diff --git a/mvsim_node_src/include/mvsim/mvsim_node_core.h b/mvsim_node_src/include/mvsim/mvsim_node_core.h
index a96e9e72..3d8e93cf 100644
--- a/mvsim_node_src/include/mvsim/mvsim_node_core.h
+++ b/mvsim_node_src/include/mvsim/mvsim_node_core.h
@@ -9,9 +9,6 @@
 
 #pragma once
 
-#include <atomic>
-#include <thread>
-
 #include <mrpt/core/WorkerThreadsPool.h>
 #include <mrpt/obs/CObservation.h>
 #include <mrpt/obs/CObservation3DRangeScan.h>
@@ -25,20 +22,21 @@
 #include <tf2_ros/static_transform_broadcaster.h>
 #include <tf2_ros/transform_broadcaster.h>
 
-#if PACKAGE_ROS_VERSION == 1
-#include <ros/ros.h>
-#include <ros/time.h>
+#include <atomic>
+#include <thread>
 
+#if PACKAGE_ROS_VERSION == 1
 #include <dynamic_reconfigure/server.h>
-#include <mvsim/mvsimNodeConfig.h>
-
 #include <geometry_msgs/Polygon.h>
 #include <geometry_msgs/PoseArray.h>
 #include <geometry_msgs/PoseWithCovarianceStamped.h>
 #include <geometry_msgs/Twist.h>
+#include <mvsim/mvsimNodeConfig.h>
+#include <nav_msgs/MapMetaData.h>
 #include <nav_msgs/OccupancyGrid.h>
 #include <nav_msgs/Odometry.h>
-#include <nav_msgs/MapMetaData.h>
+#include <ros/ros.h>
+#include <ros/time.h>
 #include <rosgraph_msgs/Clock.h>
 #include <std_msgs/Bool.h>
 #include <visualization_msgs/MarkerArray.h>
@@ -59,17 +57,16 @@ using Msg_Bool = std_msgs::Bool;
 using Msg_TFMessage = tf2_msgs::TFMessage;
 using Msg_MarkerArray = visualization_msgs::MarkerArray;
 #else
-#include <rclcpp/clock.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp/time_source.hpp>
-
 #include <geometry_msgs/msg/polygon.hpp>
 #include <geometry_msgs/msg/pose_array.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <geometry_msgs/msg/twist.hpp>
+#include <nav_msgs/msg/map_meta_data.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <nav_msgs/msg/odometry.hpp>
-#include <nav_msgs/msg/map_meta_data.hpp>
+#include <rclcpp/clock.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/time_source.hpp>
 #include <std_msgs/msg/bool.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
@@ -81,7 +78,8 @@ using ros_Duration = rclcpp::Duration;
 
 using Msg_Polygon = geometry_msgs::msg::Polygon;
 using Msg_PoseArray = geometry_msgs::msg::PoseArray;
-using Msg_PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped;
+using Msg_PoseWithCovarianceStamped =
+	geometry_msgs::msg::PoseWithCovarianceStamped;
 using Msg_Twist = geometry_msgs::msg::Twist;
 using Msg_Twist_CSPtr = geometry_msgs::msg::Twist::ConstSharedPtr;
 using Msg_OccupancyGrid = nav_msgs::msg::OccupancyGrid;
@@ -92,25 +90,28 @@ using Msg_TFMessage = tf2_msgs::msg::TFMessage;
 using Msg_MarkerArray = visualization_msgs::msg::MarkerArray;
 #endif
 
-namespace mvsim_node {
+namespace mvsim_node
+{
 #if PACKAGE_ROS_VERSION == 1
-	template <typename T, typename... Args>
-	boost::shared_ptr<T> make_shared(Args&&... args) {
-			return boost::make_shared<T>(std::forward<Args>(args)...);
-	}
+template <typename T, typename... Args>
+boost::shared_ptr<T> make_shared(Args&&... args)
+{
+	return boost::make_shared<T>(std::forward<Args>(args)...);
+}
 
