diff --git a/include/laser_geometry/laser_geometry.hpp b/include/laser_geometry/laser_geometry.hpp
index 98306721..f7ee51b7 100644
--- a/include/laser_geometry/laser_geometry.hpp
+++ b/include/laser_geometry/laser_geometry.hpp
@@ -159,8 +159,8 @@ class LaserProjection
     double range_cutoff = -1.0,
     int channel_options = channel_option::Default)
   {
-    transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out, tf, range_cutoff,
-      channel_options);
+    transformLaserScanToPointCloud_(
+      target_frame, scan_in, cloud_out, tf, range_cutoff, channel_options);
   }
 
 private:
diff --git a/src/laser_geometry.cpp b/src/laser_geometry.cpp
index 948b37c0..70312901 100644
--- a/src/laser_geometry.cpp
+++ b/src/laser_geometry.cpp
@@ -433,14 +433,12 @@ void LaserProjection::transformLaserScanToPointCloud_(
 
   std::chrono::nanoseconds start(start_time.nanoseconds());
   std::chrono::time_point<std::chrono::system_clock, std::chrono::nanoseconds> st(start);
-  geometry_msgs::msg::TransformStamped start_transform = tf.lookupTransform(target_frame,
-      scan_in.header.frame_id,
-      st);
+  geometry_msgs::msg::TransformStamped start_transform = tf.lookupTransform(
+    target_frame, scan_in.header.frame_id, st);
   std::chrono::nanoseconds end(end_time.nanoseconds());
   std::chrono::time_point<std::chrono::system_clock, std::chrono::nanoseconds> e(end);
-  geometry_msgs::msg::TransformStamped end_transform = tf.lookupTransform(target_frame,
-      scan_in.header.frame_id,
-      e);
+  geometry_msgs::msg::TransformStamped end_transform = tf.lookupTransform(
+    target_frame, scan_in.header.frame_id, e);
 
   tf2::Quaternion quat_start(start_transform.transform.rotation.x,
     start_transform.transform.rotation.y,
@@ -457,7 +455,8 @@ void LaserProjection::transformLaserScanToPointCloud_(
   tf2::Vector3 origin_end(end_transform.transform.translation.x,
     end_transform.transform.translation.y,
     end_transform.transform.translation.z);
-  transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out,
+  transformLaserScanToPointCloud_(
+    target_frame, scan_in, cloud_out,
     quat_start, origin_start,
     quat_end, origin_end,
     range_cutoff,
diff --git a/test/projection_test.cpp b/test/projection_test.cpp
index 62939a7b..e5c8e0f6 100644
--- a/test/projection_test.cpp
+++ b/test/projection_test.cpp
@@ -139,7 +139,8 @@ TEST(laser_geometry, projectLaser2) {
         for (auto max_angle : max_angles) {
           for (auto angle_increment : angle_increments) {
             for (auto scan_time : scan_times) {
-              options.push_back(ScanOptions(
+              options.push_back(
+                ScanOptions(
                   range, intensity, min_angle, max_angle, angle_increment, scan_time));
             }
           }
@@ -162,17 +163,20 @@ TEST(laser_geometry, projectLaser2) {
 
       projector.projectLaser(scan, cloud_out, -1.0);
       EXPECT_EQ(cloud_out.fields.size(), 5u);
-      projector.projectLaser(scan, cloud_out, -1.0,
+      projector.projectLaser(
+        scan, cloud_out, -1.0,
         laser_geometry::channel_option::Intensity |
         laser_geometry::channel_option::Index);
       EXPECT_EQ(cloud_out.fields.size(), 5u);
 
-      projector.projectLaser(scan, cloud_out, -1.0,
+      projector.projectLaser(
+        scan, cloud_out, -1.0,
         laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index |
         laser_geometry::channel_option::Distance);
       EXPECT_EQ(cloud_out.fields.size(), 6u);
 
-      projector.projectLaser(scan, cloud_out, -1.0,
+      projector.projectLaser(
+        scan, cloud_out, -1.0,
         laser_geometry::channel_option::Intensity |
         laser_geometry::channel_option::Index |
         laser_geometry::channel_option::Distance |
@@ -210,22 +214,28 @@ TEST(laser_geometry, projectLaser2) {
       }
 
