diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index 9100fde7e6..31ed3c3f09 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -489,13 +489,14 @@ controller_interface::return_type ControllerManager::configure_controller(
     rt_controllers_wrapper_.get_unused_list(guard);
   unused_controller_list = controllers;
 
-  std::unordered_map<std::string, int> preceeding_controller_count = {};
+  std::unordered_map<std::string, int> preceding_controller_count = {};
   std::unordered_map<std::string, std::vector<std::string>> following_controllers = {};
 
   for (const auto & controller1 : unused_controller_list)
   {
-    if (!controller1.c->is_chainable() || (
-        !is_controller_active(controller1.c) && !is_controller_inactive(controller1.c)) )
+    if (
+      !controller1.c->is_chainable() ||
+      (!is_controller_active(controller1.c) && !is_controller_inactive(controller1.c)))
     {
       continue;
     }
@@ -510,18 +511,19 @@ controller_interface::return_type ControllerManager::configure_controller(
         continue;
       }
       for (const auto & reference1 :
-          resource_manager_->get_controller_reference_interface_names(controller1.info.name))
+           resource_manager_->get_controller_reference_interface_names(controller1.info.name))
       {
         const auto controller2_commands = controller2.c->command_interface_configuration().names;
 
         std::string commands_string = "";
-        for (auto command : controller2_commands){
+        for (auto command : controller2_commands)
+        {
           commands_string += " " + command;
         }
         auto same = std::find(controller2_commands.begin(), controller2_commands.end(), reference1);
         if (same != controller2_commands.end())
         {
-          // controller 2 preceeds controller1
+          // controller 2 precedes controller1
           if (following_controllers.find(controller2.info.name) != following_controllers.end())
           {
             following_controllers[controller2.info.name].push_back(controller1.info.name);
@@ -529,16 +531,17 @@ controller_interface::return_type ControllerManager::configure_controller(
           else
           {
             following_controllers.emplace(
-              controller2.info.name,
-              std::initializer_list<std::string>{controller1.info.name});
+              controller2.info.name, std::initializer_list<std::string>{controller1.info.name});
           }
-          if (preceeding_controller_count.find(controller1.info.name) !=
-              preceeding_controller_count.end()){
-            preceeding_controller_count[controller1.info.name] += 1;
+          if (
+            preceding_controller_count.find(controller1.info.name) !=
+            preceding_controller_count.end())
+          {
+            preceding_controller_count[controller1.info.name] += 1;
           }
           else
           {
-            preceeding_controller_count[controller1.info.name] = 1;
+            preceding_controller_count[controller1.info.name] = 1;
           }
           break;
         }
@@ -549,7 +552,7 @@ controller_interface::return_type ControllerManager::configure_controller(
   std::deque<std::string> controllers_to_add = {};
   for (const auto & controller : unused_controller_list)
   {
-    if (preceeding_controller_count.find(controller.info.name) == preceeding_controller_count.end())
+    if (preceding_controller_count.find(controller.info.name) == preceding_controller_count.end())
     {
       controllers_to_add.push_back(controller.info.name);
     }
@@ -557,18 +560,18 @@ controller_interface::return_type ControllerManager::configure_controller(
 
   for (auto i = unused_controller_list.begin(); i != unused_controller_list.end(); i++)
   {
-    std::string controller_name_to_find =  controllers_to_add.front();
+    std::string controller_name_to_find = controllers_to_add.front();
     controllers_to_add.pop_front();
     auto found_it = std::find_if(
-    unused_controller_list.begin(), unused_controller_list.end(),
-    std::bind(controller_name_compare, std::placeholders::_1, controller_name_to_find));
+      unused_controller_list.begin(), unused_controller_list.end(),
+      std::bind(controller_name_compare, std::placeholders::_1, controller_name_to_find));
     iter_swap(i, found_it);
     if (following_controllers.find(controller_name_to_find) != following_controllers.end())
     {
       for (const auto & controller_name : following_controllers[controller_name_to_find])
       {
-        preceeding_controller_count[controller_name] -= 1;
-        if (preceeding_controller_count[controller_name] == 0)
+        preceding_controller_count[controller_name] -= 1;
+        if (preceding_controller_count[controller_name] == 0)
         {
           controllers_to_add.push_back(controller_name);
         }
@@ -577,7 +580,8 @@ controller_interface::return_type ControllerManager::configure_controller(
   }
 
   std::string controller_names = "";
-  for (auto & cont : unused_controller_list){
+  for (auto & cont : unused_controller_list)
+  {
     controller_names += cont.info.name + " ";
   }
 
diff --git a/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp b/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
index c7e8b0e383..f12fc0761c 100644
--- a/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
+++ b/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
@@ -52,9 +52,7 @@ class TestableTestChainableController : public test_chainable_controller::TestCh
   FRIEND_TEST(
     TestControllerChainingWithControllerManager,
     test_chained_controllers_deactivation_error_handling);
-  FRIEND_TEST(
-    TestControllerChainingWithControllerManager,
-    test_chained_controllers_random_order);
+  FRIEND_TEST(TestControllerChainingWithControllerManager, test_chained_controllers_random_order);
 };
 
 class TestableControllerManager : public controller_manager::ControllerManager
@@ -87,9 +85,7 @@ class TestableControllerManager : public controller_manager::ControllerManager
   FRIEND_TEST(
     TestControllerChainingWithControllerManager,
     test_chained_controllers_deactivation_error_handling);
-  FRIEND_TEST(
-    TestControllerChainingWithControllerManager,
-    test_chained_controllers_random_order);
+  FRIEND_TEST(TestControllerChainingWithControllerManager, test_chained_controllers_random_order);
 
 public:
   TestableControllerManager(
@@ -981,7 +977,6 @@ TEST_P(
     lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, diff_drive_controller->get_state().id());
 }
 
-
 // new value: "START_DOWNSTREAM_CTRLS" --> start "downstream" controllers in a controllers chain
 //
 TEST_P(TestControllerChainingWithControllerManager, test_chained_controllers_random_order)
@@ -989,7 +984,7 @@ TEST_P(TestControllerChainingWithControllerManager, test_chained_controllers_ran
   SetupControllers();
 
   // add all controllers - CONTROLLERS HAVE TO ADDED IN REVERSE EXECUTION ORDER
-   cm_->add_controller(
+  cm_->add_controller(
     pid_left_wheel_controller, PID_LEFT_WHEEL,
     test_chainable_controller::TEST_CONTROLLER_CLASS_NAME);
   cm_->add_controller(
@@ -1066,10 +1061,8 @@ TEST_P(TestControllerChainingWithControllerManager, test_chained_controllers_ran
   // of controller execution
   reference = {1024.0, 4096.0};
   UpdateAllControllerAndCheck(reference, 2u);
-
 }
 
-
 INSTANTIATE_TEST_SUITE_P(
   test_strict_best_effort, TestControllerChainingWithControllerManager,
   testing::Values(strict, best_effort));