-	template <typename T>
-	using shared_ptr = boost::shared_ptr<T>;
+template <typename T>
+using shared_ptr = boost::shared_ptr<T>;
 #else
-	template <typename T, typename... Args>
-	std::shared_ptr<T> make_shared(Args&&... args) {
-			return std::make_shared<T>(std::forward<Args>(args)...);
-	}
+template <typename T, typename... Args>
+std::shared_ptr<T> make_shared(Args&&... args)
+{
+	return std::make_shared<T>(std::forward<Args>(args)...);
+}
 
-	template <typename T>
-	using shared_ptr = std::shared_ptr<T>;
+template <typename T>
+using shared_ptr = std::shared_ptr<T>;
 #endif
-}
+}  // namespace mvsim_node
 
 /** A class to wrap libmvsim as a ROS node
  */
@@ -198,23 +199,33 @@ class MVSimNode
 	struct TPubSubPerVehicle
 	{
 #if PACKAGE_ROS_VERSION == 1
-		mvsim_node::shared_ptr<ros::Subscriber> sub_cmd_vel;  //!< Subscribers vehicle's "cmd_vel" topic
-		mvsim_node::shared_ptr<ros::Publisher> pub_odom;  //!< Publisher of "odom" topic
-		mvsim_node::shared_ptr<ros::Publisher> pub_ground_truth;  //!< "base_pose_ground_truth" topic
+		mvsim_node::shared_ptr<ros::Subscriber>
+			sub_cmd_vel;  //!< Subscribers vehicle's "cmd_vel" topic
+		mvsim_node::shared_ptr<ros::Publisher>
+			pub_odom;  //!< Publisher of "odom" topic
+		mvsim_node::shared_ptr<ros::Publisher>
+			pub_ground_truth;  //!< "base_pose_ground_truth" topic
 
 		/// "fake_localization" pubs:
-		mvsim_node::shared_ptr<ros::Publisher> pub_amcl_pose;  //!< Publisher of "amcl_pose" topic
-		mvsim_node::shared_ptr<ros::Publisher> pub_particlecloud;  //!< Publisher of "particlecloud" topic
+		mvsim_node::shared_ptr<ros::Publisher>
+			pub_amcl_pose;	//!< Publisher of "amcl_pose" topic
+		mvsim_node::shared_ptr<ros::Publisher>
+			pub_particlecloud;	//!< Publisher of "particlecloud" topic
 
 		/// Map <sensor_label> => publisher
-		std::map<std::string, mvsim_node::shared_ptr<ros::Publisher>> pub_sensors;
+		std::map<std::string, mvsim_node::shared_ptr<ros::Publisher>>
+			pub_sensors;
 
-		mvsim_node::shared_ptr<ros::Publisher> pub_chassis_markers;	 //!< "<VEH>/chassis_markers"
-		mvsim_node::shared_ptr<ros::Publisher> pub_chassis_shape;  //!< "<VEH>/chassis_shape"
-		mvsim_node::shared_ptr<ros::Publisher> pub_collision;  //!< "<VEH>/collision"
+		mvsim_node::shared_ptr<ros::Publisher>
+			pub_chassis_markers;  //!< "<VEH>/chassis_markers"
+		mvsim_node::shared_ptr<ros::Publisher>
+			pub_chassis_shape;	//!< "<VEH>/chassis_shape"
+		mvsim_node::shared_ptr<ros::Publisher>
+			pub_collision;	//!< "<VEH>/collision"
 
-		mvsim_node::shared_ptr<ros::Publisher> pub_tf;	 //!< "<VEH>/tf"
-		mvsim_node::shared_ptr<ros::Publisher> pub_tf_static;	 //!< "<VEH>/tf_static"
+		mvsim_node::shared_ptr<ros::Publisher> pub_tf;	//!< "<VEH>/tf"
+		mvsim_node::shared_ptr<ros::Publisher>
+			pub_tf_static;	//!< "<VEH>/tf_static"
 
 		Msg_MarkerArray chassis_shape_msg;
 #else
@@ -226,20 +237,18 @@ class MVSimNode
 		rclcpp::Publisher<Msg_Odometry>::SharedPtr pub_ground_truth;
 