       for (unsigned int i = 0; i < cloud_out.width; i++) {
-        EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + x_offset),
+        EXPECT_NEAR(
+          cloudData<float>(cloud_out, i * cloud_out.point_step + x_offset),
           static_cast<float>(static_cast<double>(scan.ranges[i]) *
           cos(static_cast<double>(scan.angle_min) + i * static_cast<double>(scan.angle_increment))),
           tolerance);
-        EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + y_offset),
+        EXPECT_NEAR(
+          cloudData<float>(cloud_out, i * cloud_out.point_step + y_offset),
           static_cast<float>(static_cast<double>(scan.ranges[i]) *
           sin(static_cast<double>(scan.angle_min) + i * static_cast<double>(scan.angle_increment))),
           tolerance);
         EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + z_offset), 0, tolerance);
-        EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + intensity_offset),
+        EXPECT_NEAR(
+          cloudData<float>(cloud_out, i * cloud_out.point_step + intensity_offset),
           scan.intensities[i], tolerance);  // intensity
-        EXPECT_NEAR(cloudData<uint32_t>(cloud_out, i * cloud_out.point_step + index_offset), i,
+        EXPECT_NEAR(
+          cloudData<uint32_t>(cloud_out, i * cloud_out.point_step + index_offset), i,
           tolerance);  // index
-        EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + distance_offset),
+        EXPECT_NEAR(
+          cloudData<float>(cloud_out, i * cloud_out.point_step + distance_offset),
           scan.ranges[i], tolerance);  // ranges
-        EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + stamps_offset),
+        EXPECT_NEAR(
+          cloudData<float>(cloud_out, i * cloud_out.point_step + stamps_offset),
           (float)i * scan.time_increment, tolerance);  // timestamps
       }
     } catch (const BuildScanException & ex) {
@@ -291,7 +301,8 @@ TEST(laser_geometry, transformLaserScanToPointCloud2) {
         for (auto max_angle : max_angles) {
           for (auto angle_increment : angle_increments) {
             for (auto scan_time : scan_times) {
-              options.push_back(ScanOptions(
+              options.push_back(
+                ScanOptions(
                   range, intensity, min_angle, max_angle, angle_increment, scan_time));
             }
           }
@@ -309,29 +320,35 @@ TEST(laser_geometry, transformLaserScanToPointCloud2) {
       scan.header.frame_id = "laser_frame";
 
       sensor_msgs::msg::PointCloud2 cloud_out;
-      projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
+      projector.transformLaserScanToPointCloud(
+        scan.header.frame_id, scan, cloud_out, tf2, -1.0,
         laser_geometry::channel_option::None);
       EXPECT_EQ(cloud_out.fields.size(), 3u);
-      projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
+      projector.transformLaserScanToPointCloud(
+        scan.header.frame_id, scan, cloud_out, tf2, -1.0,
         laser_geometry::channel_option::Index);
       EXPECT_EQ(cloud_out.fields.size(), 4u);
-      projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
+      projector.transformLaserScanToPointCloud(
+        scan.header.frame_id, scan, cloud_out, tf2, -1.0,
         laser_geometry::channel_option::Intensity);
       EXPECT_EQ(cloud_out.fields.size(), 4u);
 
       projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2);
       EXPECT_EQ(cloud_out.fields.size(), 5u);
-      projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
+      projector.transformLaserScanToPointCloud(
+        scan.header.frame_id, scan, cloud_out, tf2, -1.0,
         laser_geometry::channel_option::Intensity |
         laser_geometry::channel_option::Index);
       EXPECT_EQ(cloud_out.fields.size(), 5u);
 
-      projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
+      projector.transformLaserScanToPointCloud(
+        scan.header.frame_id, scan, cloud_out, tf2, -1.0,
         laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index |
         laser_geometry::channel_option::Distance);
       EXPECT_EQ(cloud_out.fields.size(), 6u);
 
-      projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
+      projector.transformLaserScanToPointCloud(
+        scan.header.frame_id, scan, cloud_out, tf2, -1.0,
         laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index |
         laser_geometry::channel_option::Distance |
         laser_geometry::channel_option::Timestamp);
@@ -369,22 +386,28 @@ TEST(laser_geometry, transformLaserScanToPointCloud2) {
       }
 
       for (unsigned int i = 0; i < cloud_out.width; i++) {
-        EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + x_offset),
+        EXPECT_NEAR(
+          cloudData<float>(cloud_out, i * cloud_out.point_step + x_offset),
           static_cast<float>(static_cast<double>(scan.ranges[i]) *
           cos(static_cast<double>(scan.angle_min) + i * static_cast<double>(scan.angle_increment))),
           tolerance);
-        EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + y_offset),
+        EXPECT_NEAR(
+          cloudData<float>(cloud_out, i * cloud_out.point_step + y_offset),
           static_cast<float>(static_cast<double>(scan.ranges[i]) *
           sin(static_cast<double>(scan.angle_min) + i * static_cast<double>(scan.angle_increment))),
           tolerance);
         EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + z_offset), 0, tolerance);
-        EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + intensity_offset),
+        EXPECT_NEAR(
+          cloudData<float>(cloud_out, i * cloud_out.point_step + intensity_offset),
           scan.intensities[i], tolerance);  // intensity
-        EXPECT_NEAR(cloudData<uint32_t>(cloud_out, i * cloud_out.point_step + index_offset), i,
+        EXPECT_NEAR(
+          cloudData<uint32_t>(cloud_out, i * cloud_out.point_step + index_offset), i,
           tolerance);  // index
-        EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + distance_offset),
+        EXPECT_NEAR(
+          cloudData<float>(cloud_out, i * cloud_out.point_step + distance_offset),
           scan.ranges[i], tolerance);  // ranges
-        EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + stamps_offset),
+        EXPECT_NEAR(
+          cloudData<float>(cloud_out, i * cloud_out.point_step + stamps_offset),
           (float)i * scan.time_increment, tolerance);  // timestamps
       }
     } catch (BuildScanException & ex) {