diff --git a/snp_application/src/bt/snp_bt_ros_nodes.cpp b/snp_application/src/bt/snp_bt_ros_nodes.cpp
index 04dbaa11..b2c99f8e 100644
--- a/snp_application/src/bt/snp_bt_ros_nodes.cpp
+++ b/snp_application/src/bt/snp_bt_ros_nodes.cpp
@@ -64,7 +64,8 @@ BT::NodeStatus GenerateMotionPlanServiceNode::onResponseReceived(const typename
   return BT::NodeStatus::SUCCESS;
 }
 
-sensor_msgs::msg::JointState jointTrajectoryPointToJointState(trajectory_msgs::msg::JointTrajectory jt, trajectory_msgs::msg::JointTrajectoryPoint jtp)
+sensor_msgs::msg::JointState jointTrajectoryPointToJointState(trajectory_msgs::msg::JointTrajectory jt,
+                                                              trajectory_msgs::msg::JointTrajectoryPoint jtp)
 {
   sensor_msgs::msg::JointState js;
   js.name = jt.joint_names;
diff --git a/snp_motion_planning/src/planning_server.cpp b/snp_motion_planning/src/planning_server.cpp
index 4ececce8..7f5006e7 100644
--- a/snp_motion_planning/src/planning_server.cpp
+++ b/snp_motion_planning/src/planning_server.cpp
@@ -234,7 +234,6 @@ class PlanningServer
     node_->declare_parameter(RASTER_TASK_NAME_PARAM, "");
     node_->declare_parameter(FREESPACE_TASK_NAME_PARAM, "");
 
-
     {
       auto urdf_string = get<std::string>(node_, "robot_description");
       auto srdf_string = get<std::string>(node_, "robot_description_semantic");
@@ -257,7 +256,8 @@ class PlanningServer
     raster_server_ = node_->create_service<snp_msgs::srv::GenerateMotionPlan>(
         PLANNING_SERVICE, std::bind(&PlanningServer::planCallback, this, std::placeholders::_1, std::placeholders::_2));
     freespace_server_ = node_->create_service<snp_msgs::srv::GenerateFreespaceMotionPlan>(
-        FREESPACE_PLANNING_SERVICE, std::bind(&PlanningServer::freespaceMotionPlanCallback, this, std::placeholders::_1, std::placeholders::_2));
+        FREESPACE_PLANNING_SERVICE,
+        std::bind(&PlanningServer::freespaceMotionPlanCallback, this, std::placeholders::_1, std::placeholders::_2));
     remove_scan_link_server_ = node_->create_service<std_srvs::srv::Empty>(
         REMOVE_SCAN_LINK_SERVICE,
         std::bind(&PlanningServer::removeScanLinkCallback, this, std::placeholders::_1, std::placeholders::_2));
@@ -621,7 +621,7 @@ class PlanningServer
     RCLCPP_INFO_STREAM(node_->get_logger(), res->message);
   }
   void freespaceMotionPlanCallback(const snp_msgs::srv::GenerateFreespaceMotionPlan::Request::SharedPtr req,
-            snp_msgs::srv::GenerateFreespaceMotionPlan::Response::SharedPtr res)
+                                   snp_msgs::srv::GenerateFreespaceMotionPlan::Response::SharedPtr res)
   {
     try
     {
@@ -632,20 +632,20 @@ class PlanningServer
       manip_info.tcp_frame = req->tcp_frame;
       manip_info.working_frame = req->mesh_frame;
 
-      tesseract_planning::CompositeInstruction freespace_program(PROFILE, tesseract_planning::CompositeInstructionOrder::ORDERED,
-                                                                 manip_info);
+      tesseract_planning::CompositeInstruction freespace_program(
+          PROFILE, tesseract_planning::CompositeInstructionOrder::ORDERED, manip_info);
 
       tesseract_planning::JointWaypoint wp1 = rosJointStateToJointWaypoint(req->js1);
       tesseract_planning::JointWaypoint wp2 = rosJointStateToJointWaypoint(req->js2);
 
       // Define a freespace move to the first waypoint
       freespace_program.appendMoveInstruction(
-          tesseract_planning::MoveInstruction(tesseract_planning::JointWaypointPoly{wp1},
+          tesseract_planning::MoveInstruction(tesseract_planning::JointWaypointPoly{ wp1 },
                                               tesseract_planning::MoveInstructionType::FREESPACE, PROFILE, manip_info));
 
       // Define a freespace move to the second waypoint
       freespace_program.appendMoveInstruction(
-          tesseract_planning::MoveInstruction(tesseract_planning::JointWaypointPoly{wp2},
+          tesseract_planning::MoveInstruction(tesseract_planning::JointWaypointPoly{ wp2 },
                                               tesseract_planning::MoveInstructionType::FREESPACE, PROFILE, manip_info));
 
       // Add the scan link to the planning environment
diff --git a/snp_msgs/CMakeLists.txt b/snp_msgs/CMakeLists.txt
index 70453320..a8c1cd98 100644
--- a/snp_msgs/CMakeLists.txt
+++ b/snp_msgs/CMakeLists.txt
@@ -21,7 +21,6 @@ find_package(rosidl_default_generators REQUIRED)
 find_package(trajectory_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 
-
 rosidl_generate_interfaces(
   ${PROJECT_NAME}
   "msg/ToolPath.msg"
@@ -35,12 +34,15 @@ rosidl_generate_interfaces(
   trajectory_msgs
   sensor_msgs)
 
-
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 endif()
 
 # Ament package settings
-ament_export_dependencies(geometry_msgs rosidl_default_runtime trajectory_msgs sensor_msgs)
+ament_export_dependencies(
+  geometry_msgs
+  rosidl_default_runtime
+  trajectory_msgs
+  sensor_msgs)
 ament_package()