 		/// "fake_localization" pubs:
-		rclcpp::Publisher<Msg_PoseWithCovarianceStamped>::
-			SharedPtr pub_amcl_pose;
-		rclcpp::Publisher<Msg_PoseArray>::SharedPtr
-			pub_particlecloud;
+		rclcpp::Publisher<Msg_PoseWithCovarianceStamped>::SharedPtr
+			pub_amcl_pose;
+		rclcpp::Publisher<Msg_PoseArray>::SharedPtr pub_particlecloud;
 
 		/// Map <sensor_label> => publisher
-		std::map<std::string, mvsim_node::shared_ptr<PublisherWrapperBase>> pub_sensors;
+		std::map<std::string, mvsim_node::shared_ptr<PublisherWrapperBase>>
+			pub_sensors;
 
 		/// "<VEH>/chassis_markers"
-		rclcpp::Publisher<Msg_MarkerArray>::SharedPtr
-			pub_chassis_markers;
+		rclcpp::Publisher<Msg_MarkerArray>::SharedPtr pub_chassis_markers;
 		/// "<VEH>/chassis_shape"
-		rclcpp::Publisher<Msg_Polygon>::SharedPtr
-			pub_chassis_shape;
+		rclcpp::Publisher<Msg_Polygon>::SharedPtr pub_chassis_shape;
 		/// "<VEH>/collision"
 		rclcpp::Publisher<Msg_Bool>::SharedPtr pub_collision;
 
@@ -263,9 +272,7 @@ class MVSimNode
 	// === End ROS Publishers ====
 
 	// === ROS Hooks ====
-	void onROSMsgCmdVel(
-		Msg_Twist_CSPtr cmd,
-		mvsim::VehicleBase* veh);
+	void onROSMsgCmdVel(Msg_Twist_CSPtr cmd, mvsim::VehicleBase* veh);
 	// === End ROS Hooks====
 
 #if PACKAGE_ROS_VERSION == 1
@@ -328,9 +335,7 @@ class MVSimNode
 
 	void sendStaticTF(
 		const std::string& frame_id, const std::string& child_frame_id,
-		const tf2::Transform& tx,
-		const ros_Time& stamp
-	);
+		const tf2::Transform& tx, const ros_Time& stamp);
 
 	ros_Time myNow() const;
 	double myNowSec() const;
diff --git a/mvsim_node_src/include/wrapper/publisher_wrapper.h b/mvsim_node_src/include/wrapper/publisher_wrapper.h
index c7471f74..fa850da6 100644
--- a/mvsim_node_src/include/wrapper/publisher_wrapper.h
+++ b/mvsim_node_src/include/wrapper/publisher_wrapper.h
@@ -5,31 +5,41 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-class PublisherWrapperBase {
- public:
-  PublisherWrapperBase() = default;
-  virtual ~PublisherWrapperBase() = default;
-  virtual void publish(std::shared_ptr<void> message) = 0;
+class PublisherWrapperBase
+{
+   public:
+	PublisherWrapperBase() = default;
+	virtual ~PublisherWrapperBase() = default;
+	virtual void publish(std::shared_ptr<void> message) = 0;
 };
 
-
 template <typename MessageT>
-class PublisherWrapper : public PublisherWrapperBase {
- public:
-  PublisherWrapper(rclcpp::Node::SharedPtr node, const std::string& topic_name, size_t qos)
-    : publisher_(node->create_publisher<MessageT>(topic_name, qos)) {}
-
-  void publish(std::shared_ptr<void> msg) override {
-    const auto typed_msg = std::static_pointer_cast<MessageT>(msg);
-    if (typed_msg) {
-      publisher_->publish(*typed_msg);
-    } else {
-      RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Failed to cast message to correct type.");
-    }
-  }
-
- private:
-  typename rclcpp::Publisher<MessageT>::SharedPtr publisher_;
+class PublisherWrapper : public PublisherWrapperBase
+{
+   public:
+	PublisherWrapper(
+		rclcpp::Node::SharedPtr node, const std::string& topic_name, size_t qos)
+		: publisher_(node->create_publisher<MessageT>(topic_name, qos))
+	{
+	}
+
+	void publish(std::shared_ptr<void> msg) override
+	{
+		const auto typed_msg = std::static_pointer_cast<MessageT>(msg);
+		if (typed_msg)
+		{
+			publisher_->publish(*typed_msg);
+		}
+		else
+		{
+			RCLCPP_ERROR(
+				rclcpp::get_logger("rclcpp"),
+				"Failed to cast message to correct type.");
+		}
+	}
+
+   private:
+	typename rclcpp::Publisher<MessageT>::SharedPtr publisher_;
 };
 
