diff --git a/rcl_yaml_param_parser/src/parse.c b/rcl_yaml_param_parser/src/parse.c
index ba58d7da3f..1d7c050891 100644
--- a/rcl_yaml_param_parser/src/parse.c
+++ b/rcl_yaml_param_parser/src/parse.c
@@ -509,7 +509,8 @@ rcutils_ret_t parse_descriptor(
     return RCUTILS_RET_ERROR;
   }
   // If parsing a yaml value, then current parameter namespace must be parameter name
-  allocator.deallocate(params_st->descriptors[node_idx].parameter_names[parameter_idx],
+  allocator.deallocate(
+    params_st->descriptors[node_idx].parameter_names[parameter_idx],
     allocator.state);
   params_st->descriptors[node_idx].parameter_names[parameter_idx] =
     rcutils_strdup(ns_tracker->parameter_ns, allocator);
@@ -526,8 +527,9 @@ rcutils_ret_t parse_descriptor(
     return RCUTILS_RET_ERROR;
   }
 
-  if (0 == strncmp("additional_constraints", ns_tracker->descriptor_key_ns,
-    strlen("additional_constraints")))
+  if (0 == strncmp(
+      "additional_constraints", ns_tracker->descriptor_key_ns,
+      strlen("additional_constraints")))
   {
     if (val_type == DATA_TYPE_STRING) {
       param_descriptor->additional_constraints = (char *)ret_val;
@@ -947,8 +949,9 @@ rcutils_ret_t parse_key(
             ret = RCUTILS_RET_ERROR;
             break;
           }
-          ret = replace_ns(ns_tracker, parameter_ns, (ns_tracker->num_parameter_ns + 1U),
-              NS_TYPE_PARAM, allocator);
+          ret = replace_ns(
+            ns_tracker, parameter_ns, (ns_tracker->num_parameter_ns + 1U),
+            NS_TYPE_PARAM, allocator);
           if (RCUTILS_RET_OK != ret) {
             RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
               "Internal error replacing namespace at line %d", line_num);
@@ -972,9 +975,10 @@ rcutils_ret_t parse_key(
           }
 
