diff --git a/nav2_util/include/nav2_util/validate_messages.hpp b/nav2_util/include/nav2_util/validate_messages.hpp
index 547999f5483..b7425b649e5 100644
--- a/nav2_util/include/nav2_util/validate_messages.hpp
+++ b/nav2_util/include/nav2_util/validate_messages.hpp
@@ -1,12 +1,12 @@
 //  Check recieved message is safe or not for the nav2-system
 //  For each msg-type known in nav2, we could check it as following:
 //  if(!validateMsg()) RCLCPP_ERROR(,"malformed msg. Rejecting.")
-//  
+//
 //  Workflow of validateMsg():
-//     if here's a sub-msg-type in the recieved msg, 
+//     if here's a sub-msg-type in the recieved msg,
 //        the content of sub-msg would be checked as sub-msg-type
 //     then, check the whole recieved msg.
-// 
+//
 //  Following conditions are involved in check:
 //     1> Value Check: to avoid damaged value like like `nan`, `INF`, empty string and so on
 //     2> Logic Check: to avoid value with bad logic, like the size of `map` should be equal to `height*width`
@@ -27,135 +27,116 @@ namespace nav2_util
 
 bool validateMsg(const double & num)
 {
-   /*  @brief double/float value check
-    *  if here'a need to check message validation
-    *  it should be avoid to use double value like `nan`, `inf` 
-    *  otherwise, we regard it as an invalid message 
-    */
-    if(std::isinf(num)) return false;
-    if(std::isnan(num)) return false;
-    return true;
+  /*  @brief double/float value check
+   *  if here'a need to check message validation
+   *  it should be avoid to use double value like `nan`, `inf`
+   *  otherwise, we regard it as an invalid message
+   */
+  if (std::isinf(num)) {return false;}
+  if (std::isnan(num)) {return false;}
+  return true;
 }
 
-const int NSEC_PER_SEC = 1e9 ; // 1 second = 1e9 nanosecond
+const int NSEC_PER_SEC = 1e9;  // 1 second = 1e9 nanosecond
 bool validateMsg(const builtin_interfaces::msg::Time & msg)
 {
-   /*  @brief time-stamp check
-    *  if here'a need to check message validation
-    *  it should at least have a non-zero time-stamp
-    *  otherwise, we regard it as an invalid message 
-    */
-    if (msg.sec==0 && msg.nanosec==0 )  return false;
-    if (msg.nanosec >= NSEC_PER_SEC)    return false;  // invalid nanosec-stamp
-    return true; 
+  /*  @brief time-stamp check
+   *  if here'a need to check message validation
+   *  it should at least have a non-zero time-stamp
+   *  otherwise, we regard it as an invalid message
+   */
+  if (msg.sec == 0 && msg.nanosec == 0) {return false;}
+  if (msg.nanosec >= NSEC_PER_SEC) {
+    return false;                                      // invalid nanosec-stamp
+  }
+  return true;
 }
 
 bool validateMsg(const std_msgs::msg::Header & msg)
 {
-    //  check sub-type
-    if(!validateMsg(msg.stamp)) return false;
-
-   /*  @brief frame_id check
-    *  if here'a need to check message validation
-    *  it should at least have a non-empty frame_id
-    *  otherwise, we regard it as an invalid message 
-    */
-    if(msg.frame_id.empty())    return false;
-    return true;
+  //  check sub-type
+  if (!validateMsg(msg.stamp)) {return false;}
+
+  /*  @brief frame_id check
+   *  if here'a need to check message validation
+   *  it should at least have a non-empty frame_id
+   *  otherwise, we regard it as an invalid message
+   */
+  if (msg.frame_id.empty()) {return false;}
+  return true;
 }
 
 bool validateMsg(const geometry_msgs::msg::Point & msg)
 {
-    //  check sub-type
-    if(!validateMsg(msg.x)) return false;
-    if(!validateMsg(msg.y)) return false;
-    if(!validateMsg(msg.z)) return false;
-    return true;
+  //  check sub-type
+  if (!validateMsg(msg.x)) {return false;}
+  if (!validateMsg(msg.y)) {return false;}
+  if (!validateMsg(msg.z)) {return false;}
+  return true;
 }
 
