diff --git a/common/math/geometry/include/geometry/spline/catmull_rom_spline.hpp b/common/math/geometry/include/geometry/spline/catmull_rom_spline.hpp
index 9018f938855..5ba0a1c3e2e 100644
--- a/common/math/geometry/include/geometry/spline/catmull_rom_spline.hpp
+++ b/common/math/geometry/include/geometry/spline/catmull_rom_spline.hpp
@@ -61,7 +61,7 @@ class CatmullRomSpline : public CatmullRomSplineInterface
   auto getPolygon(const double width, const size_t num_points = 30, const double z_offset = 0)
     -> std::vector<geometry_msgs::msg::Point>;
   const std::vector<geometry_msgs::msg::Point> control_points;
-  virtual ~CatmullRomSpline() = default;
+  ~CatmullRomSpline() override = default;
 
 private:
   auto getRightBounds(const double width, const size_t num_points = 30, const double z_offset = 0)
diff --git a/common/math/geometry/src/spline/catmull_rom_spline.cpp b/common/math/geometry/src/spline/catmull_rom_spline.cpp
index d9cd6025150..d7c8a607540 100644
--- a/common/math/geometry/src/spline/catmull_rom_spline.cpp
+++ b/common/math/geometry/src/spline/catmull_rom_spline.cpp
@@ -470,8 +470,8 @@ auto CatmullRomSpline::getSquaredDistanceIn2D(
       }
       return line_segments_[0].getSquaredDistanceIn2D(point, s, true);
     default:
-      const auto index_and_s = getCurveIndexAndS(s);
-      return curves_[index_and_s.first].getSquaredDistanceIn2D(point, index_and_s.second, true);
+      const auto [index, s_value] = getCurveIndexAndS(s);
+      return curves_[index].getSquaredDistanceIn2D(point, s_value, true);
   }
 }
 
@@ -508,8 +508,8 @@ auto CatmullRomSpline::getSquaredDistanceVector(
       }
       return line_segments_[0].getSquaredDistanceVector(point, s, true);
     default:
-      const auto index_and_s = getCurveIndexAndS(s);
-      return curves_[index_and_s.first].getSquaredDistanceVector(point, index_and_s.second, true);
+      const auto [index, s_value] = getCurveIndexAndS(s);
+      return curves_[index].getSquaredDistanceVector(point, s_value, true);
   }
 }
 
@@ -542,8 +542,8 @@ auto CatmullRomSpline::getPoint(const double s) const -> geometry_msgs::msg::Poi
       }
       return line_segments_[0].getPoint(s, true);
     default:
-      const auto index_and_s = getCurveIndexAndS(s);
-      return curves_[index_and_s.first].getPoint(index_and_s.second, true);
+      const auto [index, s_value] = getCurveIndexAndS(s);
+      return curves_[index].getPoint(s_value, true);
   }
 }
 
@@ -597,8 +597,8 @@ auto CatmullRomSpline::getNormalVector(const double s) const -> geometry_msgs::m
         "This message is not originally intended to be displayed, if you see it, please "
         "contact the developer of traffic_simulator.");
     default:
-      const auto index_and_s = getCurveIndexAndS(s);
-      return curves_[index_and_s.first].getNormalVector(index_and_s.second, true);
+      const auto [index, s_value] = getCurveIndexAndS(s);
+      return curves_[index].getNormalVector(s_value, true);
   }
 }
 
@@ -634,8 +634,8 @@ auto CatmullRomSpline::getTangentVector(const double s) const -> geometry_msgs::
         "This message is not originally intended to be displayed, if you see it, please "
         "contact the developer of traffic_simulator.");
     default:
-      const auto index_and_s = getCurveIndexAndS(s);
-      return curves_[index_and_s.first].getTangentVector(index_and_s.second, true);
+      const auto [index, s_value] = getCurveIndexAndS(s);
+      return curves_[index].getTangentVector(s_value, true);
   }
 }
 