 #endif
diff --git a/mvsim_node_src/mvsim_node.cpp b/mvsim_node_src/mvsim_node.cpp
index b5ece193..1cff1a80 100644
--- a/mvsim_node_src/mvsim_node.cpp
+++ b/mvsim_node_src/mvsim_node.cpp
@@ -34,7 +34,6 @@
 #include <mrpt/ros1bridge/map.h>
 #include <mrpt/ros1bridge/point_cloud2.h>
 #include <mrpt/ros1bridge/pose.h>
-
 #include <sensor_msgs/Image.h>
 #include <sensor_msgs/Imu.h>
 #include <sensor_msgs/LaserScan.h>
@@ -107,8 +106,10 @@ namespace mrpt2ros = mrpt::ros2bridge;
 #define ROS12_ERROR(...) ROS_ERROR(__VA_ARGS__)
 #else
 #define ROS12_INFO(...) RCLCPP_INFO(n_->get_logger(), __VA_ARGS__)
-#define ROS12_WARN_THROTTLE(...) RCLCPP_WARN_THROTTLE(n_->get_logger(), *clock_, __VA_ARGS__)
-#define ROS12_WARN_STREAM_THROTTLE(...) RCLCPP_WARN_STREAM_THROTTLE(n_->get_logger(), *clock_, __VA_ARGS__)
+#define ROS12_WARN_THROTTLE(...) \
+	RCLCPP_WARN_THROTTLE(n_->get_logger(), *clock_, __VA_ARGS__)
+#define ROS12_WARN_STREAM_THROTTLE(...) \
+	RCLCPP_WARN_STREAM_THROTTLE(n_->get_logger(), *clock_, __VA_ARGS__)
 #define ROS12_ERROR(...) RCLCPP_ERROR(n_->get_logger(), __VA_ARGS__)
 #endif
 
@@ -193,21 +194,25 @@ MVSimNode::MVSimNode(rclcpp::Node::SharedPtr& n)
 
 	// Init ROS publishers:
 #if PACKAGE_ROS_VERSION == 1
-	// pub_clock_ = mvsim_node::make_shared<ros::Publisher>(n_.advertise<rosgraph_msgs::Clock>("/clock", 10));
-
-	pub_map_ros_ = mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_OccupancyGrid>(
-		"simul_map", 1 /*queue len*/, true /*latch*/));
-	pub_map_metadata_ = mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_MapMetaData>(
-		"simul_map_metadata", 1 /*queue len*/, true /*latch*/));
+	// pub_clock_ =
+	// mvsim_node::make_shared<ros::Publisher>(n_.advertise<rosgraph_msgs::Clock>("/clock",
+	// 10));
+
+	pub_map_ros_ =
+		mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_OccupancyGrid>(
+			"simul_map", 1 /*queue len*/, true /*latch*/));
+	pub_map_metadata_ =
+		mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_MapMetaData>(
+			"simul_map_metadata", 1 /*queue len*/, true /*latch*/));
 #else
 	rclcpp::QoS qosLatched(rclcpp::KeepLast(10));
 	qosLatched.durability(
 		rmw_qos_durability_policy_t::RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
 
