diff --git a/composition/src/server_component.cpp b/composition/src/server_component.cpp
index 052f77708..3ba38e8b0 100644
--- a/composition/src/server_component.cpp
+++ b/composition/src/server_component.cpp
@@ -33,7 +33,8 @@ Server::Server(const rclcpp::NodeOptions & options)
     std::shared_ptr<example_interfaces::srv::AddTwoInts::Response> response
     ) -> void
     {
-      RCLCPP_INFO(this->get_logger(), "Incoming request: [a: %" PRId64 ", b: %" PRId64 "]",
+      RCLCPP_INFO(
+        this->get_logger(), "Incoming request: [a: %" PRId64 ", b: %" PRId64 "]",
         request->a, request->b);
       std::flush(std::cout);
       response->sum = request->a + request->b;
diff --git a/demo_nodes_cpp/src/parameters/even_parameters_node.cpp b/demo_nodes_cpp/src/parameters/even_parameters_node.cpp
index 054561779..37cd4adbf 100644
--- a/demo_nodes_cpp/src/parameters/even_parameters_node.cpp
+++ b/demo_nodes_cpp/src/parameters/even_parameters_node.cpp
@@ -42,22 +42,23 @@ class EvenParameterNode : public rclcpp::Node
         for (auto parameter : parameters) {
           rclcpp::ParameterType parameter_type = parameter.get_type();
           if (rclcpp::ParameterType::PARAMETER_NOT_SET == parameter_type) {
-            RCLCPP_INFO(this->get_logger(),
-              "parameter '%s' deleted successfully",
+            RCLCPP_INFO(
+              this->get_logger(), "parameter '%s' deleted successfully",
               parameter.get_name().c_str()
             );
             result.successful &= true;
           } else if (rclcpp::ParameterType::PARAMETER_INTEGER == parameter_type) {
             if (parameter.as_int() % 2 != 0) {
-              RCLCPP_INFO(this->get_logger(),
-                "Requested value '%d' for parameter '%s' is not an even number:"
-                " rejecting change...",
+              RCLCPP_INFO(
+                this->get_logger(), "Requested value '%d' for parameter '%s' "
+                "is not an even number: rejecting change...",
                 parameter.as_int(),
                 parameter.get_name().c_str()
               );
               result.successful = false;
             } else {
-              RCLCPP_INFO(this->get_logger(),
+              RCLCPP_INFO(
+                this->get_logger(),
                 "parameter '%s' has changed and is now: %s",
                 parameter.get_name().c_str(),
                 parameter.value_to_string().c_str()
@@ -65,8 +66,8 @@ class EvenParameterNode : public rclcpp::Node
               result.successful &= true;
             }
           } else {
-            RCLCPP_INFO(this->get_logger(),
-              "only integer parameters can be set\n"
+            RCLCPP_INFO(
+              this->get_logger(), "only integer parameters can be set\n"
               "requested value for parameter '%s' is not an even number, rejecting change...",
               parameter.get_name().c_str()
             );
diff --git a/demo_nodes_cpp/src/parameters/list_parameters.cpp b/demo_nodes_cpp/src/parameters/list_parameters.cpp
index ef429544f..2b89fe429 100644
--- a/demo_nodes_cpp/src/parameters/list_parameters.cpp
+++ b/demo_nodes_cpp/src/parameters/list_parameters.cpp
@@ -52,7 +52,8 @@ class ListParameters : public rclcpp::Node
 
     RCLCPP_INFO(this->get_logger(), "Setting parameters...");
     // Set several different types of parameters.
-    auto set_parameters_results = parameters_client->set_parameters({
+    auto set_parameters_results = parameters_client->set_parameters(
+      {
         rclcpp::Parameter("foo", 2),
         rclcpp::Parameter("bar", "hello"),
         rclcpp::Parameter("baz", 1.45),
diff --git a/demo_nodes_cpp/src/parameters/list_parameters_async.cpp b/demo_nodes_cpp/src/parameters/list_parameters_async.cpp
index e8eeb3996..5a566bd55 100644
--- a/demo_nodes_cpp/src/parameters/list_parameters_async.cpp
+++ b/demo_nodes_cpp/src/parameters/list_parameters_async.cpp
@@ -49,7 +49,8 @@ int main(int argc, char ** argv)
 
