diff --git a/irobot_create_common/irobot_create_nodes/src/kidnap_estimator_publisher.cpp b/irobot_create_common/irobot_create_nodes/src/kidnap_estimator_publisher.cpp
index 9f1deab1..c08ed4e1 100644
--- a/irobot_create_common/irobot_create_nodes/src/kidnap_estimator_publisher.cpp
+++ b/irobot_create_common/irobot_create_nodes/src/kidnap_estimator_publisher.cpp
@@ -43,15 +43,15 @@ void KidnapEstimator::kidnap_callback(irobot_create_msgs::msg::HazardDetectionVe
   const std::size_t wheel_drop_count = std::count_if(
     hazard_vector.begin(), hazard_vector.end(), [](auto hazard_vector) {
       return hazard_vector.header.frame_id == "wheel_drop_left" ||
-      hazard_vector.header.frame_id == "wheel_drop_right";
+             hazard_vector.header.frame_id == "wheel_drop_right";
     });
 
   const std::size_t cliff_sensor_count = std::count_if(
     hazard_vector.begin(), hazard_vector.end(), [](auto hazard_vector) {
       return hazard_vector.header.frame_id == "cliff_side_left" ||
-      hazard_vector.header.frame_id == "cliff_side_right" ||
-      hazard_vector.header.frame_id == "cliff_front_left" ||
-      hazard_vector.header.frame_id == "cliff_front_right";
+             hazard_vector.header.frame_id == "cliff_side_right" ||
+             hazard_vector.header.frame_id == "cliff_front_left" ||
+             hazard_vector.header.frame_id == "cliff_front_right";
     });
 
   // Set header timestamp.
diff --git a/irobot_create_common/irobot_create_nodes/src/motion_control/wall_follow_states.cpp b/irobot_create_common/irobot_create_nodes/src/motion_control/wall_follow_states.cpp
index f16b1261..02b55ab5 100644
--- a/irobot_create_common/irobot_create_nodes/src/motion_control/wall_follow_states.cpp
+++ b/irobot_create_common/irobot_create_nodes/src/motion_control/wall_follow_states.cpp
@@ -166,8 +166,8 @@ bool ObstacleInFront::get_next_velocity(
 {
   // Summarize IR sensors
   auto obstacle_in_sensors = [this](const std::vector<std::string> & sensors,
-      const irobot_create_msgs::msg::IrIntensityVector & ir_intensity,
-      int16_t min_obs_threshold, int16_t & obs_val) -> bool {
+    const irobot_create_msgs::msg::IrIntensityVector & ir_intensity,
+    int16_t min_obs_threshold, int16_t & obs_val) -> bool {
       for (const auto & frame : sensors) {
         auto frame_it = std::find_if(
           ir_intensity.readings.begin(),
diff --git a/irobot_create_common/irobot_create_nodes/src/motion_control_node.cpp b/irobot_create_common/irobot_create_nodes/src/motion_control_node.cpp
index 77ba54bf..4ba32c2a 100644
--- a/irobot_create_common/irobot_create_nodes/src/motion_control_node.cpp
+++ b/irobot_create_common/irobot_create_nodes/src/motion_control_node.cpp
@@ -333,7 +333,8 @@ void MotionControlNode::hazard_vector_callback(
   reflex_behavior_->update_hazards(current_state_);
 }
 
-void MotionControlNode::commanded_velocity_callback(geometry_msgs::msg::TwistStamped::ConstSharedPtr msg)
+void MotionControlNode::commanded_velocity_callback(
+  geometry_msgs::msg::TwistStamped::ConstSharedPtr msg)
 {
   if (scheduler_->has_behavior()) {
     const auto time_now = this->now();
@@ -353,7 +354,8 @@ void MotionControlNode::commanded_velocity_callback(geometry_msgs::msg::TwistSta
 }
 
 
-void MotionControlNode::commanded_velocity_unstamped_callback(geometry_msgs::msg::Twist::ConstSharedPtr msg)
+void MotionControlNode::commanded_velocity_unstamped_callback(
+  geometry_msgs::msg::Twist::ConstSharedPtr msg)
 {
   geometry_msgs::msg::TwistStamped stamped_msg;
   stamped_msg.twist = *msg;
diff --git a/irobot_create_gz/irobot_create_gz_bringup/launch/sim.launch.py b/irobot_create_gz/irobot_create_gz_bringup/launch/sim.launch.py
index 7d5694fd..28e64bdc 100644
--- a/irobot_create_gz/irobot_create_gz_bringup/launch/sim.launch.py
+++ b/irobot_create_gz/irobot_create_gz_bringup/launch/sim.launch.py
@@ -47,7 +47,7 @@ def generate_launch_description():
 
     gz_gui_plugin_path = SetEnvironmentVariable(
         name='GZ_GUI_PLUGIN_PATH',
-        value=":".join([
+        value=':'.join([
             os.path.join(pkg_irobot_create_gz_plugins, 'lib')
         ])
     )
@@ -59,15 +59,17 @@ def generate_launch_description():
     # Ignition gazebo
     gz_sim = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([gz_sim_launch]),
-        launch_arguments=[
-            ('gz_args', [LaunchConfiguration('world'),
-                          '.sdf',
-                          ' -v 4',
-                          ' --gui-config ',
-                          PathJoinSubstitution([pkg_irobot_create_gz_bringup,
-                                                'gui', 'create3', 'gui.config'])
-            ])
-        ]
+        launch_arguments=[(
+            'gz_args', [
+                LaunchConfiguration('world'),
+                '.sdf',
+                ' -v 4',
+                ' --gui-config ',
+                PathJoinSubstitution(
+                    [pkg_irobot_create_gz_bringup, 'gui', 'create3', 'gui.config']
+                )
+            ]
+        )]
     )
 
     # clock bridge
diff --git a/irobot_create_gz/irobot_create_gz_plugins/Create3Hmi/Create3Hmi.hh b/irobot_create_gz/irobot_create_gz_plugins/Create3Hmi/Create3Hmi.hh
index c9a4578b..6ca10104 100644
--- a/irobot_create_gz/irobot_create_gz_plugins/Create3Hmi/Create3Hmi.hh
+++ b/irobot_create_gz/irobot_create_gz_plugins/Create3Hmi/Create3Hmi.hh
@@ -68,6 +68,6 @@ private:
 
 }  // namespace gui
 
-}  // namespace ignition
+}  // namespace gz
 
 #endif  // IROBOT_CREATE_GZ__IROBOT_CREATE_GZ_PLUGINS__CREATE3HMI__CREATE3HMI_HH_