-	pub_map_ros_ = n_->create_publisher<Msg_OccupancyGrid>(
-		"simul_map", qosLatched);
-	pub_map_metadata_ = n_->create_publisher<Msg_MapMetaData>(
-		"simul_map_metadata", qosLatched);
+	pub_map_ros_ =
+		n_->create_publisher<Msg_OccupancyGrid>("simul_map", qosLatched);
+	pub_map_metadata_ =
+		n_->create_publisher<Msg_MapMetaData>("simul_map_metadata", qosLatched);
 #endif
 
 #if PACKAGE_ROS_VERSION == 1
@@ -398,8 +403,7 @@ void MVSimNode::spin()
 				// Generic teleoperation interface for any controller that
 				// supports it:
 				{
-					auto* controller =
-						it_veh->second->getControllerInterface();
+					auto* controller = it_veh->second->getControllerInterface();
 					ControllerBaseInterface::TeleopInput teleop_in;
 					ControllerBaseInterface::TeleopOutput teleop_out;
 					teleop_in.keycode = keyevent.keycode;
@@ -417,15 +421,14 @@ void MVSimNode::spin()
 
 	}  // end refresh teleop stuff
 
-// Check cmd_vel timeout:
+	// Check cmd_vel timeout:
 	const double rosNow = myNowSec();
 	std::set<mvsim::VehicleBase*> toRemove;
 	for (const auto& [veh, cmdVelTimestamp] : lastCmdVelTimestamp_)
 	{
 		if (rosNow - cmdVelTimestamp > MAX_CMD_VEL_AGE_SECONDS)
 		{
-			auto* controller =
-				veh->getControllerInterface();
+			auto* controller = veh->getControllerInterface();
 
 			controller->setTwistCommand({0, 0, 0});
 			toRemove.insert(veh);
@@ -565,7 +568,8 @@ void MVSimNode::notifyROSWorldIsUpdated()
 	// sendStaticTF("world", "map", tfIdentity_, myNow());
 }
 
-ros_Time MVSimNode::myNow() const {
+ros_Time MVSimNode::myNow() const
+{
 #if PACKAGE_ROS_VERSION == 1
 	return ros::Time::now();
 #else
@@ -573,7 +577,8 @@ ros_Time MVSimNode::myNow() const {
 #endif
 }
 
-double MVSimNode::myNowSec() const {
+double MVSimNode::myNowSec() const
+{
 #if PACKAGE_ROS_VERSION == 1
 	return ros::Time::now().toSec();
 #else
@@ -583,9 +588,7 @@ double MVSimNode::myNowSec() const {
 
 void MVSimNode::sendStaticTF(
 	const std::string& frame_id, const std::string& child_frame_id,
-	const tf2::Transform& txf,
-	const ros_Time& stamp
-)
+	const tf2::Transform& txf, const ros_Time& stamp)
 {
 	Msg_TransformStamped tx;
 	tx.header.frame_id = frame_id;
@@ -601,10 +604,11 @@ void MVSimNode::initPubSubs(TPubSubPerVehicle& pubsubs, mvsim::VehicleBase* veh)
 {
 	// sub: <VEH>/cmd_vel
 #if PACKAGE_ROS_VERSION == 1
-	pubsubs.sub_cmd_vel = mvsim_node::make_shared<ros::Subscriber>(n_.subscribe<Msg_Twist>(
-		vehVarName("cmd_vel", *veh), 10,
-		[this, veh](Msg_Twist_CSPtr msg)
-		{ return this->onROSMsgCmdVel(msg, veh); }));
+	pubsubs.sub_cmd_vel =
+		mvsim_node::make_shared<ros::Subscriber>(n_.subscribe<Msg_Twist>(
+			vehVarName("cmd_vel", *veh), 10,
+			[this, veh](Msg_Twist_CSPtr msg)
+			{ return this->onROSMsgCmdVel(msg, veh); }));
 #else
 	pubsubs.sub_cmd_vel = n_->create_subscription<Msg_Twist>(
 		vehVarName("cmd_vel", *veh), 10,
@@ -614,22 +618,28 @@ void MVSimNode::initPubSubs(TPubSubPerVehicle& pubsubs, mvsim::VehicleBase* veh)
 
