diff --git a/rviz2/test/tools/send_lots_of_points_node.cpp b/rviz2/test/tools/send_lots_of_points_node.cpp
index 082305300..e52fc92fd 100644
--- a/rviz2/test/tools/send_lots_of_points_node.cpp
+++ b/rviz2/test/tools/send_lots_of_points_node.cpp
@@ -84,7 +84,8 @@ int main(int argc, char ** argv)
     }
     msg.header.stamp = node->now();
 
-    printf("publishing at %d hz, %s, %d x %d points.\n",
+    printf(
+      "publishing at %d hz, %s, %d x %d points.\n",
       rate, (moving ? "moving" : "static"), width, length);
 
     pub->publish(msg);
diff --git a/rviz_common/include/rviz_common/factory/pluginlib_factory.hpp b/rviz_common/include/rviz_common/factory/pluginlib_factory.hpp
index 7c6841ebd..5f93a8883 100644
--- a/rviz_common/include/rviz_common/factory/pluginlib_factory.hpp
+++ b/rviz_common/include/rviz_common/factory/pluginlib_factory.hpp
@@ -159,8 +159,9 @@ class PluginlibFactory : public ClassIdRecordingFactory<Type>
     try {
       return class_loader_->createUnmanagedInstance(class_id.toStdString());
     } catch (pluginlib::PluginlibException & ex) {
-      RVIZ_COMMON_LOG_ERROR_STREAM("PluginlibFactory: The plugin for class '" <<
-        qPrintable(class_id) << "' failed to load. Error: " << ex.what());
+      RVIZ_COMMON_LOG_ERROR_STREAM(
+        "PluginlibFactory: The plugin for class '" <<
+          qPrintable(class_id) << "' failed to load. Error: " << ex.what());
       if (error_return) {
         *error_return = QString::fromStdString(ex.what());
       }
diff --git a/rviz_common/include/rviz_common/frame_manager_iface.hpp b/rviz_common/include/rviz_common/frame_manager_iface.hpp
index ee8a2ee8e..b40cdbb8a 100644
--- a/rviz_common/include/rviz_common/frame_manager_iface.hpp
+++ b/rviz_common/include/rviz_common/frame_manager_iface.hpp
@@ -274,8 +274,10 @@ class RVIZ_COMMON_PUBLIC FrameManagerIface : public QObject
     Display * display) override
   {
     filter->registerCallback(boost::bind(&FrameManager::messageCallback<M>, this, _1, display));
-    filter->registerFailureCallback(boost::bind(&FrameManager::failureCallback<M>, this, _1, _2,
-      display));
+    filter->registerFailureCallback(
+      boost::bind(
+        &FrameManager::failureCallback<M>, this, _1, _2,
+        display));
   }
 #endif
 
diff --git a/rviz_common/include/rviz_common/message_filter_display.hpp b/rviz_common/include/rviz_common/message_filter_display.hpp
index 9a97516ad..29db66382 100644
--- a/rviz_common/include/rviz_common/message_filter_display.hpp
+++ b/rviz_common/include/rviz_common/message_filter_display.hpp
@@ -126,8 +126,9 @@ class MessageFilterDisplay : public _RosTopicDisplay
         fixed_frame_.toStdString(), 10, rviz_ros_node_.lock()->get_raw_node());
       tf_filter_->connectInput(*subscription_);
       tf_filter_->registerCallback(
-        std::bind(&MessageFilterDisplay<MessageType>::incomingMessage, this,
-        std::placeholders::_1));
+        std::bind(
+          &MessageFilterDisplay<MessageType>::incomingMessage, this,
+          std::placeholders::_1));
       setStatus(properties::StatusProperty::Ok, "Topic", "OK");
     } catch (rclcpp::exceptions::InvalidTopicNameError & e) {
       setStatus(
diff --git a/rviz_common/include/rviz_common/ros_topic_display.hpp b/rviz_common/include/rviz_common/ros_topic_display.hpp
index 86b05f860..01fe05e44 100644
--- a/rviz_common/include/rviz_common/ros_topic_display.hpp
+++ b/rviz_common/include/rviz_common/ros_topic_display.hpp
@@ -66,8 +66,9 @@ class RVIZ_COMMON_PUBLIC _RosTopicDisplay : public Display
   : rviz_ros_node_(),
     qos_profile(5)
   {
-    topic_property_ = new properties::RosTopicProperty("Topic", "",
-        "", "", this, SLOT(updateTopic()));
+    topic_property_ = new properties::RosTopicProperty(
+      "Topic", "",
+      "", "", this, SLOT(updateTopic()));
 
     qos_profile_property_ = new properties::QosProfileProperty(topic_property_, qos_profile);
   }
@@ -167,7 +168,8 @@ class RosTopicDisplay : public _RosTopicDisplay
     }
 
     if (topic_property_->isEmpty()) {
-      setStatus(properties::StatusProperty::Error,
+      setStatus(
+        properties::StatusProperty::Error,
         "Topic",
         QString("Error subscribing: Empty topic name"));
       return;
@@ -182,7 +184,8 @@ class RosTopicDisplay : public _RosTopicDisplay
         [this](const typename MessageType::ConstSharedPtr message) {incomingMessage(message);});
       setStatus(properties::StatusProperty::Ok, "Topic", "OK");
     } catch (rclcpp::exceptions::InvalidTopicNameError & e) {
-      setStatus(properties::StatusProperty::Error, "Topic",
+      setStatus(
+        properties::StatusProperty::Error, "Topic",
         QString("Error subscribing: ") + e.what());
     }
   }
diff --git a/rviz_common/src/rviz_common/add_display_dialog.cpp b/rviz_common/src/rviz_common/add_display_dialog.cpp
index 96f64286c..494c87d4e 100644
--- a/rviz_common/src/rviz_common/add_display_dialog.cpp
+++ b/rviz_common/src/rviz_common/add_display_dialog.cpp
@@ -166,9 +166,10 @@ void getPluginGroups(
     QString datatype = QString::fromStdString(map_pair.second[0]);
 
     if (datatype_plugins.contains(datatype)) {
-      if (groups->empty() ||
-        !isSubtopic(groups->back().base_topic.toStdString(),
-        topic.toStdString()))
+      if (
+        groups->empty() ||
+        !isSubtopic(
+          groups->back().base_topic.toStdString(), topic.toStdString()))
       {
         PluginGroup pi;
         pi.base_topic = topic;
@@ -478,7 +479,8 @@ TopicDisplayWidget::TopicDisplayWidget(
   // *INDENT-ON*
 
   // Connect signal from checkbox
-  connect(enable_hidden_box_, SIGNAL(stateChanged(int)),
+  connect(
+    enable_hidden_box_, SIGNAL(stateChanged(int)),
     this, SLOT(stateChanged(int)));
 
   setLayout(layout);
diff --git a/rviz_common/src/rviz_common/config.cpp b/rviz_common/src/rviz_common/config.cpp
index 1a3f0845a..7b8bbed74 100644
--- a/rviz_common/src/rviz_common/config.cpp
+++ b/rviz_common/src/rviz_common/config.cpp
@@ -229,8 +229,8 @@ bool Config::mapGetInt(const QString & key, int * value_out) const
 bool Config::mapGetFloat(const QString & key, float * value_out) const
 {
   QVariant v;
-  if (mapGetValue(key,
-    &v) &&
+  if (
+    mapGetValue(key, &v) &&
     (static_cast<int>(v.type()) == static_cast<int>(QMetaType::Float) ||
     v.type() == QVariant::Double ||
     v.type() == QVariant::String))
diff --git a/rviz_common/src/rviz_common/display.cpp b/rviz_common/src/rviz_common/display.cpp
index 63d41a351..daf09b123 100644
--- a/rviz_common/src/rviz_common/display.cpp
+++ b/rviz_common/src/rviz_common/display.cpp
@@ -202,7 +202,8 @@ void Display::setStatus(
   const QString & name,
   const QString & text)
 {
-  QMetaObject::invokeMethod(this, "setStatusInternal", Qt::QueuedConnection,
+  QMetaObject::invokeMethod(
+    this, "setStatusInternal", Qt::QueuedConnection,
     Q_ARG(int, level),
     Q_ARG(QString, name),
     Q_ARG(QString, text));
@@ -254,8 +255,8 @@ void Display::setStatusInternal(int level, const QString & name, const QString &
 
 void Display::deleteStatus(const QString & name)
 {
-  QMetaObject::invokeMethod(this, "deleteStatusInternal", Qt::QueuedConnection,
-    Q_ARG(QString, name));
+  QMetaObject::invokeMethod(
+    this, "deleteStatusInternal", Qt::QueuedConnection, Q_ARG(QString, name));
 }
 
 void Display::deleteStatusInternal(const QString & name)
@@ -398,7 +399,8 @@ Ogre::SceneNode * Display::getSceneNode() const
 void Display::setAssociatedWidget(QWidget * widget)
 {
   if (associated_widget_panel_) {
-    disconnect(associated_widget_panel_, SIGNAL(visibilityChanged(bool)), this,
+    disconnect(
+      associated_widget_panel_, SIGNAL(visibilityChanged(bool)), this,
       SLOT(associatedPanelVisibilityChange(bool)));
     disconnect(associated_widget_panel_, SIGNAL(closed()), this, SLOT(disable()));
   }
@@ -408,7 +410,8 @@ void Display::setAssociatedWidget(QWidget * widget)
     WindowManagerInterface * wm = context_->getWindowManager();
     if (wm) {
       associated_widget_panel_ = wm->addPane(getName(), associated_widget_);
-      connect(associated_widget_panel_, SIGNAL(visibilityChanged(bool)), this,
+      connect(
+        associated_widget_panel_, SIGNAL(visibilityChanged(bool)), this,
         SLOT(associatedPanelVisibilityChange(bool)));
       connect(associated_widget_panel_, SIGNAL(closed()), this, SLOT(disable()));
       associated_widget_panel_->setIcon(getIcon());
diff --git a/rviz_common/src/rviz_common/failed_tool.cpp b/rviz_common/src/rviz_common/failed_tool.cpp
index 7a7aa11dc..3e8601682 100644
--- a/rviz_common/src/rviz_common/failed_tool.cpp
+++ b/rviz_common/src/rviz_common/failed_tool.cpp
@@ -70,7 +70,8 @@ void FailedTool::deactivate()
 
 void FailedTool::onInitialize()
 {
-  setDescription("The class required for this tool, '" + getClassId() +
+  setDescription(
+    "The class required for this tool, '" + getClassId() +
     "', could not be loaded.<br><b>Error:</b><br>" + error_message_);
 }
 
diff --git a/rviz_common/src/rviz_common/failed_view_controller.cpp b/rviz_common/src/rviz_common/failed_view_controller.cpp
index 06bcfbad3..cf67751c4 100644
--- a/rviz_common/src/rviz_common/failed_view_controller.cpp
+++ b/rviz_common/src/rviz_common/failed_view_controller.cpp
@@ -73,7 +73,8 @@ void FailedViewController::onActivate()
   if (context_->getWindowManager() ) {
     parent = context_->getWindowManager()->getParentWindow();
   }
-  QMessageBox::critical(parent, "ViewController '" + getName() + "'unavailable.",
+  QMessageBox::critical(
+    parent, "ViewController '" + getName() + "'unavailable.",
     getDescription() );
 }
 
diff --git a/rviz_common/src/rviz_common/interaction/selection_manager.cpp b/rviz_common/src/rviz_common/interaction/selection_manager.cpp
index db84f6be4..bf6b6efbb 100644
--- a/rviz_common/src/rviz_common/interaction/selection_manager.cpp
+++ b/rviz_common/src/rviz_common/interaction/selection_manager.cpp
@@ -140,9 +140,9 @@ void SelectionManager::initialize()
 
   static const uint32_t texture_data[1] = {0xffff0080};
   Ogre::DataStreamPtr pixel_stream;
-  pixel_stream.reset(new Ogre::MemoryDataStream(
-      reinterpret_cast<void *>(const_cast<uint32_t *>(&texture_data[0])),
-      4
+  pixel_stream.reset(
+    new Ogre::MemoryDataStream(
+      reinterpret_cast<void *>(const_cast<uint32_t *>(&texture_data[0])), 4
   ));
 
   Ogre::TexturePtr tex = Ogre::TextureManager::getSingleton().loadRawData(
@@ -207,9 +207,10 @@ void SelectionManager::setTextureSize(unsigned size)
       }
 
