diff --git a/bt_nodes/arm/include/arm/manipulation/move_to_predefined.hpp b/bt_nodes/arm/include/arm/manipulation/move_to_predefined.hpp
index e6f31a0..e7de0df 100644
--- a/bt_nodes/arm/include/arm/manipulation/move_to_predefined.hpp
+++ b/bt_nodes/arm/include/arm/manipulation/move_to_predefined.hpp
@@ -31,7 +31,8 @@ namespace manipulation
 {
 
 class MoveToPredefined : public manipulation::BtActionNode<
-  manipulation_interfaces::action::MoveToPredefined, rclcpp_cascade_lifecycle::CascadeLifecycleNode>
+    manipulation_interfaces::action::MoveToPredefined,
+    rclcpp_cascade_lifecycle::CascadeLifecycleNode>
 {
 public:
   explicit MoveToPredefined(
diff --git a/bt_nodes/arm/include/arm/manipulation/pick_object.hpp b/bt_nodes/arm/include/arm/manipulation/pick_object.hpp
index 3df449c..505fb4d 100644
--- a/bt_nodes/arm/include/arm/manipulation/pick_object.hpp
+++ b/bt_nodes/arm/include/arm/manipulation/pick_object.hpp
@@ -31,7 +31,7 @@ namespace manipulation
 {
 
 class PickObject : public manipulation::BtActionNode<
-  manipulation_interfaces::action::Pick, rclcpp_cascade_lifecycle::CascadeLifecycleNode>
+    manipulation_interfaces::action::Pick, rclcpp_cascade_lifecycle::CascadeLifecycleNode>
 {
 public:
   explicit PickObject(
diff --git a/bt_nodes/arm/src/manipulation/move_to_predefined.cpp b/bt_nodes/arm/src/manipulation/move_to_predefined.cpp
index c582097..a22e4db 100644
--- a/bt_nodes/arm/src/manipulation/move_to_predefined.cpp
+++ b/bt_nodes/arm/src/manipulation/move_to_predefined.cpp
@@ -29,7 +29,8 @@ MoveToPredefined::MoveToPredefined(
   const std::string & xml_tag_name, const std::string & action_name,
   const BT::NodeConfiguration & conf)
 : manipulation::BtActionNode<
-  manipulation_interfaces::action::MoveToPredefined, rclcpp_cascade_lifecycle::CascadeLifecycleNode>(
+    manipulation_interfaces::action::MoveToPredefined,
+    rclcpp_cascade_lifecycle::CascadeLifecycleNode>(
     xml_tag_name, action_name, conf) {}
 
 void MoveToPredefined::on_tick()
diff --git a/bt_nodes/arm/src/manipulation/pick_object.cpp b/bt_nodes/arm/src/manipulation/pick_object.cpp
index 4275063..0bcdc0f 100644
--- a/bt_nodes/arm/src/manipulation/pick_object.cpp
+++ b/bt_nodes/arm/src/manipulation/pick_object.cpp
@@ -30,7 +30,7 @@ PickObject::PickObject(
   const std::string & xml_tag_name, const std::string & action_name,
   const BT::NodeConfiguration & conf)
 : manipulation::BtActionNode<
-  manipulation_interfaces::action::Pick, rclcpp_cascade_lifecycle::CascadeLifecycleNode>(
+    manipulation_interfaces::action::Pick, rclcpp_cascade_lifecycle::CascadeLifecycleNode>(
     xml_tag_name, action_name, conf) {}
 
