CostmapSubscriber>(
       node, costmap_topic);
-    RCLCPP_INFO(node->get_logger(),
+    RCLCPP_INFO(
+      node->get_logger(),
       "Using costmap topic: %s instead of server costmap topic: %s for CostmapScorer.",
       costmap_topic.c_str(), server_costmap_topic.c_str());
   } else {
diff --git a/nav2_route/src/plugins/edge_cost_functions/dynamic_edges_scorer.cpp b/nav2_route/src/plugins/edge_cost_functions/dynamic_edges_scorer.cpp
index af6ca2f2e72..a2299d710fa 100644
--- a/nav2_route/src/plugins/edge_cost_functions/dynamic_edges_scorer.cpp
+++ b/nav2_route/src/plugins/edge_cost_functions/dynamic_edges_scorer.cpp
@@ -31,9 +31,10 @@ void DynamicEdgesScorer::configure(
   logger_ = node->get_logger();
   service_ =
     node->create_service<nav2_msgs::srv::DynamicEdges>(
-      std::string(node->get_name()) + "/" + getName() + "/adjust_edges",
-      std::bind(&DynamicEdgesScorer::closedEdgesCb, this,
-        std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+    std::string(node->get_name()) + "/" + getName() + "/adjust_edges",
+    std::bind(
+      &DynamicEdgesScorer::closedEdgesCb, this,
+      std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
 
   dynamic_penalties_.clear();
   closed_edges_.clear();
diff --git a/nav2_route/src/plugins/route_operations/collision_monitor.cpp b/nav2_route/src/plugins/route_operations/collision_monitor.cpp
index 01824216671..c45db02d092 100644
--- a/nav2_route/src/plugins/route_operations/collision_monitor.cpp
+++ b/nav2_route/src/plugins/route_operations/collision_monitor.cpp
@@ -37,7 +37,8 @@ void CollisionMonitor::configure(
     node, getName() + ".costmap_topic", rclcpp::ParameterValue("local_costmap/costmap_raw"));
   std::string costmap_topic = node->get_parameter(getName() + ".costmap_topic").as_string();
   if (costmap_topic != server_costmap_topic) {
-    RCLCPP_INFO(node->get_logger(),
+    RCLCPP_INFO(
+      node->get_logger(),
       "Using costmap topic: %s instead of server costmap topic: %s for CollisionMonitor.",
       costmap_topic.c_str(), server_costmap_topic.c_str());
     costmap_subscriber_ = std::make_shared<nav2_costmap_2d::CostmapSubscriber>(node, costmap_topic);
diff --git a/nav2_route/src/plugins/route_operations/rerouting_service.cpp b/nav2_route/src/plugins/route_operations/rerouting_service.cpp
index 2b41a270d3e..fe36fb2c0c4 100644
--- a/nav2_route/src/plugins/route_operations/rerouting_service.cpp
+++ b/nav2_route/src/plugins/route_operations/rerouting_service.cpp
@@ -32,8 +32,9 @@ void ReroutingService::configure(
   reroute_.store(false);
   service_ = node->create_service<std_srvs::srv::Trigger>(
     std::string(node->get_name()) + "/" + getName() + "/reroute",
-    std::bind(&ReroutingService::serviceCb, this,
-        std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+    std::bind(
+      &ReroutingService::serviceCb, this,
+      std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
 }
 
 void ReroutingService::serviceCb(
diff --git a/nav2_route/src/route_server.cpp b/nav2_route/src/route_server.cpp
index fee6bf7b671..c68ebbca5d5 100644
--- a/nav2_route/src/route_server.cpp
+++ b/nav2_route/src/route_server.cpp
@@ -271,7 +271,8 @@ RouteServer::processRouteRequest(
 
       // Find the route
       Route route = findRoute(goal, rerouting_info);
-      RCLCPP_INFO(get_logger(), "Route found with %zu nodes and %zu edges",
+      RCLCPP_INFO(
+        get_logger(), "Route found with %zu nodes and %zu edges",
         route.edges.size() + 1u, route.edges.size());
       auto path = path_converter_->densify(route, rerouting_info, route_frame_, this->now());
 
diff --git a/nav2_rviz_plugins/src/utils.cpp b/nav2_rviz_plugins/src/utils.cpp
index f833c56f32f..3a0956f53cb 100644
--- a/nav2_rviz_plugins/src/utils.cpp
+++ b/nav2_rviz_plugins/src/utils.cpp
@@ -52,16 +52,18 @@ void pluginLoader(
   auto parameters = parameter_client->get_parameters({plugin_type});
   if (executor) {
     if (executor->spin_until_future_complete(parameters) != rclcpp::FutureReturnCode::SUCCESS) {
-      RCLCPP_ERROR(node->get_logger(),
-      "Failed to get parameter '%s' from server '%s'",
-      plugin_type.c_str(), server_name.c_str());
+      RCLCPP_ERROR(
+        node->get_logger(),
+        "Failed to get parameter '%s' from server '%s'",
+        plugin_type.c_str(), server_name.c_str());
       return;
     }
   } else {
     if (rclcpp::spin_until_future_complete(node, parameters) != rclcpp::FutureReturnCode::SUCCESS) {
-      RCLCPP_ERROR(node->get_logger(),
-      "Failed to get parameter '%s' from server '%s'",
-      plugin_type.c_str(), server_name.c_str());
+      RCLCPP_ERROR(
+        node->get_logger(),
+        "Failed to get parameter '%s' from server '%s'",
+        plugin_type.c_str(), server_name.c_str());
       return;
     }
   }
diff --git a/nav2_smac_planner/include/nav2_smac_planner/goal_manager.hpp b/nav2_smac_planner/include/nav2_smac_planner/goal_manager.hpp
index 30db5737483..1b8ef7777e1 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/goal_manager.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/goal_manager.hpp
@@ -48,9 +48,9 @@ class GoalManager
   typedef typename NodeT::Coordinates Coordinates;
   typedef typename NodeT::CoordinateVector CoordinateVector;
 
-   /**
-   * @brief Constructor: Initializes empty goal state. sets and coordinate lists.
-   */
+  /**
+  * @brief Constructor: Initializes empty goal state. sets and coordinate lists.
+  */
   GoalManager()
   : _goals_set(NodeSet()),
     _goals_state(GoalStateVector()),
@@ -134,7 +134,7 @@ class GoalManager
     const auto size_x = collision_checker->getCostmap()->getSizeInCellsX();
     const auto size_y = collision_checker->getCostmap()->getSizeInCellsY();
 
-    auto getIndexFromPoint = [&size_x] (const Coordinates & point) {
+    auto getIndexFromPoint = [&size_x](const Coordinates & point) {
         unsigned int index = 0;
 
         const auto mx = static_cast<unsigned int>(point.x);
@@ -197,8 +197,9 @@ class GoalManager
   {
     // Make sure that there was a  goal clear before this was run
     if (!_goals_set.empty() || !_goals_coordinate.empty()) {
-      throw std::runtime_error("Goal set should be cleared before calling "
-        "removeinvalidgoals");
+      throw std::runtime_error(
+              "Goal set should be cleared before calling "
+              "removeinvalidgoals");
     }
     for (unsigned int i = 0; i < _goals_state.size(); i++) {
       if (_goals_state[i].goal->isNodeValid(traverse_unknown, collision_checker) ||
diff --git a/nav2_smac_planner/src/a_star.cpp b/nav2_smac_planner/src/a_star.cpp
index 6e4b8d00d3b..61b1568884b 100644
--- a/nav2_smac_planner/src/a_star.cpp
+++ b/nav2_smac_planner/src/a_star.cpp
@@ -350,7 +350,8 @@ bool AStarAlgorithm<NodeT>::createPath(
   }
 