       // create new texture
-      render_texture = Ogre::TextureManager::getSingleton().createManual(tex_name,
-          Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, Ogre::TEX_TYPE_2D, size, size, 0,
-          Ogre::PF_R8G8B8A8, Ogre::TU_STATIC | Ogre::TU_RENDERTARGET);
+      render_texture = Ogre::TextureManager::getSingleton().createManual(
+        tex_name,
+        Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, Ogre::TEX_TYPE_2D, size, size, 0,
+        Ogre::PF_R8G8B8A8, Ogre::TU_STATIC | Ogre::TU_RENDERTARGET);
 
       render_texture->getBuffer()->getRenderTarget()->setAutoUpdated(false);
     }
diff --git a/rviz_common/src/rviz_common/interaction/view_picker.cpp b/rviz_common/src/rviz_common/interaction/view_picker.cpp
index 3aef340fa..44a4cc7de 100644
--- a/rviz_common/src/rviz_common/interaction/view_picker.cpp
+++ b/rviz_common/src/rviz_common/interaction/view_picker.cpp
@@ -227,11 +227,12 @@ void ViewPicker::setDepthTextureSize(unsigned width, unsigned height)
     }
 
     depth_render_texture_ =
-      Ogre::TextureManager::getSingleton().createManual(tex_name,
-        Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
-        Ogre::TEX_TYPE_2D, depth_texture_width_, depth_texture_height_, 0,
-        Ogre::PF_R8G8B8,
-        Ogre::TU_RENDERTARGET);
+      Ogre::TextureManager::getSingleton().createManual(
+      tex_name,
+      Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
+      Ogre::TEX_TYPE_2D, depth_texture_width_, depth_texture_height_, 0,
+      Ogre::PF_R8G8B8,
+      Ogre::TU_RENDERTARGET);
 
     depth_render_texture_->getBuffer()->getRenderTarget()->setAutoUpdated(false);
   }
diff --git a/rviz_common/src/rviz_common/load_resource.cpp b/rviz_common/src/rviz_common/load_resource.cpp
index b17eb3596..88210c488 100644
--- a/rviz_common/src/rviz_common/load_resource.cpp
+++ b/rviz_common/src/rviz_common/load_resource.cpp
@@ -94,8 +94,9 @@ QCursor makeIconCursor(QString url, bool fill_cache)
 {
   QPixmap icon = loadPixmap(url, fill_cache);
   if (icon.width() == 0 || icon.height() == 0) {
-    RVIZ_COMMON_LOG_ERROR_STREAM("Could not load pixmap " << url.toStdString() << " -- "
-      "using default cursor instead.");
+    RVIZ_COMMON_LOG_ERROR_STREAM(
+      "Could not load pixmap " << url.toStdString() << " -- "
+        "using default cursor instead.");
     return getDefaultCursor();
   }
   QString cache_key = url + ".cursor";
diff --git a/rviz_common/src/rviz_common/new_object_dialog.cpp b/rviz_common/src/rviz_common/new_object_dialog.cpp
index 2b7448993..09ee718bc 100644
--- a/rviz_common/src/rviz_common/new_object_dialog.cpp
+++ b/rviz_common/src/rviz_common/new_object_dialog.cpp
@@ -94,8 +94,8 @@ NewObjectDialog::NewObjectDialog(
   }
 
   // Buttons
-  button_box_ = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel,
-      Qt::Horizontal);
+  button_box_ = new QDialogButtonBox(
+    QDialogButtonBox::Ok | QDialogButtonBox::Cancel, Qt::Horizontal);
 
   auto main_layout = new QVBoxLayout;
   main_layout->addWidget(type_box);
diff --git a/rviz_common/src/rviz_common/panel_factory.cpp b/rviz_common/src/rviz_common/panel_factory.cpp
index 98b3179fa..98c5c64fb 100644
--- a/rviz_common/src/rviz_common/panel_factory.cpp
+++ b/rviz_common/src/rviz_common/panel_factory.cpp
@@ -59,22 +59,28 @@ PanelFactory::PanelFactory(
   VisualizationManager * manager)
 : PluginlibFactory<Panel>("rviz_common", "rviz_common::Panel")
 {
-  addBuiltInClass("rviz_common", "Displays",
+  addBuiltInClass(
+    "rviz_common", "Displays",
     "Show and edit the list of Displays",
     [rviz_ros_node, manager]() -> Panel * {
       return new DisplaysPanel(rviz_ros_node, manager, nullptr);
     });
-  addBuiltInClass("rviz_common", "Help",
+  addBuiltInClass(
+    "rviz_common", "Help",
     "Show the key and mouse bindings", &newHelpPanel);
-  addBuiltInClass("rviz_common", "Selection",
+  addBuiltInClass(
+    "rviz_common", "Selection",
     "Show properties of selected objects", &newSelectionPanel);
   // addBuiltInClass("rviz", "Time",
   //   "Show the current time", &newTimePanel);
-  addBuiltInClass("rviz_common", "Tool Properties",
+  addBuiltInClass(
+    "rviz_common", "Tool Properties",
     "Show and edit properties of tools", &newToolPropertiesPanel);
-  addBuiltInClass("rviz_common", "Transformation",
+  addBuiltInClass(
+    "rviz_common", "Transformation",
     "Choose the transformation plugin", &newTransformationPanel);
-  addBuiltInClass("rviz_common", "Views",
+  addBuiltInClass(
+    "rviz_common", "Views",
     "Show and edit viewpoints", &newViewsPanel);
 }
 
diff --git a/rviz_common/src/rviz_common/properties/color_editor.cpp b/rviz_common/src/rviz_common/properties/color_editor.cpp
index bbd57f30d..33d98ad2a 100644
--- a/rviz_common/src/rviz_common/properties/color_editor.cpp
+++ b/rviz_common/src/rviz_common/properties/color_editor.cpp
@@ -48,7 +48,8 @@ ColorEditor::ColorEditor(ColorProperty * property, QWidget * parent)
 : LineEditWithButton(parent),
   property_(property)
 {
-  connect(this, SIGNAL(textChanged(const QString&)),
+  connect(
+    this, SIGNAL(textChanged(const QString&)),
     this, SLOT(parseText()));
 }
 
@@ -66,7 +67,8 @@ void ColorEditor::paintColorBox(QPainter * painter, const QRect & rect, const QC
   int size = rect.height() - padding * 2 - 1;
   painter->save();
   painter->setBrush(color);
-  painter->drawRoundedRect(rect.x() + padding + 3,
+  painter->drawRoundedRect(
+    rect.x() + padding + 3,
     rect.y() + padding, size, size, 0, 0, Qt::AbsoluteSize);
   painter->restore();
 }
@@ -108,13 +110,15 @@ void ColorEditor::onButtonClick()
 
   QColorDialog * dialog = new QColorDialog(color_, parentWidget() );
 
-  connect(dialog, SIGNAL(currentColorChanged(const QColor&)),
+  connect(
+    dialog, SIGNAL(currentColorChanged(const QColor&)),
     property_, SLOT(setColor(const QColor&)));
 
   // Without this connection the PropertyTreeWidget does not update
   // the color info "live" when it changes in the dialog and the 3D
   // view.
-  connect(dialog, SIGNAL(currentColorChanged(const QColor&)),
+  connect(
+    dialog, SIGNAL(currentColorChanged(const QColor&)),
     parentWidget(), SLOT(update()));
 
   // On the TWM window manager under linux, and on OSX, this
diff --git a/rviz_common/src/rviz_common/properties/covariance_property.cpp b/rviz_common/src/rviz_common/properties/covariance_property.cpp
index a69ab6684..cc79642d7 100644
--- a/rviz_common/src/rviz_common/properties/covariance_property.cpp
+++ b/rviz_common/src/rviz_common/properties/covariance_property.cpp
@@ -54,68 +54,80 @@ CovarianceProperty::CovarianceProperty(
   const char * changed_slot)
 : BoolProperty(name, default_value, description, parent, changed_slot)
 {
-  position_property_ = new BoolProperty("Position", true,
-      "Whether or not to show the position part of covariances",
-      this, changed_slot, parent);
+  position_property_ = new BoolProperty(
+    "Position", true,
+    "Whether or not to show the position part of covariances",
+    this, changed_slot, parent);
   position_property_->setDisableChildrenIfFalse(true);
 
-  position_color_property_ = new ColorProperty("Color", QColor(204, 51, 204),
-      "Color to draw the position covariance ellipse.",
-      position_property_, changed_slot, parent);
+  position_color_property_ = new ColorProperty(
+    "Color", QColor(204, 51, 204),
+    "Color to draw the position covariance ellipse.",
+    position_property_, changed_slot, parent);
 
-  position_alpha_property_ = new FloatProperty("Alpha", 0.3f,
-      "0 is fully transparent, 1.0 is fully opaque.",
-      position_property_, changed_slot, parent);
+  position_alpha_property_ = new FloatProperty(
+    "Alpha", 0.3f,
+    "0 is fully transparent, 1.0 is fully opaque.",
+    position_property_, changed_slot, parent);
   position_alpha_property_->setMin(0);
   position_alpha_property_->setMax(1);
 
-  position_scale_property_ = new FloatProperty("Scale", 1.0f,
-      "Scale factor to be applied to covariance ellipse. "
-      "Corresponds to the number of standard deviations to display",
-      position_property_, changed_slot, parent);
+  position_scale_property_ = new FloatProperty(
+    "Scale", 1.0f,
+    "Scale factor to be applied to covariance ellipse. "
+    "Corresponds to the number of standard deviations to display",
+    position_property_, changed_slot, parent);
   position_scale_property_->setMin(0);
 
-  orientation_property_ = new BoolProperty("Orientation", true,
-      "Whether or not to show the orientation part of covariances",
-      this, changed_slot, parent);
+  orientation_property_ = new BoolProperty(
+    "Orientation", true,
+    "Whether or not to show the orientation part of covariances",
+    this, changed_slot, parent);
   orientation_property_->setDisableChildrenIfFalse(true);
 
-  orientation_frame_property_ = new EnumProperty("Frame", "Local",
-      "Frame used to display the orientation covariance.",
-      orientation_property_, changed_slot, parent);
+  orientation_frame_property_ = new EnumProperty(
+    "Frame", "Local",
+    "Frame used to display the orientation covariance.",
+    orientation_property_, changed_slot, parent);
   orientation_frame_property_->addOption("Local", rviz_rendering::Local);
   orientation_frame_property_->addOption("Fixed", rviz_rendering::Fixed);
 
-  orientation_colorstyle_property_ = new EnumProperty("Color Style", "Unique",
-      "Style to color the orientation covariance: "
-      "XYZ with same unique color or following RGB order",
-      orientation_property_, changed_slot, parent);
+  orientation_colorstyle_property_ = new EnumProperty(
+    "Color Style", "Unique",
+    "Style to color the orientation covariance: "
+    "XYZ with same unique color or following RGB order",
+    orientation_property_, changed_slot, parent);
   orientation_colorstyle_property_->addOption("Unique", rviz_rendering::Unique);
   orientation_colorstyle_property_->addOption("RGB", rviz_rendering::RGB);
-  connect(orientation_colorstyle_property_, SIGNAL(changed()),
+  connect(
+    orientation_colorstyle_property_, SIGNAL(changed()),
     this, SLOT(updateColorStyleChoice()));
 
-  orientation_color_property_ = new ColorProperty("Color", QColor(255, 255, 127),
-      "Color to draw the covariance ellipse.",
-      orientation_property_, changed_slot, parent);
+  orientation_color_property_ = new ColorProperty(
+    "Color", QColor(255, 255, 127),
+    "Color to draw the covariance ellipse.",
+    orientation_property_, changed_slot, parent);
 
-  orientation_alpha_property_ = new FloatProperty("Alpha", 0.5f,
-      "0 is fully transparent, 1.0 is fully opaque.",
-      orientation_property_, changed_slot, parent);
+  orientation_alpha_property_ = new FloatProperty(
+    "Alpha", 0.5f,
+    "0 is fully transparent, 1.0 is fully opaque.",
+    orientation_property_, changed_slot, parent);
   orientation_alpha_property_->setMin(0);
   orientation_alpha_property_->setMax(1);
 
-  orientation_offset_property_ = new FloatProperty("Offset", 1.0f,
-      "For 3D poses: the distance where to position the ellipses representing "
-      "orientation covariance. "
-      "For 2D poses: the height of the triangle representing the variance on yaw",
-      orientation_property_, changed_slot, parent);
+  orientation_offset_property_ = new FloatProperty(
+    "Offset", 1.0f,
+    "For 3D poses: the distance where to position the ellipses representing "
+    "orientation covariance. "
+    "For 2D poses: the height of the triangle representing the variance on yaw",
+    orientation_property_, changed_slot, parent);
   orientation_offset_property_->setMin(0);
 
