diff --git a/aip_x2_launch/launch/nebula_node_container.launch.py b/aip_x2_launch/launch/nebula_node_container.launch.py
index bfbd500f..710f4339 100644
--- a/aip_x2_launch/launch/nebula_node_container.launch.py
+++ b/aip_x2_launch/launch/nebula_node_container.launch.py
@@ -20,13 +20,13 @@
 from launch.actions import OpaqueFunction
 from launch.actions import SetLaunchConfiguration
 from launch.conditions import IfCondition
+from launch.conditions import LaunchConfigurationEquals
+from launch.conditions import LaunchConfigurationNotEquals
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
-from launch.conditions import LaunchConfigurationNotEquals
-from launch.conditions import LaunchConfigurationEquals
 import yaml
 
 
@@ -93,8 +93,6 @@ def str2vector(string):
         sensor_calib_fp
     ), "Sensor calib file under calibration/ was not found: {}".format(sensor_calib_fp)
 
-    nodes = []
-
     glog_component = ComposableNode(
         package="glog_component",
         plugin="GlogComponent",
@@ -120,7 +118,9 @@ def str2vector(string):
                 "cloud_min_angle": LaunchConfiguration("cloud_min_angle"),
                 "cloud_max_angle": LaunchConfiguration("cloud_max_angle"),
                 "diag_span": LaunchConfiguration("diag_span"),
-                "dual_return_distance_threshold": LaunchConfiguration("dual_return_distance_threshold"),
+                "dual_return_distance_threshold": LaunchConfiguration(
+                    "dual_return_distance_threshold"
+                ),
                 "delay_monitor_ms": LaunchConfiguration("delay_monitor_ms"),
             },
         ],
@@ -178,7 +178,7 @@ def str2vector(string):
                     "scan_phase",
                     "dual_return_distance_threshold",
                 ),
-                "launch_hw": True
+                "launch_hw": True,
             },
         ],
         remappings=[
@@ -423,7 +423,6 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg("max_azimuth_deg", "225.0")
     add_launch_arg("enable_blockage_diag", "true")
 
-
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
         "component_container",
diff --git a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
index 3b9df574..ef03f232 100644
--- a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
@@ -20,7 +20,7 @@
 from launch.conditions import IfCondition
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import LoadComposableNodes, ComposableNodeContainer
+from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 
 
@@ -46,9 +46,7 @@ def launch_setup(context, *args, **kwargs):
                     "/sensing/lidar/rear_upper/pointcloud",
                     "/sensing/lidar/rear_lower/pointcloud",
                 ],
-                "input_offset": [
-                    0.005, 0.025, 0.050, 0.005,
-                    0.050, 0.005, 0.005, 0.025],
+                "input_offset": [0.005, 0.025, 0.050, 0.005, 0.050, 0.005, 0.005, 0.025],
                 "timeout_sec": 0.075,
                 "output_frame": LaunchConfiguration("base_frame"),
                 "input_twist_topic_type": "twist",
@@ -57,7 +55,7 @@ def launch_setup(context, *args, **kwargs):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
-    concat_loader = loader = LoadComposableNodes(
+    concat_loader = LoadComposableNodes(
         composable_node_descriptions=[concat_component],
         target_container=LaunchConfiguration("pointcloud_container_name"),
     )
diff --git a/aip_x2_launch/launch/radar.launch.xml b/aip_x2_launch/launch/radar.launch.xml
index 5093a87b..acd1bd6e 100644
--- a/aip_x2_launch/launch/radar.launch.xml
+++ b/aip_x2_launch/launch/radar.launch.xml
@@ -1,3 +1,4 @@
+<!-- cSpell: ignore autosar -->
 <launch>
   <arg name="launch_driver" default="true" description="do launch driver"/>
 
@@ -128,7 +129,7 @@
         <arg name="configuration_sensor_port" value="42101"/>
 
         <arg name="new_plug_orientation" value="0"/>
-      </include>      
+      </include>
 
       <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
         <arg name="input/radar_objects" value="objects_raw"/>
@@ -159,7 +160,7 @@
         <arg name="configuration_sensor_port" value="42101"/>
 
         <arg name="new_plug_orientation" value="0"/>
-      </include>      
+      </include>
 
       <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
         <arg name="input/radar_objects" value="objects_raw"/>
@@ -204,10 +205,10 @@
 
     <!-- merge radar objects -->
     <let name="merger_param_path" value="$(find-pkg-share aip_x2_launch)/config/simple_object_merger.param.yaml"/>
-    <node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">  
+    <node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
       <remap from="~/output/objects" to="detected_objects"/>
       <param from="$(var merger_param_path)"/>
     </node>
 
   </group>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index 27a7692b..2d06deae 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -114,7 +114,9 @@ def create_parameter_dict(*args):
                     "cloud_min_angle": LaunchConfiguration("cloud_min_angle"),
                     "cloud_max_angle": LaunchConfiguration("cloud_max_angle"),
                     "diag_span": LaunchConfiguration("diag_span"),
-                    "dual_return_distance_threshold": LaunchConfiguration("dual_return_distance_threshold"),
+                    "dual_return_distance_threshold": LaunchConfiguration(
+                        "dual_return_distance_threshold"
+                    ),
                     "delay_monitor_ms": LaunchConfiguration("delay_monitor_ms"),
                 },
             ],
@@ -151,7 +153,7 @@ def create_parameter_dict(*args):
                         "ptp_switch_type",
                         "ptp_domain",
                     ),
-                    "launch_hw": True
+                    "launch_hw": True,
                 },
             ],
             remappings=[
@@ -242,7 +244,10 @@ def create_parameter_dict(*args):
             plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
             name="ring_outlier_filter",
             remappings=[
-                ("input", "self_cropped/pointcloud_ex"),    #todo: miura 24/03/03 temporarily input self_cropped/point
+                (
+                    "input",
+                    "self_cropped/pointcloud_ex",
+                ),  # todo: miura 24/03/03 temporarily input self_cropped/point
                 ("output", "pointcloud"),
             ],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],