diff --git a/gazebo_plugins/src/gazebo_ros_ackermann_drive.cpp b/gazebo_plugins/src/gazebo_ros_ackermann_drive.cpp
index 99e8cbcc0..16d42d875 100644
--- a/gazebo_plugins/src/gazebo_ros_ackermann_drive.cpp
+++ b/gazebo_plugins/src/gazebo_ros_ackermann_drive.cpp
@@ -216,7 +216,8 @@ void GazeboRosAckermannDrive::Load(gazebo::physics::ModelPtr _model, sdf::Elemen
   impl_->joints_[GazeboRosAckermannDrivePrivate::STEER_WHEEL] =
     _model->GetJoint(steering_wheel_joint);
   if (!impl_->joints_[GazeboRosAckermannDrivePrivate::STEER_WHEEL]) {
-    RCLCPP_WARN(impl_->ros_node_->get_logger(),
+    RCLCPP_WARN(
+      impl_->ros_node_->get_logger(),
       "Steering wheel joint [%s] not found.", steering_wheel_joint.c_str());
     impl_->joints_.resize(6);
   }
@@ -224,7 +225,8 @@ void GazeboRosAckermannDrive::Load(gazebo::physics::ModelPtr _model, sdf::Elemen
   auto front_right_joint = _sdf->Get<std::string>("front_right_joint", "front_right_joint").first;
   impl_->joints_[GazeboRosAckermannDrivePrivate::FRONT_RIGHT] = _model->GetJoint(front_right_joint);
   if (!impl_->joints_[GazeboRosAckermannDrivePrivate::FRONT_RIGHT]) {
-    RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+    RCLCPP_ERROR(
+      impl_->ros_node_->get_logger(),
       "Front right wheel joint [%s] not found, plugin will not work.", front_right_joint.c_str());
     impl_->ros_node_.reset();
     return;
@@ -233,7 +235,8 @@ void GazeboRosAckermannDrive::Load(gazebo::physics::ModelPtr _model, sdf::Elemen
   auto front_left_joint = _sdf->Get<std::string>("front_left_joint", "front_left_joint").first;
   impl_->joints_[GazeboRosAckermannDrivePrivate::FRONT_LEFT] = _model->GetJoint(front_left_joint);
   if (!impl_->joints_[GazeboRosAckermannDrivePrivate::FRONT_LEFT]) {
-    RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+    RCLCPP_ERROR(
+      impl_->ros_node_->get_logger(),
       "Front left wheel joint [%s] not found, plugin will not work.", front_left_joint.c_str());
     impl_->ros_node_.reset();
     return;
@@ -242,7 +245,8 @@ void GazeboRosAckermannDrive::Load(gazebo::physics::ModelPtr _model, sdf::Elemen
   auto rear_right_joint = _sdf->Get<std::string>("rear_right_joint", "rear_right_joint").first;
   impl_->joints_[GazeboRosAckermannDrivePrivate::REAR_RIGHT] = _model->GetJoint(rear_right_joint);
   if (!impl_->joints_[GazeboRosAckermannDrivePrivate::REAR_RIGHT]) {
-    RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+    RCLCPP_ERROR(
+      impl_->ros_node_->get_logger(),
       "Rear right wheel joint [%s] not found, plugin will not work.", rear_right_joint.c_str());
     impl_->ros_node_.reset();
     return;
@@ -251,7 +255,8 @@ void GazeboRosAckermannDrive::Load(gazebo::physics::ModelPtr _model, sdf::Elemen
   auto rear_left_joint = _sdf->Get<std::string>("rear_left_joint", "rear_left_joint").first;
   impl_->joints_[GazeboRosAckermannDrivePrivate::REAR_LEFT] = _model->GetJoint(rear_left_joint);
   if (!impl_->joints_[GazeboRosAckermannDrivePrivate::REAR_LEFT]) {
-    RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+    RCLCPP_ERROR(
+      impl_->ros_node_->get_logger(),
       "Rear left wheel joint [%s] not found, plugin will not work.", rear_left_joint.c_str());
     impl_->ros_node_.reset();
     return;
@@ -262,7 +267,8 @@ void GazeboRosAckermannDrive::Load(gazebo::physics::ModelPtr _model, sdf::Elemen
   impl_->joints_[GazeboRosAckermannDrivePrivate::STEER_RIGHT] =
     _model->GetJoint(right_steering_joint);
   if (!impl_->joints_[GazeboRosAckermannDrivePrivate::STEER_RIGHT]) {
-    RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+    RCLCPP_ERROR(
+      impl_->ros_node_->get_logger(),
       "Right wheel steering joint [%s] not found, plugin will not work.",
       right_steering_joint.c_str());
     impl_->ros_node_.reset();
@@ -274,7 +280,8 @@ void GazeboRosAckermannDrive::Load(gazebo::physics::ModelPtr _model, sdf::Elemen
   impl_->joints_[GazeboRosAckermannDrivePrivate::STEER_LEFT] =
     _model->GetJoint(left_steering_joint);
   if (!impl_->joints_[GazeboRosAckermannDrivePrivate::STEER_LEFT]) {
-    RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+    RCLCPP_ERROR(
+      impl_->ros_node_->get_logger(),
       "Left wheel steering joint [%s] not found, plugin will not work.",
       left_steering_joint.c_str());
     impl_->ros_node_.reset();
@@ -351,8 +358,8 @@ void GazeboRosAckermannDrive::Load(gazebo::physics::ModelPtr _model, sdf::Elemen
     "cmd_vel", rclcpp::QoS(rclcpp::KeepLast(1)),
     std::bind(&GazeboRosAckermannDrivePrivate::OnCmdVel, impl_.get(), std::placeholders::_1));
 
-  RCLCPP_INFO(impl_->ros_node_->get_logger(),
-    "Subscribed to [%s]", impl_->cmd_vel_sub_->get_topic_name());
+  RCLCPP_INFO(
+    impl_->ros_node_->get_logger(), "Subscribed to [%s]", impl_->cmd_vel_sub_->get_topic_name());
 
   // Odometry
   impl_->odometry_frame_ = _sdf->Get<std::string>("odometry_frame", "odom").first;
@@ -364,7 +371,8 @@ void GazeboRosAckermannDrive::Load(gazebo::physics::ModelPtr _model, sdf::Elemen
     impl_->odometry_pub_ = impl_->ros_node_->create_publisher<nav_msgs::msg::Odometry>(
       "odom", rclcpp::QoS(rclcpp::KeepLast(1)));
 
-    RCLCPP_INFO(impl_->ros_node_->get_logger(), "Advertise odometry on [%s]",
+    RCLCPP_INFO(
+      impl_->ros_node_->get_logger(), "Advertise odometry on [%s]",
       impl_->odometry_pub_->get_topic_name());
   }
 
@@ -374,7 +382,8 @@ void GazeboRosAckermannDrive::Load(gazebo::physics::ModelPtr _model, sdf::Elemen
     impl_->distance_pub_ = impl_->ros_node_->create_publisher<std_msgs::msg::Float32>(
       "distance", rclcpp::QoS(rclcpp::KeepLast(1)));
 
-    RCLCPP_INFO(impl_->ros_node_->get_logger(), "Advertise distance on [%s]",
+    RCLCPP_INFO(
+      impl_->ros_node_->get_logger(), "Advertise distance on [%s]",
       impl_->distance_pub_->get_topic_name());
   }
 
@@ -386,14 +395,16 @@ void GazeboRosAckermannDrive::Load(gazebo::physics::ModelPtr _model, sdf::Elemen
       std::make_shared<tf2_ros::TransformBroadcaster>(impl_->ros_node_);
 
     if (impl_->publish_odom_tf_) {
-      RCLCPP_INFO(impl_->ros_node_->get_logger(),
+      RCLCPP_INFO(
+        impl_->ros_node_->get_logger(),
         "Publishing odom transforms between [%s] and [%s]", impl_->odometry_frame_.c_str(),
         impl_->robot_base_frame_.c_str());
     }
 
     if (impl_->publish_wheel_tf_) {
       for (auto & joint : impl_->joints_) {
-        RCLCPP_INFO(impl_->ros_node_->get_logger(),
+        RCLCPP_INFO(
+          impl_->ros_node_->get_logger(),
           "Publishing wheel transforms between [%s], [%s] and [%s]",
           impl_->robot_base_frame_.c_str(), joint->GetName().c_str(), joint->GetName().c_str());
       }
diff --git a/gazebo_plugins/src/gazebo_ros_bumper.cpp b/gazebo_plugins/src/gazebo_ros_bumper.cpp
index 50ef37a91..8e29be098 100644
--- a/gazebo_plugins/src/gazebo_ros_bumper.cpp
+++ b/gazebo_plugins/src/gazebo_ros_bumper.cpp
@@ -73,7 +73,8 @@ void GazeboRosBumper::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
 
   impl_->parent_sensor_ = std::dynamic_pointer_cast<gazebo::sensors::ContactSensor>(_sensor);
   if (!impl_->parent_sensor_) {
-    RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+    RCLCPP_ERROR(
+      impl_->ros_node_->get_logger(),
       "Contact sensor parent is not of type ContactSensor. Aborting");
     impl_->ros_node_.reset();
     return;
@@ -83,7 +84,8 @@ void GazeboRosBumper::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
   impl_->pub_ = impl_->ros_node_->create_publisher<gazebo_msgs::msg::ContactsState>(
     "bumper_states", rclcpp::SensorDataQoS());
 
-  RCLCPP_INFO(impl_->ros_node_->get_logger(), "Publishing contact states to [%s]",
+  RCLCPP_INFO(
+    impl_->ros_node_->get_logger(), "Publishing contact states to [%s]",
     impl_->pub_->get_topic_name());
 
   // Get tf frame for output
diff --git a/gazebo_plugins/src/gazebo_ros_camera.cpp b/gazebo_plugins/src/gazebo_ros_camera.cpp
index feb480d41..5711625a5 100644
--- a/gazebo_plugins/src/gazebo_ros_camera.cpp
+++ b/gazebo_plugins/src/gazebo_ros_camera.cpp
@@ -158,7 +158,8 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
     impl_->sensor_type_ = GazeboRosCameraPrivate::CAMERA;
     gazebo::CameraPlugin::Load(_sensor, _sdf);
   } else {
-    RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+    RCLCPP_ERROR(
+      impl_->ros_node_->get_logger(),
       "Plugin must be attached to sensor of type `camera`, `depth` or `multicamera`");
     impl_->ros_node_.reset();
     return;
@@ -173,13 +174,14 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
   if (impl_->sensor_type_ != GazeboRosCameraPrivate::MULTICAMERA) {
     // Image publisher
     // TODO(louise) Migrate image_connect logic once SubscriberStatusCallback is ported to ROS2
-    impl_->image_pub_.push_back(image_transport::create_publisher(impl_->ros_node_.get(),
-      impl_->camera_name_ + "/image_raw"));
+    impl_->image_pub_.push_back(
+      image_transport::create_publisher(
+        impl_->ros_node_.get(), impl_->camera_name_ + "/image_raw"));
 
     // TODO(louise) Uncomment this once image_transport::Publisher has a function to return the
     // full topic.
-    // RCLCPP_INFO(impl_->ros_node_->get_logger(), "Publishing images to [%s]",
-    //  impl_->image_pub_.getTopic());
+    // RCLCPP_INFO(
+    //   impl_->ros_node_->get_logger(), "Publishing images to [%s]", impl_->image_pub_.getTopic());
 
     // Camera info publisher
     // TODO(louise) Migrate ImageConnect logic once SubscriberStatusCallback is ported to ROS2
@@ -188,16 +190,20 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
         impl_->camera_name_ + "/camera_info",
         rclcpp::SensorDataQoS()));
 
-    RCLCPP_INFO(impl_->ros_node_->get_logger(), "Publishing camera info to [%s]",
+    RCLCPP_INFO(
+      impl_->ros_node_->get_logger(), "Publishing camera info to [%s]",
       impl_->camera_info_pub_.back()->get_topic_name());
 
   } else {
     for (uint64_t i = 0; i < impl_->num_cameras_; ++i) {
       // Image publisher
-      impl_->image_pub_.push_back(image_transport::create_publisher(impl_->ros_node_.get(),
-        impl_->camera_name_ + "/" + MultiCameraPlugin::camera_[i]->Name() + "/image_raw"));
+      impl_->image_pub_.push_back(
+        image_transport::create_publisher(
+          impl_->ros_node_.get(),
+          impl_->camera_name_ + "/" + MultiCameraPlugin::camera_[i]->Name() + "/image_raw"));
 
-      // RCLCPP_INFO(impl_->ros_node_->get_logger(), "Publishing %s camera images to [%s]",
+      // RCLCPP_INFO(
+      //   impl_->ros_node_->get_logger(), "Publishing %s camera images to [%s]",
       //   MultiCameraPlugin::camera_[i]->Name().c_str(),
       //   impl_->image_pub_.back().getTopic());
 
@@ -207,7 +213,8 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
           impl_->camera_name_ + "/" + MultiCameraPlugin::camera_[i]->Name() + "/camera_info",
           rclcpp::SensorDataQoS()));
 
-      RCLCPP_INFO(impl_->ros_node_->get_logger(), "Publishing %s camera info to [%s]",
+      RCLCPP_INFO(
+        impl_->ros_node_->get_logger(), "Publishing %s camera info to [%s]",
         MultiCameraPlugin::camera_[i]->Name().c_str(),
         impl_->camera_info_pub_[i]->get_topic_name());
     }
@@ -215,8 +222,8 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
 
   if (impl_->sensor_type_ == GazeboRosCameraPrivate::DEPTH) {
     // Depth image publisher
-    impl_->depth_image_pub_ = image_transport::create_publisher(impl_->ros_node_.get(),
-        impl_->camera_name_ + "/depth/image_raw");
+    impl_->depth_image_pub_ = image_transport::create_publisher(
+      impl_->ros_node_.get(), impl_->camera_name_ + "/depth/image_raw");
 
     // RCLCPP_INFO(impl_->ros_node_->get_logger(), "Publishing depth images to [%s]",
     //   impl_->depth_image_pub_.getTopic().c_str());
@@ -226,14 +233,16 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
       impl_->ros_node_->create_publisher<sensor_msgs::msg::CameraInfo>(
       impl_->camera_name_ + "/depth/camera_info", rclcpp::QoS(rclcpp::KeepLast(1)));
 
-    RCLCPP_INFO(impl_->ros_node_->get_logger(), "Publishing depth camera info to [%s]",
+    RCLCPP_INFO(
+      impl_->ros_node_->get_logger(), "Publishing depth camera info to [%s]",
       impl_->depth_camera_info_pub_->get_topic_name());
 
     // Point cloud publisher
     impl_->point_cloud_pub_ = impl_->ros_node_->create_publisher<sensor_msgs::msg::PointCloud2>(
       impl_->camera_name_ + "/points", rclcpp::QoS(rclcpp::KeepLast(1)));
 
-    RCLCPP_INFO(impl_->ros_node_->get_logger(), "Publishing pointcloud to [%s]",
+    RCLCPP_INFO(
+      impl_->ros_node_->get_logger(), "Publishing pointcloud to [%s]",
       impl_->point_cloud_pub_->get_topic_name());
   }
 
@@ -244,7 +253,8 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
       rclcpp::QoS(rclcpp::KeepLast(1)),
       std::bind(&GazeboRosCamera::OnTrigger, this, std::placeholders::_1));
 
-    RCLCPP_INFO(impl_->ros_node_->get_logger(), "Subscribed to [%s]",
+    RCLCPP_INFO(
+      impl_->ros_node_->get_logger(), "Subscribed to [%s]",
       impl_->trigger_sub_->get_topic_name());
 
     SetCameraEnabled(false);
@@ -279,22 +289,26 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
       impl_->img_encoding_.emplace_back(sensor_msgs::image_encodings::RGB16);
       impl_->img_step_.push_back(6);
     } else if (format == "BAYER_RGGB8") {
-      RCLCPP_INFO(impl_->ros_node_->get_logger(),
+      RCLCPP_INFO(
+        impl_->ros_node_->get_logger(),
         "bayer simulation may be computationally expensive.");
       impl_->img_encoding_.emplace_back(sensor_msgs::image_encodings::BAYER_RGGB8);
       impl_->img_step_.push_back(1);
     } else if (format == "BAYER_BGGR8") {
-      RCLCPP_INFO(impl_->ros_node_->get_logger(),
+      RCLCPP_INFO(
+        impl_->ros_node_->get_logger(),
         "bayer simulation may be computationally expensive.");
       impl_->img_encoding_.emplace_back(sensor_msgs::image_encodings::BAYER_BGGR8);
       impl_->img_step_.push_back(1);
     } else if (format == "BAYER_GBRG8") {
-      RCLCPP_INFO(impl_->ros_node_->get_logger(),
+      RCLCPP_INFO(
+        impl_->ros_node_->get_logger(),
         "bayer simulation may be computationally expensive.");
       impl_->img_encoding_.emplace_back(sensor_msgs::image_encodings::BAYER_GBRG8);
       impl_->img_step_.push_back(1);
     } else if (format == "BAYER_GRBG8") {
-      RCLCPP_INFO(impl_->ros_node_->get_logger(),
+      RCLCPP_INFO(
+        impl_->ros_node_->get_logger(),
         "bayer simulation may be computationally expensive.");
       impl_->img_encoding_.emplace_back(sensor_msgs::image_encodings::BAYER_GRBG8);
       impl_->img_step_.push_back(1);
@@ -338,7 +352,8 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
     if (focal_length == 0) {
       focal_length = computed_focal_length;
     } else if (!ignition::math::equal(focal_length, computed_focal_length)) {
-      RCLCPP_WARN(impl_->ros_node_->get_logger(),
+      RCLCPP_WARN(
+        impl_->ros_node_->get_logger(),
         "The <focal_length> [%f] you have provided for camera [%s]"
         " is inconsistent with specified <image_width> [%d] and"
         " HFOV [%f]. Please double check to see that"
@@ -425,7 +440,8 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
     camera_info_msg.p[11] = 0.0;
 