-  orientation_scale_property_ = new FloatProperty("Scale", 1.0f,
-      "Scale factor to be applied to orientation covariance shapes. "
-      "Corresponds to the number of standard deviations to display",
-      orientation_property_, changed_slot, parent);
+  orientation_scale_property_ = new FloatProperty(
+    "Scale", 1.0f,
+    "Scale factor to be applied to orientation covariance shapes. "
+    "Corresponds to the number of standard deviations to display",
+    orientation_property_, changed_slot, parent);
   orientation_scale_property_->setMin(0);
 
   setDisableChildrenIfFalse(true);
diff --git a/rviz_common/src/rviz_common/properties/display_group_visibility_property.cpp b/rviz_common/src/rviz_common/properties/display_group_visibility_property.cpp
index 2d8026240..317ce969b 100644
--- a/rviz_common/src/rviz_common/properties/display_group_visibility_property.cpp
+++ b/rviz_common/src/rviz_common/properties/display_group_visibility_property.cpp
@@ -108,11 +108,13 @@ void DisplayGroupVisibilityProperty::onDisplayAdded(Display * display)
   auto display_group = qobject_cast<DisplayGroup *>(display);
   DisplayVisibilityProperty * vis_prop;
   if (display_group) {
-    vis_prop = new DisplayGroupVisibilityProperty(vis_bit_, display_group, parent_display_, "",
-        true, "Uncheck to hide everything in this Display Group", this);
+    vis_prop = new DisplayGroupVisibilityProperty(
+      vis_bit_, display_group, parent_display_, "",
+      true, "Uncheck to hide everything in this Display Group", this);
   } else {
-    vis_prop = new DisplayVisibilityProperty(vis_bit_, display, "", true,
-        "Show or hide this Display", this);
+    vis_prop = new DisplayVisibilityProperty(
+      vis_bit_, display, "", true,
+      "Show or hide this Display", this);
   }
   disp_vis_props_[display] = vis_prop;
   sortDisplayList();
diff --git a/rviz_common/src/rviz_common/properties/editable_enum_property.cpp b/rviz_common/src/rviz_common/properties/editable_enum_property.cpp
index 91713e548..85d1589f3 100644
--- a/rviz_common/src/rviz_common/properties/editable_enum_property.cpp
+++ b/rviz_common/src/rviz_common/properties/editable_enum_property.cpp
@@ -77,7 +77,8 @@ QWidget * EditableEnumProperty::createEditor(QWidget * parent, const QStyleOptio
   EditableComboBox * cb = new EditableComboBox(parent);
   cb->addItems(strings_);
   cb->setEditText(getValue().toString() );
-  QObject::connect(cb, SIGNAL(currentIndexChanged(const QString&)), this,
+  QObject::connect(
+    cb, SIGNAL(currentIndexChanged(const QString&)), this,
     SLOT(setString(const QString&)));
 
   // TODO(unknown): need to better handle string value which is not in list.
diff --git a/rviz_common/src/rviz_common/properties/enum_property.cpp b/rviz_common/src/rviz_common/properties/enum_property.cpp
index cb712511b..0c8dd60aa 100644
--- a/rviz_common/src/rviz_common/properties/enum_property.cpp
+++ b/rviz_common/src/rviz_common/properties/enum_property.cpp
@@ -86,7 +86,8 @@ QWidget * EnumProperty::createEditor(QWidget * parent, const QStyleOptionViewIte
   ComboBox * cb = new ComboBox(parent);
   cb->addItems(strings_);
   cb->setCurrentIndex(strings_.indexOf(getValue().toString() ));
-  QObject::connect(cb, SIGNAL(currentIndexChanged(const QString&)), this,
+  QObject::connect(
+    cb, SIGNAL(currentIndexChanged(const QString&)), this,
     SLOT(setString(const QString&)));
 
   // TODO(anyone): need to better handle string value which is not in list.
diff --git a/rviz_common/src/rviz_common/properties/file_picker.cpp b/rviz_common/src/rviz_common/properties/file_picker.cpp
index 97cc461da..f85385683 100644
--- a/rviz_common/src/rviz_common/properties/file_picker.cpp
+++ b/rviz_common/src/rviz_common/properties/file_picker.cpp
@@ -50,7 +50,8 @@ void FilePicker::onButtonClick()
 {
   auto dialog = new QFileDialog(parentWidget());
 
-  connect(dialog, SIGNAL(fileSelected(const QString&)),
+  connect(
+    dialog, SIGNAL(fileSelected(const QString&)),
     file_name_property_, SLOT(setString(const QString&)));
 
   dialog->exec();
diff --git a/rviz_common/src/rviz_common/properties/line_edit_with_button.cpp b/rviz_common/src/rviz_common/properties/line_edit_with_button.cpp
index fd573039e..baf54ae23 100644
--- a/rviz_common/src/rviz_common/properties/line_edit_with_button.cpp
+++ b/rviz_common/src/rviz_common/properties/line_edit_with_button.cpp
@@ -72,7 +72,8 @@ void LineEditWithButton::resizeEvent(QResizeEvent * event)
   // padding, and located all the way to the right.
   int button_width = height() - 2 * padding;
   int button_height = button_width;
-  button_->setGeometry(width() - button_width - padding, padding,
+  button_->setGeometry(
+    width() - button_width - padding, padding,
     button_width, button_height);
 }
 
diff --git a/rviz_common/src/rviz_common/properties/property.cpp b/rviz_common/src/rviz_common/properties/property.cpp
index 50030d673..a70d16f23 100644
--- a/rviz_common/src/rviz_common/properties/property.cpp
+++ b/rviz_common/src/rviz_common/properties/property.cpp
@@ -202,7 +202,8 @@ Property * Property::subProp(const QString & sub_name)
   for (Property * prop = this; prop != NULL; prop = prop->getParent() ) {
     ancestry = "\"" + prop->getName() + "\"->" + ancestry;
   }
-  printf("ERROR: Undefined property %s \"%s\" accessed.\n", qPrintable(ancestry),
+  printf(
+    "ERROR: Undefined property %s \"%s\" accessed.\n", qPrintable(ancestry),
     qPrintable(sub_name));
   return failprop_;
 }
@@ -459,7 +460,8 @@ void Property::loadValue(const Config & config)
       case QVariant::String: setValue(config.getValue().toString() ); break;
       case QVariant::Bool: setValue(config.getValue().toBool() ); break;
       default:
-        printf("Property::loadValue() TODO: error handling - unexpected QVariant type %d.\n",
+        printf(
+          "Property::loadValue() TODO: error handling - unexpected QVariant type %d.\n",
           static_cast<int>(value_.type() ));
         break;
     }
diff --git a/rviz_common/src/rviz_common/properties/property_tree_widget.cpp b/rviz_common/src/rviz_common/properties/property_tree_widget.cpp
index fd45f8436..21aaa75e4 100644
--- a/rviz_common/src/rviz_common/properties/property_tree_widget.cpp
+++ b/rviz_common/src/rviz_common/properties/property_tree_widget.cpp
@@ -70,7 +70,8 @@ void PropertyTreeWidget::currentChanged(
   const QModelIndex & previous_current_index)
 {
   QTreeView::currentChanged(new_current_index, previous_current_index);
-  Q_EMIT currentPropertyChanged(static_cast<const Property *>(
+  Q_EMIT currentPropertyChanged(
+    static_cast<const Property *>(
       new_current_index.internalPointer() ));
 }
 
@@ -85,21 +86,27 @@ void PropertyTreeWidget::selectionChanged(
 void PropertyTreeWidget::setModel(PropertyTreeModel * model)
 {
   if (model_) {
-    disconnect(model_, SIGNAL(propertyHiddenChanged(const Property*)),
+    disconnect(
+      model_, SIGNAL(propertyHiddenChanged(const Property*)),
       this, SLOT(propertyHiddenChanged(const Property*)));
-    disconnect(model_, SIGNAL(expand(const QModelIndex&)),
+    disconnect(
+      model_, SIGNAL(expand(const QModelIndex&)),
       this, SLOT(expand(const QModelIndex&)));
-    disconnect(model_, SIGNAL(collapse(const QModelIndex&)),
+    disconnect(
+      model_, SIGNAL(collapse(const QModelIndex&)),
       this, SLOT(collapse(const QModelIndex&)));
   }
   model_ = model;
   QTreeView::setModel(model_);
   if (model_) {
-    connect(model_, SIGNAL(propertyHiddenChanged(const Property*)),
+    connect(
+      model_, SIGNAL(propertyHiddenChanged(const Property*)),
       this, SLOT(propertyHiddenChanged(const Property*)), Qt::QueuedConnection);
-    connect(model_, SIGNAL(expand(const QModelIndex&)),
+    connect(
+      model_, SIGNAL(expand(const QModelIndex&)),
       this, SLOT(expand(const QModelIndex&)));
-    connect(model_, SIGNAL(collapse(const QModelIndex&)),
+    connect(
+      model_, SIGNAL(collapse(const QModelIndex&)),
       this, SLOT(collapse(const QModelIndex&)));
 
     // this will trigger all hiddenChanged events to get re-fired
@@ -110,7 +117,8 @@ void PropertyTreeWidget::setModel(PropertyTreeModel * model)
 void PropertyTreeWidget::propertyHiddenChanged(const Property * property)
 {
   if (model_) {
-    setRowHidden(property->rowNumberInParent(), model_->parentIndex(property),
+    setRowHidden(
+      property->rowNumberInParent(), model_->parentIndex(property),
       property->getHidden() );
   }
 }
diff --git a/rviz_common/src/rviz_common/properties/property_tree_with_help.cpp b/rviz_common/src/rviz_common/properties/property_tree_with_help.cpp
index 1574d6b22..1bc8d4718 100644
--- a/rviz_common/src/rviz_common/properties/property_tree_with_help.cpp
+++ b/rviz_common/src/rviz_common/properties/property_tree_with_help.cpp
@@ -61,7 +61,8 @@ PropertyTreeWithHelp::PropertyTreeWithHelp(QWidget * parent)
   _sizes.push_back(1);
   setSizes(_sizes);
 
-  connect(property_tree_, SIGNAL(currentPropertyChanged(const Property*)),
+  connect(
+    property_tree_, SIGNAL(currentPropertyChanged(const Property*)),
     this, SLOT(showHelpForProperty(const Property*)));
 }
 
diff --git a/rviz_common/src/rviz_common/properties/ros_topic_property.cpp b/rviz_common/src/rviz_common/properties/ros_topic_property.cpp
index 27d9dfef8..2699f6188 100644
--- a/rviz_common/src/rviz_common/properties/ros_topic_property.cpp
+++ b/rviz_common/src/rviz_common/properties/ros_topic_property.cpp
@@ -53,7 +53,8 @@ RosTopicProperty::RosTopicProperty(
   rviz_ros_node_(),
   message_type_(message_type)
 {
-  connect(this, SIGNAL(requestOptions(EditableEnumProperty*)),
+  connect(
+    this, SIGNAL(requestOptions(EditableEnumProperty*)),
     this, SLOT(fillTopicList()));
 }
 
diff --git a/rviz_common/src/rviz_common/properties/tf_frame_property.cpp b/rviz_common/src/rviz_common/properties/tf_frame_property.cpp
index a2116eb66..7ffe15d8b 100644
--- a/rviz_common/src/rviz_common/properties/tf_frame_property.cpp
+++ b/rviz_common/src/rviz_common/properties/tf_frame_property.cpp
@@ -59,7 +59,8 @@ TfFrameProperty::TfFrameProperty(
   include_fixed_frame_string_(include_fixed_frame_string)
 {
   // Parent class EditableEnumProperty has requestOptions() signal.
-  connect(this, SIGNAL(requestOptions(EditableEnumProperty*)),
+  connect(
+    this, SIGNAL(requestOptions(EditableEnumProperty*)),
     this, SLOT(fillFrameList()));
   setFrameManager(frame_manager);
 }
@@ -78,12 +79,14 @@ bool TfFrameProperty::setValue(const QVariant & new_value)
 void TfFrameProperty::setFrameManager(FrameManagerIface * frame_manager)
 {
   if (frame_manager_ && include_fixed_frame_string_) {
-    disconnect(frame_manager_, SIGNAL(fixedFrameChanged()),
+    disconnect(
+      frame_manager_, SIGNAL(fixedFrameChanged()),
       this, SLOT(handleFixedFrameChange()));
   }
   frame_manager_ = frame_manager;
   if (frame_manager_ && include_fixed_frame_string_) {
-    connect(frame_manager_, SIGNAL(fixedFrameChanged()),
+    connect(
+      frame_manager_, SIGNAL(fixedFrameChanged()),
       this, SLOT(handleFixedFrameChange()));
   }
 }
diff --git a/rviz_common/src/rviz_common/screenshot_dialog.cpp b/rviz_common/src/rviz_common/screenshot_dialog.cpp
index f200e3370..8fef5ea50 100644
--- a/rviz_common/src/rviz_common/screenshot_dialog.cpp
+++ b/rviz_common/src/rviz_common/screenshot_dialog.cpp
@@ -69,9 +69,10 @@ ScreenshotDialog::ScreenshotDialog(
 
   QCheckBox * full_window_checkbox = new QCheckBox("Save entire rviz window");
 
-  button_box_ = new QDialogButtonBox(QDialogButtonBox::Save |
-      QDialogButtonBox::Retry |
-      QDialogButtonBox::Cancel);
+  button_box_ = new QDialogButtonBox(
+    QDialogButtonBox::Save |
+    QDialogButtonBox::Retry |
+    QDialogButtonBox::Cancel);
 
   QVBoxLayout * main_layout = new QVBoxLayout;
   main_layout->addWidget(image_widget_, 100);
@@ -81,7 +82,8 @@ ScreenshotDialog::ScreenshotDialog(
 
   setLayout(main_layout);
 