 #if PACKAGE_ROS_VERSION == 1
 	// pub: <VEH>/odom
-	pubsubs.pub_odom = mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_Odometry>(
-		vehVarName("odom", *veh), publisher_history_len_));
+	pubsubs.pub_odom =
+		mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_Odometry>(
+			vehVarName("odom", *veh), publisher_history_len_));
 
 	// pub: <VEH>/base_pose_ground_truth
-	pubsubs.pub_ground_truth = mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_Odometry>(
-		vehVarName("base_pose_ground_truth", *veh), publisher_history_len_));
+	pubsubs.pub_ground_truth =
+		mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_Odometry>(
+			vehVarName("base_pose_ground_truth", *veh),
+			publisher_history_len_));
 
 	// pub: <VEH>/collision
-	pubsubs.pub_collision = mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_Bool>(
-		vehVarName("collision", *veh), publisher_history_len_));
+	pubsubs.pub_collision =
+		mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_Bool>(
+			vehVarName("collision", *veh), publisher_history_len_));
 
 	// pub: <VEH>/tf, <VEH>/tf_static
-	pubsubs.pub_tf = mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_TFMessage>(
-		vehVarName("tf", *veh), publisher_history_len_));
-	pubsubs.pub_tf_static = mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_TFMessage>(
-		vehVarName("tf_static", *veh), publisher_history_len_));
+	pubsubs.pub_tf =
+		mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_TFMessage>(
+			vehVarName("tf", *veh), publisher_history_len_));
+	pubsubs.pub_tf_static =
+		mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_TFMessage>(
+			vehVarName("tf_static", *veh), publisher_history_len_));
 #else
 	// pub: <VEH>/odom
 	pubsubs.pub_odom = n_->create_publisher<Msg_Odometry>(
@@ -657,17 +667,16 @@ void MVSimNode::initPubSubs(TPubSubPerVehicle& pubsubs, mvsim::VehicleBase* veh)
 	// pub: <VEH>/chassis_markers
 	{
 #if PACKAGE_ROS_VERSION == 1
-		pubsubs.pub_chassis_markers =
-			mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_MarkerArray>(
+		pubsubs.pub_chassis_markers = mvsim_node::make_shared<ros::Publisher>(
+			n_.advertise<Msg_MarkerArray>(
 				vehVarName("chassis_markers", *veh), 5, true /*latch*/));
 #else
 		rclcpp::QoS qosLatched5(rclcpp::KeepLast(5));
 		qosLatched5.durability(rmw_qos_durability_policy_t::
 								   RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
 
-		pubsubs.pub_chassis_markers =
-			n_->create_publisher<Msg_MarkerArray>(
-				vehVarName("chassis_markers", *veh), qosLatched5);
+		pubsubs.pub_chassis_markers = n_->create_publisher<Msg_MarkerArray>(
+			vehVarName("chassis_markers", *veh), qosLatched5);
 #endif
 		const auto& poly = veh->getChassisShape();
 
@@ -748,16 +757,16 @@ void MVSimNode::initPubSubs(TPubSubPerVehicle& pubsubs, mvsim::VehicleBase* veh)
 	// pub: <VEH>/chassis_polygon
 	{
 #if PACKAGE_ROS_VERSION == 1
-		pubsubs.pub_chassis_shape = mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_Polygon>(
-			vehVarName("chassis_polygon", *veh), 1, true /*latch*/));
+		pubsubs.pub_chassis_shape =
+			mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_Polygon>(
+				vehVarName("chassis_polygon", *veh), 1, true /*latch*/));
 #else
 		rclcpp::QoS qosLatched1(rclcpp::KeepLast(1));
 		qosLatched1.durability(rmw_qos_durability_policy_t::
 								   RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
 
-		pubsubs.pub_chassis_shape =
-			n_->create_publisher<Msg_Polygon>(
-				vehVarName("chassis_polygon", *veh), qosLatched1);
+		pubsubs.pub_chassis_shape = n_->create_publisher<Msg_Polygon>(
+			vehVarName("chassis_polygon", *veh), qosLatched1);
 #endif
 		Msg_Polygon poly_msg;
 
