diff --git a/.devcontainer/nouveau/devcontainer.json b/.devcontainer/nouveau/devcontainer.json
index aa27d10..7dd4f9f 100644
--- a/.devcontainer/nouveau/devcontainer.json
+++ b/.devcontainer/nouveau/devcontainer.json
@@ -34,7 +34,7 @@
         "esbenp.prettier-vscode",
         "xaver.clang-format",
         "charliermarsh.ruff",
-        "jeff-hykin.better-cpp-syntax"
+        "ms-vscode.cmake-tools"
       ]
     }
   }
diff --git a/.devcontainer/nvidia/devcontainer.json b/.devcontainer/nvidia/devcontainer.json
index 067f409..8d8f111 100644
--- a/.devcontainer/nvidia/devcontainer.json
+++ b/.devcontainer/nvidia/devcontainer.json
@@ -38,8 +38,7 @@
         "esbenp.prettier-vscode",
         "xaver.clang-format",
         "charliermarsh.ruff",
-        "ms-python.black-formatter",
-        "jeff-hykin.better-cpp-syntax"
+        "ms-vscode.cmake-tools"
       ]
     }
   }
diff --git a/.docker/Dockerfile b/.docker/Dockerfile
index a27b388..5a3df1d 100644
--- a/.docker/Dockerfile
+++ b/.docker/Dockerfile
@@ -127,6 +127,6 @@ RUN sudo apt-get update \
     && sudo rm -rf /var/lib/apt/lists/*
 
 # Env vars for the nvidia-container-runtime.
-ENV NVIDIA_VISIBLE_DEVICES all
-ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
-ENV QT_X11_NO_MITSHM 1
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+ENV QT_X11_NO_MITSHM=1
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 79ad31d..78b2ef4 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -10,15 +10,16 @@ repos:
     hooks:
       - id: codespell
 
-  - repo: local
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v18.1.8
     hooks:
-      - id: clang-format
-        name: clang-format
-        description: Format files with ClangFormat.
-        entry: clang-format-14
-        language: system
-        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
-        args: ['-fallback-style=Google', '-i']
+    -   id: clang-format
+        types_or: [c++, c]
+
+  - repo: https://github.com/BlankSpruce/gersemi
+    rev: 0.13.5
+    hooks:
+    - id: gersemi
 
   - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v4.4.0
diff --git a/.vscode/settings.json b/.vscode/settings.json
index ddfa151..29363cb 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -37,6 +37,8 @@
   "C_Cpp.codeAnalysis.clangTidy.enabled": true,
   "C_Cpp.codeAnalysis.clangTidy.codeAction.formatFixes": true,
   "clang-format.executable": "/usr/bin/clang-format-14",
+  "xml.format.maxLineWidth": 120,
+  "xml.format.splitAttributes": "alignWithFirstAttr",
   "[cpp]": {
     "editor.rulers": [120],
     "editor.tabSize": 2,
@@ -73,5 +75,6 @@
     "**/build": true,
     "**/install": true,
     "**/log": true
-  }
+  },
+  "cmake.ignoreCMakeListsMissing": true
 }
diff --git a/example_pkg/CMakeLists.txt b/example_pkg/CMakeLists.txt
index e0393a8..46ab994 100644
--- a/example_pkg/CMakeLists.txt
+++ b/example_pkg/CMakeLists.txt
@@ -1,12 +1,10 @@
 cmake_minimum_required(VERSION 3.8)
 project(example_pkg)
 
-set(THIS_PACKAGE_INCLUDE_DEPENDS
-  ament_cmake
-)
+set(THIS_PACKAGE_INCLUDE_DEPENDS ament_cmake)
 
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
-  find_package(${Dependency} REQUIRED)
+    find_package(${Dependency} REQUIRED)
 endforeach()
 
 ament_package()