diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp
index 54e757224..f3bb7b073 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp
@@ -218,7 +218,7 @@ struct HesaiInventory
     return os;
   }
 
-  std::string get_str_model()
+  std::string get_str_model() const
   {
     switch (model) {
       case 0:
@@ -400,7 +400,7 @@ struct HesaiLidarStatus
     return os;
   }
 
-  std::string get_str_gps_pps_lock()
+  [[nodiscard]] std::string get_str_gps_pps_lock() const
   {
     switch (gps_pps_lock) {
       case 1:
@@ -411,7 +411,7 @@ struct HesaiLidarStatus
         return "Unknown";
     }
   }
-  std::string get_str_gps_gprmc_status()
+  [[nodiscard]] std::string get_str_gps_gprmc_status() const
   {
     switch (gps_gprmc_status) {
       case 1:
@@ -422,7 +422,7 @@ struct HesaiLidarStatus
         return "Unknown";
     }
   }
-  std::string get_str_ptp_clock_status()
+  [[nodiscard]] std::string get_str_ptp_clock_status() const
   {
     switch (ptp_clock_status) {
       case 0:
diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
index 668469b2e..a029ae224 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
@@ -122,10 +122,10 @@ class HesaiHwInterface
     uint8_t error_flags = 0;
     uint8_t ptc_error_code = 0;
 
-    bool ok() { return !error_flags && !ptc_error_code; }
+    [[nodiscard]] bool ok() const { return !error_flags && !ptc_error_code; }
   };
 
-  typedef nebula::util::expected<std::vector<uint8_t>, ptc_error_t> ptc_cmd_result_t;
+  using ptc_cmd_result_t = nebula::util::expected<std::vector<uint8_t>, ptc_error_t>;
 
   std::unique_ptr<::drivers::common::IoContext> cloud_io_context_;
   std::shared_ptr<boost::asio::io_context> m_owned_ctx;
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
index 06dcb37dc..2bdaf3e6e 100644
--- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -11,9 +11,7 @@
 
 #include <boost/asio.hpp>
 
-namespace nebula
-{
-namespace drivers
+namespace nebula::drivers
 {
 HesaiHwInterface::HesaiHwInterface()
 : cloud_io_context_{new ::drivers::common::IoContext(1)},
@@ -1266,16 +1264,16 @@ std::string HesaiHwInterface::PrettyPrintPTCError(ptc_error_t error_code)
   std::vector<std::string> nebula_errors;
 
   if (error_flags & TCP_ERROR_INCOMPLETE_RESPONSE) {
-    nebula_errors.push_back("Incomplete response payload");
+    nebula_errors.emplace_back("Incomplete response payload");
   }
   if (error_flags & TCP_ERROR_TIMEOUT) {
-    nebula_errors.push_back("Request timeout");
+    nebula_errors.emplace_back("Request timeout");
   }
   if (error_flags & TCP_ERROR_UNEXPECTED_PAYLOAD) {
-    nebula_errors.push_back("Received payload but expected payload length 0");
+    nebula_errors.emplace_back("Received payload but expected payload length 0");
   }
   if (error_flags & TCP_ERROR_UNRELATED_RESPONSE) {
-    nebula_errors.push_back("Received unrelated response");
+    nebula_errors.emplace_back("Received unrelated response");
   }
 
   ss << boost::algorithm::join(nebula_errors, ", ");
@@ -1297,5 +1295,4 @@ T HesaiHwInterface::CheckSizeAndParse(const std::vector<uint8_t> & data)
   return parsed;
 }
 
-}  // namespace drivers
-}  // namespace nebula
+}  // namespace nebula::drivers