   NodeVector coarse_check_goals, fine_check_goals;
-  _goal_manager.prepareGoalsForAnalyticExpansion(coarse_check_goals, fine_check_goals,
+  _goal_manager.prepareGoalsForAnalyticExpansion(
+    coarse_check_goals, fine_check_goals,
     _coarse_search_resolution);
 
   // 0) Add starting point to the open set
diff --git a/nav2_smac_planner/src/analytic_expansion.cpp b/nav2_smac_planner/src/analytic_expansion.cpp
index 13df5feb6af..28e384931c2 100644
--- a/nav2_smac_planner/src/analytic_expansion.cpp
+++ b/nav2_smac_planner/src/analytic_expansion.cpp
@@ -349,10 +349,10 @@ float AnalyticExpansion<NodeT>::refineAnalyticPath(
 
       float score = 0.0;
       float normalized_cost = 0.0;
-    // Analytic expansions are consistently spaced
+      // Analytic expansions are consistently spaced
       const float distance = hypotf(
-      expansion.nodes[1].proposed_coords.x - expansion.nodes[0].proposed_coords.x,
-      expansion.nodes[1].proposed_coords.y - expansion.nodes[0].proposed_coords.y);
+        expansion.nodes[1].proposed_coords.x - expansion.nodes[0].proposed_coords.x,
+        expansion.nodes[1].proposed_coords.y - expansion.nodes[0].proposed_coords.y);
       const float & weight = expansion.nodes[0].node->motion_table.cost_penalty;
       for (auto iter = expansion.nodes.begin(); iter != expansion.nodes.end(); ++iter) {
         normalized_cost = iter->node->getCost() / 252.0f;
diff --git a/nav2_smac_planner/src/collision_checker.cpp b/nav2_smac_planner/src/collision_checker.cpp
index 76ba33db122..a5a8d22485f 100644
--- a/nav2_smac_planner/src/collision_checker.cpp
+++ b/nav2_smac_planner/src/collision_checker.cpp
@@ -116,7 +116,7 @@ bool GridCollisionChecker::inCollision(
 
   // Assumes setFootprint already set
   center_cost_ = static_cast<float>(costmap_->getCost(
-    static_cast<unsigned int>(x + 0.5f), static_cast<unsigned int>(y + 0.5f)));
+      static_cast<unsigned int>(x + 0.5f), static_cast<unsigned int>(y + 0.5f)));
 
   if (!footprint_is_radius_) {
     // if footprint, then we check for the footprint's points, but first see
diff --git a/nav2_smac_planner/src/node_lattice.cpp b/nav2_smac_planner/src/node_lattice.cpp
index 56dcbfdc271..b1aaebc2016 100644
--- a/nav2_smac_planner/src/node_lattice.cpp
+++ b/nav2_smac_planner/src/node_lattice.cpp
@@ -230,8 +230,9 @@ bool NodeLattice::isNodeValid(
   // Check primitive end pose
   // Convert grid quantization of primitives to radians, then collision checker quantization
   static const double bin_size = 2.0 * M_PI / collision_checker->getPrecomputedAngles().size();
-  const double angle = std::fmod(motion_table.getAngleFromBin(this->pose.theta),
-      2.0 * M_PI) / bin_size;
+  const double angle = std::fmod(
+    motion_table.getAngleFromBin(this->pose.theta),
+    2.0 * M_PI) / bin_size;
   if (collision_checker->inCollision(
       this->pose.x, this->pose.y, angle /*bin in collision checker*/, traverse_unknown))
   {
diff --git a/nav2_smac_planner/src/smac_planner_2d.cpp b/nav2_smac_planner/src/smac_planner_2d.cpp
index 9083dd61313..cedd71f890b 100644
--- a/nav2_smac_planner/src/smac_planner_2d.cpp
+++ b/nav2_smac_planner/src/smac_planner_2d.cpp
@@ -362,7 +362,7 @@ SmacPlanner2D::dynamicParametersCallback(std::vector<rclcpp::Parameter> paramete
   for (auto parameter : parameters) {
     const auto & param_type = parameter.get_type();
     const auto & param_name = parameter.get_name();
-    if(param_name.find(_name + ".") != 0) {
+    if (param_name.find(_name + ".") != 0) {
       continue;
     }
     if (param_type == ParameterType::PARAMETER_DOUBLE) {
diff --git a/nav2_smac_planner/src/smac_planner_hybrid.cpp b/nav2_smac_planner/src/smac_planner_hybrid.cpp
index 07a30839374..a86fb31c22f 100644
--- a/nav2_smac_planner/src/smac_planner_hybrid.cpp
+++ b/nav2_smac_planner/src/smac_planner_hybrid.cpp
@@ -404,10 +404,10 @@ nav_msgs::msg::Path SmacPlannerHybrid::createPlan(
   // Set starting point, in A* bin search coordinates
   float mx_start, my_start, mx_goal, my_goal;
   if (!costmap->worldToMapContinuous(
-    start.pose.position.x,
-    start.pose.position.y,
-    mx_start,
-    my_start))
+      start.pose.position.x,
+      start.pose.position.y,
+      mx_start,
+      my_start))
   {
     throw nav2_core::StartOutsideMapBounds(
             "Start Coordinates of(" + std::to_string(start.pose.position.x) + ", " +
@@ -428,10 +428,10 @@ nav_msgs::msg::Path SmacPlannerHybrid::createPlan(
 
   // Set goal point, in A* bin search coordinates
   if (!costmap->worldToMapContinuous(
-    goal.pose.position.x,
-    goal.pose.position.y,
-    mx_goal,
-    my_goal))
+      goal.pose.position.x,
+      goal.pose.position.y,
+      mx_goal,
+      my_goal))
   {
     throw nav2_core::GoalOutsideMapBounds(
             "Goal Coordinates of(" + std::to_string(goal.pose.position.x) + ", " +
@@ -447,7 +447,8 @@ nav_msgs::msg::Path SmacPlannerHybrid::createPlan(
   }
   unsigned int goal_orientation_bin_int =
     static_cast<unsigned int>(goal_orientation_bin);
-  _a_star->setGoal(mx_goal, my_goal, static_cast<unsigned int>(goal_orientation_bin_int),
+  _a_star->setGoal(
+    mx_goal, my_goal, static_cast<unsigned int>(goal_orientation_bin_int),
     _goal_heading_mode, _coarse_search_resolution);
 
   // Setup message
@@ -625,7 +626,7 @@ SmacPlannerHybrid::dynamicParametersCallback(std::vector<rclcpp::Parameter> para
   for (auto parameter : parameters) {
     const auto & param_type = parameter.get_type();
     const auto & param_name = parameter.get_name();
-    if(param_name.find(_name + ".") != 0 && param_name != "resolution") {
+    if (param_name.find(_name + ".") != 0 && param_name != "resolution") {
       continue;
     }
     if (param_type == ParameterType::PARAMETER_DOUBLE) {
@@ -756,8 +757,8 @@ SmacPlannerHybrid::dynamicParametersCallback(std::vector<rclcpp::Parameter> para
         if (_angle_quantizations % _coarse_search_resolution != 0) {
           RCLCPP_WARN(
             _logger,
-              "coarse iteration should be an increment of the "
-              "number of angular bins configured. Disabling course research!"
+            "coarse iteration should be an increment of the "
+            "number of angular bins configured. Disabling course research!"
           );
           _coarse_search_resolution = 1;
         }
diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp
index c6e110cbfd4..413cb1c66f2 100644
--- a/nav2_smac_planner/src/smac_planner_lattice.cpp
+++ b/nav2_smac_planner/src/smac_planner_lattice.cpp
@@ -329,10 +329,10 @@ nav_msgs::msg::Path SmacPlannerLattice::createPlan(
   // Set starting point, in A* bin search coordinates
   float mx_start, my_start, mx_goal, my_goal;
   if (!_costmap->worldToMapContinuous(
-    start.pose.position.x,
-    start.pose.position.y,
-    mx_start,
-    my_start))
+      start.pose.position.x,
+      start.pose.position.y,
+      mx_start,
+      my_start))
   {
     throw nav2_core::StartOutsideMapBounds(
             "Start Coordinates of(" + std::to_string(start.pose.position.x) + ", " +
@@ -344,10 +344,10 @@ nav_msgs::msg::Path SmacPlannerLattice::createPlan(
 