@@ -665,8 +665,8 @@ auto CatmullRomSpline::getPose(const double s, const bool fill_pitch) const
       }
       return line_segments_[0].getPose(s, true, fill_pitch);
     default:
-      const auto index_and_s = getCurveIndexAndS(s);
-      return curves_[index_and_s.first].getPose(index_and_s.second, true, fill_pitch);
+      const auto [index, s_value] = getCurveIndexAndS(s);
+      return curves_[index].getPose(s_value, true, fill_pitch);
   }
 }
 
diff --git a/rviz_plugins/openscenario_visualization/src/openscenario_visualization_condition_groups_plugin/openscenario_visualization_condition_groups_plugin.cpp b/rviz_plugins/openscenario_visualization/src/openscenario_visualization_condition_groups_plugin/openscenario_visualization_condition_groups_plugin.cpp
index 0d1c54a46f5..2c9cf6dd306 100644
--- a/rviz_plugins/openscenario_visualization/src/openscenario_visualization_condition_groups_plugin/openscenario_visualization_condition_groups_plugin.cpp
+++ b/rviz_plugins/openscenario_visualization/src/openscenario_visualization_condition_groups_plugin/openscenario_visualization_condition_groups_plugin.cpp
@@ -48,7 +48,7 @@ VisualizationConditionGroupsDisplay::VisualizationConditionGroupsDisplay()
    * but the initial value of 35.0 is set to ensure a default size that is likely suitable for most screens. 
    * The scaling factor adjusts this size to ensure readability across various resolutions.
    */
-  const float text_size = scale * 35.0;
+  const float text_size = scale * 35.0f;
 
   /// @note Define initial value of left edge position of condition results panel
   const int left = 0;
@@ -60,21 +60,21 @@ VisualizationConditionGroupsDisplay::VisualizationConditionGroupsDisplay()
    * The purpose of this calculation is to position the top edge of the panel at an appropriate place on the screen, 
    * again scaling according to screen resolution to maintain a consistent look across different devices.
    */
-  const int top = static_cast<int>(std::round(450 * scale));
+  const auto top = static_cast<int>(std::round(450 * scale));
 
   /**
    * @note Define initial value of horizontal length of condition results panel.
    * The reason 2000 is hard-coded here is because that number displayed most beautifully when we tested the operation on a 4K/non 4K display.
    * Also, this number can be set via the rviz GUI.
    */
-  const int length = static_cast<int>(std::round(2000 * scale));
+  const auto length = static_cast<int>(std::round(2000 * scale));
 
   /**
    * @note Define initial value of width of condition results panel.
    * The reason 2000 is hard-coded here is because that number displayed most beautifully when we tested the operation on a 4K/non 4K display.
    * Also, this number can be set via the rviz GUI.
    */
-  const int width = static_cast<int>(std::round(2000 * scale));
+  const auto width = static_cast<int>(std::round(2000 * scale));
 
   property_topic_name_ = std::make_unique<rviz_common::properties::StringProperty>(
     "Topic", "/simulation/context", "The topic on which to publish simulation context.", this,
@@ -99,7 +99,7 @@ VisualizationConditionGroupsDisplay::VisualizationConditionGroupsDisplay()
     "This property controls the scaling factor for the text size on the panel. Setting a higher "
     "value results in larger text, making the displayed information easier to read.",
     this, SLOT(updateVisualization()), this);
-  property_value_scale_->setMin(0.01);
+  property_value_scale_->setMin(0.01f);
 }
 
 VisualizationConditionGroupsDisplay::~VisualizationConditionGroupsDisplay()
@@ -171,10 +171,9 @@ void VisualizationConditionGroupsDisplay::processMessage(const Context::ConstSha
 
   QPainter painter(&hud);
   painter.setRenderHint(QPainter::Antialiasing, true);
-  // QColor text_color = property_text_color_->getColor();
   QColor text_color(property_text_color_->getColor());
   text_color.setAlpha(255);
-  painter.setPen(QPen(text_color, static_cast<int>(2), Qt::SolidLine));
+  painter.setPen(QPen(text_color, 2, Qt::SolidLine));
   QFont font = painter.font();
   font.setPixelSize(std::max(static_cast<int>(property_value_scale_->getFloat()), 1));
   font.setBold(true);
@@ -262,7 +261,7 @@ void VisualizationConditionGroupsDisplay::processEvent(const YAML::Node & event_
   std::string event_name;
   try {
     event_name = event_node["name"].as<std::string>();
-  } catch (const YAML::BadConversion & e) {
+  } catch (const YAML::BadConversion &) {
     event_name = "";
   }
   if (event_name.empty()) {
diff --git a/simulation/traffic_simulator/include/traffic_simulator/entity/pedestrian_entity.hpp b/simulation/traffic_simulator/include/traffic_simulator/entity/pedestrian_entity.hpp
index 4a142aed640..13f4ec5f235 100644
--- a/simulation/traffic_simulator/include/traffic_simulator/entity/pedestrian_entity.hpp
+++ b/simulation/traffic_simulator/include/traffic_simulator/entity/pedestrian_entity.hpp
@@ -80,13 +80,13 @@ class PedestrianEntity : public EntityBase
 
   void setTrafficLights(const std::shared_ptr<traffic_simulator::TrafficLightsBase> & ptr) override;
 