     // Initialize camera_info_manager
-    impl_->camera_info_manager_.push_back(std::make_shared<camera_info_manager::CameraInfoManager>(
+    impl_->camera_info_manager_.push_back(
+      std::make_shared<camera_info_manager::CameraInfoManager>(
         impl_->ros_node_.get(), impl_->camera_name_));
     impl_->camera_info_manager_.back()->setCameraInfo(camera_info_msg);
   }
@@ -485,7 +501,8 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
         std::string param_name = parameter.get_name();
         if (param_name == "update_rate") {
           if (nullptr != impl_->trigger_sub_) {
-            RCLCPP_WARN(impl_->ros_node_->get_logger(),
+            RCLCPP_WARN(
+              impl_->ros_node_->get_logger(),
               "Cannot set update rate for triggered camera");
             result.successful = false;
           } else {
@@ -502,14 +519,17 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
               }
 
               if (rate >= 0.0) {
-                RCLCPP_INFO(impl_->ros_node_->get_logger(),
+                RCLCPP_INFO(
+                  impl_->ros_node_->get_logger(),
                   "Camera update rate changed to [%.2f Hz]", rate);
               } else {
-                RCLCPP_WARN(impl_->ros_node_->get_logger(),
+                RCLCPP_WARN(
+                  impl_->ros_node_->get_logger(),
                   "Camera update rate should be positive. Setting to maximum");
               }
             } else {
-              RCLCPP_WARN(impl_->ros_node_->get_logger(),
+              RCLCPP_WARN(
+                impl_->ros_node_->get_logger(),
                 "Value for param [update_rate] has to be of double type.");
               result.successful = false;
             }
@@ -555,7 +575,8 @@ void GazeboRosCamera::NewFrame(
     sensor_update_time);
 
   // Copy from src to image_msg
-  sensor_msgs::fillImage(impl_->image_msg_, impl_->img_encoding_[_camera_num], _height, _width,
+  sensor_msgs::fillImage(
+    impl_->image_msg_, impl_->img_encoding_[_camera_num], _height, _width,
     impl_->img_step_[_camera_num] * _width, reinterpret_cast<const void *>(_image));
 
   impl_->image_pub_[_camera_num].publish(impl_->image_msg_);
@@ -708,10 +729,12 @@ void GazeboRosCamera::OnNewDepthFrame(
 
       if (impl_->image_msg_.data.size() == _width * _height * 3) {
         // color
-        std::memcpy(&impl_->cloud_msg_.data[cloud_index + 16],
+        std::memcpy(
+          &impl_->cloud_msg_.data[cloud_index + 16],
           &impl_->image_msg_.data[(i + j * _width) * 3], 3 * sizeof(uint8_t));
       } else if (impl_->image_msg_.data.size() == _height * _width) {
-        std::memcpy(&impl_->cloud_msg_.data[cloud_index + 16],
+        std::memcpy(
+          &impl_->cloud_msg_.data[cloud_index + 16],
           &impl_->image_msg_.data[i + j * _width], 3 * sizeof(uint8_t));
       } else {
         // no image
diff --git a/gazebo_plugins/src/gazebo_ros_diff_drive.cpp b/gazebo_plugins/src/gazebo_ros_diff_drive.cpp
index 1c70c5502..fd8d6246b 100644
--- a/gazebo_plugins/src/gazebo_ros_diff_drive.cpp
+++ b/gazebo_plugins/src/gazebo_ros_diff_drive.cpp
@@ -241,7 +241,8 @@ void GazeboRosDiffDrive::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr
 
   if (impl_->num_wheel_pairs_ < 1) {
     impl_->num_wheel_pairs_ = 1;
-    RCLCPP_WARN(impl_->ros_node_->get_logger(),
+    RCLCPP_WARN(
+      impl_->ros_node_->get_logger(),
       "Drive requires at least one pair of wheels. Setting [num_wheel_pairs] to 1");
   }
 
@@ -258,7 +259,8 @@ void GazeboRosDiffDrive::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr
     auto left_joint_name = left_joint_elem->Get<std::string>();
     auto left_joint = _model->GetJoint(left_joint_name);
     if (!left_joint) {
-      RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+      RCLCPP_ERROR(
+        impl_->ros_node_->get_logger(),
         "Joint [%s] not found, plugin will not work.", left_joint_name.c_str());
       impl_->ros_node_.reset();
       return;
@@ -273,7 +275,8 @@ void GazeboRosDiffDrive::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr
     auto right_joint_name = right_joint_elem->Get<std::string>();
     auto right_joint = _model->GetJoint(right_joint_name);
     if (!right_joint) {
-      RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+      RCLCPP_ERROR(
+        impl_->ros_node_->get_logger(),
         "Joint [%s] not found, plugin will not work.", right_joint_name.c_str());
       impl_->ros_node_.reset();
       return;
@@ -283,7 +286,8 @@ void GazeboRosDiffDrive::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr
   }
 
   if (left_joints.size() != right_joints.size() || left_joints.size() != impl_->num_wheel_pairs_) {
-    RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+    RCLCPP_ERROR(
+      impl_->ros_node_->get_logger(),
       "Inconsistent number of joints specified. Plugin will not work.");
     impl_->ros_node_.reset();
     return;
@@ -305,7 +309,8 @@ void GazeboRosDiffDrive::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr
       break;
     }
     impl_->wheel_separation_[index] = wheel_separation->Get<double>();
-    RCLCPP_INFO(impl_->ros_node_->get_logger(),
+    RCLCPP_INFO(
+      impl_->ros_node_->get_logger(),
       "Wheel pair %i separation set to [%fm]", index + 1, impl_->wheel_separation_[index]);
     index++;
   }
@@ -320,7 +325,8 @@ void GazeboRosDiffDrive::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr
       break;
     }
     impl_->wheel_diameter_[index] = wheel_diameter->Get<double>();
-    RCLCPP_INFO(impl_->ros_node_->get_logger(),
+    RCLCPP_INFO(
+      impl_->ros_node_->get_logger(),
       "Wheel pair %i diameter set to [%fm]", index + 1, impl_->wheel_diameter_[index]);
     index++;
   }
@@ -341,7 +347,8 @@ void GazeboRosDiffDrive::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr
     "cmd_vel", rclcpp::QoS(rclcpp::KeepLast(1)),
     std::bind(&GazeboRosDiffDrivePrivate::OnCmdVel, impl_.get(), std::placeholders::_1));
 
-  RCLCPP_INFO(impl_->ros_node_->get_logger(), "Subscribed to [%s]",
+  RCLCPP_INFO(
+    impl_->ros_node_->get_logger(), "Subscribed to [%s]",
     impl_->cmd_vel_sub_->get_topic_name());
 
   // Odometry
@@ -356,7 +363,8 @@ void GazeboRosDiffDrive::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr
     impl_->odometry_pub_ = impl_->ros_node_->create_publisher<nav_msgs::msg::Odometry>(
       "odom", rclcpp::QoS(rclcpp::KeepLast(1)));
 
-    RCLCPP_INFO(impl_->ros_node_->get_logger(), "Advertise odometry on [%s]",
+    RCLCPP_INFO(
+      impl_->ros_node_->get_logger(), "Advertise odometry on [%s]",
       impl_->odometry_pub_->get_topic_name());
   }
 
@@ -368,14 +376,16 @@ void GazeboRosDiffDrive::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr
       std::make_shared<tf2_ros::TransformBroadcaster>(impl_->ros_node_);
 
     if (impl_->publish_odom_tf_) {
-      RCLCPP_INFO(impl_->ros_node_->get_logger(),
+      RCLCPP_INFO(
+        impl_->ros_node_->get_logger(),
         "Publishing odom transforms between [%s] and [%s]", impl_->odometry_frame_.c_str(),
         impl_->robot_base_frame_.c_str());
     }
 
     for (index = 0; index < impl_->num_wheel_pairs_; ++index) {
       if (impl_->publish_wheel_tf_) {
-        RCLCPP_INFO(impl_->ros_node_->get_logger(),
+        RCLCPP_INFO(
+          impl_->ros_node_->get_logger(),
           "Publishing wheel transforms between [%s], [%s] and [%s]",
           impl_->robot_base_frame_.c_str(),
           impl_->joints_[2 * index + GazeboRosDiffDrivePrivate::LEFT]->GetName().c_str(),
@@ -468,19 +478,23 @@ void GazeboRosDiffDrivePrivate::OnUpdate(const gazebo::common::UpdateInfo & _inf
         "vel", 0, desired_wheel_speed_[2 * i + RIGHT] / (wheel_diameter_[i] / 2.0));
     } else {
       if (desired_wheel_speed_[2 * i + LEFT] >= current_speed[2 * i + LEFT]) {
-        wheel_speed_instr_[2 * i + LEFT] += fmin(desired_wheel_speed_[2 * i + LEFT] -
-            current_speed[2 * i + LEFT], max_wheel_accel_ * seconds_since_last_update);
+        wheel_speed_instr_[2 * i + LEFT] += fmin(
+          desired_wheel_speed_[2 * i + LEFT] -
+          current_speed[2 * i + LEFT], max_wheel_accel_ * seconds_since_last_update);
       } else {
-        wheel_speed_instr_[2 * i + LEFT] += fmax(desired_wheel_speed_[2 * i + LEFT] -
-            current_speed[2 * i + LEFT], -max_wheel_accel_ * seconds_since_last_update);
+        wheel_speed_instr_[2 * i + LEFT] += fmax(
+          desired_wheel_speed_[2 * i + LEFT] -
+          current_speed[2 * i + LEFT], -max_wheel_accel_ * seconds_since_last_update);
       }
 
       if (desired_wheel_speed_[2 * i + RIGHT] > current_speed[2 * i + RIGHT]) {
-        wheel_speed_instr_[2 * i + RIGHT] += fmin(desired_wheel_speed_[2 * i + RIGHT] -
-            current_speed[2 * i + RIGHT], max_wheel_accel_ * seconds_since_last_update);
+        wheel_speed_instr_[2 * i + RIGHT] += fmin(
+          desired_wheel_speed_[2 * i + RIGHT] -
+          current_speed[2 * i + RIGHT], max_wheel_accel_ * seconds_since_last_update);
       } else {
-        wheel_speed_instr_[2 * i + RIGHT] += fmax(desired_wheel_speed_[2 * i + RIGHT] -
-            current_speed[2 * i + RIGHT], -max_wheel_accel_ * seconds_since_last_update);
+        wheel_speed_instr_[2 * i + RIGHT] += fmax(
+          desired_wheel_speed_[2 * i + RIGHT] -
+          current_speed[2 * i + RIGHT], -max_wheel_accel_ * seconds_since_last_update);
       }
 
       joints_[2 * i + LEFT]->SetParam(
diff --git a/gazebo_plugins/src/gazebo_ros_force.cpp b/gazebo_plugins/src/gazebo_ros_force.cpp
index 09af745da..c43635d54 100644
--- a/gazebo_plugins/src/gazebo_ros_force.cpp
+++ b/gazebo_plugins/src/gazebo_ros_force.cpp
@@ -77,7 +77,8 @@ void GazeboRosForce::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf)
 
   // Force frame
   if (!sdf->HasElement("force_frame")) {
-    RCLCPP_INFO(logger, "Force plugin missing <force_frame> wasn't set,"
+    RCLCPP_INFO(
+      logger, "Force plugin missing <force_frame> wasn't set,"
       "therefore it's been set as 'world'. The other option is 'link'.");
     impl_->force_on_world_frame_ = true;
   } else {
diff --git a/gazebo_plugins/src/gazebo_ros_ft_sensor.cpp b/gazebo_plugins/src/gazebo_ros_ft_sensor.cpp
index 543ea6e80..f1ed0284b 100644
--- a/gazebo_plugins/src/gazebo_ros_ft_sensor.cpp
+++ b/gazebo_plugins/src/gazebo_ros_ft_sensor.cpp
@@ -92,13 +92,15 @@ void GazeboRosFTSensor::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _
   impl_->rosnode_ = gazebo_ros::Node::Get(_sdf);
 
   if (!_sdf->HasElement("update_rate")) {
-    RCLCPP_DEBUG(impl_->rosnode_->get_logger(),
+    RCLCPP_DEBUG(
+      impl_->rosnode_->get_logger(),
       "ft_sensor plugin missing <update_rate>, defaults to 0.0 (as fast as possible)");
   }
   impl_->update_rate_ = _sdf->Get<double>("update_rate", 0.0).first;
 
   if (!_sdf->HasElement("body_name") && !_sdf->HasElement("joint_name")) {
-    RCLCPP_ERROR(impl_->rosnode_->get_logger(),
+    RCLCPP_ERROR(
+      impl_->rosnode_->get_logger(),
       "ft_sensor plugin missing <body_name> and <joint_name>, cannot proceed");
     impl_->rosnode_.reset();
     return;
@@ -110,7 +112,8 @@ void GazeboRosFTSensor::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _
     impl_->link_ = _model->GetLink(link_name);
 
     if (!impl_->link_) {
-      RCLCPP_ERROR(impl_->rosnode_->get_logger(),
+      RCLCPP_ERROR(
+        impl_->rosnode_->get_logger(),
         "Link [%s] does not exist. Aborting", link_name.c_str());
       impl_->rosnode_.reset();
       return;
@@ -123,20 +126,23 @@ void GazeboRosFTSensor::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _
     impl_->joint_ = _model->GetJoint(joint_name);
 
     if (!impl_->joint_) {
-      RCLCPP_ERROR(impl_->rosnode_->get_logger(),
+      RCLCPP_ERROR(
+        impl_->rosnode_->get_logger(),
         "Joint [%s] does not exist. Aborting", joint_name.c_str());
       impl_->rosnode_.reset();
       return;
     }
 
     if (_sdf->HasElement("frame_name")) {
-      RCLCPP_WARN(impl_->rosnode_->get_logger(),
+      RCLCPP_WARN(
+        impl_->rosnode_->get_logger(),
         "<frame_name> can be set only for ft_sensor on links.");
     }
     impl_->frame_id_ = impl_->joint_->GetChild()->GetName();
   }
 
-  RCLCPP_INFO(impl_->rosnode_->get_logger(),
+  RCLCPP_INFO(
+    impl_->rosnode_->get_logger(),
     "ft_sensor plugin reporting wrench values to the frame [%s]", impl_->frame_id_.c_str());
 
   if (!_sdf->HasElement("gaussian_noise")) {
@@ -144,11 +150,12 @@ void GazeboRosFTSensor::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _
   }
   impl_->gaussian_noise_ = _sdf->Get<double>("gaussian_noise", 0.0).first;
 
-  impl_->pub_ =
-    impl_->rosnode_->create_publisher<geometry_msgs::msg::WrenchStamped>("wrench",
-      rclcpp::QoS(rclcpp::KeepLast(1)));
+  impl_->pub_ = impl_->rosnode_->create_publisher<geometry_msgs::msg::WrenchStamped>(
+    "wrench",
+    rclcpp::QoS(rclcpp::KeepLast(1)));
 
-  RCLCPP_INFO(impl_->rosnode_->get_logger(),
+  RCLCPP_INFO(
+    impl_->rosnode_->get_logger(),
     "Publishing wrenches on topic [%s]", impl_->pub_->get_topic_name());
 
   impl_->last_time_ = _model->GetWorld()->SimTime();
diff --git a/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp b/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp
index f568772a1..ba30abff6 100644
--- a/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp
+++ b/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp
@@ -110,8 +110,8 @@ void GazeboRosHandOfGod::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr
     auto link_name = _sdf->Get<std::string>("link_name");
     impl_->link_ = _model->GetLink(link_name);
     if (!impl_->link_) {
-      RCLCPP_ERROR(impl_->ros_node_->get_logger(),
-        "Link [%s] not found. Aborting", link_name.c_str());
+      RCLCPP_ERROR(
+        impl_->ros_node_->get_logger(), "Link [%s] not found. Aborting", link_name.c_str());
       impl_->ros_node_.reset();
       return;
     }
diff --git a/gazebo_plugins/src/gazebo_ros_harness.cpp b/gazebo_plugins/src/gazebo_ros_harness.cpp
index 14f73e882..c5aab4515 100644
--- a/gazebo_plugins/src/gazebo_ros_harness.cpp
+++ b/gazebo_plugins/src/gazebo_ros_harness.cpp
@@ -67,15 +67,15 @@ void GazeboRosHarness::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _s
       SetWinchVelocity(msg->data);
     });
 