@@ -777,21 +786,20 @@ void MVSimNode::initPubSubs(TPubSubPerVehicle& pubsubs, mvsim::VehicleBase* veh)
 	{
 #if PACKAGE_ROS_VERSION == 1
 		// pub: <VEH>/amcl_pose
-		pubsubs.pub_amcl_pose =
-			mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_PoseWithCovarianceStamped>(
+		pubsubs.pub_amcl_pose = mvsim_node::make_shared<ros::Publisher>(
+			n_.advertise<Msg_PoseWithCovarianceStamped>(
 				vehVarName("amcl_pose", *veh), 1));
 		// pub: <VEH>/particlecloud
-		pubsubs.pub_particlecloud = mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_PoseArray>(
-			vehVarName("particlecloud", *veh), 1));
+		pubsubs.pub_particlecloud = mvsim_node::make_shared<ros::Publisher>(
+			n_.advertise<Msg_PoseArray>(vehVarName("particlecloud", *veh), 1));
 #else
 		// pub: <VEH>/amcl_pose
 		pubsubs.pub_amcl_pose =
 			n_->create_publisher<Msg_PoseWithCovarianceStamped>(
 				vehVarName("amcl_pose", *veh), 1);
 		// pub: <VEH>/particlecloud
-		pubsubs.pub_particlecloud =
-			n_->create_publisher<Msg_PoseArray>(
-				vehVarName("particlecloud", *veh), 1);
+		pubsubs.pub_particlecloud = n_->create_publisher<Msg_PoseArray>(
+			vehVarName("particlecloud", *veh), 1);
 #endif
 	}
 
@@ -812,13 +820,11 @@ void MVSimNode::initPubSubs(TPubSubPerVehicle& pubsubs, mvsim::VehicleBase* veh)
 	pubsubs.pub_tf_static->publish(tfMsg);
 }
 
-void MVSimNode::onROSMsgCmdVel(
-	Msg_Twist_CSPtr cmd,
-	mvsim::VehicleBase* veh)
+void MVSimNode::onROSMsgCmdVel(Msg_Twist_CSPtr cmd, mvsim::VehicleBase* veh)
 {
 	auto* controller = veh->getControllerInterface();
 
-// Update cmd_vel timestamp:
+	// Update cmd_vel timestamp:
 	lastCmdVelTimestamp_[veh] = myNowSec();
 