-  auto getBehaviorParameter() const -> traffic_simulator_msgs::msg::BehaviorParameter;
+  auto getBehaviorParameter() const -> traffic_simulator_msgs::msg::BehaviorParameter override;
 
   auto getMaxAcceleration() const -> double override;
 
   auto getMaxDeceleration() const -> double override;
 
-  void setBehaviorParameter(const traffic_simulator_msgs::msg::BehaviorParameter &);
+  void setBehaviorParameter(const traffic_simulator_msgs::msg::BehaviorParameter &) override;
 
   void setVelocityLimit(double linear_velocity) override;
 
diff --git a/simulation/traffic_simulator/src/visualization/visualization_component.cpp b/simulation/traffic_simulator/src/visualization/visualization_component.cpp
index 2af92b13bfe..15d276bf272 100644
--- a/simulation/traffic_simulator/src/visualization/visualization_component.cpp
+++ b/simulation/traffic_simulator/src/visualization/visualization_component.cpp
@@ -74,14 +74,14 @@ void VisualizationComponent::entityStatusCallback(
     entity_name_lists.emplace_back(data.status.name);
   }
   std::vector<std::string> erase_names;
-  for (const auto & marker : markers_) {
-    auto itr = std::find(entity_name_lists.begin(), entity_name_lists.end(), marker.first);
+  for (const auto & [key, marker] : markers_) {
+    auto itr = std::find(entity_name_lists.begin(), entity_name_lists.end(), key);
     if (itr == entity_name_lists.end()) {
-      auto delete_marker = generateDeleteMarker(marker.first);
+      auto delete_marker = generateDeleteMarker(key);
       std::copy(
         delete_marker.markers.begin(), delete_marker.markers.end(),
         std::back_inserter(current_marker.markers));
-      erase_names.emplace_back(marker.first);
+      erase_names.emplace_back(key);
     }
   }
   for (const auto & name : erase_names) {
@@ -336,7 +336,6 @@ const visualization_msgs::msg::MarkerArray VisualizationComponent::generateMarke
   arrow.id = 2;
   arrow.action = visualization_msgs::msg::Marker::ADD;
 
-  // constexpr double arrow_size = 0.3;
   double arrow_size = 0.4 * status.bounding_box.dimensions.y;
   constexpr double arrow_ratio = 1.0;
   geometry_msgs::msg::Point pf, pl, pr;
diff --git a/test_runner/random_test_runner/include/random_test_runner/lanelet_utils.hpp b/test_runner/random_test_runner/include/random_test_runner/lanelet_utils.hpp
index 5203d1068cd..02019010163 100644
--- a/test_runner/random_test_runner/include/random_test_runner/lanelet_utils.hpp
+++ b/test_runner/random_test_runner/include/random_test_runner/lanelet_utils.hpp
@@ -51,19 +51,19 @@ class LaneletUtils
 
   double computeDistance(
     const traffic_simulator_msgs::msg::LaneletPose & p1,
-    const traffic_simulator_msgs::msg::LaneletPose & p2);
+    const traffic_simulator_msgs::msg::LaneletPose & p2) const;
   std::optional<traffic_simulator_msgs::msg::LaneletPose> getOppositeLaneLet(
     const traffic_simulator_msgs::msg::LaneletPose & pose);
   std::vector<LaneletPart> getLanesWithinDistance(
     const traffic_simulator_msgs::msg::LaneletPose & pose, double min_distance,
     double max_distance);
 
-  std::vector<int64_t> getLaneletIds();
+  std::vector<int64_t> getLaneletIds() const;
   geometry_msgs::msg::PoseStamped toMapPose(
-    const traffic_simulator_msgs::msg::LaneletPose & lanelet_pose, const bool fill_pitch);
-  std::vector<int64_t> getRoute(int64_t from_lanelet_id, int64_t to_lanelet_id);
-  double getLaneletLength(int64_t lanelet_id);
-  bool isInLanelet(int64_t lanelet_id, double s);
+    const traffic_simulator_msgs::msg::LaneletPose & lanelet_pose, const bool fill_pitch) const;
+  std::vector<int64_t> getRoute(int64_t from_lanelet_id, int64_t to_lanelet_id) const;
+  double getLaneletLength(int64_t lanelet_id) const;
+  bool isInLanelet(int64_t lanelet_id, double s) const;
 