-  connect(button_box_, SIGNAL(clicked(QAbstractButton*)), this,
+  connect(
+    button_box_, SIGNAL(clicked(QAbstractButton*)), this,
     SLOT(onButtonClicked(QAbstractButton*)));
   connect(full_window_checkbox, SIGNAL(toggled(bool)), this, SLOT(setSaveFullWindow(bool)));
   connect(delay_timer_, SIGNAL(timeout()), this, SLOT(onTimeout()));
@@ -91,8 +93,7 @@ void ScreenshotDialog::showEvent(QShowEvent * event)
 {
   if (first_time_) {
     QPoint center = main_window_->rect().center();
-    move(center.x() - width() / 2,
-      center.y() - height() / 2);
+    move(center.x() - width() / 2, center.y() - height() / 2);
 
     first_time_ = false;
   }
diff --git a/rviz_common/src/rviz_common/splash_screen.cpp b/rviz_common/src/rviz_common/splash_screen.cpp
index e825b41f8..1d3bb423a 100644
--- a/rviz_common/src/rviz_common/splash_screen.cpp
+++ b/rviz_common/src/rviz_common/splash_screen.cpp
@@ -53,8 +53,10 @@ SplashScreen::SplashScreen(const QPixmap & pixmap)
   painter.drawPixmap(QPoint(0, 0), pixmap);
 
   QPixmap overlay = loadPixmap("package://rviz_common/images/splash_overlay.png");
-  painter.drawTiledPixmap(QRect(0, pixmap.height() - overlay.height(), pixmap.width(),
-    pixmap.height() ), overlay);
+  painter.drawTiledPixmap(
+    QRect(
+      0, pixmap.height() - overlay.height(), pixmap.width(),
+      pixmap.height() ), overlay);
 
   // draw version info
   QString version_info = "r" + QString(get_version().c_str());
diff --git a/rviz_common/src/rviz_common/time_panel.cpp b/rviz_common/src/rviz_common/time_panel.cpp
index 5cfd4629a..5e827da33 100644
--- a/rviz_common/src/rviz_common/time_panel.cpp
+++ b/rviz_common/src/rviz_common/time_panel.cpp
@@ -152,9 +152,11 @@ void TimePanel::onDisplayAdded(Display * display)
 {
   DisplayGroup * display_group = qobject_cast<DisplayGroup *>(display);
   if (display_group) {
-    connect(display_group, SIGNAL(displayAdded(rviz::Display*)), this,
+    connect(
+      display_group, SIGNAL(displayAdded(rviz::Display*)), this,
       SLOT(onDisplayAdded(rviz::Display*)));
-    connect(display_group, SIGNAL(displayRemoved(rviz::Display*)), this,
+    connect(
+      display_group, SIGNAL(displayRemoved(rviz::Display*)), this,
       SLOT(onDisplayRemoved(rviz::Display*)));
 
     for (int i = 0; i < display_group->numDisplays(); i++) {
diff --git a/rviz_common/src/rviz_common/view_controller.cpp b/rviz_common/src/rviz_common/view_controller.cpp
index c9460574d..229f101ba 100644
--- a/rviz_common/src/rviz_common/view_controller.cpp
+++ b/rviz_common/src/rviz_common/view_controller.cpp
@@ -67,23 +67,28 @@ ViewController::ViewController()
   near_clip_property_->setMin(0.001f);
   near_clip_property_->setMax(10000);
 
-  stereo_enable_ = new BoolProperty("Enable Stereo Rendering", true,
-      "Render the main view in stereo if supported."
-      "  On Linux this requires a recent version of Ogre and"
-      " an NVIDIA Quadro card with 3DVision glasses.",
-      this, SLOT(updateStereoProperties()));
-  stereo_eye_swap_ = new BoolProperty("Swap Stereo Eyes", false,
-      "Swap eyes if the monitor shows the left eye on the right.",
-      stereo_enable_, SLOT(updateStereoProperties()), this);
-  stereo_eye_separation_ = new FloatProperty("Stereo Eye Separation", 0.06f,
-      "Distance between eyes for stereo rendering.",
-      stereo_enable_, SLOT(updateStereoProperties()), this);
-  stereo_focal_distance_ = new FloatProperty("Stereo Focal Distance", 1.0f,
-      "Distance from eyes to screen.  For stereo rendering.",
-      stereo_enable_, SLOT(updateStereoProperties()), this);
-  invert_z_ = new BoolProperty("Invert Z Axis", false,
-      "Invert camera's Z axis for Z-down environments/models.",
-      this, SLOT(updateStereoProperties()));
+  stereo_enable_ = new BoolProperty(
+    "Enable Stereo Rendering", true,
+    "Render the main view in stereo if supported."
+    "  On Linux this requires a recent version of Ogre and"
+    " an NVIDIA Quadro card with 3DVision glasses.",
+    this, SLOT(updateStereoProperties()));
+  stereo_eye_swap_ = new BoolProperty(
+    "Swap Stereo Eyes", false,
+    "Swap eyes if the monitor shows the left eye on the right.",
+    stereo_enable_, SLOT(updateStereoProperties()), this);
+  stereo_eye_separation_ = new FloatProperty(
+    "Stereo Eye Separation", 0.06f,
+    "Distance between eyes for stereo rendering.",
+    stereo_enable_, SLOT(updateStereoProperties()), this);
+  stereo_focal_distance_ = new FloatProperty(
+    "Stereo Focal Distance", 1.0f,
+    "Distance from eyes to screen.  For stereo rendering.",
+    stereo_enable_, SLOT(updateStereoProperties()), this);
+  invert_z_ = new BoolProperty(
+    "Invert Z Axis", false,
+    "Invert camera's Z axis for Z-down environments/models.",
+    this, SLOT(updateStereoProperties()));
 }
 
 void ViewController::initialize(DisplayContext * context)
@@ -218,9 +223,11 @@ void ViewController::handleKeyEvent(QKeyEvent * event, RenderPanel * panel)
   if (event->key() == Qt::Key_F && context_->getViewPicker()) {
     QPoint mouse_rel_panel = panel->mapFromGlobal(QCursor::pos());
     Ogre::Vector3 point_rel_world;  // output of get3DPoint().
-    if (context_->getViewPicker()->get3DPoint(panel,
-      mouse_rel_panel.x(), mouse_rel_panel.y(),
-      point_rel_world))
+    if (
+      context_->getViewPicker()->get3DPoint(
+        panel,
+        mouse_rel_panel.x(), mouse_rel_panel.y(),
+        point_rel_world))
     {
       lookAt(point_rel_world);
     }
diff --git a/rviz_common/src/rviz_common/views_panel.cpp b/rviz_common/src/rviz_common/views_panel.cpp
index 75fc3ec4c..7be5ba5e6 100644
--- a/rviz_common/src/rviz_common/views_panel.cpp
+++ b/rviz_common/src/rviz_common/views_panel.cpp
@@ -82,9 +82,11 @@ ViewsPanel::ViewsPanel(QWidget * parent)
   connect(remove_button, SIGNAL(clicked()), this, SLOT(onDeleteClicked()));
   connect(rename_button, SIGNAL(clicked()), this, SLOT(renameSelected()));
   connect(zero_button, SIGNAL(clicked()), this, SLOT(onZeroClicked()));
-  connect(properties_view_, SIGNAL(clicked(const QModelIndex&)), this,
+  connect(
+    properties_view_, SIGNAL(clicked(const QModelIndex&)), this,
     SLOT(setCurrentViewFromIndex(const QModelIndex&)));
-  connect(properties_view_, SIGNAL(activated(const QModelIndex&)), this,
+  connect(
+    properties_view_, SIGNAL(activated(const QModelIndex&)), this,
     SLOT(setCurrentViewFromIndex(const QModelIndex&)));
 }
 
@@ -97,7 +99,8 @@ void ViewsPanel::setViewManager(ViewManager * view_man)
 {
   if (view_man_) {
     disconnect(save_button_, SIGNAL(clicked()), view_man_, SLOT(copyCurrentToList()));
-    disconnect(camera_type_selector_, SIGNAL(activated(int)), this,
+    disconnect(
+      camera_type_selector_, SIGNAL(activated(int)), this,
       SLOT(onTypeSelectorChanged(int)));
     disconnect(view_man_, SIGNAL(currentChanged()), this, SLOT(onCurrentChanged()));
   }
@@ -172,8 +175,8 @@ void ViewsPanel::renameSelected()
     }
 
     QString old_name = view->getName();
-    QString new_name = QInputDialog::getText(this, "Rename View", "New Name?", QLineEdit::Normal,
-        old_name);
+    QString new_name = QInputDialog::getText(
+      this, "Rename View", "New Name?", QLineEdit::Normal, old_name);
 
     if (new_name.isEmpty() || new_name == old_name) {
       return;
diff --git a/rviz_common/src/rviz_common/visualization_frame.cpp b/rviz_common/src/rviz_common/visualization_frame.cpp
index aa30c0ca6..9b3752ade 100644
--- a/rviz_common/src/rviz_common/visualization_frame.cpp
+++ b/rviz_common/src/rviz_common/visualization_frame.cpp
@@ -289,8 +289,8 @@ void VisualizationFrame::initialize(
   hide_right_dock_button_ = new QToolButton();
   hide_right_dock_button_->setContentsMargins(0, 0, 0, 0);
   hide_right_dock_button_->setArrowType(Qt::RightArrow);
-  hide_right_dock_button_->setSizePolicy(QSizePolicy(QSizePolicy::Minimum,
-    QSizePolicy::Expanding));
+  hide_right_dock_button_->setSizePolicy(
+    QSizePolicy(QSizePolicy::Minimum, QSizePolicy::Expanding));
   hide_right_dock_button_->setFixedWidth(16);
   hide_right_dock_button_->setAutoRaise(true);
   hide_right_dock_button_->setCheckable(true);
@@ -368,7 +368,8 @@ void VisualizationFrame::initialize(
   Q_EMIT statusUpdate("RViz is ready.");
 
   connect(manager_, SIGNAL(preUpdate()), this, SLOT(updateFps()));
-  connect(manager_, SIGNAL(statusUpdate(const QString&)), this,
+  connect(
+    manager_, SIGNAL(statusUpdate(const QString&)), this,
     SIGNAL(statusUpdate(const QString&)));
 }
 
@@ -426,7 +427,8 @@ void VisualizationFrame::loadPersistentSettings()
     recent_configs_.clear();
     int num_recent = recent_configs_list.listLength();
     for (int i = 0; i < num_recent; i++) {
-      recent_configs_.push_back(recent_configs_list.listChildAt(
+      recent_configs_.push_back(
+        recent_configs_list.listChildAt(
           i).getValue().toString().toStdString());
     }
   } else {
@@ -456,15 +458,18 @@ void VisualizationFrame::initMenus()
 {
   file_menu_ = menuBar()->addMenu("&File");
 
-  QAction * file_menu_open_action = file_menu_->addAction("&Open Config", this, SLOT(
-        onOpen()), QKeySequence("Ctrl+O"));
+  QAction * file_menu_open_action = file_menu_->addAction(
+    "&Open Config", this, SLOT(
+      onOpen()), QKeySequence("Ctrl+O"));
   this->addAction(file_menu_open_action);
-  QAction * file_menu_save_action = file_menu_->addAction("&Save Config", this, SLOT(
-        onSave()), QKeySequence("Ctrl+S"));
+  QAction * file_menu_save_action = file_menu_->addAction(
+    "&Save Config", this, SLOT(
+      onSave()), QKeySequence("Ctrl+S"));
   this->addAction(file_menu_save_action);
   QAction * file_menu_save_as_action =
-    file_menu_->addAction("Save Config &As", this, SLOT(onSaveAs()),
-      QKeySequence("Ctrl+Shift+S"));
+    file_menu_->addAction(
+    "Save Config &As", this, SLOT(onSaveAs()),
+    QKeySequence("Ctrl+Shift+S"));
   this->addAction(file_menu_save_as_action);
 
   recent_configs_menu_ = file_menu_->addMenu("&Recent Configs");
@@ -475,8 +480,9 @@ void VisualizationFrame::initMenus()
   }
   file_menu_->addSeparator();
 
-  QAction * file_menu_quit_action = file_menu_->addAction("&Quit", this, SLOT(
-        close()), QKeySequence("Ctrl+Q"));
+  QAction * file_menu_quit_action = file_menu_->addAction(
+    "&Quit", this, SLOT(
+      close()), QKeySequence("Ctrl+Q"));
   this->addAction(file_menu_quit_action);
 
   view_menu_ = menuBar()->addMenu("&Panels");
@@ -484,8 +490,9 @@ void VisualizationFrame::initMenus()
   delete_view_menu_ = view_menu_->addMenu("&Delete Panel");
   delete_view_menu_->setEnabled(false);
 
-  QAction * fullscreen_action = view_menu_->addAction("&Fullscreen", this, SLOT(setFullScreen(
-        bool)), Qt::Key_F11);
+  QAction * fullscreen_action = view_menu_->addAction(
+    "&Fullscreen", this, SLOT(
+      setFullScreen(bool)), Qt::Key_F11);
   fullscreen_action->setCheckable(true);
   this->addAction(fullscreen_action);  // Also add to window, or the shortcut doest work
                                        // when the menu is hidden.
@@ -513,7 +520,8 @@ void VisualizationFrame::initToolbars()
   toolbar_->setObjectName("Tools");
   toolbar_->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
   toolbar_actions_ = new QActionGroup(this);
-  connect(toolbar_actions_, SIGNAL(triggered(QAction*)), this,
+  connect(
+    toolbar_actions_, SIGNAL(triggered(QAction*)), this,
     SLOT(onToolbarActionTriggered(QAction*)));
   view_menu_->addAction(toolbar_->toggleViewAction());
 