 void PickObject::on_tick()
diff --git a/bt_nodes/bt_test/src/ask_test.cpp b/bt_nodes/bt_test/src/ask_test.cpp
index 8f0591a..dbff5e4 100644
--- a/bt_nodes/bt_test/src/ask_test.cpp
+++ b/bt_nodes/bt_test/src/ask_test.cpp
@@ -11,7 +11,7 @@
 int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
-  auto node =  std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>(
+  auto node = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>(
     "ask_test_node");
   BT::BehaviorTreeFactory factory;
   BT::SharedLibrary loader;
@@ -42,7 +42,7 @@ int main(int argc, char * argv[])
     status = tree.rootNode()->executeTick();
     finish = (status == BT::NodeStatus::SUCCESS) ||
       (status == BT::NodeStatus::FAILURE);
-    
+
     rate.sleep();
   }
   std::cout << "Ask Test Finished with status: " << status << std::endl;
diff --git a/bt_nodes/bt_test/src/look_at_test.cpp b/bt_nodes/bt_test/src/look_at_test.cpp
index 0366a0d..110dd74 100644
--- a/bt_nodes/bt_test/src/look_at_test.cpp
+++ b/bt_nodes/bt_test/src/look_at_test.cpp
@@ -57,7 +57,7 @@ int main(int argc, char * argv[])
   bool finish = false;
   while (!finish && rclcpp::ok()) {
     rclcpp::spin_some(node->get_node_base_interface());
- 
+
     finish = tree.rootNode()->executeTick() != BT::NodeStatus::SUCCESS;
 
     rate.sleep();
diff --git a/bt_nodes/configuration/include/configuration/SetWp.hpp b/bt_nodes/configuration/include/configuration/SetWp.hpp
index 2ce828d..68ce507 100644
--- a/bt_nodes/configuration/include/configuration/SetWp.hpp
+++ b/bt_nodes/configuration/include/configuration/SetWp.hpp
@@ -43,7 +43,7 @@ class SetWp : public BT::ActionNodeBase
   }
 
 private:
-   std::shared_ptr<rclcpp_cascade_lifecycle::CascadeLifecycleNode> node_;
+  std::shared_ptr<rclcpp_cascade_lifecycle::CascadeLifecycleNode> node_;
   std::vector<std::string> wp_names_;
 };
 
diff --git a/bt_nodes/configuration/include/configuration/init_carry.hpp b/bt_nodes/configuration/include/configuration/init_carry.hpp
index 6f2212c..f1da03e 100644
--- a/bt_nodes/configuration/include/configuration/init_carry.hpp
+++ b/bt_nodes/configuration/include/configuration/init_carry.hpp
@@ -44,7 +44,7 @@ class InitCarry : public BT::ActionNodeBase
   }
 
 private:
-   std::shared_ptr<rclcpp_cascade_lifecycle::CascadeLifecycleNode> node_;
+  std::shared_ptr<rclcpp_cascade_lifecycle::CascadeLifecycleNode> node_;
   std::string cam_frame_, home_pose_, offer_pose_;
   int person_id;
   geometry_msgs::msg::PoseStamped home_position_;
diff --git a/bt_nodes/hri/include/hri/dialog/DialogConfirmation.hpp b/bt_nodes/hri/include/hri/dialog/DialogConfirmation.hpp
index be9b097..29c0556 100644
--- a/bt_nodes/hri/include/hri/dialog/DialogConfirmation.hpp
+++ b/bt_nodes/hri/include/hri/dialog/DialogConfirmation.hpp
@@ -33,7 +33,7 @@ namespace dialog
 
 class DialogConfirmation
   : public dialog::BtActionNode<
-  whisper_msgs::action::STT, rclcpp_cascade_lifecycle::CascadeLifecycleNode>
+    whisper_msgs::action::STT, rclcpp_cascade_lifecycle::CascadeLifecycleNode>
 {
 public:
   explicit DialogConfirmation(
diff --git a/bt_nodes/hri/include/hri/dialog/Listen.hpp b/bt_nodes/hri/include/hri/dialog/Listen.hpp
index 0af3737..f692fc6 100644
--- a/bt_nodes/hri/include/hri/dialog/Listen.hpp
+++ b/bt_nodes/hri/include/hri/dialog/Listen.hpp
@@ -33,7 +33,7 @@ namespace dialog
 {
 