 private:
   lanelet::LaneletMapPtr lanelet_map_ptr_;
diff --git a/test_runner/random_test_runner/include/random_test_runner/metrics/ego_collision_metric.hpp b/test_runner/random_test_runner/include/random_test_runner/metrics/ego_collision_metric.hpp
index 779322cc4e3..c7911980b4e 100644
--- a/test_runner/random_test_runner/include/random_test_runner/metrics/ego_collision_metric.hpp
+++ b/test_runner/random_test_runner/include/random_test_runner/metrics/ego_collision_metric.hpp
@@ -24,8 +24,8 @@ class EgoCollisionMetric
   {
     timeoutCollisions(current_time);
 
-    auto npc_insertion_data = npc_last_collision_type_map_.emplace(npc_name, current_time);
-    if (npc_insertion_data.second) {
+    auto [_, was_inserted] = npc_last_collision_type_map_.emplace(npc_name, current_time);
+    if (was_inserted) {
       return true;
     }
     npc_last_collision_type_map_[npc_name] = current_time;
diff --git a/test_runner/random_test_runner/src/lanelet_utils.cpp b/test_runner/random_test_runner/src/lanelet_utils.cpp
index dd462c9ff00..c783b1dc01d 100644
--- a/test_runner/random_test_runner/src/lanelet_utils.cpp
+++ b/test_runner/random_test_runner/src/lanelet_utils.cpp
@@ -47,27 +47,30 @@ LaneletUtils::LaneletUtils(const boost::filesystem::path & filename)
     std::make_shared<hdmap_utils::HdMapUtils>(filename, geographic_msgs::msg::GeoPoint());
 }
 
-std::vector<int64_t> LaneletUtils::getLaneletIds() { return hdmap_utils_ptr_->getLaneletIds(); }
+std::vector<int64_t> LaneletUtils::getLaneletIds() const
+{
+  return hdmap_utils_ptr_->getLaneletIds();
+}
 
 geometry_msgs::msg::PoseStamped LaneletUtils::toMapPose(
-  const traffic_simulator_msgs::msg::LaneletPose & lanelet_pose, const bool fill_pitch)
+  const traffic_simulator_msgs::msg::LaneletPose & lanelet_pose, const bool fill_pitch) const
 {
   return hdmap_utils_ptr_->toMapPose(lanelet_pose, fill_pitch);
 }
 
-std::vector<int64_t> LaneletUtils::getRoute(int64_t from_lanelet_id, int64_t to_lanelet_id)
+std::vector<int64_t> LaneletUtils::getRoute(int64_t from_lanelet_id, int64_t to_lanelet_id) const
 {
   return hdmap_utils_ptr_->getRoute(from_lanelet_id, to_lanelet_id);
 }
 
-double LaneletUtils::getLaneletLength(int64_t lanelet_id)
+double LaneletUtils::getLaneletLength(int64_t lanelet_id) const
 {
   return hdmap_utils_ptr_->getLaneletLength(lanelet_id);
 }
 
 double LaneletUtils::computeDistance(
   const traffic_simulator_msgs::msg::LaneletPose & p1,
-  const traffic_simulator_msgs::msg::LaneletPose & p2)
+  const traffic_simulator_msgs::msg::LaneletPose & p2) const
 {
   auto p1_g = hdmap_utils_ptr_->toMapPose(p1).pose.position;
   auto p2_g = hdmap_utils_ptr_->toMapPose(p2).pose.position;
@@ -78,7 +81,7 @@ double LaneletUtils::computeDistance(
   return std::sqrt(d.x * d.x + d.y * d.y + d.z * d.z);
 }
 
-bool LaneletUtils::isInLanelet(int64_t lanelet_id, double s)
+bool LaneletUtils::isInLanelet(int64_t lanelet_id, double s) const
 {
   return hdmap_utils_ptr_->isInLanelet(lanelet_id, s);
 }
@@ -278,8 +281,7 @@ std::vector<LaneletPart> LaneletUtils::getLanesWithinDistance(
   }
 
   std::vector<LaneletPart> ret;
-  for (const auto & lanelet_part_key_value : lanelets_within_distance) {
-    const auto & lanelet_part = lanelet_part_key_value.second;
+  for (const auto & [_, lanelet_part] : lanelets_within_distance) {
     ret.emplace_back(
       LaneletPart{lanelet_part.lanelet.id(), lanelet_part.start_s, lanelet_part.end_s});
   }