@@ -530,8 +538,9 @@ void VisualizationFrame::initToolbars()
   remove_tool_button->setToolTip("Remove a tool from the toolbar");
   remove_tool_button->setIcon(loadPixmap("package://rviz_common/icons/minus.png"));
   toolbar_->addWidget(remove_tool_button);
-  connect(remove_tool_menu_, SIGNAL(triggered(QAction*)), this, SLOT(onToolbarRemoveTool(
-      QAction*)));
+  connect(
+    remove_tool_menu_, SIGNAL(triggered(QAction*)), this, SLOT(
+      onToolbarRemoveTool(QAction*)));
 }
 
 void VisualizationFrame::hideDockImpl(Qt::DockWidgetArea area, bool hide)
@@ -596,13 +605,14 @@ void VisualizationFrame::openNewPanelDialog()
   QString display_name;
   QStringList empty;
 
-  NewObjectDialog * dialog = new NewObjectDialog(panel_factory_,
-      "Panel",
-      empty,
-      empty,
-      &class_id,
-      &display_name,
-      this);
+  NewObjectDialog * dialog = new NewObjectDialog(
+    panel_factory_,
+    "Panel",
+    empty,
+    empty,
+    &class_id,
+    &display_name,
+    this);
   manager_->stopUpdate();
   if (dialog->exec() == QDialog::Accepted) {
     addPanelByName(display_name, class_id);
@@ -616,11 +626,12 @@ void VisualizationFrame::openNewToolDialog()
   QStringList empty;
   ToolManager * tool_man = manager_->getToolManager();
 
-  NewObjectDialog * dialog = new NewObjectDialog(tool_man->getFactory(),
-      "Tool",
-      empty,
-      tool_man->getToolClasses(),
-      &class_id);
+  NewObjectDialog * dialog = new NewObjectDialog(
+    tool_man->getFactory(),
+    "Tool",
+    empty,
+    tool_man->getToolClasses(),
+    &class_id);
   manager_->stopUpdate();
   if (dialog->exec() == QDialog::Accepted) {
     tool_man->addTool(class_id);
@@ -929,8 +940,9 @@ bool VisualizationFrame::prepareToExit()
           QMessageBox box(this);
           box.setWindowTitle("Failed to save.");
           box.setText(getErrorMessage());
-          box.setInformativeText(QString::fromStdString("Save copy of " + display_config_file_ +
-            " to another file?"));
+          box.setInformativeText(
+            QString::fromStdString(
+              "Save copy of " + display_config_file_ + " to another file?"));
           box.setStandardButtons(QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel);
           box.setDefaultButton(QMessageBox::Save);
           int result = box.exec();
@@ -957,9 +969,10 @@ bool VisualizationFrame::prepareToExit()
 void VisualizationFrame::onOpen()
 {
   manager_->stopUpdate();
-  QString filename = QFileDialog::getOpenFileName(this, "Choose a file to open",
-      QString::fromStdString(last_config_dir_),
-      "RViz config files (" CONFIG_EXTENSION_WILDCARD ")");
+  QString filename = QFileDialog::getOpenFileName(
+    this, "Choose a file to open",
+    QString::fromStdString(last_config_dir_),
+    "RViz config files (" CONFIG_EXTENSION_WILDCARD ")");
   manager_->startUpdate();
 
   if (!filename.isEmpty()) {
@@ -986,8 +999,9 @@ void VisualizationFrame::onSave()
     QMessageBox box(this);
     box.setWindowTitle("Failed to save.");
     box.setText(getErrorMessage());
-    box.setInformativeText(QString::fromStdString("Save copy of " + display_config_file_ +
-      " to another file?"));
+    box.setInformativeText(
+      QString::fromStdString(
+        "Save copy of " + display_config_file_ + " to another file?"));
     box.setStandardButtons(QMessageBox::Save | QMessageBox::Cancel);
     box.setDefaultButton(QMessageBox::Save);
     if (box.exec() == QMessageBox::Save) {
@@ -1000,9 +1014,10 @@ void VisualizationFrame::onSave()
 void VisualizationFrame::onSaveAs()
 {
   manager_->stopUpdate();
-  QString q_filename = QFileDialog::getSaveFileName(this, "Choose a file to save to",
-      QString::fromStdString(last_config_dir_),
-      "RViz config files (" CONFIG_EXTENSION_WILDCARD ")");
+  QString q_filename = QFileDialog::getSaveFileName(
+    this, "Choose a file to save to",
+    QString::fromStdString(last_config_dir_),
+    "RViz config files (" CONFIG_EXTENSION_WILDCARD ")");
   manager_->startUpdate();
 
   if (!q_filename.isEmpty()) {
@@ -1025,7 +1040,8 @@ void VisualizationFrame::onSaveImage()
 {
   ScreenshotDialog * dialog =
     new ScreenshotDialog(this, render_panel_, QString::fromStdString(last_image_dir_));
-  connect(dialog, SIGNAL(savedInDirectory(const QString&)),
+  connect(
+    dialog, SIGNAL(savedInDirectory(const QString&)),
     this, SLOT(setImageSaveDirectory(const QString&)));
   dialog->show();
 }
diff --git a/rviz_common/src/rviz_common/visualization_manager.cpp b/rviz_common/src/rviz_common/visualization_manager.cpp
index fd224057c..c29049dc3 100644
--- a/rviz_common/src/rviz_common/visualization_manager.cpp
+++ b/rviz_common/src/rviz_common/visualization_manager.cpp
@@ -201,18 +201,21 @@ VisualizationManager::VisualizationManager(
   ip->setIcon(loadPixmap("package://rviz_common/icons/options.png"));
   global_options_ = ip;
 
-  fixed_frame_property_ = new TfFrameProperty("Fixed Frame", "base_link",
-      "Frame into which all data is transformed before being displayed.",
-      global_options_, frame_manager_, false,
-      SLOT(updateFixedFrame()), this);
-
-  background_color_property_ = new ColorProperty("Background Color", QColor(48, 48, 48),
-      "Background color for the 3D view.",
-      global_options_, SLOT(updateBackgroundColor()), this);
-
-  fps_property_ = new IntProperty("Frame Rate", 30,
-      "RViz will try to render this many frames per second.",
-      global_options_, SLOT(updateFps()), this);
+  fixed_frame_property_ = new TfFrameProperty(
+    "Fixed Frame", "base_link",
+    "Frame into which all data is transformed before being displayed.",
+    global_options_, frame_manager_, false,
+    SLOT(updateFixedFrame()), this);
+
+  background_color_property_ = new ColorProperty(
+    "Background Color", QColor(48, 48, 48),
+    "Background color for the 3D view.",
+    global_options_, SLOT(updateBackgroundColor()), this);
+
+  fps_property_ = new IntProperty(
+    "Frame Rate", 30,
+    "RViz will try to render this many frames per second.",
+    global_options_, SLOT(updateFps()), this);
 
   root_display_group_->initialize(this);   // only initialize() a Display
                                            // after its sub-properties are created.
@@ -233,8 +236,8 @@ VisualizationManager::VisualizationManager(
   executor_->add_node(rviz_ros_node_.lock()->get_raw_node());
 // TODO(wjwwood): redo with executors?
 #if 0
-  private_->threaded_queue_threads_.create_thread(std::bind(&VisualizationManager::
-    threadedQueueThreadFunc, this));
+  private_->threaded_queue_threads_.create_thread(
+    std::bind(&VisualizationManager::threadedQueueThreadFunc, this));
 #endif
 
   display_factory_ = new DisplayFactory();
@@ -460,12 +463,12 @@ void VisualizationManager::updateFrames()
       // fixed_prop->setToWarn();
       std::stringstream ss;
       ss << "No tf data.  Actual error: " << error;
-      global_status_->setStatus(StatusProperty::Warn, "Fixed Frame", QString::fromStdString(
-          ss.str()));
+      global_status_->setStatus(
+        StatusProperty::Warn, "Fixed Frame", QString::fromStdString(ss.str()));
     } else {
       // fixed_prop->setToError();
-      global_status_->setStatus(StatusProperty::Error, "Fixed Frame",
-        QString::fromStdString(error));
+      global_status_->setStatus(
+        StatusProperty::Error, "Fixed Frame", QString::fromStdString(error));
     }
   } else {
     // fixed_prop->setToOK();
diff --git a/rviz_common/test/display_test.cpp b/rviz_common/test/display_test.cpp
index 50fa143cb..586558ace 100644
--- a/rviz_common/test/display_test.cpp
+++ b/rviz_common/test/display_test.cpp
@@ -120,7 +120,8 @@ TEST(Display, save_properties) {
 
   // Since we instantiated the display directly instead of using the
   // DisplayFactory, it won't know its class name.
-  EXPECT_EQ(std::string(
+  EXPECT_EQ(
+    std::string(
       "Class: \"\"\n"
       "Color: 10; 20; 30\n"
       "Count: 37\n"
@@ -158,7 +159,8 @@ TEST(DisplayGroup, save_properties) {
 
   // Since we instantiated the display directly instead of using the
   // DisplayFactory, it won't know its class name.
-  EXPECT_EQ(std::string(
+  EXPECT_EQ(
+    std::string(
       "Class: \"\"\n"
       "Displays:\n"
       "  - Class: \"\"\n"
diff --git a/rviz_common/test/frame_manager_test.cpp b/rviz_common/test/frame_manager_test.cpp
index 8a03affb9..eec969267 100644
--- a/rviz_common/test/frame_manager_test.cpp
+++ b/rviz_common/test/frame_manager_test.cpp
@@ -95,7 +95,8 @@ TEST_F(FrameManagerTestFixture, transformHasProblems_uses_transformer_method) {
     *frame_transformer_, canTransform(_, source_frame_name, _, _)).WillOnce(Return(true));
 
   std::string error;
-  EXPECT_FALSE(frame_manager_->transformHasProblems(
+  EXPECT_FALSE(
+    frame_manager_->transformHasProblems(
       source_frame_name, rclcpp::Time(0, 0, clock_->get_clock_type()), error));
 }
 
diff --git a/rviz_common/test/mock_frame_transformer.hpp b/rviz_common/test/mock_frame_transformer.hpp
index 84e3323e8..6fcf07099 100644
--- a/rviz_common/test/mock_frame_transformer.hpp
+++ b/rviz_common/test/mock_frame_transformer.hpp
@@ -43,43 +43,51 @@
 class MockFrameTransformer : public rviz_common::transformation::FrameTransformer
 {
 public:
-  MOCK_METHOD2(initialize, void(
+  MOCK_METHOD2(
+    initialize, void(
       rviz_common::ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node,
       rclcpp::Clock::SharedPtr clock));
   MOCK_METHOD0(clear, void());
   MOCK_CONST_METHOD0(getAllFrameNames, std::vector<std::string>());
-  MOCK_METHOD2(transform, geometry_msgs::msg::PoseStamped(
+  MOCK_METHOD2(
+    transform, geometry_msgs::msg::PoseStamped(
       const geometry_msgs::msg::PoseStamped & pose_in, const std::string & frame));
-  MOCK_CONST_METHOD3(lookupTransform, geometry_msgs::msg::TransformStamped(
+  MOCK_CONST_METHOD3(
+    lookupTransform, geometry_msgs::msg::TransformStamped(
       const std::string & target_frame,
       const std::string & source_frame,
       const tf2::TimePoint & time));
-  MOCK_CONST_METHOD5(lookupTransform, geometry_msgs::msg::TransformStamped(
+  MOCK_CONST_METHOD5(
+    lookupTransform, geometry_msgs::msg::TransformStamped(
       const std::string & target_frame,
       const tf2::TimePoint & target_time,
       const std::string & source_frame,
       const tf2::TimePoint & source_time,
       const std::string & fixed_Frame));
-  MOCK_CONST_METHOD4(canTransform, bool(
+  MOCK_CONST_METHOD4(
+    canTransform, bool(
       const std::string & target_frame,
       const std::string & source_frame,
       const tf2::TimePoint & time,
       std::string * error_msg));
-  MOCK_CONST_METHOD6(canTransform, bool(
+  MOCK_CONST_METHOD6(
+    canTransform, bool(
       const std::string & target_frame,
       const tf2::TimePoint & target_time,
       const std::string & source_frame,
       const tf2::TimePoint & source_time,
       const std::string & fixed_frame,
       std::string * error_msg));
-  MOCK_METHOD5(waitForTransform, tf2_ros::TransformStampedFuture(
+  MOCK_METHOD5(
+    waitForTransform, tf2_ros::TransformStampedFuture(
       const std::string & target_frame,
       const std::string & source_frame,
       const tf2::TimePoint & time,
       const tf2::Duration & timeout,
       tf2_ros::TransformReadyCallback callback));
   MOCK_CONST_METHOD2(frameHasProblems, bool(const std::string & frame, std::string & error));
-  MOCK_METHOD0(getConnector,
+  MOCK_METHOD0(
+    getConnector,
     rviz_common::transformation::TransformationLibraryConnector::WeakPtr());
 };
 
diff --git a/rviz_common/test/mock_window_manager_interface.hpp b/rviz_common/test/mock_window_manager_interface.hpp
index e4c4fd592..6a79c594f 100644
--- a/rviz_common/test/mock_window_manager_interface.hpp
+++ b/rviz_common/test/mock_window_manager_interface.hpp
@@ -42,7 +42,8 @@ class MockWindowManagerInterface : public rviz_common::WindowManagerInterface
 public:
   MOCK_METHOD0(getParentWindow, QWidget * ());
 
