diff --git a/control/vehicle_cmd_analyzer/include/vehicle_cmd_analyzer/vehicle_cmd_analyzer.hpp b/control/vehicle_cmd_analyzer/include/vehicle_cmd_analyzer/vehicle_cmd_analyzer.hpp
index 227560a7..7e68da3e 100644
--- a/control/vehicle_cmd_analyzer/include/vehicle_cmd_analyzer/vehicle_cmd_analyzer.hpp
+++ b/control/vehicle_cmd_analyzer/include/vehicle_cmd_analyzer/vehicle_cmd_analyzer.hpp
@@ -32,13 +32,11 @@
 class VehicleCmdAnalyzer : public rclcpp::Node
 {
 private:
-  rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr
-    sub_vehicle_cmd_;
+  rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr sub_vehicle_cmd_;
   rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr pub_debug_;
   rclcpp::TimerBase::SharedPtr timer_control_;
 
-  std::shared_ptr<autoware_control_msgs::msg::Control> vehicle_cmd_ptr_{
-    nullptr};
+  std::shared_ptr<autoware_control_msgs::msg::Control> vehicle_cmd_ptr_{nullptr};
 
   // timer callback
   double control_rate_;
@@ -54,8 +52,7 @@ class VehicleCmdAnalyzer : public rclcpp::Node
   // debug values
   DebugValues debug_values_;
 
-  void callbackVehicleCommand(
-    const autoware_control_msgs::msg::Control::SharedPtr msg);
+  void callbackVehicleCommand(const autoware_control_msgs::msg::Control::SharedPtr msg);
 
   void callbackTimerControl();
 
diff --git a/control/vehicle_cmd_analyzer/src/vehicle_cmd_analyzer.cpp b/control/vehicle_cmd_analyzer/src/vehicle_cmd_analyzer.cpp
index 75011467..ceab6298 100644
--- a/control/vehicle_cmd_analyzer/src/vehicle_cmd_analyzer.cpp
+++ b/control/vehicle_cmd_analyzer/src/vehicle_cmd_analyzer.cpp
@@ -30,10 +30,9 @@ VehicleCmdAnalyzer::VehicleCmdAnalyzer(const rclcpp::NodeOptions & options)
   const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo();
   wheelbase_ = vehicle_info.wheel_base_m;
 
-  sub_vehicle_cmd_ =
-    this->create_subscription<autoware_control_msgs::msg::Control>(
-      "/control/command/control_cmd", rclcpp::QoS(10),
-      std::bind(&VehicleCmdAnalyzer::callbackVehicleCommand, this, std::placeholders::_1));
+  sub_vehicle_cmd_ = this->create_subscription<autoware_control_msgs::msg::Control>(
+    "/control/command/control_cmd", rclcpp::QoS(10),
+    std::bind(&VehicleCmdAnalyzer::callbackVehicleCommand, this, std::placeholders::_1));
   pub_debug_ = create_publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
     "~/debug_values", rclcpp::QoS{1});
 
@@ -52,8 +51,7 @@ VehicleCmdAnalyzer::VehicleCmdAnalyzer(const rclcpp::NodeOptions & options)
 void VehicleCmdAnalyzer::callbackVehicleCommand(
   const autoware_control_msgs::msg::Control::SharedPtr msg)
 {
-  vehicle_cmd_ptr_ =
-    std::make_shared<autoware_control_msgs::msg::Control>(*msg);
+  vehicle_cmd_ptr_ = std::make_shared<autoware_control_msgs::msg::Control>(*msg);
 }
 
 void VehicleCmdAnalyzer::callbackTimerControl()
diff --git a/localization/deviation_estimation_tools/ReadMe.md b/localization/deviation_estimation_tools/ReadMe.md
index 99db354a..df26f2e2 100644
--- a/localization/deviation_estimation_tools/ReadMe.md
+++ b/localization/deviation_estimation_tools/ReadMe.md
@@ -183,11 +183,11 @@ The parameters and input topic names can be seen in the `deviation_estimator.lau
 
 #### Input
 
-| Name                     | Type                                              | Description          |
-| ------------------------ | ------------------------------------------------- | -------------------- |
-| `in_pose_with_covariance | `geometry_msgs::msg::PoseWithCovarianceStamped`   | Input pose           |
-| `in_imu`                 | `sensor_msgs::msg::Imu`                           | Input IMU data       |
-| `in_wheel_odometry`      | `autoware_vehicle_msgs::msg::VelocityReport` | Input wheel odometry |
+| Name                     | Type                                            | Description          |
+| ------------------------ | ----------------------------------------------- | -------------------- |
+| `in_pose_with_covariance | `geometry_msgs::msg::PoseWithCovarianceStamped` | Input pose           |
+| `in_imu`                 | `sensor_msgs::msg::Imu`                         | Input IMU data       |
+| `in_wheel_odometry`      | `autoware_vehicle_msgs::msg::VelocityReport`    | Input wheel odometry |
 