   // Set goal point, in A* bin search coordinates
   if (!_costmap->worldToMapContinuous(
-    goal.pose.position.x,
-    goal.pose.position.y,
-    mx_goal,
-    my_goal))
+      goal.pose.position.x,
+      goal.pose.position.y,
+      mx_goal,
+      my_goal))
   {
     throw nav2_core::GoalOutsideMapBounds(
             "Goal Coordinates of(" + std::to_string(goal.pose.position.x) + ", " +
@@ -357,7 +357,7 @@ nav_msgs::msg::Path SmacPlannerLattice::createPlan(
     NodeLattice::motion_table.getClosestAngularBin(tf2::getYaw(goal.pose.orientation));
   _a_star->setGoal(
     mx_goal, my_goal, goal_bin,
-      _goal_heading_mode, _coarse_search_resolution);
+    _goal_heading_mode, _coarse_search_resolution);
 
   // Setup message
   nav_msgs::msg::Path plan;
@@ -546,7 +546,7 @@ SmacPlannerLattice::dynamicParametersCallback(std::vector<rclcpp::Parameter> par
   for (auto parameter : parameters) {
     const auto & param_type = parameter.get_type();
     const auto & param_name = parameter.get_name();
-    if(param_name.find(_name + ".") != 0) {
+    if (param_name.find(_name + ".") != 0) {
       continue;
     }
     if (param_type == ParameterType::PARAMETER_DOUBLE) {
@@ -638,8 +638,8 @@ SmacPlannerLattice::dynamicParametersCallback(std::vector<rclcpp::Parameter> par
         if (_metadata.number_of_headings % _coarse_search_resolution != 0) {
           RCLCPP_WARN(
             _logger,
-              "coarse iteration should be an increment of the number<"
-              " of angular bins configured. Disabling course research!"
+            "coarse iteration should be an increment of the number<"
+            " of angular bins configured. Disabling course research!"
           );
           _coarse_search_resolution = 1;
         }
diff --git a/nav2_smac_planner/src/smoother.cpp b/nav2_smac_planner/src/smoother.cpp
index 456f26a2566..e197210ad78 100644
--- a/nav2_smac_planner/src/smoother.cpp
+++ b/nav2_smac_planner/src/smoother.cpp
@@ -64,8 +64,9 @@ bool Smoother::smooth(
   bool success = true, reversing_segment;
   nav_msgs::msg::Path curr_path_segment;
   curr_path_segment.header = path.header;
-  std::vector<PathSegment> path_segments = nav2_util::findDirectionalPathSegments(path,
-      is_holonomic_);
+  std::vector<PathSegment> path_segments = nav2_util::findDirectionalPathSegments(
+    path,
+    is_holonomic_);
 
   for (unsigned int i = 0; i != path_segments.size(); i++) {
     if (path_segments[i].end - path_segments[i].start > 10) {
diff --git a/nav2_smac_planner/test/test_a_star.cpp b/nav2_smac_planner/test/test_a_star.cpp
index 751e1f2f6c8..2eb3dcd4ac8 100644
--- a/nav2_smac_planner/test/test_a_star.cpp
+++ b/nav2_smac_planner/test/test_a_star.cpp
@@ -139,12 +139,16 @@ TEST(AStarTest, test_a_star_2d)
   EXPECT_EQ(expander.setAnalyticPath(nullptr, nullptr, analytic_expansion_nodes), nullptr);
   int dummy_int1 = 0;
   int dummy_int2 = 0;
-  EXPECT_EQ(expander.tryAnalyticExpansion(nullptr, {}, {}, {},
-  nullptr, dummy_int1, dummy_int2), nullptr);
+  EXPECT_EQ(
+    expander.tryAnalyticExpansion(
+      nullptr, {}, {}, {},
+      nullptr, dummy_int1, dummy_int2), nullptr);
 
   nav2_smac_planner::Node2D * start = nullptr;
-  EXPECT_EQ(expander.refineAnalyticPath(start, nullptr, nullptr,
-    analytic_expansion_nodes), std::numeric_limits<float>::max());
+  EXPECT_EQ(
+    expander.refineAnalyticPath(
+      start, nullptr, nullptr,
+      analytic_expansion_nodes), std::numeric_limits<float>::max());
   nav2_smac_planner::AnalyticExpansion<nav2_smac_planner::Node2D>::AnalyticExpansionNodes
     expected_nodes = expander.getAnalyticPath(nullptr, nullptr, nullptr, nullptr);
   EXPECT_EQ(expected_nodes.nodes.size(), 0);
@@ -490,7 +494,8 @@ TEST(AStarTest, test_goal_heading_mode)
     };
   EXPECT_TRUE(a_star.createPath(path, num_it, tolerance, dummy_cancel_checker, expansions.get()));
   EXPECT_EQ(a_star.getGoalManager().getGoalsState().size(), 2);
-  EXPECT_EQ(a_star.getGoalManager().getGoalsState().size(),
+  EXPECT_EQ(
+    a_star.getGoalManager().getGoalsState().size(),
     a_star.getGoalManager().getGoalsCoordinates().size());
 
 
@@ -498,7 +503,8 @@ TEST(AStarTest, test_goal_heading_mode)
   unsigned int coarse_search_resolution = 16;
   a_star.setCollisionChecker(checker.get());
   a_star.setStart(10u, 10u, 0u);
-  a_star.setGoal(80u, 80u, 40u, nav2_smac_planner::GoalHeadingMode::ALL_DIRECTION,
+  a_star.setGoal(
+    80u, 80u, 40u, nav2_smac_planner::GoalHeadingMode::ALL_DIRECTION,
     coarse_search_resolution);
   EXPECT_TRUE(a_star.getCoarseSearchResolution() == coarse_search_resolution);
 
@@ -508,14 +514,15 @@ TEST(AStarTest, test_goal_heading_mode)
   unsigned int num_valid_goals = 0;
   auto goals_state = a_star.getGoalManager().getGoalsState();
   for (unsigned int i = 0; i < goals_state.size(); i++) {
-    if(goals_state[i].is_valid) {
+    if (goals_state[i].is_valid) {
       num_valid_goals++;
     }
   }
   EXPECT_TRUE(a_star.getGoalManager().getGoalsState().size() == num_bins);
   EXPECT_TRUE(a_star.getGoalManager().getGoalsState().size() == num_valid_goals);
   EXPECT_TRUE(a_star.createPath(path, num_it, tolerance, dummy_cancel_checker, expansions.get()));
-  EXPECT_TRUE(a_star.getGoalManager().getGoalsState().size() ==
+  EXPECT_TRUE(
+    a_star.getGoalManager().getGoalsState().size() ==
     a_star.getGoalManager().getGoalsCoordinates().size());
 