-  MOCK_METHOD4(addPane,
+  MOCK_METHOD4(
+    addPane,
     rviz_common::PanelDockWidget *(
       const QString & name, QWidget * pane, Qt::DockWidgetArea area, bool floating));
 
diff --git a/rviz_common/test/properties/qos_profile_property_test.cpp b/rviz_common/test/properties/qos_profile_property_test.cpp
index e836e9703..977a42fd7 100644
--- a/rviz_common/test/properties/qos_profile_property_test.cpp
+++ b/rviz_common/test/properties/qos_profile_property_test.cpp
@@ -66,11 +66,14 @@ TEST(QosProfilePropertyTest, enum_properties_set_enum_members_of_profile) {
   parent.childAt(3)->setValue("Volatile");
 
   EXPECT_THAT(called, IsTrue());
-  EXPECT_THAT(qos_profile.get_rmw_qos_profile().history,
+  EXPECT_THAT(
+    qos_profile.get_rmw_qos_profile().history,
     Eq(RMW_QOS_POLICY_HISTORY_KEEP_ALL));
-  EXPECT_THAT(qos_profile.get_rmw_qos_profile().reliability,
+  EXPECT_THAT(
+    qos_profile.get_rmw_qos_profile().reliability,
     Eq(RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT));
-  EXPECT_THAT(qos_profile.get_rmw_qos_profile().durability,
+  EXPECT_THAT(
+    qos_profile.get_rmw_qos_profile().durability,
     Eq(RMW_QOS_POLICY_DURABILITY_VOLATILE));
 }
 
diff --git a/rviz_common/test/property_test.cpp b/rviz_common/test/property_test.cpp
index f0c595275..e55f4d62f 100644
--- a/rviz_common/test/property_test.cpp
+++ b/rviz_common/test/property_test.cpp
@@ -74,9 +74,11 @@ TEST(Property, set_value_events) {
 TEST(Property, children) {
   Property * display = new Property("Test");
   new Property("Alpha", 0.5, "The amount of transparency to apply to the grid lines.", display);
-  Property * beta = new Property("Beta Band", 10, "The number of betas to apply to the grid lines.",
-      display);
-  new Property("Gamma Topic", "chubby", "The topic on which to listen for Gamma messages.",
+  Property * beta = new Property(
+    "Beta Band", 10, "The number of betas to apply to the grid lines.",
+    display);
+  new Property(
+    "Gamma Topic", "chubby", "The topic on which to listen for Gamma messages.",
     display);
   Property * position = new Property("Position", QVariant(), "Position of the chub.", display);
   new Property("X", 1.1f, "X component of the position of the chub.", position);
@@ -166,7 +168,8 @@ TEST(VectorProperty, set_value_events) {
   r.reset();
 
   p.subProp("Z")->setValue(2.1);
-  EXPECT_EQ(" aboutToChange, v=0.1; 0.0001; 1000 changed, v=0.1; 0.0001; 2.1",
+  EXPECT_EQ(
+    " aboutToChange, v=0.1; 0.0001; 1000 changed, v=0.1; 0.0001; 2.1",
     r.result().toStdString() );
 }
 
@@ -240,12 +243,14 @@ TEST(QuaternionProperty, set_value_events) {
   p.connect(&p, SIGNAL(changed()), &r, SLOT(changed()));
 
   p.setQuaternion(Ogre::Quaternion(1, .1f, .0001f, 1000));
-  EXPECT_EQ(" aboutToChange, v=0; 0; 0; 1 changed, v=0.1; 0.0001; 1000; 1",
+  EXPECT_EQ(
+    " aboutToChange, v=0; 0; 0; 1 changed, v=0.1; 0.0001; 1000; 1",
     r.result().toStdString() );
   r.reset();
 
   p.subProp("Z")->setValue(2.1);
-  EXPECT_EQ(" aboutToChange, v=0.1; 0.0001; 1000; 1 changed, v=0.1; 0.0001; 2.1; 1",
+  EXPECT_EQ(
+    " aboutToChange, v=0.1; 0.0001; 1000; 1 changed, v=0.1; 0.0001; 2.1; 1",
     r.result().toStdString() );
 }
 
diff --git a/rviz_common/test/transformation/identity_frame_transformer_test.cpp b/rviz_common/test/transformation/identity_frame_transformer_test.cpp
index ccb0bf0a1..9a860e0f6 100644
--- a/rviz_common/test/transformation/identity_frame_transformer_test.cpp
+++ b/rviz_common/test/transformation/identity_frame_transformer_test.cpp
@@ -89,7 +89,8 @@ TEST_F(IdentityTransformerFixture, canTransform_returns_true) {
   EXPECT_THAT(error, Eq(""));
 
   error = "";
-  EXPECT_TRUE(transformer_->canTransform(
+  EXPECT_TRUE(
+    transformer_->canTransform(
       "any_target",
       tf2::TimePointZero,
       "any_source",
diff --git a/rviz_common/test/visualizer_app_test.cpp b/rviz_common/test/visualizer_app_test.cpp
index ab9f3416f..b10d88aea 100644
--- a/rviz_common/test/visualizer_app_test.cpp
+++ b/rviz_common/test/visualizer_app_test.cpp
@@ -39,7 +39,8 @@
 class MockRosNodeStorage : public rviz_common::ros_integration::RosClientAbstractionIface
 {
 public:
-  MOCK_METHOD4(init,
+  MOCK_METHOD4(
+    init,
     rviz_common::ros_integration::RosNodeAbstractionIface::WeakPtr(
       int argc, char ** argv, const std::string & name, bool anonymous_name));
   MOCK_METHOD0(ok, bool());
diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_scalar_display.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_scalar_display.hpp
index 168ce90a4..41a7d976d 100644
--- a/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_scalar_display.hpp
+++ b/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_scalar_display.hpp
@@ -184,7 +184,8 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC PointCloudScalarDisplay
     float coordinate_value = 0.0;
 
     for (int i = 0; i < 3; i++) {
-      memcpy(&point_cloud_message->data[point_cloud_message->fields[i].offset],
+      memcpy(
+        &point_cloud_message->data[point_cloud_message->fields[i].offset],
         &coordinate_value, field_size_32_);
     }
   }
@@ -192,7 +193,8 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC PointCloudScalarDisplay
   void copyScalarValue(
     std::shared_ptr<sensor_msgs::msg::PointCloud2> point_cloud_message, double scalar_value)
   {
-    memcpy(&point_cloud_message->data[point_cloud_message->fields[3].offset],
+    memcpy(
+      &point_cloud_message->data[point_cloud_message->fields[3].offset],
       &scalar_value, field_size_64_);
   }
 
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp
index 4f3417075..e871d3edb 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp
@@ -336,7 +336,8 @@ void CameraDisplay::clear()
   camera_info_topic =
     camera_info_topic.substr(0, camera_info_topic.rfind("/") + 1) + "camera_info";
 
-  setStatus(StatusLevel::Warn, CAM_INFO_STATUS,
+  setStatus(
+    StatusLevel::Warn, CAM_INFO_STATUS,
     "No CameraInfo received on [" + QString::fromStdString(camera_info_topic) + "]. "
     "Topic may not exist.");
 
@@ -378,21 +379,24 @@ bool CameraDisplay::updateCamera()
     camera_info_topic =
       camera_info_topic.substr(0, camera_info_topic.rfind("/") + 1) + "camera_info";
 
-    setStatus(StatusLevel::Warn, CAM_INFO_STATUS,
+    setStatus(
+      StatusLevel::Warn, CAM_INFO_STATUS,
       "Expecting Camera Info on topic [" + QString::fromStdString(camera_info_topic) + "]. "
       "No CameraInfo received. Topic may not exist.");
     return false;
   }
 
   if (!validateFloats(*info)) {
-    setStatus(StatusLevel::Error, CAM_INFO_STATUS,
+    setStatus(
+      StatusLevel::Error, CAM_INFO_STATUS,
       "Contains invalid floating point values (nans or infs)");
     return false;
   }
 
   rclcpp::Time rviz_time = context_->getFrameManager()->getTime();
   if (timeDifferenceInExactSyncMode(image, rviz_time)) {
-    setStatus(StatusLevel::Warn, TIME_STATUS,
+    setStatus(
+      StatusLevel::Warn, TIME_STATUS,
       QString("Time-syncing active and no image at timestamp ") + rviz_time.nanoseconds() + ".");
     return false;
   }
@@ -412,7 +416,8 @@ bool CameraDisplay::updateCamera()
 
   auto dimensions = getImageDimensions(info);
   if (dimensions.height == 0.0 || dimensions.width == 0.0) {
-    setStatus(StatusLevel::Error, CAM_INFO_STATUS,
+    setStatus(
+      StatusLevel::Error, CAM_INFO_STATUS,
       "Could not determine width/height of image "
       "due to malformed CameraInfo (either width or height is 0)");
     return false;
@@ -420,7 +425,8 @@ bool CameraDisplay::updateCamera()
 
   translatePosition(position, info, orientation);
   if (!rviz_common::validateFloats(position)) {
-    setStatus(StatusLevel::Error, CAM_INFO_STATUS,
+    setStatus(
+      StatusLevel::Error, CAM_INFO_STATUS,
       "CameraInfo/P resulted in an invalid position calculation (nans or infs)");
     return false;
   }
@@ -467,14 +473,14 @@ ImageDimensions CameraDisplay::getImageDimensions(
 
   // If the image width is 0 due to a malformed caminfo, try to grab the width from the image.
   if (dimensions.width == 0) {
-    RVIZ_COMMON_LOG_DEBUG_STREAM("Malformed CameraInfo on camera" << qPrintable(getName()) << ", "
-      "width = 0");
+    RVIZ_COMMON_LOG_DEBUG_STREAM(
+      "Malformed CameraInfo on camera" << qPrintable(getName()) << ", width = 0");
     dimensions.width = texture_->getWidth();
   }
 
   if (dimensions.height == 0) {
-    RVIZ_COMMON_LOG_DEBUG_STREAM("Malformed CameraInfo on camera" << qPrintable(getName()) << ","
-      " height = 0");
+    RVIZ_COMMON_LOG_DEBUG_STREAM(
+      "Malformed CameraInfo on camera" << qPrintable(getName()) << ", height = 0");
     dimensions.height = texture_->getHeight();
   }
 
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/grid/grid_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/grid/grid_display.cpp
index 0a5264eb8..d4eeff15e 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/grid/grid_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/grid/grid_display.cpp
@@ -61,57 +61,67 @@ using rviz_rendering::Grid;
 
 GridDisplay::GridDisplay()
 {
-  frame_property_ = new TfFrameProperty("Reference Frame", TfFrameProperty::FIXED_FRAME_STRING,
-      "The TF frame this grid will use for its origin.",
-      this, 0, true);
-
-  cell_count_property_ = new IntProperty("Plane Cell Count", 10,
-      "The number of cells to draw in the plane of the grid.",
-      this, SLOT(updateCellCount()));
+  frame_property_ = new TfFrameProperty(
+    "Reference Frame", TfFrameProperty::FIXED_FRAME_STRING,
+    "The TF frame this grid will use for its origin.",
+    this, 0, true);
+
+  cell_count_property_ = new IntProperty(
+    "Plane Cell Count", 10,
+    "The number of cells to draw in the plane of the grid.",
+    this, SLOT(updateCellCount()));
   cell_count_property_->setMin(1);
 
-  height_property_ = new IntProperty("Normal Cell Count", 0,
-      "The number of cells to draw along the normal vector of the grid. "
-      " Setting to anything but 0 makes the grid 3D.",
-      this, SLOT(updateHeight()));
+  height_property_ = new IntProperty(
+    "Normal Cell Count", 0,
+    "The number of cells to draw along the normal vector of the grid. "
+    " Setting to anything but 0 makes the grid 3D.",
+    this, SLOT(updateHeight()));
   height_property_->setMin(0);
 
-  cell_size_property_ = new FloatProperty("Cell Size", 1.0f,
-      "The length, in meters, of the side of each cell.",
-      this, SLOT(updateCellSize()));
+  cell_size_property_ = new FloatProperty(
+    "Cell Size", 1.0f,
+    "The length, in meters, of the side of each cell.",
+    this, SLOT(updateCellSize()));
   cell_size_property_->setMin(0.0001f);
 
-  style_property_ = new EnumProperty("Line Style", "Lines",
-      "The rendering operation to use to draw the grid lines.",
-      this, SLOT(updateStyle()));
+  style_property_ = new EnumProperty(
+    "Line Style", "Lines",
+    "The rendering operation to use to draw the grid lines.",
+    this, SLOT(updateStyle()));
   style_property_->addOption("Lines", Grid::Lines);
   style_property_->addOption("Billboards", Grid::Billboards);
 
-  line_width_property_ = new FloatProperty("Line Width", 0.03f,
-      "The width, in meters, of each grid line.",
-      style_property_, SLOT(updateLineWidth()), this);
+  line_width_property_ = new FloatProperty(
+    "Line Width", 0.03f,
+    "The width, in meters, of each grid line.",
+    style_property_, SLOT(updateLineWidth()), this);
   line_width_property_->setMin(0.001f);
   line_width_property_->hide();
 