 	const bool ctrlAcceptTwist = controller->setTwistCommand(
@@ -1109,11 +1115,12 @@ void MVSimNode::internalOn(
 	if (is_1st_pub)
 	{
 #if PACKAGE_ROS_VERSION == 1
-		pub = mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_LaserScan>(
-			vehVarName(obs.sensorLabel, veh), publisher_history_len_));
+		pub =
+			mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_LaserScan>(
+				vehVarName(obs.sensorLabel, veh), publisher_history_len_));
 #else
-		pub = mvsim_node::make_shared<PublisherWrapper<Msg_LaserScan>>(n_,
-			vehVarName(obs.sensorLabel, veh), publisher_history_len_);
+		pub = mvsim_node::make_shared<PublisherWrapper<Msg_LaserScan>>(
+			n_, vehVarName(obs.sensorLabel, veh), publisher_history_len_);
 #endif
 	}
 	lck.unlock();
@@ -1167,8 +1174,8 @@ void MVSimNode::internalOn(
 		pub = mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_Imu>(
 			vehVarName(obs.sensorLabel, veh), publisher_history_len_));
 #else
-		pub = mvsim_node::make_shared<PublisherWrapper<Msg_Imu>>(n_,
-			vehVarName(obs.sensorLabel, veh), publisher_history_len_);
+		pub = mvsim_node::make_shared<PublisherWrapper<Msg_Imu>>(
+			n_, vehVarName(obs.sensorLabel, veh), publisher_history_len_);
 #endif
 	}
 	lck.unlock();
@@ -1223,8 +1230,8 @@ void MVSimNode::internalOn(
 		pub = mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_Image>(
 			vehVarName(obs.sensorLabel, veh), publisher_history_len_));
 #else
-		pub = mvsim_node::make_shared<PublisherWrapper<Msg_Image>>(n_,
-			vehVarName(obs.sensorLabel, veh), publisher_history_len_);
+		pub = mvsim_node::make_shared<PublisherWrapper<Msg_Image>>(
+			n_, vehVarName(obs.sensorLabel, veh), publisher_history_len_);
 #endif
 	}
 	lck.unlock();
@@ -1283,15 +1290,17 @@ void MVSimNode::internalOn(
 	if (is_1st_pub)
 	{
 #if PACKAGE_ROS_VERSION == 1
-		pubImg = mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_Image>(
-			vehVarName(lbImage, veh), publisher_history_len_));
-		pubPts = mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_PointCloud2>(
-			vehVarName(lbPoints, veh), publisher_history_len_));
+		pubImg =
+			mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_Image>(
+				vehVarName(lbImage, veh), publisher_history_len_));
+		pubPts = mvsim_node::make_shared<ros::Publisher>(
+			n_.advertise<Msg_PointCloud2>(
+				vehVarName(lbPoints, veh), publisher_history_len_));
 #else
-		pubImg = mvsim_node::make_shared<PublisherWrapper<Msg_Image>>(n_,
-			vehVarName(lbImage, veh), publisher_history_len_);
-		pubPts = mvsim_node::make_shared<PublisherWrapper<Msg_PointCloud2>>(n_,
-			vehVarName(lbPoints, veh), publisher_history_len_);
+		pubImg = mvsim_node::make_shared<PublisherWrapper<Msg_Image>>(
+			n_, vehVarName(lbImage, veh), publisher_history_len_);
+		pubPts = mvsim_node::make_shared<PublisherWrapper<Msg_PointCloud2>>(
+			n_, vehVarName(lbPoints, veh), publisher_history_len_);
 #endif
 	}
 	lck.unlock();
@@ -1395,11 +1404,12 @@ void MVSimNode::internalOn(
 	if (is_1st_pub)
 	{
 #if PACKAGE_ROS_VERSION == 1
-		pubPts = mvsim_node::make_shared<ros::Publisher>(n_.advertise<Msg_PointCloud2>(
-			vehVarName(lbPoints, veh), publisher_history_len_));
+		pubPts = mvsim_node::make_shared<ros::Publisher>(
+			n_.advertise<Msg_PointCloud2>(
+				vehVarName(lbPoints, veh), publisher_history_len_));
 #else
-		pubPts = mvsim_node::make_shared<PublisherWrapper<Msg_PointCloud2>>(n_,
-			vehVarName(lbPoints, veh), publisher_history_len_);
+		pubPts = mvsim_node::make_shared<PublisherWrapper<Msg_PointCloud2>>(
+			n_, vehVarName(lbPoints, veh), publisher_history_len_);
 #endif
 	}
 	lck.unlock();
diff --git a/mvsim_node_src/mvsim_node_main.cpp b/mvsim_node_src/mvsim_node_main.cpp
index 96e681f5..ae12a36e 100644
--- a/mvsim_node_src/mvsim_node_main.cpp
+++ b/mvsim_node_src/mvsim_node_main.cpp
@@ -30,7 +30,8 @@ int main(int argc, char** argv)
 	try
 	{
 		// Create a "Node" object.
-		mvsim_node::shared_ptr<MVSimNode> node = mvsim_node::make_shared<MVSimNode>(n);
+		mvsim_node::shared_ptr<MVSimNode> node =
+			mvsim_node::make_shared<MVSimNode>(n);
 
 		// Declare variables that can be modified by launch file or command
 		// line.
@@ -70,9 +71,7 @@ int main(int argc, char** argv)
 		dynamic_reconfigure::Server<mvsim::mvsimNodeConfig> dr_srv;
 		dr_srv.setCallback(
 			[&node](mvsim::mvsimNodeConfig& config, uint32_t level)
-			{
-				return node->configCallback(config, level);
-			});
+			{ return node->configCallback(config, level); });
 #endif
 
 		// Tell ROS how fast to run this node->