   // UNKNOWN goal heading mode
@@ -570,7 +577,7 @@ TEST(AStarTest, test_constants)
     nav2_smac_planner::fromStringToGH("NONE"), nav2_smac_planner::GoalHeadingMode::UNKNOWN);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_smac_planner/test/test_collision_checker.cpp b/nav2_smac_planner/test/test_collision_checker.cpp
index 48e65389dbf..356fd0d79c8 100644
--- a/nav2_smac_planner/test/test_collision_checker.cpp
+++ b/nav2_smac_planner/test/test_collision_checker.cpp
@@ -215,7 +215,7 @@ TEST(collision_footprint, test_point_and_line_cost)
   delete costmap_;
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_smac_planner/test/test_costmap_downsampler.cpp b/nav2_smac_planner/test/test_costmap_downsampler.cpp
index 1fd6e0aee26..14285f6432f 100644
--- a/nav2_smac_planner/test/test_costmap_downsampler.cpp
+++ b/nav2_smac_planner/test/test_costmap_downsampler.cpp
@@ -58,7 +58,7 @@ TEST(CostmapDownsampler, costmap_downsample_test)
   downsampler.resizeCostmap();
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_smac_planner/test/test_goal_manager.cpp b/nav2_smac_planner/test/test_goal_manager.cpp
index 865ec0e18a6..b9985106f48 100644
--- a/nav2_smac_planner/test/test_goal_manager.cpp
+++ b/nav2_smac_planner/test/test_goal_manager.cpp
@@ -183,8 +183,9 @@ TEST(GoalManagerTest, test_goal_manager)
 
   // expect throw if we try to call removeinvalidgoals twice
   // without clearing the goal manager first
-  EXPECT_THROW(goal_manager.removeInvalidGoals(
-    tolerance, checker.get(), allow_unknow),
+  EXPECT_THROW(
+    goal_manager.removeInvalidGoals(
+      tolerance, checker.get(), allow_unknow),
     std::runtime_error
   );
 
@@ -193,7 +194,7 @@ TEST(GoalManagerTest, test_goal_manager)
 }
 
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_smac_planner/test/test_node2d.cpp b/nav2_smac_planner/test/test_node2d.cpp
index 7ec2bfd4902..790c9e0b20b 100644
--- a/nav2_smac_planner/test/test_node2d.cpp
+++ b/nav2_smac_planner/test/test_node2d.cpp
@@ -150,7 +150,7 @@ TEST(Node2DTest, test_node_2d_neighbors)
   EXPECT_EQ(neighbors.size(), 0u);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_smac_planner/test/test_nodebasic.cpp b/nav2_smac_planner/test/test_nodebasic.cpp
index c9435be2bd4..cd9ea624492 100644
--- a/nav2_smac_planner/test/test_nodebasic.cpp
+++ b/nav2_smac_planner/test/test_nodebasic.cpp
@@ -43,7 +43,7 @@ TEST(NodeBasicTest, test_node_basic)
   EXPECT_EQ(node3.graph_node_ptr, nullptr);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_smac_planner/test/test_nodehybrid.cpp b/nav2_smac_planner/test/test_nodehybrid.cpp
index cf452cb984b..949ddb18980 100644
--- a/nav2_smac_planner/test/test_nodehybrid.cpp
+++ b/nav2_smac_planner/test/test_nodehybrid.cpp
@@ -411,7 +411,7 @@ TEST(NodeHybridTest, basic_get_closest_angular_bin_test)
   }
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_smac_planner/test/test_nodelattice.cpp b/nav2_smac_planner/test/test_nodelattice.cpp
index 9e8bae98604..93efec2fac1 100644
--- a/nav2_smac_planner/test/test_nodelattice.cpp
+++ b/nav2_smac_planner/test/test_nodelattice.cpp
@@ -388,7 +388,7 @@ TEST(NodeLatticeTest, test_node_lattice_custom_footprint)
   delete costmap;
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_smac_planner/test/test_smac_2d.cpp b/nav2_smac_planner/test/test_smac_2d.cpp
index bbad2044d3f..d7ed7a0bec0 100644
--- a/nav2_smac_planner/test/test_smac_2d.cpp
+++ b/nav2_smac_planner/test/test_smac_2d.cpp
@@ -151,7 +151,7 @@ TEST(SmacTest, test_smac_2d_reconfigure) {
     results);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_smac_planner/test/test_smac_hybrid.cpp b/nav2_smac_planner/test/test_smac_hybrid.cpp
index f356bf04227..57bcc844542 100644
--- a/nav2_smac_planner/test/test_smac_hybrid.cpp
+++ b/nav2_smac_planner/test/test_smac_hybrid.cpp
@@ -105,7 +105,7 @@ TEST(SmacTest, test_smac_se2)
   EXPECT_THROW(planner->configure(nodeSE2, "test", nullptr, costmap_ros), std::runtime_error);
   nodeSE2->set_parameter(rclcpp::Parameter("test.motion_model_for_search", std::string("DUBIN")));
 
-    // invalid coarse search resolution
+  // invalid coarse search resolution
   nodeSE2->set_parameter(rclcpp::Parameter("test.coarse_search_resolution", -1));
   nodeSE2->set_parameter(rclcpp::Parameter("test.max_on_approach_iterations", -1));
   nodeSE2->set_parameter(rclcpp::Parameter("test.max_iterations", -1));
@@ -269,7 +269,7 @@ TEST(SmacTest, test_smac_se2_reconfigure)
   EXPECT_EQ(planner->getGoalHeadingMode(), nav2_smac_planner::GoalHeadingMode::BIDIRECTIONAL);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_smac_planner/test/test_smac_lattice.cpp b/nav2_smac_planner/test/test_smac_lattice.cpp
index d9f33f7050e..e8d0a38945f 100644
--- a/nav2_smac_planner/test/test_smac_lattice.cpp
+++ b/nav2_smac_planner/test/test_smac_lattice.cpp
@@ -217,9 +217,11 @@ TEST(SmacTest, test_smac_lattice_reconfigure)
   parameters.clear();
 
   parameters.push_back(rclcpp::Parameter("test.coarse_search_resolution", 4));
-  parameters.push_back(rclcpp::Parameter("test.lattice_filepath",
-    ament_index_cpp::get_package_share_directory("nav2_smac_planner") +
-    "/sample_primitives/test/output.json"));
+  parameters.push_back(
+    rclcpp::Parameter(
+      "test.lattice_filepath",
+      ament_index_cpp::get_package_share_directory("nav2_smac_planner") +
+      "/sample_primitives/test/output.json"));
   EXPECT_NO_THROW(planner->callDynamicParams(parameters));
   EXPECT_EQ(planner->getCoarseSearchResolution(), 1);
 
@@ -230,7 +232,7 @@ TEST(SmacTest, test_smac_lattice_reconfigure)
   EXPECT_THROW(planner->callDynamicParams(parameters), std::runtime_error);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_smac_planner/test/test_smoother.cpp b/nav2_smac_planner/test/test_smoother.cpp
index 2b38d854255..b34246beae9 100644
--- a/nav2_smac_planner/test/test_smoother.cpp
+++ b/nav2_smac_planner/test/test_smoother.cpp
@@ -182,7 +182,7 @@ TEST(SmootherTest, test_full_smoother)
   nav2_smac_planner::NodeHybrid::destroyStaticAssets();
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_smoother/src/savitzky_golay_smoother.cpp b/nav2_smoother/src/savitzky_golay_smoother.cpp
index e38b5134ea4..e00850fba04 100644
--- a/nav2_smoother/src/savitzky_golay_smoother.cpp
+++ b/nav2_smoother/src/savitzky_golay_smoother.cpp
@@ -50,7 +50,7 @@ void SavitzkyGolaySmoother::configure(
   node->get_parameter(name + ".poly_order", poly_order_);
   if (window_size_ % 2 == 0 || window_size_ <= 2) {
     throw nav2_core::SmootherException(
-      "Savitzky-Golay Smoother requires an odd window size of 3 or greater");
+            "Savitzky-Golay Smoother requires an odd window size of 3 or greater");
   }
   half_window_size_ = (window_size_ - 1) / 2;
   calculateCoefficients();
@@ -61,10 +61,11 @@ void SavitzkyGolaySmoother::configure(
 void SavitzkyGolaySmoother::calculateCoefficients()
 {
   // We construct the Vandermonde matrix here
-  Eigen::VectorXd v = Eigen::VectorXd::LinSpaced(window_size_, -half_window_size_,
-      half_window_size_);
+  Eigen::VectorXd v = Eigen::VectorXd::LinSpaced(
+    window_size_, -half_window_size_,
+    half_window_size_);
   Eigen::MatrixXd x = Eigen::MatrixXd::Ones(window_size_, poly_order_ + 1);
-  for(int i = 1; i <= poly_order_; i++) {
+  for (int i = 1; i <= poly_order_; i++) {
     x.col(i) = (x.col(i - 1).array() * v.array()).matrix();
   }
   // Compute the pseudoinverse of X, (X^T * X)^-1 * X^T
@@ -146,7 +147,7 @@ bool SavitzkyGolaySmoother::smoothImpl(
       for (unsigned int idx = 1; idx != path_size - 1; idx++) {
         Eigen::Vector2d accum(0.0, 0.0);
 