 class Listen : public dialog::BtActionNode<
-  whisper_msgs::action::STT, rclcpp_cascade_lifecycle::CascadeLifecycleNode>
+    whisper_msgs::action::STT, rclcpp_cascade_lifecycle::CascadeLifecycleNode>
 {
 public:
   explicit Listen(
diff --git a/bt_nodes/hri/include/hri/dialog/Query.hpp b/bt_nodes/hri/include/hri/dialog/Query.hpp
index cec8795..4c1426d 100644
--- a/bt_nodes/hri/include/hri/dialog/Query.hpp
+++ b/bt_nodes/hri/include/hri/dialog/Query.hpp
@@ -33,7 +33,7 @@ namespace dialog
 
 class Query
   : public dialog::BtActionNode<
-  llama_msgs::action::GenerateResponse, rclcpp_cascade_lifecycle::CascadeLifecycleNode>
+    llama_msgs::action::GenerateResponse, rclcpp_cascade_lifecycle::CascadeLifecycleNode>
 {
 public:
   explicit Query(
diff --git a/bt_nodes/hri/include/hri/dialog/Speak.hpp b/bt_nodes/hri/include/hri/dialog/Speak.hpp
index 5578a81..f6f0409 100644
--- a/bt_nodes/hri/include/hri/dialog/Speak.hpp
+++ b/bt_nodes/hri/include/hri/dialog/Speak.hpp
@@ -35,7 +35,7 @@ namespace dialog
 {
 
 class Speak : public dialog::BtActionNode<
-  audio_common_msgs::action::TTS, rclcpp_cascade_lifecycle::CascadeLifecycleNode>
+    audio_common_msgs::action::TTS, rclcpp_cascade_lifecycle::CascadeLifecycleNode>
 {
 public:
   explicit Speak(
diff --git a/bt_nodes/hri/src/hri/dialog/Listen.cpp b/bt_nodes/hri/src/hri/dialog/Listen.cpp
index 45f9ebc..8155233 100644
--- a/bt_nodes/hri/src/hri/dialog/Listen.cpp
+++ b/bt_nodes/hri/src/hri/dialog/Listen.cpp
@@ -32,7 +32,7 @@ Listen::Listen(
   const std::string & xml_tag_name, const std::string & action_name,
   const BT::NodeConfiguration & conf)
 : dialog::BtActionNode<whisper_msgs::action::STT, rclcpp_cascade_lifecycle::CascadeLifecycleNode>(
-    xml_tag_name, action_name,conf)
+    xml_tag_name, action_name, conf)
 {
   publisher_start_ = node_->create_publisher<std_msgs::msg::Int8>("dialog_action", 10);
 }
diff --git a/bt_nodes/hri/src/hri/dialog/Query.cpp b/bt_nodes/hri/src/hri/dialog/Query.cpp
index 2274951..5c9c54d 100644
--- a/bt_nodes/hri/src/hri/dialog/Query.cpp
+++ b/bt_nodes/hri/src/hri/dialog/Query.cpp
@@ -34,7 +34,7 @@ Query::Query(
   const std::string & xml_tag_name, const std::string & action_name,
   const BT::NodeConfiguration & conf)
 : dialog::BtActionNode<
-  llama_msgs::action::GenerateResponse, rclcpp_cascade_lifecycle::CascadeLifecycleNode>(
+    llama_msgs::action::GenerateResponse, rclcpp_cascade_lifecycle::CascadeLifecycleNode>(
     xml_tag_name, action_name, conf)
 {
   publisher_start_ = node_->create_publisher<std_msgs::msg::Int8>("dialog_action", 10);
diff --git a/bt_nodes/hri/src/hri/dialog/Speak.cpp b/bt_nodes/hri/src/hri/dialog/Speak.cpp
index 4c5a495..eb89071 100644
--- a/bt_nodes/hri/src/hri/dialog/Speak.cpp
+++ b/bt_nodes/hri/src/hri/dialog/Speak.cpp
@@ -31,7 +31,8 @@ using namespace std::placeholders;
 Speak::Speak(
   const std::string & xml_tag_name, const std::string & action_name,
   const BT::NodeConfiguration & conf)
-: dialog::BtActionNode<audio_common_msgs::action::TTS, rclcpp_cascade_lifecycle::CascadeLifecycleNode>(
+: dialog::BtActionNode<audio_common_msgs::action::TTS,
+    rclcpp_cascade_lifecycle::CascadeLifecycleNode>(
     xml_tag_name, action_name, conf)
 {
   config().blackboard->get("node", node_);
diff --git a/bt_nodes/motion/include/ctrl_support/BTActionNode.hpp b/bt_nodes/motion/include/ctrl_support/BTActionNode.hpp
index a3e8807..e723726 100644
--- a/bt_nodes/motion/include/ctrl_support/BTActionNode.hpp
+++ b/bt_nodes/motion/include/ctrl_support/BTActionNode.hpp
@@ -235,7 +235,8 @@ class BtActionNode : public BT::ActionNodeBase
       };
 