-  RCLCPP_INFO(impl_->ros_node_->get_logger(), "Subscribed to [%s]",
-    impl_->vel_sub_->get_topic_name());
+  RCLCPP_INFO(
+    impl_->ros_node_->get_logger(), "Subscribed to [%s]", impl_->vel_sub_->get_topic_name());
 
   impl_->detach_sub_ = impl_->ros_node_->create_subscription<std_msgs::msg::Empty>(
     impl_->model_ + "/harness/detach", rclcpp::QoS(rclcpp::KeepLast(1)),
     std::bind(&GazeboRosHarness::OnDetach, this, std::placeholders::_1));
 
-  RCLCPP_INFO(impl_->ros_node_->get_logger(), "Subscribed to [%s]",
-    impl_->detach_sub_->get_topic_name());
+  RCLCPP_INFO(
+    impl_->ros_node_->get_logger(), "Subscribed to [%s]", impl_->detach_sub_->get_topic_name());
 
   if (_sdf->HasElement("init_vel")) {
     auto init_vel = _sdf->Get<float>("init_vel");
@@ -88,7 +88,8 @@ void GazeboRosHarness::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _s
 void GazeboRosHarness::OnDetach(const std_msgs::msg::Empty::ConstSharedPtr /*msg*/)
 {
   if (impl_->detached_) {
-    RCLCPP_WARN(impl_->ros_node_->get_logger(),
+    RCLCPP_WARN(
+      impl_->ros_node_->get_logger(),
       "[%s] is already detached from harness", impl_->model_.c_str());
     return;
   }
diff --git a/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp b/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp
index e0fb1e0f1..56092ba71 100644
--- a/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp
+++ b/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp
@@ -121,8 +121,9 @@ void GazeboRosJointPoseTrajectory::Load(gazebo::physics::ModelPtr model, sdf::El
   // Set Joint Trajectory Callback
   impl_->sub_ = impl_->ros_node_->create_subscription<trajectory_msgs::msg::JointTrajectory>(
     "set_joint_trajectory", rclcpp::QoS(rclcpp::KeepLast(1)),
-    std::bind(&GazeboRosJointPoseTrajectoryPrivate::SetJointTrajectory,
-    impl_.get(), std::placeholders::_1));
+    std::bind(
+      &GazeboRosJointPoseTrajectoryPrivate::SetJointTrajectory,
+      impl_.get(), std::placeholders::_1));
 
   // Callback on every iteration
   impl_->update_connection_ = gazebo::event::Events::ConnectWorldUpdateBegin(
@@ -149,7 +150,8 @@ void GazeboRosJointPoseTrajectoryPrivate::OnUpdate(const gazebo::common::UpdateI
   std::lock_guard<std::mutex> scoped_lock(lock_);
   if (has_trajectory_ && current_time >= trajectory_start_time_) {
     if (trajectory_index_ < points_.size()) {
-      RCLCPP_INFO(ros_node_->get_logger(), "time [%f] updating configuration [%d/%lu]",
+      RCLCPP_INFO(
+        ros_node_->get_logger(), "time [%f] updating configuration [%d/%lu]",
         current_time.Double(), trajectory_index_ + 1, points_.size());
 
       // get reference link pose before updates
@@ -176,7 +178,8 @@ void GazeboRosJointPoseTrajectoryPrivate::OnUpdate(const gazebo::common::UpdateI
           model_->SetWorldPose(reference_pose);
         }
       } else {
-        RCLCPP_ERROR(ros_node_->get_logger(),
+        RCLCPP_ERROR(
+          ros_node_->get_logger(),
           "point[%u] has different number of joint names[%u] and positions[%lu].",
           trajectory_index_ + 1, chain_size, points_[trajectory_index_].positions.size());
       }
@@ -213,12 +216,14 @@ void GazeboRosJointPoseTrajectoryPrivate::SetJointTrajectory(
       reference_link_ = boost::dynamic_pointer_cast<gazebo::physics::Link>(entity);
     }
     if (!reference_link_) {
-      RCLCPP_ERROR(ros_node_->get_logger(),
+      RCLCPP_ERROR(
+        ros_node_->get_logger(),
         "Plugin needs a reference link [%s] as frame_id, aborting.", reference_link_name.c_str());
       return;
     }
     model_ = reference_link_->GetParentModel();
-    RCLCPP_DEBUG(ros_node_->get_logger(),
+    RCLCPP_DEBUG(
+      ros_node_->get_logger(),
       "Update model pose by keeping link [%s] stationary inertially",
       reference_link_->GetName().c_str());
   }
@@ -229,7 +234,8 @@ void GazeboRosJointPoseTrajectoryPrivate::SetJointTrajectory(
   for (unsigned int i = 0; i < chain_size; ++i) {
     joints_[i] = model_->GetJoint(msg->joint_names[i]);
     if (!joints_[i]) {
-      RCLCPP_ERROR(ros_node_->get_logger(), "Joint [%s] not found. Trajectory not set.",
+      RCLCPP_ERROR(
+        ros_node_->get_logger(), "Joint [%s] not found. Trajectory not set.",
         msg->joint_names[i].c_str());
       return;
     }
diff --git a/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp b/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp
index 0905875da..90ae53f1f 100644
--- a/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp
+++ b/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp
@@ -103,7 +103,8 @@ void GazeboRosJointStatePublisher::Load(gazebo::physics::ModelPtr model, sdf::El
       RCLCPP_ERROR(impl_->ros_node_->get_logger(), "Joint %s does not exist!", joint_name.c_str());
     } else {
       impl_->joints_.push_back(joint);
-      RCLCPP_INFO(impl_->ros_node_->get_logger(), "Going to publish joint [%s]",
+      RCLCPP_INFO(
+        impl_->ros_node_->get_logger(), "Going to publish joint [%s]",
         joint_name.c_str() );
     }
 
@@ -119,8 +120,8 @@ void GazeboRosJointStatePublisher::Load(gazebo::physics::ModelPtr model, sdf::El
   // Update rate
   double update_rate = 100.0;
   if (!sdf->HasElement("update_rate")) {
-    RCLCPP_INFO(impl_->ros_node_->get_logger(), "Missing <update_rate>, defaults to %f",
-      update_rate);
+    RCLCPP_INFO(
+      impl_->ros_node_->get_logger(), "Missing <update_rate>, defaults to %f", update_rate);
   } else {
     update_rate = sdf->GetElement("update_rate")->Get<double>();
   }
diff --git a/gazebo_plugins/src/gazebo_ros_p3d.cpp b/gazebo_plugins/src/gazebo_ros_p3d.cpp
index eb96b8905..1292a4db1 100644
--- a/gazebo_plugins/src/gazebo_ros_p3d.cpp
+++ b/gazebo_plugins/src/gazebo_ros_p3d.cpp
@@ -93,7 +93,8 @@ void GazeboRosP3D::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf)
   impl_->ros_node_ = gazebo_ros::Node::Get(sdf);
 
   if (!sdf->HasElement("update_rate")) {
-    RCLCPP_DEBUG(impl_->ros_node_->get_logger(), "p3d plugin missing <update_rate>, defaults to 0.0"
+    RCLCPP_DEBUG(
+      impl_->ros_node_->get_logger(), "p3d plugin missing <update_rate>, defaults to 0.0"
       " (as fast as possible)");
   } else {
     impl_->update_rate_ = sdf->GetElement("update_rate")->Get<double>();
@@ -130,8 +131,8 @@ void GazeboRosP3D::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf)
   if (!sdf->HasElement("rpy_offsets")) {
     RCLCPP_DEBUG(impl_->ros_node_->get_logger(), "Missing <rpy_offsets>, defaults to 0s");
   } else {
-    impl_->offset_.Rot() = ignition::math::Quaterniond(sdf->GetElement(
-          "rpy_offsets")->Get<ignition::math::Vector3d>());
+    impl_->offset_.Rot() = ignition::math::Quaterniond(
+      sdf->GetElement("rpy_offsets")->Get<ignition::math::Vector3d>());
   }
 
   if (!sdf->HasElement("gaussian_noise")) {
@@ -157,7 +158,8 @@ void GazeboRosP3D::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf)
   {
     impl_->reference_link_ = model->GetLink(impl_->frame_name_);
     if (!impl_->reference_link_) {
-      RCLCPP_WARN(impl_->ros_node_->get_logger(), "<frame_name> [%s] does not exist.",
+      RCLCPP_WARN(
+        impl_->ros_node_->get_logger(), "<frame_name> [%s] does not exist.",
         impl_->frame_name_.c_str());
     }
   }
diff --git a/gazebo_plugins/src/gazebo_ros_planar_move.cpp b/gazebo_plugins/src/gazebo_ros_planar_move.cpp
index 266cb57f8..b807fa4b9 100644
--- a/gazebo_plugins/src/gazebo_ros_planar_move.cpp
+++ b/gazebo_plugins/src/gazebo_ros_planar_move.cpp
@@ -157,7 +157,8 @@ void GazeboRosPlanarMove::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr
     "cmd_vel", rclcpp::QoS(rclcpp::KeepLast(1)),
     std::bind(&GazeboRosPlanarMovePrivate::OnCmdVel, impl_.get(), std::placeholders::_1));
 
-  RCLCPP_INFO(impl_->ros_node_->get_logger(), "Subscribed to [%s]",
+  RCLCPP_INFO(
+    impl_->ros_node_->get_logger(), "Subscribed to [%s]",
     impl_->cmd_vel_sub_->get_topic_name());
 
   // Advertise odometry topic
@@ -166,7 +167,8 @@ void GazeboRosPlanarMove::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr
     impl_->odometry_pub_ = impl_->ros_node_->create_publisher<nav_msgs::msg::Odometry>(
       "odom", rclcpp::QoS(rclcpp::KeepLast(1)));
 
-    RCLCPP_INFO(impl_->ros_node_->get_logger(), "Advertise odometry on [%s]",
+    RCLCPP_INFO(
+      impl_->ros_node_->get_logger(), "Advertise odometry on [%s]",
       impl_->odometry_pub_->get_topic_name());
   }
 
@@ -176,7 +178,8 @@ void GazeboRosPlanarMove::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr
     impl_->transform_broadcaster_ =
       std::make_shared<tf2_ros::TransformBroadcaster>(impl_->ros_node_);
 
-    RCLCPP_INFO(impl_->ros_node_->get_logger(),
+    RCLCPP_INFO(
+      impl_->ros_node_->get_logger(),
       "Publishing odom transforms between [%s] and [%s]", impl_->odometry_frame_.c_str(),
       impl_->robot_base_frame_.c_str());
   }
@@ -226,7 +229,8 @@ void GazeboRosPlanarMovePrivate::OnUpdate(const gazebo::common::UpdateInfo & _in
   if (seconds_since_last_update >= update_period_) {
     ignition::math::Pose3d pose = model_->WorldPose();
     auto yaw = static_cast<float>(pose.Rot().Yaw());
-    model_->SetLinearVel(ignition::math::Vector3d(
+    model_->SetLinearVel(
+      ignition::math::Vector3d(
         target_cmd_vel_.linear.x * cosf(yaw) - target_cmd_vel_.linear.y * sinf(yaw),
         target_cmd_vel_.linear.y * cosf(yaw) + target_cmd_vel_.linear.x * sinf(yaw),
         0));
diff --git a/gazebo_plugins/src/gazebo_ros_projector.cpp b/gazebo_plugins/src/gazebo_ros_projector.cpp
index fc4ef5fca..a488c256f 100644
--- a/gazebo_plugins/src/gazebo_ros_projector.cpp
+++ b/gazebo_plugins/src/gazebo_ros_projector.cpp
@@ -80,15 +80,16 @@ void GazeboRosProjector::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr
   // Create a Gazebo publisher to switch the projector
   impl_->projector_pub_ = impl_->gazebo_node_->Advertise<gazebo::msgs::Projector>(name);
 
-  RCLCPP_INFO(impl_->ros_node_->get_logger(),
+  RCLCPP_INFO(
+    impl_->ros_node_->get_logger(),
     "Controlling projector at [%s]", impl_->projector_pub_->GetTopic().c_str());
 
   impl_->toggle_sub_ = impl_->ros_node_->create_subscription<std_msgs::msg::Bool>(
     "switch", rclcpp::QoS(rclcpp::KeepLast(1)),
     std::bind(&GazeboRosProjectorPrivate::ToggleProjector, impl_.get(), std::placeholders::_1));
 
-  RCLCPP_INFO(impl_->ros_node_->get_logger(),
-    "Subscribed to [%s]", impl_->toggle_sub_->get_topic_name());
+  RCLCPP_INFO(
+    impl_->ros_node_->get_logger(), "Subscribed to [%s]", impl_->toggle_sub_->get_topic_name());
 }
 
 void GazeboRosProjectorPrivate::ToggleProjector(const std_msgs::msg::Bool::SharedPtr switch_msg)
diff --git a/gazebo_plugins/src/gazebo_ros_ray_sensor.cpp b/gazebo_plugins/src/gazebo_ros_ray_sensor.cpp
index 6d0fc4c01..1052da7d6 100644
--- a/gazebo_plugins/src/gazebo_ros_ray_sensor.cpp
+++ b/gazebo_plugins/src/gazebo_ros_ray_sensor.cpp
@@ -126,8 +126,8 @@ void GazeboRosRaySensor::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPt
       impl_->pub_ = impl_->ros_node_->create_publisher<sensor_msgs::msg::Range>(
         "~/out", rclcpp::SensorDataQoS());
     } else {
-      RCLCPP_ERROR(impl_->ros_node_->get_logger(), "Invalid <output_type> [%s]",
-        output_type_string.c_str());
+      RCLCPP_ERROR(
+        impl_->ros_node_->get_logger(), "Invalid <output_type> [%s]", output_type_string.c_str());
       return;
     }
   }
@@ -135,8 +135,8 @@ void GazeboRosRaySensor::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPt
   // Get parameters specific to Range output from sdf
   if (impl_->pub_.type() == typeid(GazeboRosRaySensorPrivate::RangePub)) {
     if (!_sdf->HasElement("radiation_type")) {
-      RCLCPP_INFO(impl_->ros_node_->get_logger(),
-        "missing <radiation_type>, defaulting to infrared");
+      RCLCPP_INFO(
+        impl_->ros_node_->get_logger(), "missing <radiation_type>, defaulting to infrared");
       impl_->range_radiation_type_ = sensor_msgs::msg::Range::INFRARED;
     } else if ("ultrasound" == _sdf->Get<std::string>("radiation_type")) {
       impl_->range_radiation_type_ = sensor_msgs::msg::Range::ULTRASOUND;
@@ -152,7 +152,8 @@ void GazeboRosRaySensor::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPt
   }
 
