diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 2adff391..b01cdcfd 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -24,7 +24,7 @@ jobs:
       image: ${{ matrix.docker_image }}
     steps:
     - uses: actions/checkout@v3
-    - uses: ros-tooling/setup-ros@0.6.3
+    - uses: ros-tooling/setup-ros@0.7.9
       with:
         use-ros2-testing: true
         required-ros-distributions: ${{ matrix.ros_distribution }}
@@ -35,7 +35,7 @@ jobs:
         apt-get install ros-${{ matrix.ros_distribution }}-rclcpp-action
         apt-get install ros-${{ matrix.ros_distribution }}-mimick-vendor
         apt-get -y install ros-${{ matrix.ros_distribution }}-performance-test-fixture
-    - uses : ros-tooling/action-ros-ci@0.3.5
+    - uses : ros-tooling/action-ros-ci@0.3.13
       with:
         package-name: "rclc rclc_examples rclc_lifecycle rclc_parameter"
         target-ros2-distro: ${{ matrix.ros_distribution }}
diff --git a/rclc/test/rclc/test_action_client.cpp b/rclc/test/rclc/test_action_client.cpp
index a28926c9..e8272f48 100644
--- a/rclc/test/rclc/test_action_client.cpp
+++ b/rclc/test/rclc/test_action_client.cpp
@@ -195,7 +195,7 @@ class ActionClientTest : public ::testing::Test
 
     handle_feedback =
       [&](rclc_action_goal_handle_t * /* goal_handle */, void * /* ros_feedback */,
-        void * /* context */) {};
+      void * /* context */) {};
 
     // Init RCLCPP
     using namespace std::placeholders;
@@ -352,7 +352,7 @@ TEST_F(ActionClientTest, goal_accept) {
 
   // Prepare RCLCPP
   server_handle_goal = [ = ](const rclcpp_action::GoalUUID & /* uuid */,
-      std::shared_ptr<const Fibonacci::Goal> goal) -> rclcpp_action::GoalResponse {
+    std::shared_ptr<const Fibonacci::Goal> goal) -> rclcpp_action::GoalResponse {
       EXPECT_EQ(ros_goal_request.goal.order, goal->order);
       return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
     };
@@ -381,7 +381,7 @@ TEST_F(ActionClientTest, goal_reject) {
 
   // Prepare RCLCPP
   server_handle_goal = [ = ](const rclcpp_action::GoalUUID & /* uuid */,
-      std::shared_ptr<const Fibonacci::Goal> goal) -> rclcpp_action::GoalResponse {
+    std::shared_ptr<const Fibonacci::Goal> goal) -> rclcpp_action::GoalResponse {
       EXPECT_EQ(ros_goal_request.goal.order, goal->order);
       return rclcpp_action::GoalResponse::REJECT;
     };
@@ -414,7 +414,7 @@ TEST_F(ActionClientTest, goal_accept_feedback_and_result) {
   // Prepare RCLCPP
 
   server_handle_goal = [&](const rclcpp_action::GoalUUID & /* uuid */,
-      std::shared_ptr<const Fibonacci::Goal> goal) -> rclcpp_action::GoalResponse {
+    std::shared_ptr<const Fibonacci::Goal> goal) -> rclcpp_action::GoalResponse {
       EXPECT_EQ(ros_goal_request.goal.order, goal->order);
       return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
     };
@@ -467,7 +467,7 @@ TEST_F(ActionClientTest, goal_accept_feedback_and_result) {
   bool goal_result_received = false;
   handle_result =
     [&](rclc_action_goal_handle_t * /* goal_handle */, void * ros_result_response,
-      void * /* context */) {
+    void * /* context */) {
       goal_result_received = true;
 
       example_interfaces__action__Fibonacci_GetResult_Response * result =
@@ -499,7 +499,7 @@ TEST_F(ActionClientTest, goal_accept_feedback_and_abort) {
   // Prepare RCLCPP
 
   server_handle_goal = [&](const rclcpp_action::GoalUUID & /* uuid */,
-      std::shared_ptr<const Fibonacci::Goal> goal) -> rclcpp_action::GoalResponse {
+    std::shared_ptr<const Fibonacci::Goal> goal) -> rclcpp_action::GoalResponse {
       EXPECT_EQ(ros_goal_request.goal.order, goal->order);
       return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
     };
@@ -552,7 +552,7 @@ TEST_F(ActionClientTest, goal_accept_feedback_and_abort) {
   bool goal_result_received = false;
   handle_result =
     [&](rclc_action_goal_handle_t * /* goal_handle */, void * ros_result_response,
-      void * /* context */) {
+    void * /* context */) {
       goal_result_received = true;
 