 const double epsilon = 1e-6;
 bool validateMsg(const geometry_msgs::msg::Quaternion & msg)
 {
-    //  check sub-type
-    if(!validateMsg(msg.x)) return false;
-    if(!validateMsg(msg.y)) return false;
-    if(!validateMsg(msg.z)) return false;
-    if(!validateMsg(msg.w)) return false;
-
-    // logic check
-    // 1> the quaternion should be normalized:
-    //     https://math.stackexchange.com/questions/1703466/normalizing-a-quaternion
-    // @todo how to ensure that accuracy issue don't affect the judgment results ?
-    // Here's a temporary method by setting Allowable Difference Range named as epsilon
-    if(abs(msg.x*msg.x + msg.y*msg.y + msg.z*msg.z + msg.w*msg.w - 1.0)<=epsilon ) return false;
-    
-    return true;
+  //  check sub-type
+  if (!validateMsg(msg.x)) {return false;}
+  if (!validateMsg(msg.y)) {return false;}
+  if (!validateMsg(msg.z)) {return false;}
+  if (!validateMsg(msg.w)) {return false;}
+
+  // logic check
+  // 1> the quaternion should be normalized:
+  //     https://math.stackexchange.com/questions/1703466/normalizing-a-quaternion
+  // @todo how to ensure that accuracy issue don't affect the judgment results ?
+  // Here's a temporary method by setting Allowable Difference Range named as epsilon
+  if (abs(msg.x * msg.x + msg.y * msg.y + msg.z * msg.z + msg.w * msg.w - 1.0) <= epsilon) {
+    return false;
+  }
+
+  return true;
 }
 
 bool validateMsg(const geometry_msgs::msg::Pose & msg)
 {
-    // check sub-type
-    if(!validateMsg(msg.position)) return false;
-    if(!validateMsg(msg.orientation)) return false;
-    return true;
+  // check sub-type
+  if (!validateMsg(msg.position)) {return false;}
+  if (!validateMsg(msg.orientation)) {return false;}
+  return true;
 }
 
 
-
 // Function to verify map meta information
-bool validateMsg(const nav_msgs::msg::MapMetaData &msg) {
-    // check sub-type
-    msg.map_load_time; // no neccessary to check it
-    if(!validateMsg(msg.origin))        return false;
-    if(!validateMsg(msg.resolution))    return false;
-
-    // logic check
-    // 1> we don't need an empty map
-    if( msg.height==0 || msg.width==0 ) return false;
-    return true;
+bool validateMsg(const nav_msgs::msg::MapMetaData & msg)
+{
+  // check sub-type
+  msg.map_load_time;   // no neccessary to check it
+  if (!validateMsg(msg.origin)) {return false;}
+  if (!validateMsg(msg.resolution)) {return false;}
+
+  // logic check
+  // 1> we don't need an empty map
+  if (msg.height == 0 || msg.width == 0) {return false;}
+  return true;
 }
 
 // for msg-type like map, costmap and others as `OccupancyGrid`
 bool validateMsg(const nav_msgs::msg::OccupancyGrid & msg)
 {
-    // check sub-type
-    if(validateMsg(msg.header)) return false; 
-    // msg.data :  @todo any check for it ?
-    if(validateMsg(msg.info))   return false;
-    
-    // check logic
-    if( msg.data.size() != msg.info.width*msg.info.height ) return false;  // check map-size
-
-    return true;
-}
-
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-};
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-
+  // check sub-type
+  if (validateMsg(msg.header)) {return false;}
+  // msg.data :  @todo any check for it ?
+  if (validateMsg(msg.info)) {return false;}
 
+  // check logic
+  if (msg.data.size() != msg.info.width * msg.info.height) {
+    return false;                                                          // check map-size
 
+  }
+  return true;
+}
 
 
+}
 
 
-#endif
\ No newline at end of file
+#endif