   if (!_sdf->HasElement("min_intensity")) {
-    RCLCPP_DEBUG(impl_->ros_node_->get_logger(), "missing <min_intensity>, defaults to %f",
+    RCLCPP_DEBUG(
+      impl_->ros_node_->get_logger(), "missing <min_intensity>, defaults to %f",
       impl_->min_intensity_);
   } else {
     impl_->min_intensity_ = _sdf->Get<double>("min_intensity");
@@ -170,17 +171,17 @@ void GazeboRosRaySensor::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPt
 void GazeboRosRaySensorPrivate::SubscribeGazeboLaserScan()
 {
   if (pub_.type() == typeid(LaserScanPub)) {
-    laser_scan_sub_ = gazebo_node_->Subscribe(sensor_topic_,
-        &GazeboRosRaySensorPrivate::PublishLaserScan, this);
+    laser_scan_sub_ = gazebo_node_->Subscribe(
+      sensor_topic_, &GazeboRosRaySensorPrivate::PublishLaserScan, this);
   } else if (pub_.type() == typeid(PointCloudPub)) {
-    laser_scan_sub_ = gazebo_node_->Subscribe(sensor_topic_,
-        &GazeboRosRaySensorPrivate::PublishPointCloud, this);
+    laser_scan_sub_ = gazebo_node_->Subscribe(
+      sensor_topic_, &GazeboRosRaySensorPrivate::PublishPointCloud, this);
   } else if (pub_.type() == typeid(PointCloud2Pub)) {
-    laser_scan_sub_ = gazebo_node_->Subscribe(sensor_topic_,
-        &GazeboRosRaySensorPrivate::PublishPointCloud2, this);
+    laser_scan_sub_ = gazebo_node_->Subscribe(
+      sensor_topic_, &GazeboRosRaySensorPrivate::PublishPointCloud2, this);
   } else if (pub_.type() == typeid(RangePub)) {
-    laser_scan_sub_ = gazebo_node_->Subscribe(sensor_topic_,
-        &GazeboRosRaySensorPrivate::PublishRange, this);
+    laser_scan_sub_ = gazebo_node_->Subscribe(
+      sensor_topic_, &GazeboRosRaySensorPrivate::PublishRange, this);
   } else {
     RCLCPP_ERROR(ros_node_->get_logger(), "Publisher is an invalid type. This is an internal bug.");
   }
diff --git a/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp b/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp
index 49eebf1d1..8448ef4aa 100644
--- a/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp
+++ b/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp
@@ -264,7 +264,8 @@ void GazeboRosTricycleDrive::Load(gazebo::physics::ModelPtr _model, sdf::Element
   auto steering_joint = _sdf->Get<std::string>("steering_joint", "front_steering_joint").first;
   impl_->joints_[GazeboRosTricycleDrivePrivate::STEERING] = _model->GetJoint(steering_joint);
   if (!impl_->joints_[GazeboRosTricycleDrivePrivate::STEERING]) {
-    RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+    RCLCPP_ERROR(
+      impl_->ros_node_->get_logger(),
       "Steering joint [%s] not found, plugin will not work.", steering_joint.c_str());
     impl_->ros_node_.reset();
     return;
@@ -275,7 +276,8 @@ void GazeboRosTricycleDrive::Load(gazebo::physics::ModelPtr _model, sdf::Element
   impl_->joints_[GazeboRosTricycleDrivePrivate::WHEEL_ACTUATED] = _model->GetJoint(
     wheel_actuated_joint);
   if (!impl_->joints_[GazeboRosTricycleDrivePrivate::WHEEL_ACTUATED]) {
-    RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+    RCLCPP_ERROR(
+      impl_->ros_node_->get_logger(),
       "Wheel actuated joint [%s] not found, plugin will not work.",
       wheel_actuated_joint.c_str());
     impl_->ros_node_.reset();
@@ -287,7 +289,8 @@ void GazeboRosTricycleDrive::Load(gazebo::physics::ModelPtr _model, sdf::Element
   impl_->joints_[GazeboRosTricycleDrivePrivate::WHEEL_ENCODER_LEFT] = _model->GetJoint(
     wheel_encoder_left_joint);
   if (!impl_->joints_[GazeboRosTricycleDrivePrivate::WHEEL_ENCODER_LEFT]) {
-    RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+    RCLCPP_ERROR(
+      impl_->ros_node_->get_logger(),
       "Left wheel encoder joint [%s] not found, plugin will not work.",
       wheel_encoder_left_joint.c_str());
     impl_->ros_node_.reset();
@@ -299,7 +302,8 @@ void GazeboRosTricycleDrive::Load(gazebo::physics::ModelPtr _model, sdf::Element
   impl_->joints_[GazeboRosTricycleDrivePrivate::WHEEL_ENCODER_RIGHT] = _model->GetJoint(
     wheel_encoder_right_joint);
   if (!impl_->joints_[GazeboRosTricycleDrivePrivate::WHEEL_ENCODER_RIGHT]) {
-    RCLCPP_ERROR(impl_->ros_node_->get_logger(),
+    RCLCPP_ERROR(
+      impl_->ros_node_->get_logger(),
       "Right wheel encoder joint [%s] not found, plugin will not work.",
       wheel_encoder_right_joint.c_str());
     impl_->ros_node_.reset();
@@ -307,10 +311,10 @@ void GazeboRosTricycleDrive::Load(gazebo::physics::ModelPtr _model, sdf::Element
   }
 
   impl_->max_wheel_torque_ = _sdf->Get<double>("max_wheel_torque", 0.15).first;
-  impl_->joints_[GazeboRosTricycleDrivePrivate::WHEEL_ACTUATED]->SetParam("fmax", 0,
-    impl_->max_wheel_torque_);
-  impl_->joints_[GazeboRosTricycleDrivePrivate::STEERING]->SetParam("fmax", 0,
-    impl_->max_wheel_torque_);
+  impl_->joints_[GazeboRosTricycleDrivePrivate::WHEEL_ACTUATED]->SetParam(
+    "fmax", 0, impl_->max_wheel_torque_);
+  impl_->joints_[GazeboRosTricycleDrivePrivate::STEERING]->SetParam(
+    "fmax", 0, impl_->max_wheel_torque_);
 
   // Update rate
   auto update_rate = _sdf->Get<double>("update_rate", 100).first;
@@ -325,8 +329,8 @@ void GazeboRosTricycleDrive::Load(gazebo::physics::ModelPtr _model, sdf::Element
     "cmd_vel", rclcpp::QoS(rclcpp::KeepLast(1)),
     std::bind(&GazeboRosTricycleDrivePrivate::OnCmdVel, impl_.get(), std::placeholders::_1));
 
-  RCLCPP_INFO(impl_->ros_node_->get_logger(),
-    "Subscribe to [%s]", impl_->cmd_vel_sub_->get_topic_name());
+  RCLCPP_INFO(
+    impl_->ros_node_->get_logger(), "Subscribe to [%s]", impl_->cmd_vel_sub_->get_topic_name());
 
   impl_->publish_wheel_tf_ = _sdf->Get<bool>("publish_wheel_tf", false).first;
 
@@ -334,7 +338,8 @@ void GazeboRosTricycleDrive::Load(gazebo::physics::ModelPtr _model, sdf::Element
   if (impl_->publish_wheel_joint_state_) {
     impl_->joint_state_publisher_ =
       impl_->ros_node_->create_publisher<sensor_msgs::msg::JointState>("joint_states", 1000);
-    RCLCPP_INFO(impl_->ros_node_->get_logger(), "Advertise joint_states on [%s]",
+    RCLCPP_INFO(
+      impl_->ros_node_->get_logger(), "Advertise joint_states on [%s]",
       impl_->joint_state_publisher_->get_topic_name());
   }
 
@@ -344,7 +349,8 @@ void GazeboRosTricycleDrive::Load(gazebo::physics::ModelPtr _model, sdf::Element
     impl_->odometry_pub_ = impl_->ros_node_->create_publisher<nav_msgs::msg::Odometry>(
       "odom", rclcpp::QoS(rclcpp::KeepLast(1)));
 
-    RCLCPP_INFO(impl_->ros_node_->get_logger(), "Advertise odometry on [%s]",
+    RCLCPP_INFO(
+      impl_->ros_node_->get_logger(), "Advertise odometry on [%s]",
       impl_->odometry_pub_->get_topic_name());
   }
 
@@ -354,7 +360,8 @@ void GazeboRosTricycleDrive::Load(gazebo::physics::ModelPtr _model, sdf::Element
       impl_->ros_node_);
 
     if (impl_->publish_odom_) {
-      RCLCPP_INFO(impl_->ros_node_->get_logger(),
+      RCLCPP_INFO(
+        impl_->ros_node_->get_logger(),
         "Publishing odom transforms between [%s] and [%s]", impl_->odometry_frame_.c_str(),
         impl_->robot_base_frame_.c_str());
     }
@@ -397,10 +404,10 @@ void GazeboRosTricycleDrive::Reset()
   {
     gazebo::common::Time current_time =
       impl_->joints_[GazeboRosTricycleDrivePrivate::STEERING]->GetWorld()->SimTime();
-    impl_->joints_[GazeboRosTricycleDrivePrivate::WHEEL_ACTUATED]->SetParam("fmax", 0,
-      impl_->max_wheel_torque_);
-    impl_->joints_[GazeboRosTricycleDrivePrivate::STEERING]->SetParam("fmax", 0,
-      impl_->max_wheel_torque_);
+    impl_->joints_[GazeboRosTricycleDrivePrivate::WHEEL_ACTUATED]->SetParam(
+      "fmax", 0, impl_->max_wheel_torque_);
+    impl_->joints_[GazeboRosTricycleDrivePrivate::STEERING]->SetParam(
+      "fmax", 0, impl_->max_wheel_torque_);
     impl_->joints_[GazeboRosTricycleDrivePrivate::WHEEL_ACTUATED]->SetParam("vel", 0, 0.0);
     impl_->joints_[GazeboRosTricycleDrivePrivate::STEERING]->SetParam("vel", 0, 0.0);
     impl_->last_actuator_update_ = current_time;
diff --git a/gazebo_plugins/src/gazebo_ros_vacuum_gripper.cpp b/gazebo_plugins/src/gazebo_ros_vacuum_gripper.cpp
index c3102f840..5e4c3f644 100644
--- a/gazebo_plugins/src/gazebo_ros_vacuum_gripper.cpp
+++ b/gazebo_plugins/src/gazebo_ros_vacuum_gripper.cpp
@@ -116,7 +116,8 @@ void GazeboRosVacuumGripper::Load(gazebo::physics::ModelPtr _model, sdf::Element
     {
       auto name = fixed->Get<std::string>();
       impl_->fixed_.insert(name);
-      RCLCPP_INFO(impl_->ros_node_->get_logger(),
+      RCLCPP_INFO(
+        impl_->ros_node_->get_logger(),
         "Model/Link [%s] exempted from gripper force", name.c_str());
     }
   }
@@ -127,15 +128,19 @@ void GazeboRosVacuumGripper::Load(gazebo::physics::ModelPtr _model, sdf::Element
   impl_->pub_ = impl_->ros_node_->create_publisher<std_msgs::msg::Bool>(
     "grasping", rclcpp::QoS(rclcpp::KeepLast(1)));
 
-  RCLCPP_INFO(impl_->ros_node_->get_logger(),
+  RCLCPP_INFO(
+    impl_->ros_node_->get_logger(),
     "Advertise gripper status on [%s]", impl_->pub_->get_topic_name());
 
   // Initialize service
-  impl_->service_ = impl_->ros_node_->create_service<std_srvs::srv::SetBool>("switch",
-      std::bind(&GazeboRosVacuumGripperPrivate::OnSwitch, impl_.get(),
+  impl_->service_ = impl_->ros_node_->create_service<std_srvs::srv::SetBool>(
+    "switch",
+    std::bind(
+      &GazeboRosVacuumGripperPrivate::OnSwitch, impl_.get(),
       std::placeholders::_1, std::placeholders::_2));
 
-  RCLCPP_INFO(impl_->ros_node_->get_logger(),
+  RCLCPP_INFO(
+    impl_->ros_node_->get_logger(),
     "Advertise gripper switch service on [%s]", impl_->service_->get_service_name());
 
   // Listen to the update event (broadcast every simulation iteration)
diff --git a/gazebo_plugins/src/gazebo_ros_video.cpp b/gazebo_plugins/src/gazebo_ros_video.cpp
index 16abd2627..490614d7b 100644
--- a/gazebo_plugins/src/gazebo_ros_video.cpp
+++ b/gazebo_plugins/src/gazebo_ros_video.cpp
@@ -200,8 +200,8 @@ void GazeboRosVideo::Load(
 
   int width = _sdf->Get<int>("width", 320).first;
 
-  impl_->video_visual_ = std::make_shared<VideoVisual>(_parent->Name() + "::video_visual::" +
-      _sdf->Get<std::string>("name"), _parent, height, width);
+  impl_->video_visual_ = std::make_shared<VideoVisual>(
+    _parent->Name() + "::video_visual::" + _sdf->Get<std::string>("name"), _parent, height, width);
   _parent->GetScene()->AddVisual(impl_->video_visual_);
 
   // Subscribe to the image topic
@@ -215,7 +215,8 @@ void GazeboRosVideo::Load(
   impl_->update_connection_ = gazebo::event::Events::ConnectPreRender(
     std::bind(&GazeboRosVideoPrivate::onUpdate, impl_.get()));
 
-  RCLCPP_INFO(impl_->rosnode_->get_logger(),
+  RCLCPP_INFO(
+    impl_->rosnode_->get_logger(),
     "GazeboRosVideo has started. Subscribed to [%s]",
     impl_->camera_subscriber_->get_topic_name());
 }
diff --git a/gazebo_plugins/src/multi_camera_plugin.cpp b/gazebo_plugins/src/multi_camera_plugin.cpp
index af5901781..bee938972 100644
--- a/gazebo_plugins/src/multi_camera_plugin.cpp
+++ b/gazebo_plugins/src/multi_camera_plugin.cpp
@@ -81,10 +81,12 @@ void MultiCameraPlugin::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr
     depth_.push_back(camera_[i]->ImageDepth());
     format_.push_back(camera_[i]->ImageFormat());
 
-    impl_->new_frame_connection_.push_back(camera_[i]->ConnectNewImageFrame(
-        std::bind(&MultiCameraPlugin::OnNewMultiFrame,
-        this, std::placeholders::_1, std::placeholders::_2,
-        std::placeholders::_3, std::placeholders::_4, std::placeholders::_5, i)));
+    impl_->new_frame_connection_.push_back(
+      camera_[i]->ConnectNewImageFrame(
+        std::bind(
+          &MultiCameraPlugin::OnNewMultiFrame,
+          this, std::placeholders::_1, std::placeholders::_2,
+          std::placeholders::_3, std::placeholders::_4, std::placeholders::_5, i)));
   }
 
   parent_sensor_->SetActive(true);
diff --git a/gazebo_plugins/test/test_gazebo_ros_camera.cpp b/gazebo_plugins/test/test_gazebo_ros_camera.cpp
index db704cfa1..66603211e 100644
--- a/gazebo_plugins/test/test_gazebo_ros_camera.cpp
+++ b/gazebo_plugins/test/test_gazebo_ros_camera.cpp
@@ -57,12 +57,13 @@ TEST_P(GazeboRosCameraTest, CameraSubscribeTest)
   unsigned int msg_count{0};
   builtin_interfaces::msg::Time image_stamp;
 
-  auto sub = image_transport::create_subscription(node.get(), GetParam().topic,
-      [&](const sensor_msgs::msg::Image::ConstSharedPtr & msg) {
-        image_stamp = msg->header.stamp;
-        ++msg_count;
-      },
-      "raw");
+  auto sub = image_transport::create_subscription(
+    node.get(), GetParam().topic,
+    [&](const sensor_msgs::msg::Image::ConstSharedPtr & msg) {
+      image_stamp = msg->header.stamp;
+      ++msg_count;
+    },
+    "raw");
 
   // Update rate is 0.5 Hz, so we step 3s sim time to be sure we get exactly 1 image at 2s
   world->Step(3000);
@@ -80,11 +81,10 @@ TEST_P(GazeboRosCameraTest, CameraSubscribeTest)
   sub.shutdown();
 }
 
-INSTANTIATE_TEST_CASE_P(GazeboRosCamera, GazeboRosCameraTest, ::testing::Values(
-    TestParams({"worlds/gazebo_ros_camera.world",
-      "test_cam/camera/image_test"}),
-    TestParams({"worlds/gazebo_ros_camera_16bit.world",
-      "test_cam_16bit/image_test_16bit"})
+INSTANTIATE_TEST_CASE_P(
+  GazeboRosCamera, GazeboRosCameraTest, ::testing::Values(
+    TestParams({"worlds/gazebo_ros_camera.world", "test_cam/camera/image_test"}),
+    TestParams({"worlds/gazebo_ros_camera_16bit.world", "test_cam_16bit/image_test_16bit"})
   ), );
 
 int main(int argc, char ** argv)
diff --git a/gazebo_plugins/test/test_gazebo_ros_camera_distortion.cpp b/gazebo_plugins/test/test_gazebo_ros_camera_distortion.cpp
index 6bc4037a5..5fab7ae89 100644
--- a/gazebo_plugins/test/test_gazebo_ros_camera_distortion.cpp
+++ b/gazebo_plugins/test/test_gazebo_ros_camera_distortion.cpp
@@ -99,21 +99,23 @@ TEST_P(GazeboRosCameraDistortionTest, CameraSubscribeTest)
 
   // Subscribe to undistorted image
   sensor_msgs::msg::Image::ConstSharedPtr cam_image_undistorted;
-  cam_sub_undistorted_ = image_transport::create_subscription(node.get(),
-      GetParam().undistorted_topic,
-      [&cam_image_undistorted](const sensor_msgs::msg::Image::ConstSharedPtr & _msg) {
-        cam_image_undistorted = _msg;
-      },
-      "raw");
+  cam_sub_undistorted_ = image_transport::create_subscription(
+    node.get(),
+    GetParam().undistorted_topic,
+    [&cam_image_undistorted](const sensor_msgs::msg::Image::ConstSharedPtr & _msg) {
+      cam_image_undistorted = _msg;
+    },
+    "raw");
 