           ret =
-            replace_ns(ns_tracker, rcutils_strdup(value, allocator),
-              (ns_tracker->num_descriptor_key_ns + 1U),
-              NS_TYPE_DESCRIPTOR, allocator);
+            replace_ns(
+            ns_tracker, rcutils_strdup(value, allocator),
+            (ns_tracker->num_descriptor_key_ns + 1U),
+            NS_TYPE_DESCRIPTOR, allocator);
           if (RCUTILS_RET_OK != ret) {
             RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
               "Internal error replacing namespace at line %d", line_num);
@@ -1091,8 +1095,9 @@ rcutils_ret_t parse_file_events(
             if (map_level != 3U) {
               ret = parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st);
             } else {
-              ret = parse_descriptor(ns_tracker, event, is_seq, node_idx, parameter_idx,
-                  params_st);
+              ret = parse_descriptor(
+                ns_tracker, event, is_seq, node_idx, parameter_idx,
+                params_st);
             }
             if (RCUTILS_RET_OK != ret) {
               break;
diff --git a/rcl_yaml_param_parser/test/test_node_params_descriptors.cpp b/rcl_yaml_param_parser/test/test_node_params_descriptors.cpp
index 87a79913fc..a9d435b68f 100644
--- a/rcl_yaml_param_parser/test/test_node_params_descriptors.cpp
+++ b/rcl_yaml_param_parser/test/test_node_params_descriptors.cpp
@@ -39,8 +39,9 @@ TEST(TestNodeParamsDescriptors, init_fini) {
 TEST(TestNodeParamsDescriptors, init_with_capacity_fini) {
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   rcl_node_params_descriptors_t node_descriptors = {NULL, NULL, 0u, 1024u};
-  EXPECT_EQ(RCUTILS_RET_OK, node_params_descriptors_init_with_capacity(
-    &node_descriptors, 1024, allocator));
+  EXPECT_EQ(
+    RCUTILS_RET_OK, node_params_descriptors_init_with_capacity(
+      &node_descriptors, 1024, allocator));
   EXPECT_NE(nullptr, node_descriptors.parameter_names);
   EXPECT_NE(nullptr, node_descriptors.parameter_descriptors);
   EXPECT_EQ(0u, node_descriptors.num_params);
@@ -59,8 +60,9 @@ TEST(TestNodeParamsDescriptors, init_with_capacity_fini) {
 TEST(TestNodeParamsDescriptors, reallocate_with_capacity_fini) {
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   rcl_node_params_descriptors_t node_descriptors = {NULL, NULL, 0u, 1024u};
-  EXPECT_EQ(RCUTILS_RET_OK, node_params_descriptors_init_with_capacity(
-    &node_descriptors, 1024, allocator));
+  EXPECT_EQ(
+    RCUTILS_RET_OK, node_params_descriptors_init_with_capacity(
+      &node_descriptors, 1024, allocator));
   EXPECT_NE(nullptr, node_descriptors.parameter_names);
   EXPECT_NE(nullptr, node_descriptors.parameter_descriptors);
   EXPECT_EQ(0u, node_descriptors.num_params);
diff --git a/rcl_yaml_param_parser/test/test_parse.cpp b/rcl_yaml_param_parser/test/test_parse.cpp
index ee1a426698..2ce4f86afa 100644
--- a/rcl_yaml_param_parser/test/test_parse.cpp
+++ b/rcl_yaml_param_parser/test/test_parse.cpp
@@ -175,7 +175,8 @@ TEST(TestParse, parse_descriptor) {
     RCUTILS_RET_OK,
     parse_descriptor(&ns_tracker, event, is_seq, node_idx, parameter_idx, params_st)) <<
     rcutils_get_error_string().str;
-  ASSERT_NE(nullptr,
+  ASSERT_NE(
+    nullptr,
     params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].read_only);
   EXPECT_TRUE(*params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].read_only);
   allocator.deallocate(
@@ -193,9 +194,11 @@ TEST(TestParse, parse_descriptor) {
     RCUTILS_RET_OK,
     parse_descriptor(&ns_tracker, event, is_seq, node_idx, parameter_idx, params_st)) <<
     rcutils_get_error_string().str;
-  ASSERT_NE(nullptr,
+  ASSERT_NE(
+    nullptr,
     params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].min_value_int);
-  EXPECT_EQ(28,
+  EXPECT_EQ(
+    28,
     *params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].min_value_int);
   allocator.deallocate(
     params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].min_value_int,
@@ -209,9 +212,11 @@ TEST(TestParse, parse_descriptor) {
     RCUTILS_RET_OK,
     parse_descriptor(&ns_tracker, event, is_seq, node_idx, parameter_idx, params_st)) <<
     rcutils_get_error_string().str;
-  ASSERT_NE(nullptr,
+  ASSERT_NE(
+    nullptr,
     params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].min_value_double);
-  EXPECT_EQ(1.23456,
+  EXPECT_EQ(
+    1.23456,
     *params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].min_value_double);
   allocator.deallocate(
     params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].min_value_double,
@@ -228,9 +233,11 @@ TEST(TestParse, parse_descriptor) {
     RCUTILS_RET_OK,
     parse_descriptor(&ns_tracker, event, is_seq, node_idx, parameter_idx, params_st)) <<
     rcutils_get_error_string().str;
-  ASSERT_NE(nullptr,
+  ASSERT_NE(
+    nullptr,
     params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].max_value_int);
-  EXPECT_EQ(28,
+  EXPECT_EQ(
+    28,
     *params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].max_value_int);
   allocator.deallocate(
     params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].max_value_int,
@@ -244,9 +251,11 @@ TEST(TestParse, parse_descriptor) {
     RCUTILS_RET_OK,
     parse_descriptor(&ns_tracker, event, is_seq, node_idx, parameter_idx, params_st)) <<
     rcutils_get_error_string().str;
-  ASSERT_NE(nullptr,
+  ASSERT_NE(
+    nullptr,
     params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].max_value_double);
-  EXPECT_EQ(1.23456,
+  EXPECT_EQ(
+    1.23456,
     *params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].max_value_double);
   allocator.deallocate(
     params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].max_value_double,
@@ -254,7 +263,7 @@ TEST(TestParse, parse_descriptor) {
   allocator.deallocate(ns_tracker.descriptor_key_ns, allocator.state);
   params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].max_value_double = nullptr;
 