-        for(int j = -half_window_size_; j <= half_window_size_; j++) {
+        for (int j = -half_window_size_; j <= half_window_size_; j++) {
           int path_idx = std::clamp<int>(idx + j, 0, path_size - 1);
           accum += sg_coeffs_(j + half_window_size_) * init_plan_pts[path_idx];
         }
@@ -156,16 +157,18 @@ bool SavitzkyGolaySmoother::smoothImpl(
     };
 
   std::vector<Eigen::Vector2d> initial_path_poses(path.poses.size());
-  std::transform(path.poses.begin(), path.poses.end(),
-               initial_path_poses.begin(), toEigenVec);
+  std::transform(
+    path.poses.begin(), path.poses.end(),
+    initial_path_poses.begin(), toEigenVec);
   applyFilterOverAxes(path.poses, initial_path_poses);
 
   // Let's do additional refinement, it shouldn't take more than a couple milliseconds
   if (do_refinement_) {
     for (int i = 0; i < refinement_num_; i++) {
       std::vector<Eigen::Vector2d> reined_initial_path_poses(path.poses.size());
-      std::transform(path.poses.begin(), path.poses.end(),
-                       reined_initial_path_poses.begin(), toEigenVec);
+      std::transform(
+        path.poses.begin(), path.poses.end(),
+        reined_initial_path_poses.begin(), toEigenVec);
       applyFilterOverAxes(path.poses, reined_initial_path_poses);
     }
   }
diff --git a/nav2_smoother/test/test_savitzky_golay_smoother.cpp b/nav2_smoother/test/test_savitzky_golay_smoother.cpp
index b1b59c3f2d8..2bea24ae26e 100644
--- a/nav2_smoother/test/test_savitzky_golay_smoother.cpp
+++ b/nav2_smoother/test/test_savitzky_golay_smoother.cpp
@@ -316,7 +316,7 @@ TEST(SmootherTest, test_sg_smoother_reversing)
   EXPECT_LT(length, base_length);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_smoother/test/test_simple_smoother.cpp b/nav2_smoother/test/test_simple_smoother.cpp
index be1fadb2338..7cefa0a590d 100644
--- a/nav2_smoother/test/test_simple_smoother.cpp
+++ b/nav2_smoother/test/test_simple_smoother.cpp
@@ -271,7 +271,7 @@ TEST(SmootherTest, test_simple_smoother)
   EXPECT_TRUE(smoother->smooth(max_its_path, max_time));
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp b/nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp
index 6a6cd178a5e..40b463bebcd 100644
--- a/nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp
+++ b/nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp
@@ -80,13 +80,14 @@ class BehaviorTreeHandler
 
   BT::Blackboard::Ptr setBlackboardVariables()
   {
-     // Create and populate the blackboard
+    // Create and populate the blackboard
     blackboard = BT::Blackboard::create();
     blackboard->set("node", node_);
     blackboard->set<std::chrono::milliseconds>("server_timeout", std::chrono::milliseconds(20));
     blackboard->set<std::chrono::milliseconds>("bt_loop_duration", std::chrono::milliseconds(10));
-    blackboard->set<std::chrono::milliseconds>("wait_for_service_timeout",
-             std::chrono::milliseconds(1000));
+    blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     blackboard->set("tf_buffer", tf_);
     blackboard->set("initial_pose_received", false);
     blackboard->set("number_recoveries", 0);
@@ -112,8 +113,9 @@ class BehaviorTreeHandler
     namespace fs = std::filesystem;
     const std::string kXmlExtension = ".xml";
     const bool is_bt_id = (file_or_id.length() < kXmlExtension.size()) ||
-      (file_or_id.compare(file_or_id.length() - kXmlExtension.size(),
-                          kXmlExtension.size(), kXmlExtension) != 0);
+      (file_or_id.compare(
+        file_or_id.length() - kXmlExtension.size(),
+        kXmlExtension.size(), kXmlExtension) != 0);
 
     std::set<std::string> registered_ids;
     std::string main_id;
@@ -285,7 +287,8 @@ TEST_F(BehaviorTreeTestFixture, TestWrongBTFormatXML)
   std::string malformed_main = "/tmp/malformed_main.xml";
 
   // Valid subtree
-  write_file(valid_subtree,
+  write_file(
+    valid_subtree,
     "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n"
     "<root BTCPP_format=\"4\">\n"
     "    <BehaviorTree ID=\"NoopTree\">\n"
@@ -297,7 +300,8 @@ TEST_F(BehaviorTreeTestFixture, TestWrongBTFormatXML)
   write_file(invalid_subtree, "<root><invalid></root>");
 
   // Main tree referencing the valid subtree
-  write_file(main_file,
+  write_file(
+    main_file,
     "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n"
     "<root BTCPP_format=\"4\" main_tree_to_execute=\"MainTree\">\n"
     "  <include path=\"/tmp/valid_subtree.xml\">\n"
@@ -333,7 +337,8 @@ TEST_F(BehaviorTreeTestFixture, TestExtractBehaviorTreeID)
 
   // 2. Valid XML with ID
   std::string valid_xml = "/tmp/extract_bt_id_valid.xml";
-  write_file(valid_xml,
+  write_file(
+    valid_xml,
     "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n"
     "<root BTCPP_format=\"4\">\n"
     "  <BehaviorTree ID=\"TestTree\">\n"
@@ -356,7 +361,8 @@ TEST_F(BehaviorTreeTestFixture, TestExtractBehaviorTreeID)
 
   // 6. No root element
   std::string no_root_file = "/tmp/extract_bt_id_no_root.xml";
-  write_file(no_root_file,
+  write_file(
+    no_root_file,
     "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n"
     "<!-- no root element, just a comment -->\n");
   auto no_root_id = bt_handler->extractBehaviorTreeID(no_root_file);
@@ -364,7 +370,8 @@ TEST_F(BehaviorTreeTestFixture, TestExtractBehaviorTreeID)
 
   // 7. No <BehaviorTree> child
   std::string no_bt_element = "/tmp/extract_bt_id_no_bt.xml";
-  write_file(no_bt_element,
+  write_file(
+    no_bt_element,
     "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n"
     "<root BTCPP_format=\"4\">\n"
     "  <Dummy />\n"
@@ -374,7 +381,8 @@ TEST_F(BehaviorTreeTestFixture, TestExtractBehaviorTreeID)
 
   // 8. No ID attribute
   std::string no_id_attr = "/tmp/extract_bt_id_no_id.xml";
-  write_file(no_id_attr,
+  write_file(
+    no_id_attr,
     "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n"
     "<root BTCPP_format=\"4\">\n"
     "  <BehaviorTree>\n"
@@ -429,13 +437,14 @@ TEST_F(BehaviorTreeTestFixture, TestDuplicateIDsWithFileSpecified) {
   EXPECT_TRUE(result);
 
   bool found_conflict =
-    log_output.find("Skipping conflicting BT file \"" + dup2_file +
-      "\" (duplicate ID DuplicateTree)") != std::string::npos;
+    log_output.find(
+    "Skipping conflicting BT file \"" + dup2_file +
+    "\" (duplicate ID DuplicateTree)") != std::string::npos;
   EXPECT_TRUE(found_conflict);
 