   RCLCPP_INFO(node->get_logger(), "Setting parameters...");
   // Set several differnet types of parameters.
-  auto results = parameters_client->set_parameters({
+  auto results = parameters_client->set_parameters(
+  {
     rclcpp::Parameter("foo", 2),
     rclcpp::Parameter("bar", "hello"),
     rclcpp::Parameter("baz", 1.45),
diff --git a/demo_nodes_cpp/src/parameters/parameter_blackboard.cpp b/demo_nodes_cpp/src/parameters/parameter_blackboard.cpp
index 089bbc9b4..9170e9243 100644
--- a/demo_nodes_cpp/src/parameters/parameter_blackboard.cpp
+++ b/demo_nodes_cpp/src/parameters/parameter_blackboard.cpp
@@ -36,7 +36,8 @@ class ParameterBlackboard : public rclcpp::Node
       options.allow_undeclared_parameters(true).
       automatically_declare_parameters_from_overrides(true))
   {
-    RCLCPP_INFO(this->get_logger(),
+    RCLCPP_INFO(
+      this->get_logger(),
       "Parameter blackboard node named '%s' ready, and serving '%zu' parameters already!",
       this->get_fully_qualified_name(), this->list_parameters(
         {}, rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE).names.size());
diff --git a/demo_nodes_cpp/src/parameters/parameter_events.cpp b/demo_nodes_cpp/src/parameters/parameter_events.cpp
index 437061874..3b7c916e6 100644
--- a/demo_nodes_cpp/src/parameters/parameter_events.cpp
+++ b/demo_nodes_cpp/src/parameters/parameter_events.cpp
@@ -84,7 +84,8 @@ int main(int argc, char ** argv)
   node->declare_parameter("foobar");
 
   // Set several different types of parameters.
-  auto set_parameters_results = parameters_client->set_parameters({
+  auto set_parameters_results = parameters_client->set_parameters(
+  {
     rclcpp::Parameter("foo", 2),
     rclcpp::Parameter("bar", "hello"),
     rclcpp::Parameter("baz", 1.45),
@@ -92,7 +93,8 @@ int main(int argc, char ** argv)
   });
 
   // Change the value of some of them.
-  set_parameters_results = parameters_client->set_parameters({
+  set_parameters_results = parameters_client->set_parameters(
+  {
     rclcpp::Parameter("foo", 3),
     rclcpp::Parameter("bar", "world"),
   });
diff --git a/demo_nodes_cpp/src/parameters/parameter_events_async.cpp b/demo_nodes_cpp/src/parameters/parameter_events_async.cpp
index a5a2848e7..eb56879ba 100644
--- a/demo_nodes_cpp/src/parameters/parameter_events_async.cpp
+++ b/demo_nodes_cpp/src/parameters/parameter_events_async.cpp
@@ -71,10 +71,11 @@ class ParameterEventsAsyncNode : public rclcpp::Node
 
     // Queue a `set_parameters` request as soon as `spin` is called on this node.
     // TODO(dhood): consider adding a "call soon" notion to Node to not require a timer for this.
-    timer_ = create_wall_timer(200ms,
-        [this]() {
-          this->queue_first_set_parameter_request();
-        });
+    timer_ = create_wall_timer(
+      200ms,
+      [this]() {
+        this->queue_first_set_parameter_request();
+      });
   }
 
 private:
@@ -101,7 +102,8 @@ class ParameterEventsAsyncNode : public rclcpp::Node
         this->queue_second_set_parameter_request();
       };
 