   // Subscribe to distorted image
   sensor_msgs::msg::Image::ConstSharedPtr cam_image_distorted;
-  cam_sub_distorted_ = image_transport::create_subscription(node.get(),
-      GetParam().distorted_topic,
-      [&cam_image_distorted](const sensor_msgs::msg::Image::ConstSharedPtr & _msg) {
-        cam_image_distorted = _msg;
-      },
-      "raw");
+  cam_sub_distorted_ = image_transport::create_subscription(
+    node.get(),
+    GetParam().distorted_topic,
+    [&cam_image_distorted](const sensor_msgs::msg::Image::ConstSharedPtr & _msg) {
+      cam_image_distorted = _msg;
+    },
+    "raw");
 
   // Subscribe to distorted camera info
   sensor_msgs::msg::CameraInfo::SharedPtr cam_info_distorted;
@@ -143,13 +145,15 @@ TEST_P(GazeboRosCameraDistortionTest, CameraSubscribeTest)
   // Load camera coefficients from published ROS information
   auto intrinsic_distorted_matrix = cv::Mat(3, 3, CV_64F);
   if (cam_info_distorted->k.size() == 9) {
-    memcpy(intrinsic_distorted_matrix.data, cam_info_distorted->k.data(),
+    memcpy(
+      intrinsic_distorted_matrix.data, cam_info_distorted->k.data(),
       cam_info_distorted->k.size() * sizeof(double));
   }
 
   auto distortion_coeffs = cv::Mat(5, 1, CV_64F);
   if (cam_info_distorted->d.size() == 5) {
-    memcpy(distortion_coeffs.data, cam_info_distorted->d.data(),
+    memcpy(
+      distortion_coeffs.data, cam_info_distorted->d.data(),
       cam_info_distorted->d.size() * sizeof(double));
   }
 
@@ -204,16 +208,18 @@ TEST_P(GazeboRosCameraDistortionTest, CameraSubscribeTest)
   }
 }
 
-INSTANTIATE_TEST_CASE_P(GazeboRosCameraDistortion, GazeboRosCameraDistortionTest,
-  ::testing::Values(
-    TestParams({"worlds/gazebo_ros_camera_distortion_barrel.world",
-      "undistorted_image",
-      "distorted_image",
-      "distorted_info"}),
-    TestParams({"worlds/gazebo_ros_camera_distortion_pincushion.world",
-      "undistorted_image",
-      "distorted_image",
-      "distorted_info"})
+INSTANTIATE_TEST_CASE_P(
+  GazeboRosCameraDistortion, GazeboRosCameraDistortionTest, ::testing::Values(
+    TestParams(
+      {"worlds/gazebo_ros_camera_distortion_barrel.world",
+        "undistorted_image",
+        "distorted_image",
+        "distorted_info"}),
+    TestParams(
+      {"worlds/gazebo_ros_camera_distortion_pincushion.world",
+        "undistorted_image",
+        "distorted_image",
+        "distorted_info"})
   ), );
 
 int main(int argc, char ** argv)
diff --git a/gazebo_plugins/test/test_gazebo_ros_camera_triggered.cpp b/gazebo_plugins/test/test_gazebo_ros_camera_triggered.cpp
index 1618d1a9c..89a723391 100644
--- a/gazebo_plugins/test/test_gazebo_ros_camera_triggered.cpp
+++ b/gazebo_plugins/test/test_gazebo_ros_camera_triggered.cpp
@@ -48,13 +48,14 @@ TEST_F(GazeboRosTriggeredCameraTest, CameraSubscribeTest)
   unsigned int msg_count{0};
   builtin_interfaces::msg::Time image_stamp;
 
-  auto sub = image_transport::create_subscription(node.get(),
-      "test_triggered_cam/image_raw_test",
-      [&](const sensor_msgs::msg::Image::ConstSharedPtr & msg) {
-        image_stamp = msg->header.stamp;
-        ++msg_count;
-      },
-      "raw");
+  auto sub = image_transport::create_subscription(
+    node.get(),
+    "test_triggered_cam/image_raw_test",
+    [&](const sensor_msgs::msg::Image::ConstSharedPtr & msg) {
+      image_stamp = msg->header.stamp;
+      ++msg_count;
+    },
+    "raw");
 
   // Step a bit and check that we do not get any messages
   world->Step(100);
diff --git a/gazebo_plugins/test/test_gazebo_ros_depth_camera.cpp b/gazebo_plugins/test/test_gazebo_ros_depth_camera.cpp
index 241659ea3..5283e7ddc 100644
--- a/gazebo_plugins/test/test_gazebo_ros_depth_camera.cpp
+++ b/gazebo_plugins/test/test_gazebo_ros_depth_camera.cpp
@@ -64,11 +64,12 @@ TEST_P(GazeboRosDepthCameraTest, DepthCameraSubscribeTest)
   unsigned int msg_count{0};
   builtin_interfaces::msg::Time image_stamp;
 
-  auto sub = image_transport::create_subscription(node.get(), GetParam().raw_image_topic,
-      [&](const sensor_msgs::msg::Image::ConstSharedPtr & msg) {
-        image_stamp = msg->header.stamp;
-        ++msg_count;
-      }, "raw");
+  auto sub = image_transport::create_subscription(
+    node.get(), GetParam().raw_image_topic,
+    [&](const sensor_msgs::msg::Image::ConstSharedPtr & msg) {
+      image_stamp = msg->header.stamp;
+      ++msg_count;
+    }, "raw");
 
   // Update rate is 0.5 Hz, so we step 3s sim time to be sure we get exactly 1 image at 2s
   world->Step(3000);
@@ -89,11 +90,12 @@ TEST_P(GazeboRosDepthCameraTest, DepthCameraSubscribeTest)
   unsigned int msg_count_depth{0};
   builtin_interfaces::msg::Time image_stamp_depth;
 
-  auto sub_depth = image_transport::create_subscription(node.get(), GetParam().depth_image_topic,
-      [&](const sensor_msgs::msg::Image::ConstSharedPtr & msg) {
-        image_stamp_depth = msg->header.stamp;
-        ++msg_count_depth;
-      }, "raw");
+  auto sub_depth = image_transport::create_subscription(
+    node.get(), GetParam().depth_image_topic,
+    [&](const sensor_msgs::msg::Image::ConstSharedPtr & msg) {
+      image_stamp_depth = msg->header.stamp;
+      ++msg_count_depth;
+    }, "raw");
 
   // Update rate is 0.5 Hz, so we step 3s sim time to be sure we get exactly 1 image at 2s
   world->Step(3000);
@@ -134,11 +136,13 @@ TEST_P(GazeboRosDepthCameraTest, DepthCameraSubscribeTest)
   EXPECT_EQ(8.0, image_stamp_pcl.sec);
 }
 
-INSTANTIATE_TEST_CASE_P(GazeboRosDepthCamera, GazeboRosDepthCameraTest, ::testing::Values(
-    TestParams({"worlds/gazebo_ros_depth_camera.world",
-      "test_cam/camera/raw_image_test",
-      "test_cam/camera/depth_image_test",
-      "test_cam/camera/points_test"})
+INSTANTIATE_TEST_CASE_P(
+  GazeboRosDepthCamera, GazeboRosDepthCameraTest, ::testing::Values(
+    TestParams(
+      {"worlds/gazebo_ros_depth_camera.world",
+        "test_cam/camera/raw_image_test",
+        "test_cam/camera/depth_image_test",
+        "test_cam/camera/points_test"})
   ), );
 
 int main(int argc, char ** argv)
diff --git a/gazebo_plugins/test/test_gazebo_ros_diff_drive.cpp b/gazebo_plugins/test/test_gazebo_ros_diff_drive.cpp
index 0041c05a7..50dbfbe4b 100644
--- a/gazebo_plugins/test/test_gazebo_ros_diff_drive.cpp
+++ b/gazebo_plugins/test/test_gazebo_ros_diff_drive.cpp
@@ -122,7 +122,8 @@ TEST_P(GazeboRosDiffDriveTest, Publishing)
   EXPECT_NEAR(0.1, vehicle->WorldAngularVel().Z(), tol);
 }
 
-INSTANTIATE_TEST_CASE_P(GazeboRosDiffDrive, GazeboRosDiffDriveTest, ::testing::Values(
+INSTANTIATE_TEST_CASE_P(
+  GazeboRosDiffDrive, GazeboRosDiffDriveTest, ::testing::Values(
     TestParams({"worlds/gazebo_ros_diff_drive.world"}),
     TestParams({"worlds/gazebo_ros_skid_steer_drive.world"})
   ), );
diff --git a/gazebo_plugins/test/test_gazebo_ros_gps_sensor.cpp b/gazebo_plugins/test/test_gazebo_ros_gps_sensor.cpp
index 386e5b547..7f24a3a38 100644
--- a/gazebo_plugins/test/test_gazebo_ros_gps_sensor.cpp
+++ b/gazebo_plugins/test/test_gazebo_ros_gps_sensor.cpp
@@ -49,11 +49,11 @@ TEST_F(GazeboRosGpsSensorTest, GpsMessageCorrect)
   ASSERT_NE(nullptr, node);
 
   sensor_msgs::msg::NavSatFix::SharedPtr msg = nullptr;
-  auto sub =
-    node->create_subscription<sensor_msgs::msg::NavSatFix>("/gps/data", rclcpp::SensorDataQoS(),
-      [&msg](sensor_msgs::msg::NavSatFix::SharedPtr _msg) {
-        msg = _msg;
-      });
+  auto sub = node->create_subscription<sensor_msgs::msg::NavSatFix>(
+    "/gps/data", rclcpp::SensorDataQoS(),
+    [&msg](sensor_msgs::msg::NavSatFix::SharedPtr _msg) {
+      msg = _msg;
+    });
 
   world->Step(1);
   EXPECT_NEAR(0.0, box->WorldPose().Pos().X(), tol);
diff --git a/gazebo_plugins/test/test_gazebo_ros_imu_sensor.cpp b/gazebo_plugins/test/test_gazebo_ros_imu_sensor.cpp
index e21ca7843..9febde065 100644
--- a/gazebo_plugins/test/test_gazebo_ros_imu_sensor.cpp
+++ b/gazebo_plugins/test/test_gazebo_ros_imu_sensor.cpp
@@ -48,11 +48,11 @@ TEST_F(GazeboRosImuSensorTest, ImuMessageCorrect)
   ASSERT_NE(nullptr, node);
 
   sensor_msgs::msg::Imu::SharedPtr msg = nullptr;
-  auto sub =
-    node->create_subscription<sensor_msgs::msg::Imu>("/imu/data", rclcpp::SensorDataQoS(),
-      [&msg](sensor_msgs::msg::Imu::SharedPtr _msg) {
-        msg = _msg;
-      });
+  auto sub = node->create_subscription<sensor_msgs::msg::Imu>(
+    "/imu/data", rclcpp::SensorDataQoS(),
+    [&msg](sensor_msgs::msg::Imu::SharedPtr _msg) {
+      msg = _msg;
+    });
 
   // Step until an imu message will have been published
   int sleep{0};
diff --git a/gazebo_plugins/test/test_gazebo_ros_multicamera.cpp b/gazebo_plugins/test/test_gazebo_ros_multicamera.cpp
index d9dbaf4ed..f99bda004 100644
--- a/gazebo_plugins/test/test_gazebo_ros_multicamera.cpp
+++ b/gazebo_plugins/test/test_gazebo_ros_multicamera.cpp
@@ -57,12 +57,13 @@ TEST_P(GazeboRosMultiCameraTest, CameraSubscribeTest)
   unsigned int msg_count_left{0};
   builtin_interfaces::msg::Time image_stamp_left;
 
-  auto sub_left = image_transport::create_subscription(node.get(), GetParam().left_topic,
-      [&](const sensor_msgs::msg::Image::ConstSharedPtr & msg) {
-        image_stamp_left = msg->header.stamp;
-        ++msg_count_left;
-      },
-      "raw");
+  auto sub_left = image_transport::create_subscription(
+    node.get(), GetParam().left_topic,
+    [&](const sensor_msgs::msg::Image::ConstSharedPtr & msg) {
+      image_stamp_left = msg->header.stamp;
+      ++msg_count_left;
+    },
+    "raw");
 
   // Update rate is 0.5 Hz, so we step 3s sim time to be sure we get exactly 1 image at 2s
   world->Step(3000);
@@ -81,12 +82,13 @@ TEST_P(GazeboRosMultiCameraTest, CameraSubscribeTest)
 
   unsigned int msg_count_right{0};
   builtin_interfaces::msg::Time image_stamp_right;
-  auto sub_right = image_transport::create_subscription(node.get(), GetParam().right_topic,
-      [&](const sensor_msgs::msg::Image::ConstSharedPtr & msg) {
-        image_stamp_right = msg->header.stamp;
-        ++msg_count_right;
-      },
-      "raw");
+  auto sub_right = image_transport::create_subscription(
+    node.get(), GetParam().right_topic,
+    [&](const sensor_msgs::msg::Image::ConstSharedPtr & msg) {
+      image_stamp_right = msg->header.stamp;
+      ++msg_count_right;
+    },
+    "raw");
 
   // Update rate is 0.5 Hz, so we step 3s sim time to be sure we get exactly 1 image at 4s
   world->Step(3000);
@@ -104,10 +106,12 @@ TEST_P(GazeboRosMultiCameraTest, CameraSubscribeTest)
   sub_right.shutdown();
 }
 
-INSTANTIATE_TEST_CASE_P(GazeboRosMultiCamera, GazeboRosMultiCameraTest, ::testing::Values(
-    TestParams({"worlds/gazebo_ros_multicamera.world",
-      "test_cam/camera/left/image_test",
-      "test_cam/camera/right/image_test"})
+INSTANTIATE_TEST_CASE_P(
+  GazeboRosMultiCamera, GazeboRosMultiCameraTest, ::testing::Values(
+    TestParams(
+      {"worlds/gazebo_ros_multicamera.world",
+        "test_cam/camera/left/image_test",
+        "test_cam/camera/right/image_test"})
   ), );
 
 int main(int argc, char ** argv)
diff --git a/gazebo_plugins/test/test_gazebo_ros_p3d.cpp b/gazebo_plugins/test/test_gazebo_ros_p3d.cpp
index 19ca2c009..c209e98a3 100644
--- a/gazebo_plugins/test/test_gazebo_ros_p3d.cpp
+++ b/gazebo_plugins/test/test_gazebo_ros_p3d.cpp
@@ -79,11 +79,14 @@ TEST_F(GazeboRosP3dTest, Publishing)
   EXPECT_EQ("sphere_link", latest_msg->header.frame_id);
   EXPECT_EQ("box_link", latest_msg->child_frame_id);
 
-  EXPECT_NEAR(latest_msg->pose.pose.position.x,
+  EXPECT_NEAR(
+    latest_msg->pose.pose.position.x,
     -ref_link->WorldPose().Pos().X() + link->WorldPose().Pos().X() + 10, tol);
-  EXPECT_NEAR(latest_msg->pose.pose.position.y,
+  EXPECT_NEAR(
+    latest_msg->pose.pose.position.y,
     -ref_link->WorldPose().Pos().Y() + link->WorldPose().Pos().Y() + 10, tol);
-  EXPECT_NEAR(latest_msg->pose.pose.position.z,
+  EXPECT_NEAR(
+    latest_msg->pose.pose.position.z,
     -ref_link->WorldPose().Pos().Z() + link->WorldPose().Pos().Z() + 10, tol);
   EXPECT_NEAR(latest_msg->pose.pose.orientation.x, link->WorldPose().Rot().X(), tol);
   EXPECT_NEAR(latest_msg->pose.pose.orientation.y, link->WorldPose().Rot().Y(), tol);
diff --git a/gazebo_plugins/test/test_gazebo_ros_ray_sensor.cpp b/gazebo_plugins/test/test_gazebo_ros_ray_sensor.cpp
index 5fda04d83..36a5a0b25 100644
--- a/gazebo_plugins/test/test_gazebo_ros_ray_sensor.cpp
+++ b/gazebo_plugins/test/test_gazebo_ros_ray_sensor.cpp
@@ -94,7 +94,8 @@ TEST_F(GazeboRosRaySensorTest, CorrectOutput)
 
   // Convienence function to subscribe to a topic and store it to a variable
   #define SUBSCRIBE_SETTER(msg, topic) \
-  node->create_subscription<decltype(msg)::element_type>(topic, rclcpp::SensorDataQoS(), \
+  node->create_subscription<decltype(msg)::element_type>( \
+    topic, rclcpp::SensorDataQoS(), \
     [&msg](decltype(msg) _msg) { \
       msg = _msg; \
     })
@@ -167,8 +168,8 @@ TEST_F(GazeboRosRaySensorTest, CorrectOutput)
   EXPECT_NEAR(ls->angle_max, 0.5236, ROUNDING_ERROR_TOL);
   EXPECT_NEAR(ls->range_min, 0.05, ROUNDING_ERROR_TOL);
   EXPECT_NEAR(ls->range_max, 50.0, ROUNDING_ERROR_TOL);
-  EXPECT_NEAR(ls->angle_increment, (ls->angle_max - ls->angle_min) / ls->ranges.size(),
-    ROUNDING_ERROR_TOL);
+  EXPECT_NEAR(
+    ls->angle_increment, (ls->angle_max - ls->angle_min) / ls->ranges.size(), ROUNDING_ERROR_TOL);
 