-  color_property_ = new ColorProperty("Color", Qt::gray,
-      "The color of the grid lines.",
-      this, SLOT(updateColor()));
-  alpha_property_ = new FloatProperty("Alpha", 0.5f,
-      "The amount of transparency to apply to the grid lines.",
-      this, SLOT(updateColor()));
+  color_property_ = new ColorProperty(
+    "Color", Qt::gray,
+    "The color of the grid lines.",
+    this, SLOT(updateColor()));
+  alpha_property_ = new FloatProperty(
+    "Alpha", 0.5f,
+    "The amount of transparency to apply to the grid lines.",
+    this, SLOT(updateColor()));
   alpha_property_->setMin(0.0f);
   alpha_property_->setMax(1.0f);
 
-  plane_property_ = new EnumProperty("Plane", "XY",
-      "The plane to draw the grid along.",
-      this, SLOT(updatePlane()));
+  plane_property_ = new EnumProperty(
+    "Plane", "XY",
+    "The plane to draw the grid along.",
+    this, SLOT(updatePlane()));
   plane_property_->addOption("XY", XY);
   plane_property_->addOption("XZ", XZ);
   plane_property_->addOption("YZ", YZ);
 
-  offset_property_ = new VectorProperty("Offset", Ogre::Vector3::ZERO,
-      "Allows you to offset the grid from the origin of the reference frame.  In meters.",
-      this, SLOT(updateOffset()));
+  offset_property_ = new VectorProperty(
+    "Offset", Ogre::Vector3::ZERO,
+    "Allows you to offset the grid from the origin of the reference frame.  In meters.",
+    this, SLOT(updateOffset()));
 }
 
 GridDisplay::~GridDisplay() = default;
@@ -122,12 +132,13 @@ void GridDisplay::onInitialize()
   color.setAlphaF(alpha_property_->getFloat() );
 
   frame_property_->setFrameManager(context_->getFrameManager());
-  grid_ = std::make_unique<Grid>(scene_manager_, scene_node_,
-      (Grid::Style) style_property_->getOptionInt(),
-      cell_count_property_->getInt(),
-      cell_size_property_->getFloat(),
-      line_width_property_->getFloat(),
-      qtToOgre(color));
+  grid_ = std::make_unique<Grid>(
+    scene_manager_, scene_node_,
+    (Grid::Style) style_property_->getOptionInt(),
+    cell_count_property_->getInt(),
+    cell_size_property_->getFloat(),
+    line_width_property_->getFloat(),
+    qtToOgre(color));
 
   grid_->getSceneNode()->setVisible(false);
   updatePlane();
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/grid_cells/grid_cells_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/grid_cells/grid_cells_display.cpp
index fd455de0c..ed180dc4a 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/grid_cells/grid_cells_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/grid_cells/grid_cells_display.cpp
@@ -61,12 +61,14 @@ GridCellsDisplay::GridCellsDisplay(rviz_common::DisplayContext * context)
 GridCellsDisplay::GridCellsDisplay()
 : last_frame_count_(uint64_t(-1))
 {
-  color_property_ = new rviz_common::properties::ColorProperty("Color", QColor(25, 255, 0),
-      "Color of the grid cells.", this, SLOT(updateColor()));
-
-  alpha_property_ = new rviz_common::properties::FloatProperty("Alpha", 1.0f,
-      "Amount of transparency to apply to the cells.",
-      this, SLOT(updateAlpha()));
+  color_property_ = new rviz_common::properties::ColorProperty(
+    "Color", QColor(25, 255, 0),
+    "Color of the grid cells.", this, SLOT(updateColor()));
+
+  alpha_property_ = new rviz_common::properties::FloatProperty(
+    "Alpha", 1.0f,
+    "Amount of transparency to apply to the cells.",
+    this, SLOT(updateAlpha()));
   alpha_property_->setMin(0);
   alpha_property_->setMax(1);
 }
@@ -154,19 +156,22 @@ bool validateFloats(const nav_msgs::msg::GridCells & msg)
 bool GridCellsDisplay::messageIsValid(nav_msgs::msg::GridCells::ConstSharedPtr msg)
 {
   if (!validateFloats(*msg)) {
-    setStatus(rviz_common::properties::StatusProperty::Error, "Topic",
+    setStatus(
+      rviz_common::properties::StatusProperty::Error, "Topic",
       "Message contained invalid floating point values (nans or infs)");
     return false;
   }
 
   if (msg->cell_width == 0 || msg->cell_height == 0) {
-    setStatus(rviz_common::properties::StatusProperty::Error, "Topic",
+    setStatus(
+      rviz_common::properties::StatusProperty::Error, "Topic",
       "One of the Cell's dimension is zero, cells will be invisible.");
     return false;
   }
 
   if (msg->cells.empty()) {
-    setStatus(rviz_common::properties::StatusProperty::Warn, "Topic",
+    setStatus(
+      rviz_common::properties::StatusProperty::Warn, "Topic",
       "Message is empty: there are no cells to be shown.");
     return false;
   }
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/image/ros_image_texture.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/image/ros_image_texture.cpp
index 6596ce9ea..713f64e1e 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/image/ros_image_texture.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/image/ros_image_texture.cpp
@@ -306,7 +306,8 @@ void ROSImageTexture::loadImageToOgreImage(
 {
   Ogre::DataStreamPtr pixel_stream;
   // C-style cast is used to bypass the const modifier
-  pixel_stream.reset(new Ogre::MemoryDataStream(
+  pixel_stream.reset(
+    new Ogre::MemoryDataStream(
       (uint8_t *) &image_data.data_ptr_[0], image_data.size_));  // NOLINT
   ogre_image.loadRawData(pixel_stream, width_, height_, 1, image_data.pixel_format_, 1, 0);
 }
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/interactive_markers/interactive_marker_control.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/interactive_markers/interactive_marker_control.cpp
index 7d0a2d296..f553f29fa 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/interactive_markers/interactive_marker_control.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/interactive_markers/interactive_marker_control.cpp
@@ -526,7 +526,8 @@ Ogre::Ray InteractiveMarkerControl::getMouseRayInReferenceFrame(
 
   // convert ray into reference frame
   mouse_ray.setOrigin(reference_node_->convertWorldToLocalPosition(mouse_ray.getOrigin()));
-  mouse_ray.setDirection(reference_node_->convertWorldToLocalOrientation(
+  mouse_ray.setDirection(
+    reference_node_->convertWorldToLocalOrientation(
       Ogre::Quaternion::IDENTITY) * mouse_ray.getDirection());
 
   return mouse_ray;
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/interactive_markers/interactive_marker_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/interactive_markers/interactive_marker_display.cpp
index 7f1d701e6..dbd0cf761 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/interactive_markers/interactive_marker_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/interactive_markers/interactive_marker_display.cpp
@@ -113,7 +113,8 @@ void InteractiveMarkerDisplay::onInitialize()
 
   auto frame_transformer = context_->getFrameManager()->getTransformer();
   rclcpp::Node::SharedPtr node = ros_node_abstraction->get_raw_node();
-  interactive_marker_client_.reset(new interactive_markers::InteractiveMarkerClient(
+  interactive_marker_client_.reset(
+    new interactive_markers::InteractiveMarkerClient(
       node, frame_transformer, fixed_frame_.toStdString()));
 
   interactive_marker_client_->setInitializeCallback(
@@ -123,10 +124,11 @@ void InteractiveMarkerDisplay::onInitialize()
   interactive_marker_client_->setResetCallback(
     std::bind(&InteractiveMarkerDisplay::resetCallback, this));
   interactive_marker_client_->setStatusCallback(
-    std::bind(&InteractiveMarkerDisplay::statusCallback,
-    this,
-    std::placeholders::_1,
-    std::placeholders::_2));
+    std::bind(
+      &InteractiveMarkerDisplay::statusCallback,
+      this,
+      std::placeholders::_1,
+      std::placeholders::_2));
 
   subscribe();
 }
@@ -146,7 +148,8 @@ void InteractiveMarkerDisplay::namespaceChanged()
   unsubscribe();
 
   if (interactive_marker_namespace_property_->isEmpty()) {
-    setStatus(rviz_common::properties::StatusProperty::Error,
+    setStatus(
+      rviz_common::properties::StatusProperty::Error,
       "Interactive Marker Client",
       QString("Error connecting: empty namespace"));
     return;
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/map/map_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/map/map_display.cpp
index 487e0e275..f453bc555 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/map/map_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/map/map_display.cpp
@@ -87,49 +87,57 @@ MapDisplay::MapDisplay()
   update_profile_property_ = new rviz_common::properties::QosProfileProperty(
     update_topic_property_, update_profile_);
 
-  alpha_property_ = new rviz_common::properties::FloatProperty("Alpha", 0.7f,
-      "Amount of transparency to apply to the map.",
-      this, SLOT(updateAlpha()));
+  alpha_property_ = new rviz_common::properties::FloatProperty(
+    "Alpha", 0.7f,
+    "Amount of transparency to apply to the map.",
+    this, SLOT(updateAlpha()));
   alpha_property_->setMin(0);
   alpha_property_->setMax(1);
 
-  color_scheme_property_ = new rviz_common::properties::EnumProperty("Color Scheme", "map",
-      "How to color the occupancy values.",
-      this, SLOT(updatePalette()));
+  color_scheme_property_ = new rviz_common::properties::EnumProperty(
+    "Color Scheme", "map",
+    "How to color the occupancy values.",
+    this, SLOT(updatePalette()));
   // Option values here must correspond to indices in palette_textures_ array in onInitialize()
   // below.
   color_scheme_property_->addOption("map", 0);
   color_scheme_property_->addOption("costmap", 1);
   color_scheme_property_->addOption("raw", 2);
 
-  draw_under_property_ = new rviz_common::properties::BoolProperty("Draw Behind", false,
-      "Rendering option, controls whether or not the map is always"
-      " drawn behind everything else.",
-      this, SLOT(updateDrawUnder()));
+  draw_under_property_ = new rviz_common::properties::BoolProperty(
+    "Draw Behind", false,
+    "Rendering option, controls whether or not the map is always"
+    " drawn behind everything else.",
+    this, SLOT(updateDrawUnder()));
 
-  resolution_property_ = new rviz_common::properties::FloatProperty("Resolution", 0,
-      "Resolution of the map. (not editable)", this);
+  resolution_property_ = new rviz_common::properties::FloatProperty(
+    "Resolution", 0,
+    "Resolution of the map. (not editable)", this);
   resolution_property_->setReadOnly(true);
 
-  width_property_ = new rviz_common::properties::IntProperty("Width", 0,
-      "Width of the map, in meters. (not editable)", this);
+  width_property_ = new rviz_common::properties::IntProperty(
+    "Width", 0,
+    "Width of the map, in meters. (not editable)", this);
   width_property_->setReadOnly(true);
 
-  height_property_ = new rviz_common::properties::IntProperty("Height", 0,
-      "Height of the map, in meters. (not editable)", this);
+  height_property_ = new rviz_common::properties::IntProperty(
+    "Height", 0,
+    "Height of the map, in meters. (not editable)", this);
   height_property_->setReadOnly(true);
 
-  position_property_ = new rviz_common::properties::VectorProperty("Position", Ogre::Vector3::ZERO,
-      "Position of the bottom left corner of the map, in meters. (not editable)",
-      this);
+  position_property_ = new rviz_common::properties::VectorProperty(
+    "Position", Ogre::Vector3::ZERO,
+    "Position of the bottom left corner of the map, in meters. (not editable)",
+    this);
   position_property_->setReadOnly(true);
 
   orientation_property_ = new rviz_common::properties::QuaternionProperty(
     "Orientation", Ogre::Quaternion::IDENTITY, "Orientation of the map. (not editable)", this);
   orientation_property_->setReadOnly(true);
 
-  transform_timestamp_property_ = new rviz_common::properties::BoolProperty("Use Timestamp", false,
-      "Use map header timestamp when transforming", this, SLOT(transformMap()));
+  transform_timestamp_property_ = new rviz_common::properties::BoolProperty(
+    "Use Timestamp", false,
+    "Use map header timestamp when transforming", this, SLOT(transformMap()));
 }
 