-    parameters_client_->set_parameters({
+    parameters_client_->set_parameters(
+      {
         rclcpp::Parameter("foo", 2),
         rclcpp::Parameter("bar", "hello"),
         rclcpp::Parameter("baz", 1.45),
@@ -123,12 +125,14 @@ class ParameterEventsAsyncNode : public rclcpp::Node
         // TODO(wjwwood): Create and use delete_parameter
 
         // Give time for all of the ParameterEvent callbacks to be received.
-        timer_ = create_wall_timer(100ms,
-            []() {
-              rclcpp::shutdown();
-            });
+        timer_ = create_wall_timer(
+          100ms,
+          []() {
+            rclcpp::shutdown();
+          });
       };
-    parameters_client_->set_parameters({
+    parameters_client_->set_parameters(
+      {
         rclcpp::Parameter("foo", 3),
         rclcpp::Parameter("bar", "world"),
       }, response_received_callback);
diff --git a/demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp b/demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp
index c46d202c4..48a81beaa 100644
--- a/demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp
+++ b/demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp
@@ -52,7 +52,8 @@ class SetAndGetParameters : public rclcpp::Node
     }
 
     // Set several different types of parameters.
-    auto set_parameters_results = parameters_client->set_parameters({
+    auto set_parameters_results = parameters_client->set_parameters(
+      {
         rclcpp::Parameter("foo", 2),
         rclcpp::Parameter("bar", "hello"),
         rclcpp::Parameter("baz", 1.45),
@@ -69,8 +70,9 @@ class SetAndGetParameters : public rclcpp::Node
 
     std::stringstream ss;
     // Get a few of the parameters just set.
-    for (auto & parameter : parameters_client->get_parameters({"foo", "baz",
-        "foobarbaz", "toto"}))
+    for (
+      auto & parameter : parameters_client->get_parameters(
+        {"foo", "baz", "foobarbaz", "toto"}))
     {
       ss << "\nParameter name: " << parameter.get_name();
       ss << "\nParameter value (" << parameter.get_type_name() << "): " <<
diff --git a/demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp b/demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp
index fd30dc202..b7eeaf5a2 100644
--- a/demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp
+++ b/demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp
@@ -48,7 +48,8 @@ int main(int argc, char ** argv)
   }
 
   // Set several different types of parameters.
-  auto results = parameters_client->set_parameters({
+  auto results = parameters_client->set_parameters(
+  {
     rclcpp::Parameter("foo", 2),
     rclcpp::Parameter("bar", "hello"),
     rclcpp::Parameter("baz", 1.45),
diff --git a/demo_nodes_cpp/src/services/add_two_ints_server.cpp b/demo_nodes_cpp/src/services/add_two_ints_server.cpp
index 14b4a46d9..db5fafda9 100644
--- a/demo_nodes_cpp/src/services/add_two_ints_server.cpp
+++ b/demo_nodes_cpp/src/services/add_two_ints_server.cpp
@@ -39,7 +39,8 @@ class ServerNode : public rclcpp::Node
         std::shared_ptr<example_interfaces::srv::AddTwoInts::Response> response) -> void
       {
         (void)request_header;
-        RCLCPP_INFO(this->get_logger(), "Incoming request\na: %" PRId64 " b: %" PRId64,
+        RCLCPP_INFO(
+          this->get_logger(), "Incoming request\na: %" PRId64 " b: %" PRId64,
           request->a, request->b);
         response->sum = request->a + request->b;
       };
diff --git a/demo_nodes_cpp/src/timers/one_off_timer.cpp b/demo_nodes_cpp/src/timers/one_off_timer.cpp
index deb844712..723fb654a 100644
--- a/demo_nodes_cpp/src/timers/one_off_timer.cpp
+++ b/demo_nodes_cpp/src/timers/one_off_timer.cpp
@@ -40,10 +40,11 @@ class OneOffTimerNode : public rclcpp::Node
         RCLCPP_INFO(this->get_logger(), "in periodic_timer callback");
         if (this->count++ % 3 == 0) {
           RCLCPP_INFO(this->get_logger(), "  resetting one off timer");
-          this->one_off_timer = this->create_wall_timer(1s, [this]() {
-            RCLCPP_INFO(this->get_logger(), "in one_off_timer callback");
-            this->one_off_timer->cancel();
-          });
+          this->one_off_timer = this->create_wall_timer(
+            1s, [this]() {
+              RCLCPP_INFO(this->get_logger(), "in one_off_timer callback");
+              this->one_off_timer->cancel();
+            });
         } else {
           RCLCPP_INFO(this->get_logger(), "  not resetting one off timer");
         }
diff --git a/demo_nodes_cpp/src/topics/allocator_tutorial.cpp b/demo_nodes_cpp/src/topics/allocator_tutorial.cpp
index 2f2e14a72..56547139f 100644
--- a/demo_nodes_cpp/src/topics/allocator_tutorial.cpp
+++ b/demo_nodes_cpp/src/topics/allocator_tutorial.cpp
@@ -143,7 +143,8 @@ int main(int argc, char ** argv)
   std::list<std::string> keys = {"intra", "intraprocess", "intra-process", "intra_process"};
   bool intra_process = false;
 