     send_goal_options.feedback_callback =
-      std::bind(&BtActionNode::feedback_callback, this,
+      std::bind(
+      &BtActionNode::feedback_callback, this,
       std::placeholders::_1, std::placeholders::_2);
 
     auto future_goal_handle = action_client_->async_send_goal(goal_, send_goal_options);
@@ -252,7 +253,7 @@ class BtActionNode : public BT::ActionNodeBase
       throw std::runtime_error("Goal was rejected by the action server");
     }
   }
-  
+
   void feedback_callback(
     typename rclcpp_action::ClientGoalHandle<ActionT>::SharedPtr,
     const typename ActionT::Feedback::ConstSharedPtr feedback)
@@ -263,7 +264,7 @@ class BtActionNode : public BT::ActionNodeBase
 
   virtual void on_feedback()
   {
-    
+
   }
 
   void increment_recovery_count()
diff --git a/bt_nodes/motion/include/motion/head/LookAt.hpp b/bt_nodes/motion/include/motion/head/LookAt.hpp
index 22f8b85..fe4684d 100644
--- a/bt_nodes/motion/include/motion/head/LookAt.hpp
+++ b/bt_nodes/motion/include/motion/head/LookAt.hpp
@@ -65,4 +65,4 @@ class LookAt : public BT::ActionNodeBase
 
 }  // namespace navigation
 
-#endif  // NAVIGATION__LOOK_AT_HPP_
\ No newline at end of file
+#endif  // NAVIGATION__LOOK_AT_HPP_
diff --git a/bt_nodes/motion/include/motion/head/Pan.hpp b/bt_nodes/motion/include/motion/head/Pan.hpp
index 13a6322..0180bc8 100644
--- a/bt_nodes/motion/include/motion/head/Pan.hpp
+++ b/bt_nodes/motion/include/motion/head/Pan.hpp
@@ -30,7 +30,7 @@ namespace head
 {
 
 class Pan : public motion::BtActionNode<
-  control_msgs::action::FollowJointTrajectory, rclcpp_cascade_lifecycle::CascadeLifecycleNode>
+    control_msgs::action::FollowJointTrajectory, rclcpp_cascade_lifecycle::CascadeLifecycleNode>
 {
 public:
   explicit Pan(
@@ -44,7 +44,7 @@ class Pan : public motion::BtActionNode<
   BT::NodeStatus on_success() override;
   BT::NodeStatus on_aborted() override;
   BT::NodeStatus on_cancelled() override;
-  
+
 
   static BT::PortsList providedPorts()
   {
@@ -53,6 +53,7 @@ class Pan : public motion::BtActionNode<
         BT::InputPort<std::string>("tf_frame"),
       });
   }
+
 private:
   rclcpp::Node::SharedPtr node_;
   BT::Optional<std::string> point_to_pan_;
diff --git a/bt_nodes/motion/include/motion/navigation/MoveTo.hpp b/bt_nodes/motion/include/motion/navigation/MoveTo.hpp
index 3536066..dc2b8f1 100644
--- a/bt_nodes/motion/include/motion/navigation/MoveTo.hpp
+++ b/bt_nodes/motion/include/motion/navigation/MoveTo.hpp
@@ -40,7 +40,8 @@ namespace navigation
 {
 