   EXPECT_NE(log_output.find("Registering Tree from File"), std::string::npos);
   EXPECT_NE(log_output.find("Skipping conflicting BT file"), std::string::npos)
-      << "Should warn about duplicate ID";
+    << "Should warn about duplicate ID";
   EXPECT_NE(log_output.find("Created BT from ID: DuplicateTree"), std::string::npos);
 
   std::filesystem::remove_all(tmp_dir);
@@ -579,23 +588,23 @@ TEST_F(BehaviorTreeTestFixture, TestDuplicateIDsWithIDSpecified) {
   EXPECT_TRUE(result) << "Tree should still load despite duplicate IDs";
 
   EXPECT_NE(log_output.find("Registering Tree from File"), std::string::npos)
-      << "Should have registered at least one BT file";
+    << "Should have registered at least one BT file";
   EXPECT_NE(log_output.find("Skipping conflicting BT file"), std::string::npos)
-      << "Should warn about duplicate IDs";
+    << "Should warn about duplicate IDs";
   EXPECT_NE(log_output.find("Created BT from ID: DuplicateTree"), std::string::npos)
-      << "Should have created BT from the given ID";
+    << "Should have created BT from the given ID";
 
-bool registered_dup1 =
+  bool registered_dup1 =
     log_output.find("Registering Tree from File: " + dup1_file) != std::string::npos;
-bool registered_dup2 =
+  bool registered_dup2 =
     log_output.find("Registering Tree from File: " + dup2_file) != std::string::npos;
 
-EXPECT_TRUE(registered_dup1 || registered_dup2)
+  EXPECT_TRUE(registered_dup1 || registered_dup2)
     << "At least one duplicate file should have been registered";
-EXPECT_FALSE(registered_dup1 && registered_dup2)
+  EXPECT_FALSE(registered_dup1 && registered_dup2)
     << "Only one of the duplicate files should be registered as the main tree";
-EXPECT_NE(log_output.find("Skipping conflicting BT file"), std::string::npos);
-EXPECT_NE(log_output.find("Created BT from ID: DuplicateTree"), std::string::npos);
+  EXPECT_NE(log_output.find("Skipping conflicting BT file"), std::string::npos);
+  EXPECT_NE(log_output.find("Created BT from ID: DuplicateTree"), std::string::npos);
 
 
   std::filesystem::remove_all(tmp_dir);
@@ -612,7 +621,8 @@ TEST_F(BehaviorTreeTestFixture, TestSkipFilesWithMissingID) {
 
   // File with missing ID
   std::string no_id_file = tmp_dir + "/no_id.xml";
-  write_file(no_id_file,
+  write_file(
+    no_id_file,
     "<?xml version=\"1.0\"?>\n"
     "<root BTCPP_format=\"4\">\n"
     "  <BehaviorTree>\n"  // No ID attribute
@@ -621,7 +631,8 @@ TEST_F(BehaviorTreeTestFixture, TestSkipFilesWithMissingID) {
     "</root>\n");
 
   std::string valid_file = tmp_dir + "/valid.xml";
-  write_file(valid_file,
+  write_file(
+    valid_file,
     "<?xml version=\"1.0\"?>\n"
     "<root BTCPP_format=\"4\">\n"
     "  <BehaviorTree ID=\"ValidTree\">\n"
diff --git a/nav2_system_tests/src/localization/test_localization_node.cpp b/nav2_system_tests/src/localization/test_localization_node.cpp
index aabc414a544..4342dc3e2cb 100644
--- a/nav2_system_tests/src/localization/test_localization_node.cpp
+++ b/nav2_system_tests/src/localization/test_localization_node.cpp
@@ -113,7 +113,7 @@ TEST_F(TestAmclPose, SimpleAmclTest)
   EXPECT_EQ(true, defaultAmclTest());
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_theta_star_planner/src/theta_star_planner.cpp b/nav2_theta_star_planner/src/theta_star_planner.cpp
index c0442be888d..bd039bc9048 100644
--- a/nav2_theta_star_planner/src/theta_star_planner.cpp
+++ b/nav2_theta_star_planner/src/theta_star_planner.cpp
@@ -240,7 +240,7 @@ ThetaStarPlanner::dynamicParametersCallback(std::vector<rclcpp::Parameter> param
   for (auto parameter : parameters) {
     const auto & param_type = parameter.get_type();
     const auto & param_name = parameter.get_name();
-    if(param_name.find(name_ + ".") != 0) {
+    if (param_name.find(name_ + ".") != 0) {
       continue;
     }
     if (param_type == ParameterType::PARAMETER_INTEGER) {
diff --git a/nav2_theta_star_planner/test/test_theta_star.cpp b/nav2_theta_star_planner/test/test_theta_star.cpp
index e6c69541f96..289729965fd 100644
--- a/nav2_theta_star_planner/test/test_theta_star.cpp
+++ b/nav2_theta_star_planner/test/test_theta_star.cpp
@@ -230,7 +230,7 @@ TEST(ThetaStarPlanner, test_theta_star_reconfigure)
     results);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_util/include/nav2_util/geometry_utils.hpp b/nav2_util/include/nav2_util/geometry_utils.hpp
index f4cf4078042..3869fbb9c49 100644
--- a/nav2_util/include/nav2_util/geometry_utils.hpp
+++ b/nav2_util/include/nav2_util/geometry_utils.hpp
@@ -175,10 +175,11 @@ inline int find_next_matching_goal_in_waypoint_statuses(
   const std::vector<nav2_msgs::msg::WaypointStatus> & waypoint_statuses,
   const geometry_msgs::msg::PoseStamped & goal)
 {
-  auto itr = std::find_if(waypoint_statuses.begin(), waypoint_statuses.end(),
-      [&goal](const nav2_msgs::msg::WaypointStatus & status){
-        return status.waypoint_pose == goal &&
-               status.waypoint_status == nav2_msgs::msg::WaypointStatus::PENDING;
+  auto itr = std::find_if(
+    waypoint_statuses.begin(), waypoint_statuses.end(),
+    [&goal](const nav2_msgs::msg::WaypointStatus & status) {
+      return status.waypoint_pose == goal &&
+             status.waypoint_status == nav2_msgs::msg::WaypointStatus::PENDING;
     });
 
   if (itr == waypoint_statuses.end()) {
diff --git a/nav2_util/include/nav2_util/odometry_utils.hpp b/nav2_util/include/nav2_util/odometry_utils.hpp
index 2c34a67eebc..6e51227cf67 100644
--- a/nav2_util/include/nav2_util/odometry_utils.hpp
+++ b/nav2_util/include/nav2_util/odometry_utils.hpp
@@ -77,8 +77,9 @@ class OdomSmoother
   {
     std::lock_guard<std::mutex> lock(odom_mutex_);
     if (!received_odom_) {
-      RCLCPP_ERROR(rclcpp::get_logger("OdomSmoother"),
-          "OdomSmoother has not received any data yet, returning empty Twist");
+      RCLCPP_ERROR(
+        rclcpp::get_logger("OdomSmoother"),
+        "OdomSmoother has not received any data yet, returning empty Twist");
       geometry_msgs::msg::Twist twist;
       return twist;
     }
@@ -93,8 +94,9 @@ class OdomSmoother
   {
     std::lock_guard<std::mutex> lock(odom_mutex_);
     if (!received_odom_) {
-      RCLCPP_ERROR(rclcpp::get_logger("OdomSmoother"),
-          "OdomSmoother has not received any data yet, returning empty Twist");
+      RCLCPP_ERROR(
+        rclcpp::get_logger("OdomSmoother"),
+        "OdomSmoother has not received any data yet, returning empty Twist");
       geometry_msgs::msg::TwistStamped twist_stamped;
       return twist_stamped;
     }
@@ -109,25 +111,27 @@ class OdomSmoother
   {
     std::lock_guard<std::mutex> lock(odom_mutex_);
     if (!received_odom_) {
-      RCLCPP_ERROR(rclcpp::get_logger("OdomSmoother"),
-          "OdomSmoother has not received any data yet, returning empty Twist");
+      RCLCPP_ERROR(
+        rclcpp::get_logger("OdomSmoother"),
+        "OdomSmoother has not received any data yet, returning empty Twist");
       geometry_msgs::msg::Twist twist;
       return twist;
     }
     return odom_history_.back().twist.twist;
   }
 