-  printf("This simple demo shows off a custom memory allocator to count all\n"
+  printf(
+    "This simple demo shows off a custom memory allocator to count all\n"
     "instances of new/delete in the program.  It can be run in either regular\n"
     "mode (no arguments), or in intra-process mode (by passing 'intra' as a\n"
     "command-line argument)'.  It will then publish a message to the\n"
diff --git a/image_tools/src/burger.cpp b/image_tools/src/burger.cpp
index 09c6419b9..f3cc85b67 100644
--- a/image_tools/src/burger.cpp
+++ b/image_tools/src/burger.cpp
@@ -126,12 +126,14 @@ cv::Mat & Burger::render_burger(size_t width, size_t height)
   }
   burger_buf = cv::Scalar(0, 0, 0);
   for (int b = 0; b < static_cast<int>(x.size()); b++) {
-    burger_template.copyTo(burger_buf(cv::Rect(
-        x[b],
-        y[b],
-        burger_template.size().height,
-        burger_template.size().width
-      )), burger_mask);
+    burger_template.copyTo(
+      burger_buf(
+        cv::Rect(
+          x[b],
+          y[b],
+          burger_template.size().height,
+          burger_template.size().width
+        )), burger_mask);
     x[b] += x_inc[b];
     y[b] += y_inc[b];
     // bounce as needed
diff --git a/lifecycle/src/lifecycle_listener.cpp b/lifecycle/src/lifecycle_listener.cpp
index 6c8c07b18..4a2d566f4 100644
--- a/lifecycle/src/lifecycle_listener.cpp
+++ b/lifecycle/src/lifecycle_listener.cpp
@@ -38,8 +38,9 @@ class LifecycleListener : public rclcpp::Node
   : Node(node_name)
   {
     // Data topic from the lc_talker node
-    sub_data_ = this->create_subscription<std_msgs::msg::String>("lifecycle_chatter", 10,
-        std::bind(&LifecycleListener::data_callback, this, std::placeholders::_1));
+    sub_data_ = this->create_subscription<std_msgs::msg::String>(
+      "lifecycle_chatter", 10,
+      std::bind(&LifecycleListener::data_callback, this, std::placeholders::_1));
 
     // Notification event topic. All state changes
     // are published here as TransitionEvents with
@@ -57,7 +58,8 @@ class LifecycleListener : public rclcpp::Node
 
   void notification_callback(const lifecycle_msgs::msg::TransitionEvent::SharedPtr msg)
   {
-    RCLCPP_INFO(get_logger(), "notify callback: Transition from state %s to %s",
+    RCLCPP_INFO(
+      get_logger(), "notify callback: Transition from state %s to %s",
       msg->start_state.label.c_str(), msg->goal_state.label.c_str());
   }
 
diff --git a/lifecycle/src/lifecycle_service_client.cpp b/lifecycle/src/lifecycle_service_client.cpp
index a1510700d..f3e8acee7 100644
--- a/lifecycle/src/lifecycle_service_client.cpp
+++ b/lifecycle/src/lifecycle_service_client.cpp
@@ -120,7 +120,8 @@ class LifecycleServiceClient : public rclcpp::Node
 
