diff --git a/localization/yabloc/yabloc_common/include/yabloc_common/color.hpp b/localization/yabloc/yabloc_common/include/yabloc_common/color.hpp
index 3a052795d97c1..447c101fd520a 100644
--- a/localization/yabloc/yabloc_common/include/yabloc_common/color.hpp
+++ b/localization/yabloc/yabloc_common/include/yabloc_common/color.hpp
@@ -31,8 +31,10 @@ struct Color
   }
 
   explicit Color(const cv::Scalar & rgb, float a = 1.0f)
-  : r(static_cast<float>(rgb[2]) / 255.f), g(static_cast<float>(rgb[1]) / 255.f),
-    b(static_cast<float>(rgb[0]) / 255.f), a(a)
+  : r(static_cast<float>(rgb[2]) / 255.f),
+    g(static_cast<float>(rgb[1]) / 255.f),
+    b(static_cast<float>(rgb[0]) / 255.f),
+    a(a)
   {
   }
 
diff --git a/localization/yabloc/yabloc_common/include/yabloc_common/ground_server/util.hpp b/localization/yabloc/yabloc_common/include/yabloc_common/ground_server/util.hpp
index 8f461daa7f09d..8d9dc06447d62 100644
--- a/localization/yabloc/yabloc_common/include/yabloc_common/ground_server/util.hpp
+++ b/localization/yabloc/yabloc_common/include/yabloc_common/ground_server/util.hpp
@@ -30,10 +30,10 @@ void inline upsample_line_string(
   const lanelet::ConstPoint3d & from, const lanelet::ConstPoint3d & to,
   pcl::PointCloud<pcl::PointXYZ>::Ptr cloud)
 {
-  Eigen::Vector3f f(static_cast<float>(from.x()), static_cast<float>(from.y()),
-    static_cast<float>(from.z()));
-  Eigen::Vector3f t(static_cast<float>(to.x()), static_cast<float>(to.y()),
-    static_cast<float>(to.z()));
+  Eigen::Vector3f f(
+    static_cast<float>(from.x()), static_cast<float>(from.y()), static_cast<float>(from.z()));
+  Eigen::Vector3f t(
+    static_cast<float>(to.x()), static_cast<float>(to.y()), static_cast<float>(to.z()));
   float length = (t - f).norm();
   Eigen::Vector3f d = (t - f).normalized();
   for (float l = 0; l < length; l += 0.5f) {
@@ -44,8 +44,7 @@ void inline upsample_line_string(
 };
 
 std::vector<int> inline merge_indices(
-  const std::vector<int> & indices1, const std::vector<int> & indices2
-)
+  const std::vector<int> & indices1, const std::vector<int> & indices2)
 {
   std::unordered_set<int> set;
   for (int i : indices1) set.insert(i);
diff --git a/localization/yabloc/yabloc_common/include/yabloc_common/ll2_decomposer/ll2_decomposer.hpp b/localization/yabloc/yabloc_common/include/yabloc_common/ll2_decomposer/ll2_decomposer.hpp
index 02dd1667b3b65..6956a7a7b04bb 100644
--- a/localization/yabloc/yabloc_common/include/yabloc_common/ll2_decomposer/ll2_decomposer.hpp
+++ b/localization/yabloc/yabloc_common/include/yabloc_common/ll2_decomposer/ll2_decomposer.hpp
@@ -55,7 +55,7 @@ class Ll2Decomposer : public rclcpp::Node
   void on_map(const LaneletMapBin & msg);
 
   static pcl::PointNormal to_point_normal(
-    const lanelet::ConstPoint3d & from, const lanelet::ConstPoint3d & to) ;
+    const lanelet::ConstPoint3d & from, const lanelet::ConstPoint3d & to);
 
   static pcl::PointCloud<pcl::PointNormal> split_line_strings(
     const lanelet::ConstLineStrings3d & line_strings);
diff --git a/localization/yabloc/yabloc_common/src/color.cpp b/localization/yabloc/yabloc_common/src/color.cpp
index 6a421a90429ab..6889f7238fb93 100644
--- a/localization/yabloc/yabloc_common/src/color.cpp
+++ b/localization/yabloc/yabloc_common/src/color.cpp
@@ -42,16 +42,11 @@ Color hsv_to_rgb(float h_, float s_, float v_)
   const float max = v_;
   const float min = max * (1.0f - s_);
 