-    /**
-   * @brief Get raw twist stamped msg from smoother (without smoothing)
-   * @return twist TwistStamped msg
-   */
+  /**
+ * @brief Get raw twist stamped msg from smoother (without smoothing)
+ * @return twist TwistStamped msg
+ */
   inline geometry_msgs::msg::TwistStamped getRawTwistStamped()
   {
     std::lock_guard<std::mutex> lock(odom_mutex_);
     geometry_msgs::msg::TwistStamped twist_stamped;
     if (!received_odom_) {
-      RCLCPP_ERROR(rclcpp::get_logger("OdomSmoother"),
-          "OdomSmoother has not received any data yet, returning empty Twist");
+      RCLCPP_ERROR(
+        rclcpp::get_logger("OdomSmoother"),
+        "OdomSmoother has not received any data yet, returning empty Twist");
       return twist_stamped;
     }
     twist_stamped.header = odom_history_.back().header;
diff --git a/nav2_util/src/path_utils.cpp b/nav2_util/src/path_utils.cpp
index 9d5975b65eb..57e88e9bddd 100644
--- a/nav2_util/src/path_utils.cpp
+++ b/nav2_util/src/path_utils.cpp
@@ -45,9 +45,9 @@ PathSearchResult distance_from_path(
 
   if (start_index >= path.poses.size()) {
     throw std::runtime_error(
-      "Invalid operation: requested start index (" + std::to_string(start_index) +
-      ") is greater than or equal to path size (" + std::to_string(path.poses.size()) +
-      "). Application is not properly managing state.");
+            "Invalid operation: requested start index (" + std::to_string(start_index) +
+            ") is greater than or equal to path size (" + std::to_string(path.poses.size()) +
+            "). Application is not properly managing state.");
   }
 
   double distance_traversed = 0.0;
diff --git a/nav2_util/src/robot_utils.cpp b/nav2_util/src/robot_utils.cpp
index d333df9cf14..02fead7fc82 100644
--- a/nav2_util/src/robot_utils.cpp
+++ b/nav2_util/src/robot_utils.cpp
@@ -50,7 +50,7 @@ bool transformPoseInTargetFrame(
 {
   static rclcpp::Logger logger = rclcpp::get_logger("transformPoseInTargetFrame");
 
-  if(input_pose.header.frame_id == target_frame) {
+  if (input_pose.header.frame_id == target_frame) {
     transformed_pose = input_pose;
     return true;
   }
diff --git a/nav2_util/test/test_base_footprint_publisher.cpp b/nav2_util/test/test_base_footprint_publisher.cpp
index 641e13ec98f..1f6efa2ced9 100644
--- a/nav2_util/test/test_base_footprint_publisher.cpp
+++ b/nav2_util/test/test_base_footprint_publisher.cpp
@@ -65,7 +65,7 @@ TEST(TestBaseFootprintPublisher, TestBaseFootprintPublisher)
   EXPECT_EQ(t.transform.translation.z, 0.0);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_util/test/test_geometry_utils.cpp b/nav2_util/test/test_geometry_utils.cpp
index e5b17678a9c..04a92a3ef83 100644
--- a/nav2_util/test/test_geometry_utils.cpp
+++ b/nav2_util/test/test_geometry_utils.cpp
@@ -136,15 +136,17 @@ TEST(GeometryUtils, find_next_matching_goal_in_waypoint_statuses)
   float distance_between_waypoints = 2.0;
 
   std::vector<nav2_msgs::msg::WaypointStatus> waypoint_statuses(nb_waypoints);
-  for (size_t i = 0 ; i < nb_waypoints ; ++i) {
+  for (size_t i = 0; i < nb_waypoints; ++i) {
     waypoint_statuses[i].waypoint_index = i;
     waypoint_statuses[i].waypoint_pose.pose.position.x = distance_between_waypoints * i;
   }
 
   // match success
   size_t matching_index = nb_waypoints / 2;
-  ASSERT_EQ(find_next_matching_goal_in_waypoint_statuses(waypoint_statuses,
-    waypoint_statuses[matching_index].waypoint_pose), matching_index);
+  ASSERT_EQ(
+    find_next_matching_goal_in_waypoint_statuses(
+      waypoint_statuses,
+      waypoint_statuses[matching_index].waypoint_pose), matching_index);
 
   // match failed due to mismatch of pose
   geometry_msgs::msg::PoseStamped fake_pose;
@@ -153,8 +155,10 @@ TEST(GeometryUtils, find_next_matching_goal_in_waypoint_statuses)
 
   // match failed due to waypoint_status is not PENDING
   waypoint_statuses[matching_index].waypoint_status = nav2_msgs::msg::WaypointStatus::COMPLETED;
-  ASSERT_EQ(find_next_matching_goal_in_waypoint_statuses(waypoint_statuses,
-    waypoint_statuses[matching_index].waypoint_pose), -1);
+  ASSERT_EQ(
+    find_next_matching_goal_in_waypoint_statuses(
+      waypoint_statuses,
+      waypoint_statuses[matching_index].waypoint_pose), -1);
 }
 
 TEST(GeometryUtils, cross_product_2d_basic)
diff --git a/nav2_util/test/test_lifecycle_cli_node.cpp b/nav2_util/test/test_lifecycle_cli_node.cpp
index f6256a7a21e..f8b7846b5ac 100644
--- a/nav2_util/test/test_lifecycle_cli_node.cpp
+++ b/nav2_util/test/test_lifecycle_cli_node.cpp
@@ -92,7 +92,7 @@ TEST(LifecycleCLI, succeeds_node_name)
   SUCCEED();
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_util/test/test_odometry_utils.cpp b/nav2_util/test/test_odometry_utils.cpp
index 91f9f4a5756..eaac1c1d23d 100644
--- a/nav2_util/test/test_odometry_utils.cpp
+++ b/nav2_util/test/test_odometry_utils.cpp
@@ -160,7 +160,7 @@ TEST(OdometryUtils, test_smoothed_velocity)
   EXPECT_EQ(twist_raw_msg.angular.z, 5.0);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_util/test/test_path_utils.cpp b/nav2_util/test/test_path_utils.cpp
index 30a16bfb30c..82b98a3b16d 100644
--- a/nav2_util/test/test_path_utils.cpp
+++ b/nav2_util/test/test_path_utils.cpp
@@ -50,9 +50,10 @@ void generateCirclePath(
   const double angle_step = (end_angle - start_angle) / (num_points - 1);
   for (int i = 0; i < num_points; ++i) {
     const double angle = start_angle + i * angle_step;
-    path.poses.push_back(createPoseStamped(
-      center_x + radius * std::cos(angle),
-      center_y + radius * std::sin(angle)));
+    path.poses.push_back(
+      createPoseStamped(
+        center_x + radius * std::cos(angle),
+        center_y + radius * std::sin(angle)));
   }
 }
 