     // We have an succesful answer. So let's print the current state.
     if (future_result.get()) {
-      RCLCPP_INFO(get_logger(), "Node %s has current state %s.",
+      RCLCPP_INFO(
+        get_logger(), "Node %s has current state %s.",
         lifecycle_node, future_result.get()->current_state.label.c_str());
       return future_result.get()->current_state.id;
     } else {
@@ -317,8 +318,9 @@ int main(int argc, char ** argv)
   rclcpp::executors::SingleThreadedExecutor exe;
   exe.add_node(lc_client);
 
-  std::shared_future<void> script = std::async(std::launch::async,
-      std::bind(callee_script, lc_client));
+  std::shared_future<void> script = std::async(
+    std::launch::async,
+    std::bind(callee_script, lc_client));
   exe.spin_until_future_complete(script);
 
   rclcpp::shutdown();
diff --git a/pendulum_control/include/pendulum_control/pendulum_motor.hpp b/pendulum_control/include/pendulum_control/pendulum_motor.hpp
index 71656fc1c..886b4e344 100644
--- a/pendulum_control/include/pendulum_control/pendulum_motor.hpp
+++ b/pendulum_control/include/pendulum_control/pendulum_motor.hpp
@@ -82,7 +82,8 @@ class PendulumMotor
     thread_param.sched_priority = 90;
     pthread_attr_setschedparam(&thread_attr_, &thread_param);
     pthread_attr_setschedpolicy(&thread_attr_, SCHED_RR);
-    pthread_create(&physics_update_thread_, &thread_attr_,
+    pthread_create(
+      &physics_update_thread_, &thread_attr_,
       &pendulum_control::PendulumMotor::physics_update_wrapper, this);
   }
 
diff --git a/pendulum_control/src/pendulum_teleop.cpp b/pendulum_control/src/pendulum_teleop.cpp
index 5e99949da..2c1b1dda5 100644
--- a/pendulum_control/src/pendulum_teleop.cpp
+++ b/pendulum_control/src/pendulum_teleop.cpp
@@ -34,7 +34,8 @@ int main(int argc, char * argv[])
 
   double command = M_PI / 2;
   if (argc < 2) {
-    fprintf(stderr,
+    fprintf(
+      stderr,
       "Command argument not specified. Setting command to 90 degrees (PI/2 radians).\n");
   } else {
     command = atof(argv[1]);
diff --git a/quality_of_service_demo/rclcpp/src/deadline.cpp b/quality_of_service_demo/rclcpp/src/deadline.cpp
index 52edd3f84..06e2fc8cd 100644
--- a/quality_of_service_demo/rclcpp/src/deadline.cpp
+++ b/quality_of_service_demo/rclcpp/src/deadline.cpp
@@ -34,7 +34,8 @@ static const size_t DEFAULT_PAUSE_FOR = 1000;
 void print_usage()
 {
   printf("Usage for deadline:\n");
-  printf("deadline "
+  printf(
+    "deadline "
     "deadline_duration "
     "[%s publish_for] "
     "[%s pause_for] "
@@ -42,15 +43,18 @@ void print_usage()
     OPTION_PUBLISH_FOR,
     OPTION_PAUSE_FOR);
   printf("required arguments:\n");
-  printf("deadline_duration: "
+  printf(
+    "deadline_duration: "
     "Duration in positive integer milliseconds of the Deadline QoS setting.\n");
   printf("optional arguments:\n");
   printf("-h : Print this help message.\n");
-  printf("%s publish_for : "
+  printf(
+    "%s publish_for : "
     "Duration to publish (in positive integer milliseconds) until pausing the talker. "
     "Defaults to %zu.\n",
     OPTION_PUBLISH_FOR, DEFAULT_PUBLISH_FOR);
-  printf("%s pause_for : "
+  printf(
+    "%s pause_for : "
     "Duration to pause (in positive integer milliseconds) before starting to publish again. "
     "Defaults to %zu.\n",
     OPTION_PAUSE_FOR, DEFAULT_PAUSE_FOR);
@@ -94,8 +98,8 @@ int main(int argc, char * argv[])
   talker->get_options().event_callbacks.deadline_callback =
     [node = talker.get()](rclcpp::QOSDeadlineOfferedInfo & event) -> void
     {
-      RCLCPP_INFO(node->get_logger(),
-        "Offered deadline missed - total %d delta %d",
+      RCLCPP_INFO(
+        node->get_logger(), "Offered deadline missed - total %d delta %d",
         event.total_count, event.total_count_change);
     };
 
