diff --git a/nav2_dwb_controller/dwb_core/src/trajectory_utils.cpp b/nav2_dwb_controller/dwb_core/src/trajectory_utils.cpp
index 23dad70fdfc..41fe007ab41 100644
--- a/nav2_dwb_controller/dwb_core/src/trajectory_utils.cpp
+++ b/nav2_dwb_controller/dwb_core/src/trajectory_utils.cpp
@@ -33,10 +33,13 @@
  */
 
 #include <dwb_core/trajectory_utils.hpp>
-#include <dwb_core/exceptions.hpp>
-#include <rclcpp/duration.hpp>
+
 #include <cmath>
 
+#include <rclcpp/duration.hpp>
+
+#include <dwb_core/exceptions.hpp>
+
 namespace dwb_core
 {
 const geometry_msgs::msg::Pose2D & getClosestPose(
diff --git a/nav2_dwb_controller/nav_2d_utils/src/conversions.cpp b/nav2_dwb_controller/nav_2d_utils/src/conversions.cpp
index 85cae2cb699..2793c264ba6 100644
--- a/nav2_dwb_controller/nav_2d_utils/src/conversions.cpp
+++ b/nav2_dwb_controller/nav_2d_utils/src/conversions.cpp
@@ -33,17 +33,20 @@
  */
 
 #include "nav_2d_utils/conversions.hpp"
+
+#include <vector>
+#include <string>
+
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/pose2_d.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/twist.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#include <vector>
-#include <string>
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wpedantic"
 #include "tf2/utils.h"
 #pragma GCC diagnostic pop
+
 #include "nav2_util/geometry_utils.hpp"
 
 namespace nav_2d_utils
diff --git a/nav2_map_server/test/component/test_map_saver_node.cpp b/nav2_map_server/test/component/test_map_saver_node.cpp
index 1f57fa20c5d..aac4cda5594 100644
--- a/nav2_map_server/test/component/test_map_saver_node.cpp
+++ b/nav2_map_server/test/component/test_map_saver_node.cpp
@@ -13,11 +13,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+
 #include <gtest/gtest.h>
-#include <experimental/filesystem>
-#include <rclcpp/rclcpp.hpp>
+
 #include <string>
 #include <memory>
+#include <experimental/filesystem>  // NOLINT
+
+#include <rclcpp/rclcpp.hpp>
 
 #include "test_constants/test_constants.h"
 #include "nav2_map_server/map_saver.hpp"
diff --git a/nav2_map_server/test/component/test_map_server_node.cpp b/nav2_map_server/test/component/test_map_server_node.cpp
index e381afec87a..d034ca3c68c 100644
--- a/nav2_map_server/test/component/test_map_server_node.cpp
+++ b/nav2_map_server/test/component/test_map_server_node.cpp
@@ -13,10 +13,12 @@
 // limitations under the License.
 
 #include <gtest/gtest.h>
-#include <experimental/filesystem>
-#include <rclcpp/rclcpp.hpp>
+
 #include <string>
 #include <memory>
+#include <experimental/filesystem>  // NOLINT
+
+#include <rclcpp/rclcpp.hpp>
 
 #include "test_constants/test_constants.h"
 #include "nav2_map_server/map_server.hpp"
diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp
index 10bb826887d..b0823063650 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp
@@ -15,9 +15,8 @@
 #ifndef NAV2_SMAC_PLANNER__NODE_LATTICE_HPP_
 #define NAV2_SMAC_PLANNER__NODE_LATTICE_HPP_
 
-#include <nlohmann/json.hpp>
-
 #include <math.h>
+
 #include <vector>
 #include <cmath>
 #include <iostream>
@@ -28,6 +27,7 @@
 #include <limits>
 #include <string>
 
+#include <nlohmann/json.hpp>
 #include "ompl/base/StateSpace.h"
 #include "angles/angles.h"
 
diff --git a/nav2_waypoint_follower/plugins/input_at_waypoint.cpp b/nav2_waypoint_follower/plugins/input_at_waypoint.cpp
index 32c33cfc03d..e0fb5e6a252 100644
--- a/nav2_waypoint_follower/plugins/input_at_waypoint.cpp
+++ b/nav2_waypoint_follower/plugins/input_at_waypoint.cpp
@@ -11,12 +11,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <pluginlib/class_list_macros.hpp>
+#include "nav2_waypoint_follower/plugins/input_at_waypoint.hpp"
+
 #include <string>
 #include <exception>
 
+#include <pluginlib/class_list_macros.hpp>
+
 #include "nav2_util/node_utils.hpp"
-#include "nav2_waypoint_follower/plugins/input_at_waypoint.hpp"
 
 namespace nav2_waypoint_follower
 {
diff --git a/nav2_waypoint_follower/plugins/photo_at_waypoint.cpp b/nav2_waypoint_follower/plugins/photo_at_waypoint.cpp
index 7d1f4a9b1b4..b593ab83c99 100644
--- a/nav2_waypoint_follower/plugins/photo_at_waypoint.cpp
+++ b/nav2_waypoint_follower/plugins/photo_at_waypoint.cpp
@@ -12,13 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <pluginlib/class_list_macros.hpp>
+#include "nav2_waypoint_follower/plugins/photo_at_waypoint.hpp"
 
 #include <string>
 #include <memory>
 
+#include <pluginlib/class_list_macros.hpp>
+
 #include "nav2_util/node_utils.hpp"
-#include "nav2_waypoint_follower/plugins/photo_at_waypoint.hpp"
 
 namespace nav2_waypoint_follower
 {
diff --git a/nav2_waypoint_follower/plugins/wait_at_waypoint.cpp b/nav2_waypoint_follower/plugins/wait_at_waypoint.cpp
index 3e8e6dbbcf9..d04bf9adb49 100644
--- a/nav2_waypoint_follower/plugins/wait_at_waypoint.cpp
+++ b/nav2_waypoint_follower/plugins/wait_at_waypoint.cpp
@@ -12,12 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <pluginlib/class_list_macros.hpp>
+#include "nav2_waypoint_follower/plugins/wait_at_waypoint.hpp"
+
 #include <string>
 #include <exception>
 
+#include <pluginlib/class_list_macros.hpp>
+
 #include "nav2_util/node_utils.hpp"
-#include "nav2_waypoint_follower/plugins/wait_at_waypoint.hpp"
 
 namespace nav2_waypoint_follower
 {