- // step (int)
+  // step (int)
   ns_tracker.descriptor_key_ns = rcutils_strdup("step", allocator);
   ASSERT_STREQ("step", ns_tracker.descriptor_key_ns);
   event.data.scalar.value = int_value;
@@ -263,7 +272,8 @@ TEST(TestParse, parse_descriptor) {
     RCUTILS_RET_OK,
     parse_descriptor(&ns_tracker, event, is_seq, node_idx, parameter_idx, params_st)) <<
     rcutils_get_error_string().str;
-  ASSERT_NE(nullptr,
+  ASSERT_NE(
+    nullptr,
     params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].step_int);
   EXPECT_EQ(28, *params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].step_int);
   allocator.deallocate(
@@ -278,9 +288,11 @@ TEST(TestParse, parse_descriptor) {
     RCUTILS_RET_OK,
     parse_descriptor(&ns_tracker, event, is_seq, node_idx, parameter_idx, params_st)) <<
     rcutils_get_error_string().str;
-  ASSERT_NE(nullptr,
+  ASSERT_NE(
+    nullptr,
     params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].step_double);
-  EXPECT_EQ(1.23456,
+  EXPECT_EQ(
+    1.23456,
     *params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].step_double);
   allocator.deallocate(
     params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].step_double,
@@ -297,7 +309,8 @@ TEST(TestParse, parse_descriptor) {
     RCUTILS_RET_OK,
     parse_descriptor(&ns_tracker, event, is_seq, node_idx, parameter_idx, params_st)) <<
     rcutils_get_error_string().str;
-  ASSERT_NE(nullptr,
+  ASSERT_NE(
+    nullptr,
     params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].description);
   EXPECT_STREQ(
     "I am a string",
@@ -317,8 +330,9 @@ TEST(TestParse, parse_descriptor) {
     RCUTILS_RET_OK,
     parse_descriptor(&ns_tracker, event, is_seq, node_idx, parameter_idx, params_st)) <<
     rcutils_get_error_string().str;
-  ASSERT_NE(nullptr,
-  params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].additional_constraints);
+  ASSERT_NE(
+    nullptr,
+    params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].additional_constraints);
   EXPECT_STREQ(
     "I am a string",
     params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].additional_constraints);
@@ -546,7 +560,7 @@ TEST(TestParse, parse_descriptor_bad_types) {
   params_st->descriptors[node_idx].parameter_descriptors[parameter_idx].max_value_int = nullptr;
   rcutils_reset_error();
 
- // step (int)
+  // step (int)
   ns_tracker.descriptor_key_ns = rcutils_strdup("step", allocator);
   ASSERT_STREQ("step", ns_tracker.descriptor_key_ns);
   // step: catch invalid value type
diff --git a/rcl_yaml_param_parser/test/test_parse_yaml.cpp b/rcl_yaml_param_parser/test/test_parse_yaml.cpp
index 66f4983efb..f60c31486a 100644
--- a/rcl_yaml_param_parser/test/test_parse_yaml.cpp
+++ b/rcl_yaml_param_parser/test/test_parse_yaml.cpp
@@ -667,18 +667,21 @@ TEST(test_file_parser, correct_syntax_descriptors) {
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   char * test_path = rcutils_join_path(cur_dir, "test", allocator);
   ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
     allocator.deallocate(test_path, allocator.state);
   });
   char * path = rcutils_join_path(test_path, "correct_param_descriptors.yaml", allocator);
   ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
     allocator.deallocate(path, allocator.state);
   });
   ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
   rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
   ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
     rcl_yaml_node_struct_fini(params_hdl);
   });
   bool res = rcl_parse_yaml_file(path, params_hdl);
@@ -686,7 +689,8 @@ TEST(test_file_parser, correct_syntax_descriptors) {
 
   char * another_path = rcutils_join_path(test_path, "overlay_descriptors.yaml", allocator);
   ASSERT_TRUE(NULL != another_path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
     allocator.deallocate(another_path, allocator.state);
   });
   ASSERT_TRUE(rcutils_exists(another_path)) << "No test YAML file found at " << another_path;
@@ -695,7 +699,8 @@ TEST(test_file_parser, correct_syntax_descriptors) {
 
   rcl_params_t * copy_of_params_hdl = rcl_yaml_node_struct_copy(params_hdl);
   ASSERT_TRUE(NULL != copy_of_params_hdl) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
     rcl_yaml_node_struct_fini(copy_of_params_hdl);
   });
 
@@ -773,12 +778,14 @@ TEST(test_parser, param_assign_in_descriptors) {
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   char * test_path = rcutils_join_path(cur_dir, "test", allocator);
   ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
     allocator.deallocate(test_path, allocator.state);
   });
   char * path = rcutils_join_path(test_path, "assign_param_in_descriptors.yaml", allocator);
   ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
     allocator.deallocate(path, allocator.state);
   });
   ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
@@ -794,12 +801,14 @@ TEST(test_parser, invalid_param_descriptor_key) {
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   char * test_path = rcutils_join_path(cur_dir, "test", allocator);
   ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
     allocator.deallocate(test_path, allocator.state);
   });
   char * path = rcutils_join_path(test_path, "invalid_param_descriptor_key.yaml", allocator);
   ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
     allocator.deallocate(path, allocator.state);
   });
   ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
@@ -815,12 +824,14 @@ TEST(test_parser, invalid_param_descriptor_type) {
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   char * test_path = rcutils_join_path(cur_dir, "test", allocator);
   ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
     allocator.deallocate(test_path, allocator.state);
   });
   char * path = rcutils_join_path(test_path, "invalid_param_descriptor_type.yaml", allocator);
   ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
     allocator.deallocate(path, allocator.state);
   });
   ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
@@ -836,12 +847,14 @@ TEST(test_parser, no_value_descriptor) {
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   char * test_path = rcutils_join_path(cur_dir, "test", allocator);
   ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
     allocator.deallocate(test_path, allocator.state);
   });
   char * path = rcutils_join_path(test_path, "no_value_descriptor.yaml", allocator);
   ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
     allocator.deallocate(path, allocator.state);
   });
   ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;