@@ -103,8 +107,8 @@ int main(int argc, char * argv[])
   listener->get_options().event_callbacks.deadline_callback =
     [node = listener.get()](rclcpp::QOSDeadlineRequestedInfo & event) -> void
     {
-      RCLCPP_INFO(node->get_logger(),
-        "Requested deadline missed - total %d delta %d",
+      RCLCPP_INFO(
+        node->get_logger(), "Requested deadline missed - total %d delta %d",
         event.total_count, event.total_count_change);
     };
 
diff --git a/quality_of_service_demo/rclcpp/src/interactive_publisher.cpp b/quality_of_service_demo/rclcpp/src/interactive_publisher.cpp
index ee335b0af..da2787524 100644
--- a/quality_of_service_demo/rclcpp/src/interactive_publisher.cpp
+++ b/quality_of_service_demo/rclcpp/src/interactive_publisher.cpp
@@ -115,12 +115,14 @@ int main(int argc, char * argv[])
     return 0;
   }
   if (rcutils_cli_option_exist(argv, argv + argc, OPTION_PUBLISH_DELAY)) {
-    publish_delay = std::chrono::milliseconds(static_cast<int>(1000 *
-        std::stof(rcutils_cli_get_option(argv, argv + argc, OPTION_PUBLISH_DELAY))));
+    publish_delay = std::chrono::milliseconds(
+      static_cast<int>(1000 *
+      std::stof(rcutils_cli_get_option(argv, argv + argc, OPTION_PUBLISH_DELAY))));
   }
   if (rcutils_cli_option_exist(argv, argv + argc, OPTION_DEADLINE_PERIOD)) {
-    auto period = std::chrono::milliseconds(static_cast<int>(1000 *
-        std::stof(rcutils_cli_get_option(argv, argv + argc, OPTION_DEADLINE_PERIOD))));
+    auto period = std::chrono::milliseconds(
+      static_cast<int>(1000 *
+      std::stof(rcutils_cli_get_option(argv, argv + argc, OPTION_DEADLINE_PERIOD))));
     qos_settings.deadline(period);
   }
   if (rcutils_cli_option_exist(argv, argv + argc, OPTION_LIVELINESS_KIND)) {
@@ -138,20 +140,23 @@ int main(int argc, char * argv[])
     }
   }
   if (rcutils_cli_option_exist(argv, argv + argc, OPTION_LEASE_DURATION)) {
-    auto duration = std::chrono::milliseconds(static_cast<int>(1000 *
-        std::stof(rcutils_cli_get_option(argv, argv + argc, OPTION_LEASE_DURATION))));
+    auto duration = std::chrono::milliseconds(
+      static_cast<int>(1000 *
+      std::stof(rcutils_cli_get_option(argv, argv + argc, OPTION_LEASE_DURATION))));
     qos_settings.liveliness_lease_duration(duration);
   }
 