@@ -64,9 +65,10 @@ void generateCircleTrajectory(
   const double angle_step = (end_angle - start_angle) / (num_points - 1);
   for (int i = 0; i < num_points; ++i) {
     const double angle = start_angle + i * angle_step;
-    path.push_back(createPose(
-      center_x + radius * std::cos(angle),
-      center_y + radius * std::sin(angle)));
+    path.push_back(
+      createPose(
+        center_x + radius * std::cos(angle),
+        center_y + radius * std::sin(angle)));
   }
 }
 class CloverleafPathTest : public ::testing::Test
@@ -263,7 +265,8 @@ TEST_F(CuttingCornerWindowedTest, WindowedSearch)
 
   for (size_t i = 0; i < robot_trajectory.size(); ++i) {
     const auto & robot_pose = robot_trajectory[i];
-    auto result = nav2_util::distance_from_path(target_path, robot_pose, start_index,
+    auto result = nav2_util::distance_from_path(
+      target_path, robot_pose, start_index,
       search_window);
     start_index = result.closest_segment_index;
     EXPECT_NEAR(std::abs(result.distance), expected_distances[i], 0.15);
@@ -280,7 +283,8 @@ TEST_F(RetracingPathWindowedTest, WindowedSearch)
 
   for (size_t i = 0; i < robot_trajectory.size(); ++i) {
     const auto & robot_pose = robot_trajectory[i];
-    auto result = nav2_util::distance_from_path(target_path, robot_pose, start_index,
+    auto result = nav2_util::distance_from_path(
+      target_path, robot_pose, start_index,
       search_window);
     start_index = result.closest_segment_index;
     EXPECT_NEAR(std::abs(result.distance), expected_distance, 1e-6);
@@ -296,7 +300,8 @@ TEST_F(ZigZagPathWindowedTest, WindowedSearch)
 
   for (size_t i = 0; i < robot_trajectory.size(); ++i) {
     const auto & robot_pose = robot_trajectory[i];
-    auto result = nav2_util::distance_from_path(target_path, robot_pose, start_index,
+    auto result = nav2_util::distance_from_path(
+      target_path, robot_pose, start_index,
       search_window);
     start_index = result.closest_segment_index;
     EXPECT_LT(std::abs(result.distance), 1.0);
@@ -312,7 +317,8 @@ TEST_F(HairpinTurnWindowedTest, WindowedSearch)
 
   for (size_t i = 0; i < robot_trajectory.size(); ++i) {
     const auto & robot_pose = robot_trajectory[i];
-    auto result = nav2_util::distance_from_path(target_path, robot_pose, start_index,
+    auto result = nav2_util::distance_from_path(
+      target_path, robot_pose, start_index,
       search_window);
     start_index = result.closest_segment_index;
     EXPECT_LT(std::abs(result.distance), 1.5);
diff --git a/nav2_velocity_smoother/src/velocity_smoother.cpp b/nav2_velocity_smoother/src/velocity_smoother.cpp
index 56e9c880a94..dc81c36a209 100644
--- a/nav2_velocity_smoother/src/velocity_smoother.cpp
+++ b/nav2_velocity_smoother/src/velocity_smoother.cpp
@@ -339,7 +339,7 @@ void VelocitySmoother::smootherTimer()
   }
 
   // Apply absolute velocity restrictions to the command
-  if(!is_6dof_) {
+  if (!is_6dof_) {
     command_->twist.linear.x = std::clamp(
       command_->twist.linear.x, min_velocities_[0],
       max_velocities_[0]);
@@ -378,7 +378,7 @@ void VelocitySmoother::smootherTimer()
   double eta = 1.0;
   if (scale_velocities_) {
     double curr_eta = -1.0;
-    if(!is_6dof_) {
+    if (!is_6dof_) {
       curr_eta = findEtaConstraint(
         current_.twist.linear.x, command_->twist.linear.x, max_accels_[0], max_decels_[0]);
       if (curr_eta > 0.0 && std::fabs(1.0 - curr_eta) > std::fabs(1.0 - eta)) {
@@ -435,7 +435,7 @@ void VelocitySmoother::smootherTimer()
     }
   }
 
-  if(!is_6dof_) {
+  if (!is_6dof_) {
     cmd_vel->twist.linear.x = applyConstraints(
       current_.twist.linear.x, command_->twist.linear.x, max_accels_[0], max_decels_[0], eta);
     cmd_vel->twist.linear.y = applyConstraints(
@@ -461,7 +461,7 @@ void VelocitySmoother::smootherTimer()
 
 
   // Apply deadband restrictions & publish
-  if(!is_6dof_) {
+  if (!is_6dof_) {
     cmd_vel->twist.linear.x =
       fabs(cmd_vel->twist.linear.x) < deadband_velocities_[0] ? 0.0 : cmd_vel->twist.linear.x;
     cmd_vel->twist.linear.y =
@@ -524,8 +524,9 @@ VelocitySmoother::dynamicParametersCallback(std::vector<rclcpp::Parameter> param
     } else if (param_type == ParameterType::PARAMETER_DOUBLE_ARRAY) {
       size_t size = is_6dof_ ? 6 : 3;
       if (parameter.as_double_array().size() != size) {
-        RCLCPP_WARN(get_logger(), "Invalid size of parameter %s. Must be size %ld",
-            param_name.c_str(), size);
+        RCLCPP_WARN(
+          get_logger(), "Invalid size of parameter %s. Must be size %ld",
+          param_name.c_str(), size);
         result.successful = false;
         break;
       }
diff --git a/nav2_velocity_smoother/test/test_velocity_smoother.cpp b/nav2_velocity_smoother/test/test_velocity_smoother.cpp
index 8de8bd7e9a7..159973d1118 100644
--- a/nav2_velocity_smoother/test/test_velocity_smoother.cpp
+++ b/nav2_velocity_smoother/test/test_velocity_smoother.cpp
@@ -697,7 +697,7 @@ TEST(VelocitySmootherTest, testInvalidParamsAccelDecel)
 }
 
 TEST(VelocitySmootherTest, testDifferentParamsSize) {
-   auto smoother =
+  auto smoother =
     std::make_shared<VelSmootherShim>();
 
   std::vector<double> max_vel{0.5, 0.5, 0.5, 2.5, 2.5, 2.5};
@@ -716,7 +716,7 @@ TEST(VelocitySmootherTest, testDifferentParamsSize) {
 }
 
 TEST(VelocitySmootherTest, testInvalidParamsSize) {
-   auto smoother =
+  auto smoother =
     std::make_shared<VelSmootherShim>();
 
   std::vector<double> bad_max_vel{0.5, 0.5, 0.5, 2.5};
@@ -816,7 +816,7 @@ TEST(VelocitySmootherTest, testDynamicParameter)
   smoother.reset();
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_waypoint_follower/test/test_dynamic_parameters.cpp b/nav2_waypoint_follower/test/test_dynamic_parameters.cpp
index 8d13e7b797a..437c8c11d19 100644
--- a/nav2_waypoint_follower/test/test_dynamic_parameters.cpp
+++ b/nav2_waypoint_follower/test/test_dynamic_parameters.cpp
@@ -82,7 +82,7 @@ TEST(WPTest, test_dynamic_parameters)
   follower.reset();
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
 
diff --git a/nav2_waypoint_follower/test/test_task_executors.cpp b/nav2_waypoint_follower/test/test_task_executors.cpp
index becf874d4c1..9f8af9f8f53 100644
--- a/nav2_waypoint_follower/test/test_task_executors.cpp
+++ b/nav2_waypoint_follower/test/test_task_executors.cpp
@@ -158,7 +158,7 @@ TEST(WaypointFollowerTest, PhotoAtWaypoint)
   EXPECT_TRUE(paw->processAtWaypoint(pose, 0));
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);