-  if (h < 60)
-    return {max, h / 60 * (max - min) + min, min};
-  if (h < 120)
-    return {(120 - h) / 60 * (max - min) + min, max, min};
-  if (h < 180)
-    return {min, max, (h - 120) / 60 * (max - min) + min};
-  if (h < 240)
-    return {min, (240 - h) / 60 * (max - min) + min, max};
-  if (h < 300)
-    return {(h - 240) / 60 * (max - min) + min, min, max};
+  if (h < 60) return {max, h / 60 * (max - min) + min, min};
+  if (h < 120) return {(120 - h) / 60 * (max - min) + min, max, min};
+  if (h < 180) return {min, max, (h - 120) / 60 * (max - min) + min};
+  if (h < 240) return {min, (240 - h) / 60 * (max - min) + min, max};
+  if (h < 300) return {(h - 240) / 60 * (max - min) + min, min, max};
   return {max, min, (360 - h) / 60 * (max - min) + min};
 }
 
diff --git a/localization/yabloc/yabloc_common/src/extract_line_segments.cpp b/localization/yabloc/yabloc_common/src/extract_line_segments.cpp
index 96cb1bfc12845..f7326a084e0ff 100644
--- a/localization/yabloc/yabloc_common/src/extract_line_segments.cpp
+++ b/localization/yabloc/yabloc_common/src/extract_line_segments.cpp
@@ -25,8 +25,7 @@ pcl::PointCloud<pcl::PointNormal> extract_near_line_segments(
 
   // All line segments contained in a square with max_range on one side must be taken out,
   // so pick up those that are closer than the **diagonals** of the square.
-  auto check_intersection = [max_range,
-                             pose_vector](const pcl::PointNormal & pn) -> bool {
+  auto check_intersection = [max_range, pose_vector](const pcl::PointNormal & pn) -> bool {
     const Eigen::Vector3f from = pn.getVector3fMap() - pose_vector;
     const Eigen::Vector3f to = pn.getNormalVector3fMap() - pose_vector;
 
@@ -42,8 +41,9 @@ pcl::PointCloud<pcl::PointNormal> extract_near_line_segments(
   };
 
   pcl::PointCloud<pcl::PointNormal> dst;
-  std::copy_if(line_segments.begin(), line_segments.end(), std::back_inserter(dst),
-    [check_intersection](const auto& pn) { return check_intersection(pn); });
+  std::copy_if(
+    line_segments.begin(), line_segments.end(), std::back_inserter(dst),
+    [check_intersection](const auto & pn) { return check_intersection(pn); });
   return dst;
 }
 
diff --git a/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp b/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp
index 3fa7c7705caf9..1366ecaebccf1 100644
--- a/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp
+++ b/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp
@@ -21,7 +21,6 @@
 #include <yabloc_common/color.hpp>
 #include <yabloc_common/pub_sub.hpp>
 
-#include <cmath>
 #include <pcl/ModelCoefficients.h>
 #include <pcl/filters/crop_box.h>
 #include <pcl/filters/voxel_grid.h>
@@ -29,6 +28,8 @@
 #include <pcl/sample_consensus/model_types.h>
 #include <pcl/segmentation/sac_segmentation.h>
 
+#include <cmath>
+
 namespace yabloc::ground_server
 {
 GroundServer::GroundServer(const rclcpp::NodeOptions & options)
@@ -230,8 +231,8 @@ GroundServer::GroundPlane GroundServer::estimate_ground(const Point & point)
   const Eigen::Vector3f filt_normal = normal_filter_.update(normal);
 
   GroundPlane plane;
-  plane.xyz = Eigen::Vector3f(static_cast<float>(point.x), static_cast<float>(point.y),
-    predicted_z);
+  plane.xyz =
+    Eigen::Vector3f(static_cast<float>(point.x), static_cast<float>(point.y), predicted_z);
   plane.normal = filt_normal;
 
   // Compute z value by intersection of estimated plane and orthogonal line
diff --git a/localization/yabloc/yabloc_common/src/ground_server/polygon_operation.cpp b/localization/yabloc/yabloc_common/src/ground_server/polygon_operation.cpp
index dd8287fbcc703..5ce6804c7bdc6 100644
--- a/localization/yabloc/yabloc_common/src/ground_server/polygon_operation.cpp
+++ b/localization/yabloc/yabloc_common/src/ground_server/polygon_operation.cpp
@@ -68,8 +68,7 @@ pcl::PointCloud<pcl::PointXYZ> shrink_vertices(
 {
   Eigen::Vector3f center = std::accumulate(
     vertices.begin(), vertices.end(), Eigen::Vector3f::Zero().eval(),
-    [](const Eigen::Vector3f& acc, const pcl::PointXYZ& p) { return acc + p.getVector3fMap(); }
-  );
+    [](const Eigen::Vector3f & acc, const pcl::PointXYZ & p) { return acc + p.getVector3fMap(); });
   center /= static_cast<float>(vertices.size());
 