   auto talker = std::make_shared<Talker>(qos_settings, DEFAULT_TOPIC_NAME, 0, publish_delay);
   talker->get_options().event_callbacks.deadline_callback =
     [node = talker.get()](rclcpp::QOSDeadlineOfferedInfo & event) {
-      RCLCPP_INFO(node->get_logger(), "Deadline missed - total %d (delta %d)",
+      RCLCPP_INFO(
+        node->get_logger(), "Deadline missed - total %d (delta %d)",
         event.total_count, event.total_count_change);
     };
   talker->get_options().event_callbacks.liveliness_callback =
     [node = talker.get()](rclcpp::QOSLivelinessLostInfo & event) {
-      RCLCPP_INFO(node->get_logger(), "Liveliness lost - total %d (delta %d)",
+      RCLCPP_INFO(
+        node->get_logger(), "Liveliness lost - total %d (delta %d)",
         event.total_count, event.total_count_change);
     };
 
diff --git a/quality_of_service_demo/rclcpp/src/interactive_subscriber.cpp b/quality_of_service_demo/rclcpp/src/interactive_subscriber.cpp
index a3fbf8991..8bbf5bb2d 100644
--- a/quality_of_service_demo/rclcpp/src/interactive_subscriber.cpp
+++ b/quality_of_service_demo/rclcpp/src/interactive_subscriber.cpp
@@ -96,8 +96,9 @@ int main(int argc, char * argv[])
     return 0;
   }
   if (rcutils_cli_option_exist(argv, argv + argc, OPTION_DEADLINE_PERIOD)) {
-    auto period = std::chrono::milliseconds(static_cast<int>(1000 *
-        std::stof(rcutils_cli_get_option(argv, argv + argc, OPTION_DEADLINE_PERIOD))));
+    auto period = std::chrono::milliseconds(
+      static_cast<int>(1000 *
+      std::stof(rcutils_cli_get_option(argv, argv + argc, OPTION_DEADLINE_PERIOD))));
     qos_settings.deadline(period);
   }
   if (rcutils_cli_option_exist(argv, argv + argc, OPTION_LIVELINESS_KIND)) {
@@ -115,20 +116,23 @@ int main(int argc, char * argv[])
     }
   }
   if (rcutils_cli_option_exist(argv, argv + argc, OPTION_LEASE_DURATION)) {
-    auto duration = std::chrono::milliseconds(static_cast<int>(1000 *
-        std::stof(rcutils_cli_get_option(argv, argv + argc, OPTION_LEASE_DURATION))));
+    auto duration = std::chrono::milliseconds(
+      static_cast<int>(1000 *
+      std::stof(rcutils_cli_get_option(argv, argv + argc, OPTION_LEASE_DURATION))));
     qos_settings.liveliness_lease_duration(duration);
   }
 