 #### Output
 
diff --git a/localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/deviation_estimator.hpp b/localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/deviation_estimator.hpp
index e4c56b66..bf773638 100644
--- a/localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/deviation_estimator.hpp
+++ b/localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/deviation_estimator.hpp
@@ -58,8 +58,7 @@ class DeviationEstimator : public rclcpp::Node
 
 private:
   rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr sub_pose_with_cov_;
-  rclcpp::Subscription<autoware_vehicle_msgs::msg::VelocityReport>::SharedPtr
-    sub_wheel_odometry_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::VelocityReport>::SharedPtr sub_wheel_odometry_;
   rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr sub_imu_;
   rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr pub_coef_vx_;
   rclcpp::Publisher<geometry_msgs::msg::Vector3>::SharedPtr pub_bias_angvel_;
diff --git a/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator_main.cpp b/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator_main.cpp
index 66d4836f..6346e8e0 100644
--- a/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator_main.cpp
+++ b/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator_main.cpp
@@ -58,8 +58,7 @@ int main(int argc, char ** argv)
   reader.open(storage_options, converter_options);
 
   // Prepare serialization
-  rclcpp::Serialization<autoware_vehicle_msgs::msg::VelocityReport>
-    serialization_velocity_status;
+  rclcpp::Serialization<autoware_vehicle_msgs::msg::VelocityReport> serialization_velocity_status;
   rclcpp::Serialization<tf2_msgs::msg::TFMessage> serialization_tf;
   rclcpp::Serialization<sensor_msgs::msg::Imu> serialization_imu;
   rclcpp::Serialization<geometry_msgs::msg::PoseWithCovarianceStamped> serialization_pose;
diff --git a/vehicle/parameter_estimator/src/parameter_estimator_node.cpp b/vehicle/parameter_estimator/src/parameter_estimator_node.cpp
index d83005f1..08303cbe 100644
--- a/vehicle/parameter_estimator/src/parameter_estimator_node.cpp
+++ b/vehicle/parameter_estimator/src/parameter_estimator_node.cpp
@@ -73,10 +73,9 @@ ParameterEstimatorNode::ParameterEstimatorNode(const rclcpp::NodeOptions & node_
     sub_steer_ = create_subscription<tier4_calibration_msgs::msg::Float32Stamped>(
       "input/steer", queue_size, std::bind(&ParameterEstimatorNode::callbackSteer, this, _1));
   }
-  sub_control_mode_report_ =
-    create_subscription<autoware_vehicle_msgs::msg::ControlModeReport>(
-      "input/control_mode", queue_size,
-      std::bind(&ParameterEstimatorNode::callbackControlModeReport, this, _1));
+  sub_control_mode_report_ = create_subscription<autoware_vehicle_msgs::msg::ControlModeReport>(
+    "input/control_mode", queue_size,
+    std::bind(&ParameterEstimatorNode::callbackControlModeReport, this, _1));
 
   initTimer(1.0 / update_hz_);
 }
diff --git a/vehicle/time_delay_estimator/include/time_delay_estimator/time_delay_estimator_node.hpp b/vehicle/time_delay_estimator/include/time_delay_estimator/time_delay_estimator_node.hpp
index a281dcca..84742362 100644
--- a/vehicle/time_delay_estimator/include/time_delay_estimator/time_delay_estimator_node.hpp
+++ b/vehicle/time_delay_estimator/include/time_delay_estimator/time_delay_estimator_node.hpp
@@ -57,8 +57,7 @@ class TimeDelayEstimatorNode : public rclcpp::Node
   rclcpp::Publisher<TimeDelay>::SharedPtr pub_time_delay_steer_;
 
   // input subscription
-  rclcpp::Subscription<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr
-    sub_control_mode_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr sub_control_mode_;
 
   // response subscription
   rclcpp::Subscription<Float32Stamped>::SharedPtr sub_accel_cmd_;
diff --git a/vehicle/time_delay_estimator/src/general_time_delay_estimator_node.cpp b/vehicle/time_delay_estimator/src/general_time_delay_estimator_node.cpp
index ce68b7d8..242b8376 100644
--- a/vehicle/time_delay_estimator/src/general_time_delay_estimator_node.cpp
+++ b/vehicle/time_delay_estimator/src/general_time_delay_estimator_node.cpp
@@ -80,10 +80,9 @@ TimeDelayEstimatorNode::TimeDelayEstimatorNode(const rclcpp::NodeOptions & node_
 
   last_manual_time_ = this->now().seconds();
   // input
-  sub_control_mode_report_ =
-    create_subscription<autoware_vehicle_msgs::msg::ControlModeReport>(
-      "~/input/control_mode", queue_size,
-      std::bind(&TimeDelayEstimatorNode::callbackControlModeReport, this, _1));
+  sub_control_mode_report_ = create_subscription<autoware_vehicle_msgs::msg::ControlModeReport>(
+    "~/input/control_mode", queue_size,
+    std::bind(&TimeDelayEstimatorNode::callbackControlModeReport, this, _1));
 
   // response
   sub_input_cmd_ = create_subscription<Float32Stamped>(