 class MoveTo
-  : public motion::BtActionNode<nav2_msgs::action::NavigateToPose, rclcpp_cascade_lifecycle::CascadeLifecycleNode>
+  : public motion::BtActionNode<nav2_msgs::action::NavigateToPose,
+    rclcpp_cascade_lifecycle::CascadeLifecycleNode>
 {
 public:
   explicit MoveTo(
diff --git a/bt_nodes/motion/src/motion/head/LookAt.cpp b/bt_nodes/motion/src/motion/head/LookAt.cpp
index 9fe26e6..ac4ce5d 100644
--- a/bt_nodes/motion/src/motion/head/LookAt.cpp
+++ b/bt_nodes/motion/src/motion/head/LookAt.cpp
@@ -66,4 +66,4 @@ void LookAt::halt() {RCLCPP_INFO(node_->get_logger(), "LookAt halted");}
 
 BT_REGISTER_NODES(factory) {
   factory.registerNodeType<head::LookAt>("LookAt");
-}
\ No newline at end of file
+}
diff --git a/bt_nodes/motion/src/motion/head/Pan.cpp b/bt_nodes/motion/src/motion/head/Pan.cpp
index bc84358..8ee36a2 100644
--- a/bt_nodes/motion/src/motion/head/Pan.cpp
+++ b/bt_nodes/motion/src/motion/head/Pan.cpp
@@ -27,7 +27,7 @@ Pan::Pan(
   const std::string & action_name,
   const BT::NodeConfiguration & conf)
 : motion::BtActionNode<
-  control_msgs::action::FollowJointTrajectory, rclcpp_cascade_lifecycle::CascadeLifecycleNode>(
+    control_msgs::action::FollowJointTrajectory, rclcpp_cascade_lifecycle::CascadeLifecycleNode>(
     xml_tag_name, action_name, conf)
 {
   config().blackboard->get("node", node_);
@@ -53,7 +53,7 @@ Pan::on_tick()
     // point.time_from_start = rclcpp::Duration::from_seconds(5.0);
 
     // goal_.trajectory.points.push_back(point);
-     
+
   }
 }
 
@@ -80,7 +80,7 @@ Pan::on_success()
 BT_REGISTER_NODES(factory)
 {
   BT::NodeBuilder builder = [](const std::string & name,
-    const BT::NodeConfiguration & config) {
+      const BT::NodeConfiguration & config) {
       return std::make_unique<head::Pan>(
         name, "/head_controller/follow_joint_trajectory", config);
     };
diff --git a/bt_nodes/motion/src/motion/navigation/MoveTo.cpp b/bt_nodes/motion/src/motion/navigation/MoveTo.cpp
index 33b71ab..83aa0cc 100644
--- a/bt_nodes/motion/src/motion/navigation/MoveTo.cpp
+++ b/bt_nodes/motion/src/motion/navigation/MoveTo.cpp
@@ -33,7 +33,7 @@ MoveTo::MoveTo(
   const std::string & action_name,
   const BT::NodeConfiguration & conf)
 : motion::BtActionNode<
-  nav2_msgs::action::NavigateToPose, rclcpp_cascade_lifecycle::CascadeLifecycleNode>(
+    nav2_msgs::action::NavigateToPose, rclcpp_cascade_lifecycle::CascadeLifecycleNode>(
     xml_tag_name, action_name, conf),
   tf_buffer_(),
   tf_listener_(tf_buffer_)
diff --git a/bt_nodes/perception/src/perception/FollowPerson.cpp b/bt_nodes/perception/src/perception/FollowPerson.cpp
index a0d8516..1f450e1 100644
--- a/bt_nodes/perception/src/perception/FollowPerson.cpp
+++ b/bt_nodes/perception/src/perception/FollowPerson.cpp
@@ -20,7 +20,6 @@
 #include "perception_system/PerceptionListener.hpp"
 
 
-
 #include "behaviortree_cpp_v3/behavior_tree.h"