   // Ensure each ground truth range is found in the laserscan
   for (size_t i = 0; i < ranges.size(); ++i) {
diff --git a/gazebo_plugins/test/test_gazebo_ros_vacuum_gripper.cpp b/gazebo_plugins/test/test_gazebo_ros_vacuum_gripper.cpp
index 28fd2da6a..be51624d9 100644
--- a/gazebo_plugins/test/test_gazebo_ros_vacuum_gripper.cpp
+++ b/gazebo_plugins/test/test_gazebo_ros_vacuum_gripper.cpp
@@ -68,7 +68,8 @@ TEST_F(GazeboRosVacuumGripperTest, VacuumGripperServiceTest)
   auto request = std::make_shared<std_srvs::srv::SetBool::Request>();
   request->data = true;
   auto response_future = client->async_send_request(request);
-  EXPECT_EQ(rclcpp::executor::FutureReturnCode::SUCCESS,
+  EXPECT_EQ(
+    rclcpp::executor::FutureReturnCode::SUCCESS,
     rclcpp::spin_until_future_complete(node, response_future));
 
   unsigned int sleep = 0;
diff --git a/gazebo_plugins/test/test_gazebo_ros_video.cpp b/gazebo_plugins/test/test_gazebo_ros_video.cpp
index 6b43b35a4..4ade11fbd 100644
--- a/gazebo_plugins/test/test_gazebo_ros_video.cpp
+++ b/gazebo_plugins/test/test_gazebo_ros_video.cpp
@@ -99,7 +99,8 @@ TEST_F(GazeboRosVideoTest, VideoSubscribeTest)
     gazebo::event::Events::postRender();
 
     EXPECT_NE(nullptr, scene->GetVisual("box_display"));
-    EXPECT_NE(nullptr, scene->GetVisual(
+    EXPECT_NE(
+      nullptr, scene->GetVisual(
         "box_display::base_link::visual::video_visual::display_video_controller"));
   }
 }
diff --git a/gazebo_ros/include/gazebo_ros/conversions/gazebo_msgs.hpp b/gazebo_ros/include/gazebo_ros/conversions/gazebo_msgs.hpp
index f47b15913..56154d3b9 100644
--- a/gazebo_ros/include/gazebo_ros/conversions/gazebo_msgs.hpp
+++ b/gazebo_ros/include/gazebo_ros/conversions/gazebo_msgs.hpp
@@ -75,14 +75,16 @@ gazebo_msgs::msg::ContactsState Convert(const gazebo::msgs::Contacts & in)
 
       // Get force, torque and rotate into user specified frame.
       // frame_rot is identity if world is used (default for now)
-      ignition::math::Vector3d force = frame_rot.RotateVectorReverse(ignition::math::Vector3d(
-            contact.wrench(j).body_1_wrench().force().x(),
-            contact.wrench(j).body_1_wrench().force().y(),
-            contact.wrench(j).body_1_wrench().force().z()));
-      ignition::math::Vector3d torque = frame_rot.RotateVectorReverse(ignition::math::Vector3d(
-            contact.wrench(j).body_1_wrench().torque().x(),
-            contact.wrench(j).body_1_wrench().torque().y(),
-            contact.wrench(j).body_1_wrench().torque().z()));
+      ignition::math::Vector3d force = frame_rot.RotateVectorReverse(
+        ignition::math::Vector3d(
+          contact.wrench(j).body_1_wrench().force().x(),
+          contact.wrench(j).body_1_wrench().force().y(),
+          contact.wrench(j).body_1_wrench().force().z()));
+      ignition::math::Vector3d torque = frame_rot.RotateVectorReverse(
+        ignition::math::Vector3d(
+          contact.wrench(j).body_1_wrench().torque().x(),
+          contact.wrench(j).body_1_wrench().torque().y(),
+          contact.wrench(j).body_1_wrench().torque().z()));
 
       // set wrenches
       geometry_msgs::msg::Wrench wrench;
@@ -99,9 +101,9 @@ gazebo_msgs::msg::ContactsState Convert(const gazebo::msgs::Contacts & in)
 
       // transform contact positions into relative frame
       // set contact positions
-      ignition::math::Vector3d position =
-        frame_rot.RotateVectorReverse(ignition::math::Vector3d(
-            contact.position(j).x(), contact.position(j).y(), contact.position(j).z()) - frame_pos);
+      ignition::math::Vector3d position = frame_rot.RotateVectorReverse(
+        ignition::math::Vector3d(
+          contact.position(j).x(), contact.position(j).y(), contact.position(j).z()) - frame_pos);
 
       auto contact_position = Convert<geometry_msgs::msg::Vector3>(position);
 
@@ -109,9 +111,9 @@ gazebo_msgs::msg::ContactsState Convert(const gazebo::msgs::Contacts & in)
 
       // rotate normal into user specified frame.
       // frame_rot is identity if world is used.
-      ignition::math::Vector3d normal =
-        frame_rot.RotateVectorReverse(ignition::math::Vector3d(
-            contact.normal(j).x(), contact.normal(j).y(), contact.normal(j).z()));
+      ignition::math::Vector3d normal = frame_rot.RotateVectorReverse(
+        ignition::math::Vector3d(
+          contact.normal(j).x(), contact.normal(j).y(), contact.normal(j).z()));
       // set contact normals
       auto contact_normal = Convert<geometry_msgs::msg::Vector3>(normal);
       state.contact_normals.push_back(contact_normal);
diff --git a/gazebo_ros/include/gazebo_ros/conversions/sensor_msgs.hpp b/gazebo_ros/include/gazebo_ros/conversions/sensor_msgs.hpp
index 312d3c4d4..8166068d0 100644
--- a/gazebo_ros/include/gazebo_ros/conversions/sensor_msgs.hpp
+++ b/gazebo_ros/include/gazebo_ros/conversions/sensor_msgs.hpp
@@ -206,7 +206,8 @@ sensor_msgs::msg::PointCloud2 Convert(
 
   // Create fields in pointcloud
   sensor_msgs::PointCloud2Modifier pcd_modifier(pc);
-  pcd_modifier.setPointCloud2Fields(4,
+  pcd_modifier.setPointCloud2Fields(
+    4,
     "x", 1, sensor_msgs::msg::PointField::FLOAT32,
     "y", 1, sensor_msgs::msg::PointField::FLOAT32,
     "z", 1, sensor_msgs::msg::PointField::FLOAT32,
diff --git a/gazebo_ros/include/gazebo_ros/testing_utils.hpp b/gazebo_ros/include/gazebo_ros/testing_utils.hpp
index 377a7478c..df768e932 100644
--- a/gazebo_ros/include/gazebo_ros/testing_utils.hpp
+++ b/gazebo_ros/include/gazebo_ros/testing_utils.hpp
@@ -131,13 +131,14 @@ get_message_or_timeout(
   std::atomic_bool msg_received(false);
   typename T::SharedPtr msg = nullptr;
 
-  auto sub = node->create_subscription<T>(topic, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local(),
-      [&msg_received, &msg](typename T::SharedPtr _msg) {
-        // If this is the first message from this topic, increment the counter
-        if (!msg_received.exchange(true)) {
-          msg = _msg;
-        }
-      });
+  auto sub = node->create_subscription<T>(
+    topic, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local(),
+    [&msg_received, &msg](typename T::SharedPtr _msg) {
+      // If this is the first message from this topic, increment the counter
+      if (!msg_received.exchange(true)) {
+        msg = _msg;
+      }
+    });
 
   // Wait for topic to be available
   using namespace std::literals::chrono_literals; // NOLINT
diff --git a/gazebo_ros/src/gazebo_ros_factory.cpp b/gazebo_ros/src/gazebo_ros_factory.cpp
index 177757182..801ae886b 100644
--- a/gazebo_ros/src/gazebo_ros_factory.cpp
+++ b/gazebo_ros/src/gazebo_ros_factory.cpp
@@ -126,12 +126,16 @@ void GazeboRosFactoryPrivate::OnWorldCreated(const std::string & _world_name)
   // ROS transport
   ros_node_ = gazebo_ros::Node::Get();
 
-  spawn_service_ = ros_node_->create_service<gazebo_msgs::srv::SpawnEntity>("spawn_entity",
-      std::bind(&GazeboRosFactoryPrivate::SpawnEntity, this,
+  spawn_service_ = ros_node_->create_service<gazebo_msgs::srv::SpawnEntity>(
+    "spawn_entity",
+    std::bind(
+      &GazeboRosFactoryPrivate::SpawnEntity, this,
       std::placeholders::_1, std::placeholders::_2));
 
-  delete_service_ = ros_node_->create_service<gazebo_msgs::srv::DeleteEntity>("delete_entity",
-      std::bind(&GazeboRosFactoryPrivate::DeleteEntity, this,
+  delete_service_ = ros_node_->create_service<gazebo_msgs::srv::DeleteEntity>(
+    "delete_entity",
+    std::bind(
+      &GazeboRosFactoryPrivate::DeleteEntity, this,
       std::placeholders::_1, std::placeholders::_2));
 
   // Gazebo transport
@@ -206,7 +210,8 @@ void GazeboRosFactoryPrivate::SpawnEntity(
     if (req->reference_frame == "" || req->reference_frame == "world" ||
       req->reference_frame == "map" || req->reference_frame == "/map")
     {
-      RCLCPP_DEBUG(ros_node_->get_logger(),
+      RCLCPP_DEBUG(
+        ros_node_->get_logger(),
         "SpawnEntity: reference_frame is empty/world/map, using inertial frame");
     } else {
       res->success = false;
diff --git a/gazebo_ros/src/gazebo_ros_force_system.cpp b/gazebo_ros/src/gazebo_ros_force_system.cpp
index cc8f0aeed..70818635a 100644
--- a/gazebo_ros/src/gazebo_ros_force_system.cpp
+++ b/gazebo_ros/src/gazebo_ros_force_system.cpp
@@ -172,20 +172,24 @@ void GazeboRosForceSystemPrivate::OnWorldCreated(const std::string & _world_name
   ros_node_ = gazebo_ros::Node::Get();
 
   apply_link_wrench_service_ = ros_node_->create_service<gazebo_msgs::srv::ApplyLinkWrench>(
-    "apply_link_wrench", std::bind(&GazeboRosForceSystemPrivate::ApplyLinkWrench, this,
-    std::placeholders::_1, std::placeholders::_2));
+    "apply_link_wrench", std::bind(
+      &GazeboRosForceSystemPrivate::ApplyLinkWrench, this,
+      std::placeholders::_1, std::placeholders::_2));
 
   clear_link_wrenches_service_ = ros_node_->create_service<gazebo_msgs::srv::LinkRequest>(
-    "clear_link_wrenches", std::bind(&GazeboRosForceSystemPrivate::ClearLinkWrenches, this,
-    std::placeholders::_1, std::placeholders::_2));
+    "clear_link_wrenches", std::bind(
+      &GazeboRosForceSystemPrivate::ClearLinkWrenches, this,
+      std::placeholders::_1, std::placeholders::_2));
 
   apply_joint_effort_service_ = ros_node_->create_service<gazebo_msgs::srv::ApplyJointEffort>(
-    "apply_joint_effort", std::bind(&GazeboRosForceSystemPrivate::ApplyJointEffort, this,
-    std::placeholders::_1, std::placeholders::_2));
+    "apply_joint_effort", std::bind(
+      &GazeboRosForceSystemPrivate::ApplyJointEffort, this,
+      std::placeholders::_1, std::placeholders::_2));
 
   clear_joint_efforts_service_ = ros_node_->create_service<gazebo_msgs::srv::JointRequest>(
-    "clear_joint_efforts", std::bind(&GazeboRosForceSystemPrivate::ClearJointEfforts, this,
-    std::placeholders::_1, std::placeholders::_2));
+    "clear_joint_efforts", std::bind(
+      &GazeboRosForceSystemPrivate::ClearJointEfforts, this,
+      std::placeholders::_1, std::placeholders::_2));
 }
 
 void GazeboRosForceSystemPrivate::TaskExecutor(const gazebo::common::UpdateInfo & _info)
@@ -204,7 +208,8 @@ void GazeboRosForceSystemPrivate::TaskExecutor(const gazebo::common::UpdateInfo
 
     if (!(*link_wrench_task)->link) {
       link_wrench_tasks_.erase(link_wrench_task--);
-      RCLCPP_ERROR(ros_node_->get_logger(),
+      RCLCPP_ERROR(
+        ros_node_->get_logger(),
         "Link [%s] does not exist. Deleting task", (*link_wrench_task)->link->GetName().c_str());
     }
 
@@ -230,7 +235,8 @@ void GazeboRosForceSystemPrivate::TaskExecutor(const gazebo::common::UpdateInfo
 
     if (!(*joint_effort_task)->joint) {
       joint_effort_tasks_.erase(joint_effort_task--);
-      RCLCPP_ERROR(ros_node_->get_logger(),
+      RCLCPP_ERROR(
+        ros_node_->get_logger(),
         "Joint [%s] does not exist. Deleting task", (*joint_effort_task)->joint->GetName().c_str());
     }
 
@@ -288,7 +294,8 @@ void GazeboRosForceSystemPrivate::ApplyLinkWrench(
     auto target_pose = target_to_ref.Pos();
     auto target_rot = target_to_ref.Rot().Euler();
 
-    RCLCPP_DEBUG(ros_node_->get_logger(),
+    RCLCPP_DEBUG(
+      ros_node_->get_logger(),
       "Reference frame for applied wrench:"
       "[%f %f %f, %f %f %f] - [%f %f %f, %f %f %f] = [%f %f %f, %f %f %f]",
       link_pose.X(), link_pose.Y(), link_pose.Z(),
@@ -301,7 +308,8 @@ void GazeboRosForceSystemPrivate::ApplyLinkWrench(
 
     TransformWrench(target_force, target_torque, ref_force, ref_torque, target_to_ref);
 
-    RCLCPP_INFO(ros_node_->get_logger(),
+    RCLCPP_INFO(
+      ros_node_->get_logger(),
       "Wrench defined as [%s]:[%f %f %f, %f %f %f] -> Applied as [%s]:[%f %f %f, %f %f %f]",
       frame->GetName().c_str(),
       ref_force.X(), ref_force.Y(), ref_force.Z(),
@@ -314,7 +322,8 @@ void GazeboRosForceSystemPrivate::ApplyLinkWrench(
     ignition::math::Pose3d target_to_reference = link->WorldPose();
     target_force = ref_force;
     target_torque = ref_torque;
-    RCLCPP_INFO(ros_node_->get_logger(), "Reference_frame is empty/world/map,"
+    RCLCPP_INFO(
+      ros_node_->get_logger(), "Reference_frame is empty/world/map,"
       "using inertial frame, transferring from link relative to inertial frame");
 
   } else {
@@ -357,14 +366,17 @@ void GazeboRosForceSystemPrivate::ClearLinkWrenches(
 {
   std::lock_guard<std::mutex> scoped_lock(lock_);
   auto prev_end = link_wrench_tasks_.end();
-  link_wrench_tasks_.erase(std::remove_if(link_wrench_tasks_.begin(), link_wrench_tasks_.end(),
-    [_req, this](auto & link_wrench_task) {
-      if (link_wrench_task->link->GetScopedName() == _req->link_name) {
-        RCLCPP_INFO(ros_node_->get_logger(), "Deleted wrench on [%s]", _req->link_name.c_str());
-        return true;
-      }
-      return false;
-    }), link_wrench_tasks_.end());
+  link_wrench_tasks_.erase(
+    std::remove_if(
+      link_wrench_tasks_.begin(), link_wrench_tasks_.end(),
+      [_req, this](auto & link_wrench_task) {
+        if (link_wrench_task->link->GetScopedName() == _req->link_name) {
+          RCLCPP_INFO(ros_node_->get_logger(), "Deleted wrench on [%s]", _req->link_name.c_str());
+          return true;
+        }
+        return false;
+      }),
+    link_wrench_tasks_.end());
   if (prev_end == link_wrench_tasks_.end()) {
     RCLCPP_WARN(ros_node_->get_logger(), "No applied wrenches on [%s]", _req->link_name.c_str());
   }
@@ -403,14 +415,17 @@ void GazeboRosForceSystemPrivate::ClearJointEfforts(
 {
   std::lock_guard<std::mutex> scoped_lock(lock_);
   auto prev_end = joint_effort_tasks_.end();
-  joint_effort_tasks_.erase(std::remove_if(joint_effort_tasks_.begin(), joint_effort_tasks_.end(),
-    [_req, this](auto & joint_effort_task) {
-      if (joint_effort_task->joint->GetName() == _req->joint_name) {
-        RCLCPP_INFO(ros_node_->get_logger(), "Deleted effort on [%s]", _req->joint_name.c_str());
-        return true;
-      }
-      return false;
-    }), joint_effort_tasks_.end());
+  joint_effort_tasks_.erase(
+    std::remove_if(
+      joint_effort_tasks_.begin(), joint_effort_tasks_.end(),
+      [_req, this](auto & joint_effort_task) {
+        if (joint_effort_task->joint->GetName() == _req->joint_name) {
+          RCLCPP_INFO(ros_node_->get_logger(), "Deleted effort on [%s]", _req->joint_name.c_str());
+          return true;
+        }
+        return false;
+      }),
+    joint_effort_tasks_.end());
   if (prev_end == joint_effort_tasks_.end()) {
     RCLCPP_WARN(ros_node_->get_logger(), "No applied efforts on [%s]", _req->joint_name.c_str());
   }
diff --git a/gazebo_ros/src/gazebo_ros_init.cpp b/gazebo_ros/src/gazebo_ros_init.cpp
index 63e600273..108cee811 100644
--- a/gazebo_ros/src/gazebo_ros_init.cpp
+++ b/gazebo_ros/src/gazebo_ros_init.cpp
@@ -124,7 +124,8 @@ void GazeboRosInit::Load(int argc, char ** argv)
     impl_->ros_node_ = gazebo_ros::Node::Get();
   } else {
     impl_->ros_node_ = gazebo_ros::Node::Get();
-    RCLCPP_WARN(impl_->ros_node_->get_logger(),
+    RCLCPP_WARN(
+      impl_->ros_node_->get_logger(),
       "gazebo_ros_init didn't initialize ROS "
       "because it's already initialized with other arguments");
   }
@@ -157,21 +158,29 @@ void GazeboRosInitPrivate::OnWorldCreated(const std::string & _world_name)
   world_ = gazebo::physics::get_world(_world_name);
 