   pcl::PointCloud<pcl::PointXYZ> dst_cloud;
diff --git a/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp b/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp
index 0289fe755ed60..fb7bc53c05e5e 100644
--- a/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp
+++ b/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp
@@ -44,7 +44,7 @@ Ll2Decomposer::Ll2Decomposer(const rclcpp::NodeOptions & options) : Node("ll2_to
     [this](const std::string & param_name, std::set<std::string> & labels) -> void {
     this->template declare_parameter<std::vector<std::string>>(param_name);
     auto label_array = get_parameter(param_name).as_string_array();
-    for (const auto& l : label_array) labels.insert(l);
+    for (const auto & l : label_array) labels.insert(l);
   };
 
   load_lanelet2_labels("road_marking_labels", road_marking_labels_);
@@ -86,7 +86,7 @@ pcl::PointCloud<pcl::PointXYZL> Ll2Decomposer::load_bounding_boxes(
 
   for (const lanelet::ConstPolygon3d & polygon : polygons) {
     if (!polygon.hasAttribute(lanelet::AttributeName::Type)) continue;
-    const lanelet::Attribute& attr = polygon.attribute(lanelet::AttributeName::Type);
+    const lanelet::Attribute & attr = polygon.attribute(lanelet::AttributeName::Type);
     if (bounding_box_labels_.count(attr.value()) == 0) continue;
 
     for (const lanelet::ConstPoint3d & p : polygon) {
@@ -151,7 +151,7 @@ lanelet::ConstLineStrings3d Ll2Decomposer::extract_specified_line_string(
   lanelet::ConstLineStrings3d line_strings;
   for (const lanelet::ConstLineString3d & line : line_string_layer) {
     if (!line.hasAttribute(lanelet::AttributeName::Type)) continue;
-    const lanelet::Attribute& attr = line.attribute(lanelet::AttributeName::Type);
+    const lanelet::Attribute & attr = line.attribute(lanelet::AttributeName::Type);
     if (visible_labels.count(attr.value()) == 0) continue;
     line_strings.push_back(line);
   }
@@ -164,7 +164,7 @@ lanelet::ConstPolygons3d Ll2Decomposer::extract_specified_polygon(
   lanelet::ConstPolygons3d polygons;
   for (const lanelet::ConstPolygon3d & polygon : polygon_layer) {
     if (!polygon.hasAttribute(lanelet::AttributeName::Type)) continue;
-    const lanelet::Attribute& attr = polygon.attribute(lanelet::AttributeName::Type);
+    const lanelet::Attribute & attr = polygon.attribute(lanelet::AttributeName::Type);
     if (visible_labels.count(attr.value()) == 0) continue;
     polygons.push_back(polygon);
   }
diff --git a/localization/yabloc/yabloc_common/src/pose_conversions.cpp b/localization/yabloc/yabloc_common/src/pose_conversions.cpp
index 3b82bebbe414e..374871bc96f0c 100644
--- a/localization/yabloc/yabloc_common/src/pose_conversions.cpp
+++ b/localization/yabloc/yabloc_common/src/pose_conversions.cpp
@@ -37,8 +37,8 @@ Eigen::Affine3f pose_to_affine(const geometry_msgs::msg::Pose & pose)
 {
   const auto pos = pose.position;
   const auto ori = pose.orientation;
-  Eigen::Translation3f t(static_cast<float>(pos.x), static_cast<float>(pos.y),
-    static_cast<float>(pos.z));
+  Eigen::Translation3f t(
+    static_cast<float>(pos.x), static_cast<float>(pos.y), static_cast<float>(pos.z));
   Eigen::Quaternionf q(
     static_cast<float>(ori.w), static_cast<float>(ori.x), static_cast<float>(ori.y),
     static_cast<float>(ori.z));
@@ -49,10 +49,11 @@ Sophus::SE3f pose_to_se3(const geometry_msgs::msg::Pose & pose)
 {
   auto ori = pose.orientation;
   auto pos = pose.position;
-  Eigen::Quaternionf q(static_cast<float>(ori.w), static_cast<float>(ori.x),
-    static_cast<float>(ori.y), static_cast<float>(ori.z));
-  Eigen::Vector3f t(static_cast<float>(pos.x), static_cast<float>(pos.y),
-    static_cast<float>(pos.z));
+  Eigen::Quaternionf q(
+    static_cast<float>(ori.w), static_cast<float>(ori.x), static_cast<float>(ori.y),
+    static_cast<float>(ori.z));
+  Eigen::Vector3f t(
+    static_cast<float>(pos.x), static_cast<float>(pos.y), static_cast<float>(pos.z));
   return {q, t};
 }