       example_interfaces__action__Fibonacci_GetResult_Response * result =
@@ -584,7 +584,7 @@ TEST_F(ActionClientTest, goal_accept_cancel_success) {
   // Prepare RCLCPP
 
   server_handle_goal = [&](const rclcpp_action::GoalUUID & /* uuid */,
-      std::shared_ptr<const Fibonacci::Goal> goal) -> rclcpp_action::GoalResponse {
+    std::shared_ptr<const Fibonacci::Goal> goal) -> rclcpp_action::GoalResponse {
       EXPECT_EQ(ros_goal_request.goal.order, goal->order);
       return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
     };
@@ -627,7 +627,7 @@ TEST_F(ActionClientTest, goal_accept_cancel_success) {
   bool goal_result_received = false;
   handle_result =
     [&](rclc_action_goal_handle_t * /* goal_handle */, void * /* ros_result_response */,
-      void * /* context */) {
+    void * /* context */) {
       goal_result_received = true;
     };
 
@@ -668,7 +668,7 @@ TEST_F(ActionClientTest, goal_accept_cancel_reject) {
   // Prepare RCLCPP
 
   server_handle_goal = [&](const rclcpp_action::GoalUUID & /* uuid */,
-      std::shared_ptr<const Fibonacci::Goal> goal) -> rclcpp_action::GoalResponse {
+    std::shared_ptr<const Fibonacci::Goal> goal) -> rclcpp_action::GoalResponse {
       EXPECT_EQ(ros_goal_request.goal.order, goal->order);
       return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
     };
@@ -727,7 +727,7 @@ TEST_F(ActionClientTest, goal_accept_cancel_reject) {
   bool goal_result_received = false;
   handle_result =
     [&](rclc_action_goal_handle_t * /* goal_handle */, void * ros_result_response,
-      void * /* context */) {
+    void * /* context */) {
       goal_result_received = true;
 
       example_interfaces__action__Fibonacci_GetResult_Response * result =
@@ -787,7 +787,7 @@ TEST_F(ActionClientTest, multi_goal_accept_feedback_and_result) {
 
   // Prepare RCLCPP
   server_handle_goal = [&](const rclcpp_action::GoalUUID & uuid,
-      std::shared_ptr<const Fibonacci::Goal> goal) -> rclcpp_action::GoalResponse {
+    std::shared_ptr<const Fibonacci::Goal> goal) -> rclcpp_action::GoalResponse {
       EXPECT_EQ(ros_goal_request[get_raw_uuid(uuid)].goal.order, goal->order);
 
       return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
diff --git a/rclc/test/rclc/test_action_server.cpp b/rclc/test/rclc/test_action_server.cpp
index 5004c73a..2f6ac0ae 100644
--- a/rclc/test/rclc/test_action_server.cpp
+++ b/rclc/test/rclc/test_action_server.cpp
@@ -373,7 +373,7 @@ TEST_F(ActionServerTest, goal_accept_feedback_and_result) {
   size_t feedback_received = 0;
   send_goal_options.feedback_callback =
     [&](GoalHandleFibonacci::SharedPtr,
-      const std::shared_ptr<const Fibonacci::Feedback> feedback) -> void {
+    const std::shared_ptr<const Fibonacci::Feedback> feedback) -> void {
       feedback_received++;
       ASSERT_EQ(feedback->sequence.size(), 3U);
     };
@@ -444,7 +444,7 @@ TEST_F(ActionServerTest, goal_accept_feedback_and_abort) {
   size_t feedback_received = 0;
   send_goal_options.feedback_callback =
     [&](GoalHandleFibonacci::SharedPtr,
-      const std::shared_ptr<const Fibonacci::Feedback> feedback) -> void {
+    const std::shared_ptr<const Fibonacci::Feedback> feedback) -> void {
       feedback_received++;
       ASSERT_EQ(feedback->sequence.size(), 3U);
     };
@@ -648,7 +648,7 @@ TEST_F(ActionServerTest, multi_goal_accept_feedback_and_result) {
   size_t feedback_received = 0;
   send_goal_options.feedback_callback =
     [&](GoalHandleFibonacci::SharedPtr goal_handle,
-      const std::shared_ptr<const Fibonacci::Feedback> feedback) -> void {
+    const std::shared_ptr<const Fibonacci::Feedback> feedback) -> void {
       feedback_received++;
       size_t feedback_size = goals[goal_handle->get_goal_id()];
       ASSERT_EQ(feedback->sequence.size(), feedback_size);