   // Reset services
-  reset_simulation_service_ = ros_node_->create_service<std_srvs::srv::Empty>("reset_simulation",
-      std::bind(&GazeboRosInitPrivate::OnResetSimulation, this,
+  reset_simulation_service_ = ros_node_->create_service<std_srvs::srv::Empty>(
+    "reset_simulation",
+    std::bind(
+      &GazeboRosInitPrivate::OnResetSimulation, this,
       std::placeholders::_1, std::placeholders::_2));
 
-  reset_world_service_ = ros_node_->create_service<std_srvs::srv::Empty>("reset_world",
-      std::bind(&GazeboRosInitPrivate::OnResetWorld, this,
+  reset_world_service_ = ros_node_->create_service<std_srvs::srv::Empty>(
+    "reset_world",
+    std::bind(
+      &GazeboRosInitPrivate::OnResetWorld, this,
       std::placeholders::_1, std::placeholders::_2));
 
   // Pause services
-  pause_service_ = ros_node_->create_service<std_srvs::srv::Empty>("pause_physics",
-      std::bind(&GazeboRosInitPrivate::OnPause, this,
+  pause_service_ = ros_node_->create_service<std_srvs::srv::Empty>(
+    "pause_physics",
+    std::bind(
+      &GazeboRosInitPrivate::OnPause, this,
       std::placeholders::_1, std::placeholders::_2));
 
-  unpause_service_ = ros_node_->create_service<std_srvs::srv::Empty>("unpause_physics",
-      std::bind(&GazeboRosInitPrivate::OnUnpause, this,
+  unpause_service_ = ros_node_->create_service<std_srvs::srv::Empty>(
+    "unpause_physics",
+    std::bind(
+      &GazeboRosInitPrivate::OnUnpause, this,
       std::placeholders::_1, std::placeholders::_2));
 }
 
diff --git a/gazebo_ros/src/gazebo_ros_state.cpp b/gazebo_ros/src/gazebo_ros_state.cpp
index f8c91cf94..b1cc4fd0a 100644
--- a/gazebo_ros/src/gazebo_ros_state.cpp
+++ b/gazebo_ros/src/gazebo_ros_state.cpp
@@ -99,24 +99,28 @@ void GazeboRosState::Load(gazebo::physics::WorldPtr _world, sdf::ElementPtr _sdf
 
   impl_->get_entity_state_service_ =
     impl_->ros_node_->create_service<gazebo_msgs::srv::GetEntityState>(
-    "get_entity_state", std::bind(&GazeboRosStatePrivate::GetEntityState, impl_.get(),
-    std::placeholders::_1, std::placeholders::_2));
+    "get_entity_state", std::bind(
+      &GazeboRosStatePrivate::GetEntityState, impl_.get(),
+      std::placeholders::_1, std::placeholders::_2));
 
   impl_->set_entity_state_service_ =
     impl_->ros_node_->create_service<gazebo_msgs::srv::SetEntityState>(
-    "set_entity_state", std::bind(&GazeboRosStatePrivate::SetEntityState, impl_.get(),
-    std::placeholders::_1, std::placeholders::_2));
+    "set_entity_state", std::bind(
+      &GazeboRosStatePrivate::SetEntityState, impl_.get(),
+      std::placeholders::_1, std::placeholders::_2));
 
   impl_->model_states_pub_ = impl_->ros_node_->create_publisher<gazebo_msgs::msg::ModelStates>(
     "model_states", rclcpp::QoS(rclcpp::KeepLast(1)));
 
-  RCLCPP_INFO(impl_->ros_node_->get_logger(), "Publishing states of gazebo models at [%s]",
+  RCLCPP_INFO(
+    impl_->ros_node_->get_logger(), "Publishing states of gazebo models at [%s]",
     impl_->model_states_pub_->get_topic_name());
 
   impl_->link_states_pub_ = impl_->ros_node_->create_publisher<gazebo_msgs::msg::LinkStates>(
     "link_states", rclcpp::QoS(rclcpp::KeepLast(1)));
 
-  RCLCPP_INFO(impl_->ros_node_->get_logger(), "Publishing states of gazebo links at [%s]",
+  RCLCPP_INFO(
+    impl_->ros_node_->get_logger(), "Publishing states of gazebo links at [%s]",
     impl_->link_states_pub_->get_topic_name());
 
   // Get a callback when world is updated
@@ -185,7 +189,8 @@ void GazeboRosStatePrivate::GetEntityState(
   if (!entity) {
     _res->success = false;
 
-    RCLCPP_ERROR(ros_node_->get_logger(),
+    RCLCPP_ERROR(
+      ros_node_->get_logger(),
       "GetEntityState: entity [%s] does not exist", _req->name.c_str());
     return;
   }
@@ -207,12 +212,14 @@ void GazeboRosStatePrivate::GetEntityState(
     entity_lin_vel = frame_pose.Rot().RotateVectorReverse(entity_lin_vel - frame_lin_vel);
     entity_ang_vel = frame_pose.Rot().RotateVectorReverse(entity_ang_vel - frame_ang_vel);
   } else if (_req->reference_frame == "" || _req->reference_frame == "world") {
-    RCLCPP_DEBUG(ros_node_->get_logger(),
+    RCLCPP_DEBUG(
+      ros_node_->get_logger(),
       "GetEntityState: reference_frame is empty/world, using inertial frame");
   } else {
     _res->success = false;
 
-    RCLCPP_ERROR(ros_node_->get_logger(),
+    RCLCPP_ERROR(
+      ros_node_->get_logger(),
       "GetEntityState: reference entity [%s] not found, did you forget to scope the entity name?",
       _req->name.c_str());
     return;
@@ -250,7 +257,8 @@ void GazeboRosStatePrivate::SetEntityState(
   if (!entity) {
     _res->success = false;
 
-    RCLCPP_ERROR(ros_node_->get_logger(),
+    RCLCPP_ERROR(
+      ros_node_->get_logger(),
       "SetEntityState: entity [%s] does not exist", _req->state.name.c_str());
     return;
   }
@@ -266,12 +274,14 @@ void GazeboRosStatePrivate::SetEntityState(
     entity_lin_vel = frame_pose.Rot().RotateVector(entity_lin_vel);
     entity_ang_vel = frame_pose.Rot().RotateVector(entity_ang_vel);
   } else if (_req->state.reference_frame == "" || _req->state.reference_frame == "world") {
-    RCLCPP_DEBUG(ros_node_->get_logger(),
+    RCLCPP_DEBUG(
+      ros_node_->get_logger(),
       "SetEntityState: reference_frame is empty/world, using inertial frame");
   } else {
     _res->success = false;
 
-    RCLCPP_ERROR(ros_node_->get_logger(),
+    RCLCPP_ERROR(
+      ros_node_->get_logger(),
       "GetEntityState: reference entity [%s] not found, did you forget to scope the entity name?",
       _req->state.name.c_str());
     return;
diff --git a/gazebo_ros/src/node.cpp b/gazebo_ros/src/node.cpp
index c073ece60..93803a559 100644
--- a/gazebo_ros/src/node.cpp
+++ b/gazebo_ros/src/node.cpp
@@ -119,12 +119,14 @@ Node::SharedPtr Node::Get()
 rclcpp::Parameter Node::sdf_to_ros_parameter(sdf::ElementPtr const & sdf)
 {
   if (!sdf->HasAttribute("name")) {
-    RCLCPP_WARN(internal_logger(),
+    RCLCPP_WARN(
+      internal_logger(),
       "Ignoring parameter because it has no attribute 'name'. Tag: %s", sdf->ToString("").c_str());
     return rclcpp::Parameter();
   }
   if (!sdf->HasAttribute("type")) {
-    RCLCPP_WARN(internal_logger(),
+    RCLCPP_WARN(
+      internal_logger(),
       "Ignoring parameter because it has no attribute 'type'. Tag: %s", sdf->ToString("").c_str());
     return rclcpp::Parameter();
   }
@@ -141,7 +143,8 @@ rclcpp::Parameter Node::sdf_to_ros_parameter(sdf::ElementPtr const & sdf)
   } else if ("string" == type) {
     return rclcpp::Parameter(name, sdf->Get<std::string>());
   } else {
-    RCLCPP_WARN(internal_logger(),
+    RCLCPP_WARN(
+      internal_logger(),
       "Ignoring parameter because attribute 'type' is invalid. Tag: %s", sdf->ToString("").c_str());
     return rclcpp::Parameter();
   }
diff --git a/gazebo_ros/test/plugins/args_init.cpp b/gazebo_ros/test/plugins/args_init.cpp
index 92c12556d..27731f5e2 100644
--- a/gazebo_ros/test/plugins/args_init.cpp
+++ b/gazebo_ros/test/plugins/args_init.cpp
@@ -60,18 +60,19 @@ void ProperInit::Load(int argc, char ** argv)
 
   // Run lambda every 1 second
   using namespace std::chrono_literals;
-  timer_ = node->create_wall_timer(1s,
-      [node, pub]() {
-        // Create string message
-        auto msg = std_msgs::msg::String();
-        msg.data = "Hello world";
-
-        // Warn with this node's name (to test logging)
-        RCLCPP_WARN(node->get_logger(), "Publishing");
-
-        // Publish message
-        pub->publish(msg);
-      });
+  timer_ = node->create_wall_timer(
+    1s,
+    [node, pub]() {
+      // Create string message
+      auto msg = std_msgs::msg::String();
+      msg.data = "Hello world";
+
+      // Warn with this node's name (to test logging)
+      RCLCPP_WARN(node->get_logger(), "Publishing");
+
+      // Publish message
+      pub->publish(msg);
+    });
 }
 
 GZ_REGISTER_SYSTEM_PLUGIN(ProperInit)
diff --git a/gazebo_ros/test/plugins/create_node_without_init.cpp b/gazebo_ros/test/plugins/create_node_without_init.cpp
index a94038138..61c5a7e34 100644
--- a/gazebo_ros/test/plugins/create_node_without_init.cpp
+++ b/gazebo_ros/test/plugins/create_node_without_init.cpp
@@ -44,18 +44,19 @@ void CreateBeforeInit::Load(int, char **)
 
   // Run lambda every 1 second
   using namespace std::chrono_literals;
-  timer_ = node->create_wall_timer(1s,
-      [node, pub]() {
-        // Create string message
-        auto msg = std_msgs::msg::String();
-        msg.data = "Hello world";
-
-        // Warn with this node's name (to test logging)
-        RCLCPP_WARN(node->get_logger(), "Publishing");
-
-        // Publish message
-        pub->publish(msg);
-      });
+  timer_ = node->create_wall_timer(
+    1s,
+    [node, pub]() {
+      // Create string message
+      auto msg = std_msgs::msg::String();
+      msg.data = "Hello world";
+
+      // Warn with this node's name (to test logging)
+      RCLCPP_WARN(node->get_logger(), "Publishing");
+
+      // Publish message
+      pub->publish(msg);
+    });
 }
 
 GZ_REGISTER_SYSTEM_PLUGIN(CreateBeforeInit)
diff --git a/gazebo_ros/test/plugins/multiple_nodes.cpp b/gazebo_ros/test/plugins/multiple_nodes.cpp
index df3aab7b5..0e78ed8c8 100644
--- a/gazebo_ros/test/plugins/multiple_nodes.cpp
+++ b/gazebo_ros/test/plugins/multiple_nodes.cpp
@@ -46,28 +46,31 @@ void MultipleNodes::Load(int argc, char ** argv)
   assert(nullptr != nodeB);
 
   // Create publishers
-  auto pubA = nodeA->create_publisher<std_msgs::msg::String>("testA",
-      rclcpp::QoS(rclcpp::KeepLast(1)).transient_local());
-  auto pubB = nodeB->create_publisher<std_msgs::msg::String>("testB",
-      rclcpp::QoS(rclcpp::KeepLast(1)).transient_local());
+  auto pubA = nodeA->create_publisher<std_msgs::msg::String>(
+    "testA",
+    rclcpp::QoS(rclcpp::KeepLast(1)).transient_local());
+  auto pubB = nodeB->create_publisher<std_msgs::msg::String>(
+    "testB",
+    rclcpp::QoS(rclcpp::KeepLast(1)).transient_local());
 
   // Run lambdas every 1 second
   using namespace std::chrono_literals;
-  timer_ = nodeA->create_wall_timer(1s,
-      [nodeA, nodeB, pubA, pubB]() {
-        // Create string message
-        auto msg = std_msgs::msg::String();
-        msg.data = "Hello world";
+  timer_ = nodeA->create_wall_timer(
+    1s,
+    [nodeA, nodeB, pubA, pubB]() {
+      // Create string message
+      auto msg = std_msgs::msg::String();
+      msg.data = "Hello world";
 
-        // Warn with this node's name (to test logging)
-        RCLCPP_WARN(nodeA->get_logger(), "Publishing A");
+      // Warn with this node's name (to test logging)
+      RCLCPP_WARN(nodeA->get_logger(), "Publishing A");
 
-        // Publish message
-        pubA->publish(msg);
+      // Publish message
+      pubA->publish(msg);
 
-        RCLCPP_WARN(nodeB->get_logger(), "Publishing B");
-        pubB->publish(msg);
-      });
+      RCLCPP_WARN(nodeB->get_logger(), "Publishing B");
+      pubB->publish(msg);
+    });
 }
 
 GZ_REGISTER_SYSTEM_PLUGIN(MultipleNodes)
diff --git a/gazebo_ros/test/plugins/ros_world_plugin.cpp b/gazebo_ros/test/plugins/ros_world_plugin.cpp
index f5f76eb79..535a0959c 100644
--- a/gazebo_ros/test/plugins/ros_world_plugin.cpp
+++ b/gazebo_ros/test/plugins/ros_world_plugin.cpp
@@ -44,18 +44,19 @@ void RosWorldPlugin::Load(gazebo::physics::WorldPtr, sdf::ElementPtr _sdf)
 
   // Run lambda every 1 second
   using namespace std::chrono_literals;
-  timer_ = node->create_wall_timer(1s,
-      [node, pub]() {
-        // Create string message
-        auto msg = std_msgs::msg::String();
-        msg.data = "Hello world, literally";
-
-        // Warn with this node's name (to test logging)
-        RCLCPP_WARN(node->get_logger(), "Publishing");
-
-        // Publish message
-        pub->publish(msg);
-      });
+  timer_ = node->create_wall_timer(
+    1s,
+    [node, pub]() {
+      // Create string message
+      auto msg = std_msgs::msg::String();
+      msg.data = "Hello world, literally";
+
+      // Warn with this node's name (to test logging)
+      RCLCPP_WARN(node->get_logger(), "Publishing");
+
+      // Publish message
+      pub->publish(msg);
+    });
 }
 
 GZ_REGISTER_WORLD_PLUGIN(RosWorldPlugin)
diff --git a/gazebo_ros/test/plugins/sdf_node.cpp b/gazebo_ros/test/plugins/sdf_node.cpp
index 36a6538cc..f1c425bf3 100644
--- a/gazebo_ros/test/plugins/sdf_node.cpp
+++ b/gazebo_ros/test/plugins/sdf_node.cpp
@@ -117,18 +117,19 @@ void SDFNode::Load(gazebo::physics::WorldPtr, sdf::ElementPtr _sdf)
 