   auto listener = std::make_shared<Listener>(qos_settings);
   listener->get_options().event_callbacks.deadline_callback =
     [node = listener.get()](rclcpp::QOSDeadlineRequestedInfo & event) {
-      RCLCPP_INFO(node->get_logger(), "Deadline missed - total %d (delta %d)",
+      RCLCPP_INFO(
+        node->get_logger(), "Deadline missed - total %d (delta %d)",
         event.total_count, event.total_count_change);
     };
   listener->get_options().event_callbacks.liveliness_callback =
     [node = listener.get()](rclcpp::QOSLivelinessChangedInfo & event) {
-      RCLCPP_INFO(node->get_logger(), "Liveliness changed - alive %d (delta %d),"
+      RCLCPP_INFO(
+        node->get_logger(), "Liveliness changed - alive %d (delta %d),"
         " not alive %d (delta %d)", event.alive_count, event.alive_count_change,
         event.not_alive_count, event.not_alive_count_change);
     };
diff --git a/quality_of_service_demo/rclcpp/src/lifespan.cpp b/quality_of_service_demo/rclcpp/src/lifespan.cpp
index d1d59f848..f33c21b0c 100644
--- a/quality_of_service_demo/rclcpp/src/lifespan.cpp
+++ b/quality_of_service_demo/rclcpp/src/lifespan.cpp
@@ -34,7 +34,8 @@ static const size_t DEFAULT_SUBSCRIBE_AFTER = 5000;
 void print_usage()
 {
   printf("Usage for lifespan:\n");
-  printf("lifespan "
+  printf(
+    "lifespan "
     "lifespan_duration "
     "[%s history_depth] "
     "[%s publish_count] "
@@ -44,20 +45,24 @@ void print_usage()
     OPTION_PUBLISH_COUNT,
     OPTION_SUBSCRIBE_AFTER);
   printf("required arguments:\n");
-  printf("lifespan duration: "
+  printf(
+    "lifespan duration: "
     "Duration in positive integer milliseconds of the Lifespan QoS setting.\n");
   printf("optional arguments:\n");
   printf("-h : Print this help message.\n");
-  printf("%s history : "
+  printf(
+    "%s history : "
     "The depth of the Publisher's history queue - "
     "the maximum number of messages it will store for late-joining subscriptions. "
     "Defaults to %zu\n",
     OPTION_HISTORY, DEFAULT_HISTORY);
-  printf("%s publish_n_messages : "
+  printf(
+    "%s publish_n_messages : "
     "How many messages to publish before stopping. "
     "Defaults to %zu\n",
     OPTION_PUBLISH_COUNT, DEFAULT_PUBLISH_COUNT);
-  printf("%s subscribe_after_duration : "
+  printf(
+    "%s subscribe_after_duration : "
     "The Subscriber will be created this long in positive integer milliseconds after "
     "application startup. Defaults to %zu\n",
     OPTION_SUBSCRIBE_AFTER, DEFAULT_SUBSCRIBE_AFTER);
diff --git a/quality_of_service_demo/rclcpp/src/liveliness.cpp b/quality_of_service_demo/rclcpp/src/liveliness.cpp
index e7a2ac1a7..445db97ae 100644
--- a/quality_of_service_demo/rclcpp/src/liveliness.cpp
+++ b/quality_of_service_demo/rclcpp/src/liveliness.cpp
@@ -35,7 +35,8 @@ static const size_t DEFAULT_KILL_PUBLISHER_AFTER = 3000;
 void print_usage()
 {
   printf("Usage for liveliness:\n");
-  printf("liveliness "
+  printf(
+    "liveliness "
     "lease_duration "
     "[%s liveliness_policy] "
     "[%s node_assert_liveliness_period] "
@@ -45,26 +46,31 @@ void print_usage()
     OPTION_NODE_ASSERT_PERIOD,
     OPTION_TOPIC_ASSERT_PERIOD);
   printf("required arguments:\n");
-  printf("lease_duration: "
+  printf(
+    "lease_duration: "
     "Duration in positive integer milliseconds after which an inactive Publisher is considered "
     "not-alive. 0 means never.\n");
   printf("optional arguments:\n");
   printf("-h : Print this help message.\n");
-  printf("%s liveliness_policy : "
+  printf(
+    "%s liveliness_policy : "
     "You may specify AUTOMATIC, MANUAL_BY_NODE, or MANUAL_BY_TOPIC. "
     "Defaults to %s\n",
     OPTION_POLICY, DEFAULT_POLICY);
-  printf("%s node_assert_period : "
+  printf(
+    "%s node_assert_period : "
     "How often the Publisher will assert the liveliness of its Node, in positive integer "
     "milliseconds. "
     "Defaults to 0 (never)\n",
     OPTION_NODE_ASSERT_PERIOD);
-  printf("%s topic_assert_period : "
+  printf(
+    "%s topic_assert_period : "
     "How often the Publisher will assert the liveliness of its Publisher "
     ", in positive integer milliseconds. "
     "Defaults to 0 (never)\n",
     OPTION_TOPIC_ASSERT_PERIOD);
-  printf("%s kill_publisher_after : "
+  printf(
+    "%s kill_publisher_after : "
     "Kill the publisher after this amount of time (in uint milliseconds). "
     "In AUTOMATIC - destroy the whole node. "
     "In MANUAL_BY_NODE, stop node liveliness assertion. "