diff --git a/nav2_smac_planner/src/analytic_expansion.cpp b/nav2_smac_planner/src/analytic_expansion.cpp
index 86a083b3a29..2dc5f0517b4 100644
--- a/nav2_smac_planner/src/analytic_expansion.cpp
+++ b/nav2_smac_planner/src/analytic_expansion.cpp
@@ -103,7 +103,7 @@ typename AnalyticExpansion<NodeT>::NodePtr AnalyticExpansion<NodeT>::tryAnalytic
               test_node->parent->parent->parent->parent->parent)
             {
               test_node = test_node->parent->parent->parent->parent->parent;
-                  // print the goals pose 
+              // print the goals pose
               refined_analytic_nodes =
                 getAnalyticPath(
                 test_node, goals_node[g], getter,
diff --git a/nav2_smac_planner/src/node_hybrid.cpp b/nav2_smac_planner/src/node_hybrid.cpp
index 5897cf142b0..4650514efdf 100644
--- a/nav2_smac_planner/src/node_hybrid.cpp
+++ b/nav2_smac_planner/src/node_hybrid.cpp
@@ -828,9 +828,9 @@ void NodeHybrid::precomputeDistanceHeuristic(
         // we need to check for bidirectional goal heading and take the minimum
         if (current_goal_heading_mode == GoalHeadingMode::BIDIRECTIONAL) {
           unsigned int heading_180_offset = (heading + (dim_3_size_int / 2)) % dim_3_size_int;
-            from[2] = heading_180_offset * angular_bin_size;
+          from[2] = heading_180_offset * angular_bin_size;
           float motion_heuristic_180 = motion_table.state_space->distance(from(), to());
-          motion_heuristic = std::min(motion_heuristic,motion_heuristic_180);
+          motion_heuristic = std::min(motion_heuristic, motion_heuristic_180);
         }
         dist_heuristic_lookup_table[index] = motion_heuristic;
         index++;
diff --git a/nav2_smac_planner/src/node_lattice.cpp b/nav2_smac_planner/src/node_lattice.cpp
index ac53503c2b1..b881cbf484c 100644
--- a/nav2_smac_planner/src/node_lattice.cpp
+++ b/nav2_smac_planner/src/node_lattice.cpp
@@ -473,9 +473,9 @@ void NodeLattice::precomputeDistanceHeuristic(
         // we need to check for bidirectional goal heading and take the minimum
         if (current_goal_heading_mode == GoalHeadingMode::BIDIRECTIONAL) {
           unsigned int heading_180_offset = (heading + (dim_3_size_int / 2)) % dim_3_size_int;
-            from[2] = motion_table.getAngleFromBin(heading_180_offset);
+          from[2] = motion_table.getAngleFromBin(heading_180_offset);
           float motion_heuristic_180 = motion_table.state_space->distance(from(), to());
-          motion_heuristic = std::min(motion_heuristic,motion_heuristic_180);
+          motion_heuristic = std::min(motion_heuristic, motion_heuristic_180);
         }
         dist_heuristic_lookup_table[index] = motion_heuristic;
         index++;