   // Run lambda every 1 second
   using namespace std::chrono_literals;
-  timer_ = node->create_wall_timer(1s,
-      [node, pub]() {
-        // Create string message
-        auto msg = std_msgs::msg::String();
-        msg.data = "Hello world, literally";
-
-        // Warn with this node's name (to test logging)
-        RCLCPP_WARN(node->get_logger(), "Publishing");
-
-        // Publish message
-        pub->publish(msg);
-      });
+  timer_ = node->create_wall_timer(
+    1s,
+    [node, pub]() {
+      // Create string message
+      auto msg = std_msgs::msg::String();
+      msg.data = "Hello world, literally";
+
+      // Warn with this node's name (to test logging)
+      RCLCPP_WARN(node->get_logger(), "Publishing");
+
+      // Publish message
+      pub->publish(msg);
+    });
 }
 
 GZ_REGISTER_WORLD_PLUGIN(SDFNode)
diff --git a/gazebo_ros/test/test_gazebo_ros_factory.cpp b/gazebo_ros/test/test_gazebo_ros_factory.cpp
index 349204f96..48b8fe901 100644
--- a/gazebo_ros/test/test_gazebo_ros_factory.cpp
+++ b/gazebo_ros/test/test_gazebo_ros_factory.cpp
@@ -71,7 +71,8 @@ TEST_F(GazeboRosFactoryTest, SpawnDelete)
       "</sdf>";
 
     auto response_future = spawn_client->async_send_request(request);
-    EXPECT_EQ(rclcpp::executor::FutureReturnCode::SUCCESS,
+    EXPECT_EQ(
+      rclcpp::executor::FutureReturnCode::SUCCESS,
       rclcpp::spin_until_future_complete(node, response_future));
 
     auto response = response_future.get();
@@ -115,7 +116,8 @@ TEST_F(GazeboRosFactoryTest, SpawnDelete)
       "</robot>";
 
     auto response_future = spawn_client->async_send_request(request);
-    EXPECT_EQ(rclcpp::executor::FutureReturnCode::SUCCESS,
+    EXPECT_EQ(
+      rclcpp::executor::FutureReturnCode::SUCCESS,
       rclcpp::spin_until_future_complete(node, response_future));
 
     auto response = response_future.get();
@@ -131,7 +133,8 @@ TEST_F(GazeboRosFactoryTest, SpawnDelete)
 
     // Check it was spawned with the correct name
     ASSERT_NE(nullptr, world->ModelByName("urdf_box"));
-    EXPECT_EQ(world->ModelByName("urdf_box")->WorldPose(),
+    EXPECT_EQ(
+      world->ModelByName("urdf_box")->WorldPose(),
       ignition::math::Pose3d(2, 4, 6, 0, 0, 0));
   }
 
@@ -152,7 +155,8 @@ TEST_F(GazeboRosFactoryTest, SpawnDelete)
       "</sdf>";
 
     auto response_future = spawn_client->async_send_request(request);
-    EXPECT_EQ(rclcpp::executor::FutureReturnCode::SUCCESS,
+    EXPECT_EQ(
+      rclcpp::executor::FutureReturnCode::SUCCESS,
       rclcpp::spin_until_future_complete(node, response_future));
 
     auto response = response_future.get();
@@ -161,7 +165,8 @@ TEST_F(GazeboRosFactoryTest, SpawnDelete)
 
     // Check it was spawned with the correct name
     ASSERT_NE(nullptr, world->LightByName("dir"));
-    EXPECT_EQ(world->LightByName("dir")->WorldPose(),
+    EXPECT_EQ(
+      world->LightByName("dir")->WorldPose(),
       ignition::math::Pose3d(0, 0, 10, 0, 0, 0));
   }
 
@@ -175,7 +180,8 @@ TEST_F(GazeboRosFactoryTest, SpawnDelete)
     request->name = "ground_plane";
 
     auto response_future = delete_client->async_send_request(request);
-    EXPECT_EQ(rclcpp::executor::FutureReturnCode::SUCCESS,
+    EXPECT_EQ(
+      rclcpp::executor::FutureReturnCode::SUCCESS,
       rclcpp::spin_until_future_complete(node, response_future));
 
     auto response = response_future.get();
@@ -196,7 +202,8 @@ TEST_F(GazeboRosFactoryTest, SpawnDelete)
     request->name = "sun";
 
     auto response_future = delete_client->async_send_request(request);
-    EXPECT_EQ(rclcpp::executor::FutureReturnCode::SUCCESS,
+    EXPECT_EQ(
+      rclcpp::executor::FutureReturnCode::SUCCESS,
       rclcpp::spin_until_future_complete(node, response_future));
 
     auto response = response_future.get();
diff --git a/gazebo_ros/test/test_gazebo_ros_init.cpp b/gazebo_ros/test/test_gazebo_ros_init.cpp
index bcce9b52a..55fe30c50 100644
--- a/gazebo_ros/test/test_gazebo_ros_init.cpp
+++ b/gazebo_ros/test/test_gazebo_ros_init.cpp
@@ -53,7 +53,8 @@ TEST_F(GazeboRosInitTest, Commands)
     auto request = std::make_shared<std_srvs::srv::Empty::Request>();
 
     auto response_future = unpause_physics_client->async_send_request(request);
-    EXPECT_EQ(rclcpp::executor::FutureReturnCode::SUCCESS,
+    EXPECT_EQ(
+      rclcpp::executor::FutureReturnCode::SUCCESS,
       rclcpp::spin_until_future_complete(node, response_future));
 
     auto response = response_future.get();
@@ -69,7 +70,8 @@ TEST_F(GazeboRosInitTest, Commands)
 
     // Request
     response_future = pause_physics_client->async_send_request(request);
-    EXPECT_EQ(rclcpp::executor::FutureReturnCode::SUCCESS,
+    EXPECT_EQ(
+      rclcpp::executor::FutureReturnCode::SUCCESS,
       rclcpp::spin_until_future_complete(node, response_future));
 
     response = response_future.get();
@@ -97,7 +99,8 @@ TEST_F(GazeboRosInitTest, Commands)
     auto request = std::make_shared<std_srvs::srv::Empty::Request>();
 
     auto response_future = reset_simulation_client->async_send_request(request);
-    EXPECT_EQ(rclcpp::executor::FutureReturnCode::SUCCESS,
+    EXPECT_EQ(
+      rclcpp::executor::FutureReturnCode::SUCCESS,
       rclcpp::spin_until_future_complete(node, response_future));
 
     auto response = response_future.get();
@@ -123,7 +126,8 @@ TEST_F(GazeboRosInitTest, Commands)
     request = std::make_shared<std_srvs::srv::Empty::Request>();
 
     response_future = reset_world_client->async_send_request(request);
-    EXPECT_EQ(rclcpp::executor::FutureReturnCode::SUCCESS,
+    EXPECT_EQ(
+      rclcpp::executor::FutureReturnCode::SUCCESS,
       rclcpp::spin_until_future_complete(node, response_future));
 
     response = response_future.get();
diff --git a/gazebo_ros/test/test_gazebo_ros_joint_effort.cpp b/gazebo_ros/test/test_gazebo_ros_joint_effort.cpp
index 4d34e38ca..0b559442f 100644
--- a/gazebo_ros/test/test_gazebo_ros_joint_effort.cpp
+++ b/gazebo_ros/test/test_gazebo_ros_joint_effort.cpp
@@ -54,7 +54,8 @@ TEST_F(GazeboRosJointEffortTest, JointEffortTest)
   apply_request->duration = rclcpp::Duration(-1, 0);
 
   auto apply_response_future = apply_joint_effort->async_send_request(apply_request);
-  EXPECT_EQ(rclcpp::executor::FutureReturnCode::SUCCESS,
+  EXPECT_EQ(
+    rclcpp::executor::FutureReturnCode::SUCCESS,
     rclcpp::spin_until_future_complete(node, apply_response_future));
 
   auto apply_response = apply_response_future.get();
@@ -70,7 +71,8 @@ TEST_F(GazeboRosJointEffortTest, JointEffortTest)
   clear_request->joint_name = "upper_joint";
 
   auto clear_response_future = clear_joint_efforts->async_send_request(clear_request);
-  EXPECT_EQ(rclcpp::executor::FutureReturnCode::SUCCESS,
+  EXPECT_EQ(
+    rclcpp::executor::FutureReturnCode::SUCCESS,
     rclcpp::spin_until_future_complete(node, clear_response_future));
 
   auto clear_response = clear_response_future.get();
diff --git a/gazebo_ros/test/test_gazebo_ros_link_wrench.cpp b/gazebo_ros/test/test_gazebo_ros_link_wrench.cpp
index 677fe089e..9c582b253 100644
--- a/gazebo_ros/test/test_gazebo_ros_link_wrench.cpp
+++ b/gazebo_ros/test/test_gazebo_ros_link_wrench.cpp
@@ -59,7 +59,8 @@ TEST_F(GazeboRosLinkWrenchTest, LinkWrenchTest)
   apply_request->duration = rclcpp::Duration(-1, 0);
 
   auto apply_response_future = apply_link_wrench->async_send_request(apply_request);
-  EXPECT_EQ(rclcpp::executor::FutureReturnCode::SUCCESS,
+  EXPECT_EQ(
+    rclcpp::executor::FutureReturnCode::SUCCESS,
     rclcpp::spin_until_future_complete(node, apply_response_future));
 
   auto apply_response = apply_response_future.get();
@@ -80,7 +81,8 @@ TEST_F(GazeboRosLinkWrenchTest, LinkWrenchTest)
   clear_request->link_name = "box::base";
 
   auto clear_response_future = clear_link_wrenches->async_send_request(clear_request);
-  EXPECT_EQ(rclcpp::executor::FutureReturnCode::SUCCESS,
+  EXPECT_EQ(
+    rclcpp::executor::FutureReturnCode::SUCCESS,
     rclcpp::spin_until_future_complete(node, clear_response_future));
 
   auto clear_response = clear_response_future.get();
diff --git a/gazebo_ros/test/test_gazebo_ros_state.cpp b/gazebo_ros/test/test_gazebo_ros_state.cpp
index 1ddf23c37..8cc0f653d 100644
--- a/gazebo_ros/test/test_gazebo_ros_state.cpp
+++ b/gazebo_ros/test/test_gazebo_ros_state.cpp
@@ -95,7 +95,8 @@ void GazeboRosStateTest::GetState(
   request->name = _entity;
 
   auto response_future = get_state_client_->async_send_request(request);
-  EXPECT_EQ(rclcpp::executor::FutureReturnCode::SUCCESS,
+  EXPECT_EQ(
+    rclcpp::executor::FutureReturnCode::SUCCESS,
     rclcpp::spin_until_future_complete(node_, response_future));
 
   auto response = response_future.get();
@@ -135,7 +136,8 @@ void GazeboRosStateTest::SetState(
   request->state.twist.angular = gazebo_ros::Convert<geometry_msgs::msg::Vector3>(_ang_vel);
 
   auto response_future = set_state_client_->async_send_request(request);
-  EXPECT_EQ(rclcpp::executor::FutureReturnCode::SUCCESS,
+  EXPECT_EQ(
+    rclcpp::executor::FutureReturnCode::SUCCESS,
     rclcpp::spin_until_future_complete(node_, response_future));
 
   auto response = response_future.get();
@@ -151,11 +153,13 @@ TEST_F(GazeboRosStateTest, GetSet)
     this->GetState("boxes", ignition::math::Pose3d(0, 0, 0.5, 0, 0, 0));
 
     // Set new state
-    this->SetState("boxes", ignition::math::Pose3d(1.0, 2.0, 10.0, 0, 0, 0),
+    this->SetState(
+      "boxes", ignition::math::Pose3d(1.0, 2.0, 10.0, 0, 0, 0),
       ignition::math::Vector3d(4.0, 0, 0), ignition::math::Vector3d::Zero);
 
     // Check new state
-    this->GetState("boxes", ignition::math::Pose3d(1.0, 2.0, 10.0, 0, 0, 0),
+    this->GetState(
+      "boxes", ignition::math::Pose3d(1.0, 2.0, 10.0, 0, 0, 0),
       ignition::math::Vector3d(4.0, 0, 0), ignition::math::Vector3d::Zero);
   }
 
@@ -174,15 +178,18 @@ TEST_F(GazeboRosStateTest, GetSet)
   // Get / set link state
   {
     // Get initial state - note that is was moved with the model
-    this->GetState("boxes::top", ignition::math::Pose3d(1.0, 2.0, 11.25, 0, 0, 0),
+    this->GetState(
+      "boxes::top", ignition::math::Pose3d(1.0, 2.0, 11.25, 0, 0, 0),
       ignition::math::Vector3d(4.0, 0, 0), ignition::math::Vector3d::Zero);
 
     // Set new state
-    this->SetState("boxes::top", ignition::math::Pose3d(10, 20, 30, 0.1, 0, 0),
+    this->SetState(
+      "boxes::top", ignition::math::Pose3d(10, 20, 30, 0.1, 0, 0),
       ignition::math::Vector3d(1.0, 2.0, 3.0), ignition::math::Vector3d(0.0, 0.0, 4.0));
 
     // Check new state
-    this->GetState("boxes::top", ignition::math::Pose3d(10, 20, 30, 0.1, 0, 0),
+    this->GetState(
+      "boxes::top", ignition::math::Pose3d(10, 20, 30, 0.1, 0, 0),
       ignition::math::Vector3d(1.0, 2.0, 3.0), ignition::math::Vector3d(0.0, 0.0, 4.0));
   }
 
diff --git a/gazebo_ros/test/test_plugins.cpp b/gazebo_ros/test/test_plugins.cpp
index 5ad4f2f0d..2c83cc6cd 100644
--- a/gazebo_ros/test/test_plugins.cpp
+++ b/gazebo_ros/test/test_plugins.cpp
@@ -67,14 +67,17 @@ TEST_P(TestPlugins, TestTopicsReceived)
   rclcpp::sleep_for(1s);
 }
 
-INSTANTIATE_TEST_CASE_P(Plugins, TestPlugins, ::testing::Values(
+INSTANTIATE_TEST_CASE_P(
+  Plugins, TestPlugins, ::testing::Values(
     TestParams({{"-s", "./libargs_init.so"}, {"test"}}),
     TestParams({{"-s", "./libcreate_node_without_init.so"}, {"test"}}),
     TestParams({{"-s", "./libmultiple_nodes.so"}, {"testA", "testB"}}),
-    TestParams({{"-s", "libgazebo_ros_init.so", "worlds/ros_world_plugin.world",
-      "hello_ros_world:/test:=/new_test"}, {"new_test"}}),
-    TestParams({{"-s", "libgazebo_ros_init.so", "-s", "libgazebo_ros_factory.so",
-      "worlds/ros_world_plugin.world"}, {"test"}}),
+    TestParams(
+      {{"-s", "libgazebo_ros_init.so", "worlds/ros_world_plugin.world",
+        "hello_ros_world:/test:=/new_test"}, {"new_test"}}),
+    TestParams(
+      {{"-s", "libgazebo_ros_init.so", "-s", "libgazebo_ros_factory.so",
+        "worlds/ros_world_plugin.world"}, {"test"}}),
     TestParams({{"-s", "libgazebo_ros_init.so", "worlds/sdf_node_plugin.world"}, {"/foo/my_topic"}})
     // cppcheck-suppress syntaxError
   ), );
diff --git a/gazebo_ros/test/test_sim_time.cpp b/gazebo_ros/test/test_sim_time.cpp
index 2b8aa75ca..febf97ccc 100644
--- a/gazebo_ros/test/test_sim_time.cpp
+++ b/gazebo_ros/test/test_sim_time.cpp
@@ -37,8 +37,8 @@ class TestSimTime : public ::testing::Test
 
 void TestSimTime::SetUp()
 {
-  gazebo_process_ = std::make_unique<gazebo_ros::GazeboProcess>(std::vector<const char *>{"-s",
-        "libgazebo_ros_init.so"});
+  gazebo_process_ = std::make_unique<gazebo_ros::GazeboProcess>(
+    std::vector<const char *>{"-s", "libgazebo_ros_init.so"});
   ASSERT_GT(gazebo_process_->Run(), 0);
 }
 
@@ -61,11 +61,12 @@ TEST_F(TestSimTime, TestClock)
 
   std::vector<ClockMsg::SharedPtr> msgs;
   std::vector<rclcpp::Time> times;
-  auto sub = node->create_subscription<ClockMsg>("/clock", rclcpp::SystemDefaultsQoS(),
-      [&](ClockMsg::SharedPtr _msg) {
-        msgs.push_back(_msg);
-        times.push_back(node->now());
-      });
+  auto sub = node->create_subscription<ClockMsg>(
+    "/clock", rclcpp::SystemDefaultsQoS(),
+    [&](ClockMsg::SharedPtr _msg) {
+      msgs.push_back(_msg);
+      times.push_back(node->now());
+    });
 
   unsigned int sleep{0};
   unsigned int max_sleep{30};