 MapDisplay::~MapDisplay()
@@ -197,7 +205,8 @@ void MapDisplay::subscribe()
   }
 
   if (topic_property_->isEmpty()) {
-    setStatus(rviz_common::properties::StatusProperty::Error,
+    setStatus(
+      rviz_common::properties::StatusProperty::Error,
       "Topic",
       QString("Error subscribing: Empty topic name"));
     return;
@@ -312,7 +321,8 @@ void MapDisplay::incomingUpdate(const map_msgs::msg::OccupancyGridUpdate::ConstS
     QString::number(update_messages_received_) + " update messages received");
 
   if (updateDataOutOfBounds(update)) {
-    setStatus(rviz_common::properties::StatusProperty::Error,
+    setStatus(
+      rviz_common::properties::StatusProperty::Error,
       "Update", "Update area outside of original map area.");
     return;
   }
@@ -359,8 +369,9 @@ void MapDisplay::createSwatches()
   const size_t maximum_number_swatch_splittings = 4;
 
   for (size_t i = 0; i < maximum_number_swatch_splittings; ++i) {
-    RVIZ_COMMON_LOG_INFO_STREAM("Trying to create a map of size " <<
-      width << " x " << height << " using " << number_swatches << " swatches");
+    RVIZ_COMMON_LOG_INFO_STREAM(
+      "Trying to create a map of size " <<
+        width << " x " << height << " using " << number_swatches << " swatches");
     swatches_.clear();
     try {
       tryCreateSwatches(width, height, resolution, swatch_width, swatch_height, number_swatches);
@@ -373,16 +384,18 @@ void MapDisplay::createSwatches()
       doubleSwatchNumber(swatch_width, swatch_height, number_swatches);
     }
   }
-  RVIZ_COMMON_LOG_ERROR_STREAM("Creating " << number_swatches << "failed. "
-    "This map is too large to be displayed by RViz.");
+  RVIZ_COMMON_LOG_ERROR_STREAM(
+    "Creating " << number_swatches << "failed. "
+      "This map is too large to be displayed by RViz.");
   swatches_.clear();
 }
 
 void MapDisplay::doubleSwatchNumber(
   size_t & swatch_width, size_t & swatch_height, int & number_swatches) const
 {
-  RVIZ_COMMON_LOG_ERROR_STREAM("Failed to create map using " << number_swatches << " swatches. "
-    "At least one swatch seems to need too much memory");
+  RVIZ_COMMON_LOG_ERROR_STREAM(
+    "Failed to create map using " << number_swatches << " swatches. "
+      "At least one swatch seems to need too much memory");
   if (swatch_width > swatch_height) {
     swatch_width /= 2;
   } else {
@@ -405,7 +418,8 @@ void MapDisplay::tryCreateSwatches(
     size_t effective_width = getEffectiveDimension(width, swatch_width, x);
     size_t effective_height = getEffectiveDimension(height, swatch_height, y);
 
-    swatches_.push_back(std::make_shared<Swatch>(
+    swatches_.push_back(
+      std::make_shared<Swatch>(
         scene_manager_,
         scene_node_,
         x, y,
@@ -442,7 +456,8 @@ void MapDisplay::showMap()
   }
 
   if (!validateFloats(current_map_)) {
-    setStatus(rviz_common::properties::StatusProperty::Error, "Map",
+    setStatus(
+      rviz_common::properties::StatusProperty::Error, "Map",
       "Message contained invalid floating point values (nans or infs)");
     return;
   }
@@ -469,8 +484,9 @@ void MapDisplay::showMap()
 
   setStatus(rviz_common::properties::StatusProperty::Ok, "Message", "Map received");
 
-  RVIZ_COMMON_LOG_DEBUG_STREAM("Received a " << current_map_.info.width << " X " <<
-    current_map_.info.height << " map @ " << current_map_.info.resolution << "m/pix\n");
+  RVIZ_COMMON_LOG_DEBUG_STREAM(
+    "Received a " << current_map_.info.width << " X " <<
+      current_map_.info.height << " map @ " << current_map_.info.resolution << "m/pix\n");
 
   showValidMap();
 }
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/points_marker.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/points_marker.cpp
index 6a7a9349c..b5238cde0 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/points_marker.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/points_marker.cpp
@@ -61,7 +61,8 @@ void PointsMarker::onNewMessage(
 {
   (void) old_message;
 
-  assert(new_message->type == visualization_msgs::msg::Marker::POINTS ||
+  assert(
+    new_message->type == visualization_msgs::msg::Marker::POINTS ||
     new_message->type == visualization_msgs::msg::Marker::CUBE_LIST ||
     new_message->type == visualization_msgs::msg::Marker::SPHERE_LIST);
 
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/text_view_facing_marker.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/text_view_facing_marker.cpp
index c662b9509..4f3cafff4 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/text_view_facing_marker.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/text_view_facing_marker.cpp
@@ -85,7 +85,8 @@ void TextViewFacingMarker::onNewMessage(
 
   setPosition(pos);
   text_->setCharacterHeight(new_message->scale.z);
-  text_->setColor(Ogre::ColourValue(
+  text_->setColor(
+    Ogre::ColourValue(
       new_message->color.r, new_message->color.g, new_message->color.b, new_message->color.a));
   text_->setCaption(new_message->text);
 }
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/triangle_list_marker.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/triangle_list_marker.cpp
index 52ae288dc..9a1db2f11 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/triangle_list_marker.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/triangle_list_marker.cpp
@@ -203,14 +203,16 @@ bool TriangleListMarker::fillManualObjectAndDetermineAlpha(
       if (hasVertexColors(new_message)) {
         any_vertex_has_alpha = any_vertex_has_alpha ||
           (new_message->colors[i + c].a < rviz_rendering::unit_alpha_threshold);
-        manual_object_->colour(new_message->colors[i + c].r,
+        manual_object_->colour(
+          new_message->colors[i + c].r,
           new_message->colors[i + c].g,
           new_message->colors[i + c].b,
           new_message->color.a * new_message->colors[i + c].a);
       } else if (hasFaceColors(new_message)) {
         any_vertex_has_alpha = any_vertex_has_alpha ||
           (new_message->colors[i / 3].a < rviz_rendering::unit_alpha_threshold);
-        manual_object_->colour(new_message->colors[i / 3].r,
+        manual_object_->colour(
+          new_message->colors[i / 3].r,
           new_message->colors[i / 3].g,
           new_message->colors[i / 3].b,
           new_message->color.a * new_message->colors[i / 3].a);
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/odometry/odometry_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/odometry/odometry_display.cpp
index 761fc0577..7a45b1752 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/odometry/odometry_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/odometry/odometry_display.cpp
@@ -74,15 +74,17 @@ void OdometryDisplay::setupProperties()
     this);
   position_tolerance_property_->setMin(0);
 
-  angle_tolerance_property_ = new rviz_common::properties::FloatProperty("Angle Tolerance", 0.1f,
-      "Angular distance from the last arrow dropped, "
-      "that will cause a new arrow to drop.",
-      this);
+  angle_tolerance_property_ = new rviz_common::properties::FloatProperty(
+    "Angle Tolerance", 0.1f,
+    "Angular distance from the last arrow dropped, "
+    "that will cause a new arrow to drop.",
+    this);
   angle_tolerance_property_->setMin(0);
 
-  keep_property_ = new rviz_common::properties::IntProperty("Keep", 100,
-      "Number of arrows to keep before removing the oldest.  0 means keep all of them.",
-      this);
+  keep_property_ = new rviz_common::properties::IntProperty(
+    "Keep", 100,
+    "Number of arrows to keep before removing the oldest.  0 means keep all of them.",
+    this);
   keep_property_->setMin(0);
 
   shape_property_ = new rviz_common::properties::EnumProperty(
@@ -91,9 +93,10 @@ void OdometryDisplay::setupProperties()
   shape_property_->addOption("Arrow", ArrowShape);
   shape_property_->addOption("Axes", AxesShape);
 
-  color_property_ = new rviz_common::properties::ColorProperty("Color", QColor(255, 25, 0),
-      "Color of the arrows.",
-      shape_property_, SLOT(updateColorAndAlpha()), this);
+  color_property_ = new rviz_common::properties::ColorProperty(
+    "Color", QColor(255, 25, 0),
+    "Color of the arrows.",
+    shape_property_, SLOT(updateColorAndAlpha()), this);
 
   alpha_property_ = new rviz_common::properties::FloatProperty(
     "Alpha", 1, "Amount of transparency to apply to the arrow.",
@@ -101,21 +104,25 @@ void OdometryDisplay::setupProperties()
   alpha_property_->setMin(0);
   alpha_property_->setMax(1);
 
-  shaft_length_property_ = new rviz_common::properties::FloatProperty("Shaft Length", 1,
-      "Length of the each arrow's shaft, in meters.",
-      shape_property_, SLOT(updateArrowsGeometry()), this);
+  shaft_length_property_ = new rviz_common::properties::FloatProperty(
+    "Shaft Length", 1,
+    "Length of the each arrow's shaft, in meters.",
+    shape_property_, SLOT(updateArrowsGeometry()), this);
 
-  shaft_radius_property_ = new rviz_common::properties::FloatProperty("Shaft Radius", 0.05f,
-      "Radius of the each arrow's shaft, in meters.",
-      shape_property_, SLOT(updateArrowsGeometry()), this);
+  shaft_radius_property_ = new rviz_common::properties::FloatProperty(
+    "Shaft Radius", 0.05f,
+    "Radius of the each arrow's shaft, in meters.",
+    shape_property_, SLOT(updateArrowsGeometry()), this);
 
-  head_length_property_ = new rviz_common::properties::FloatProperty("Head Length", 0.3f,
-      "Length of the each arrow's head, in meters.",
-      shape_property_, SLOT(updateArrowsGeometry()), this);
+  head_length_property_ = new rviz_common::properties::FloatProperty(
+    "Head Length", 0.3f,
+    "Length of the each arrow's head, in meters.",
+    shape_property_, SLOT(updateArrowsGeometry()), this);
 
-  head_radius_property_ = new rviz_common::properties::FloatProperty("Head Radius", 0.1f,
-      "Radius of the each arrow's head, in meters.",
-      shape_property_, SLOT(updateArrowsGeometry()), this);
+  head_radius_property_ = new rviz_common::properties::FloatProperty(
+    "Head Radius", 0.1f,
+    "Radius of the each arrow's head, in meters.",
+    shape_property_, SLOT(updateArrowsGeometry()), this);
 
   axes_length_property_ = new rviz_common::properties::FloatProperty(
     "Axes Length", 1, "Length of each axis, in meters.",
@@ -125,9 +132,10 @@ void OdometryDisplay::setupProperties()
     "Axes Radius", 0.1f, "Radius of each axis, in meters.",
     shape_property_, SLOT(updateAxisGeometry()), this);
 
-  covariance_property_ = new rviz_common::properties::CovarianceProperty("Covariance", true,
-      "Whether or not the covariances of the messages should be shown.",
-      this, SLOT(updateCovariances()));
+  covariance_property_ = new rviz_common::properties::CovarianceProperty(
+    "Covariance", true,
+    "Whether or not the covariances of the messages should be shown.",
+    this, SLOT(updateCovariances()));
 }
 
 OdometryDisplay::~OdometryDisplay() = default;
@@ -250,10 +258,11 @@ bool validateFloats(nav_msgs::msg::Odometry msg)
 
 bool validateQuaternion(nav_msgs::msg::Odometry msg)
 {
-  return std::abs((msg.pose.pose.orientation.x * msg.pose.pose.orientation.x +
-           msg.pose.pose.orientation.y * msg.pose.pose.orientation.y +
-           msg.pose.pose.orientation.z * msg.pose.pose.orientation.z +
-           msg.pose.pose.orientation.w * msg.pose.pose.orientation.w) - 1.0f) < 10e-3;
+  return std::abs(
+    (msg.pose.pose.orientation.x * msg.pose.pose.orientation.x +
+    msg.pose.pose.orientation.y * msg.pose.pose.orientation.y +
+    msg.pose.pose.orientation.z * msg.pose.pose.orientation.z +
+    msg.pose.pose.orientation.w * msg.pose.pose.orientation.w) - 1.0f) < 10e-3;
 }
 
 void OdometryDisplay::processMessage(nav_msgs::msg::Odometry::ConstSharedPtr msg)
@@ -284,13 +293,15 @@ bool OdometryDisplay::messageIsValid(nav_msgs::msg::Odometry::ConstSharedPtr mes
   // if both invalid values and unnormalized quaternion are present, both messages are printed.
   bool message_is_valid = true;
   if (!validateFloats(*message)) {
-    setStatus(rviz_common::properties::StatusProperty::Error, "Topic",
+    setStatus(
+      rviz_common::properties::StatusProperty::Error, "Topic",
       "Message contained invalid floating point values (nans or infs)");
     message_is_valid = false;
   }
 
   if (!validateQuaternion(*message)) {
-    setStatus(rviz_common::properties::StatusProperty::Error, "Topic",
+    setStatus(
+      rviz_common::properties::StatusProperty::Error, "Topic",
       "Message contained unnormalized quaternion (squares of values don't add to 1)");
     message_is_valid = false;
   }
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/path/path_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/path/path_display.cpp
index 7bd8736b0..b393d4a74 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/path/path_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/path/path_display.cpp
@@ -67,72 +67,86 @@ PathDisplay::PathDisplay(rviz_common::DisplayContext * context)
 
 PathDisplay::PathDisplay()
 {
-  style_property_ = new rviz_common::properties::EnumProperty("Line Style", "Lines",
-      "The rendering operation to use to draw the grid lines.",
-      this, SLOT(updateStyle()));
+  style_property_ = new rviz_common::properties::EnumProperty(
+    "Line Style", "Lines",
+    "The rendering operation to use to draw the grid lines.",
+    this, SLOT(updateStyle()));
 
   style_property_->addOption("Lines", LINES);
   style_property_->addOption("Billboards", BILLBOARDS);
 
-  line_width_property_ = new rviz_common::properties::FloatProperty("Line Width", 0.03f,
-      "The width, in meters, of each path line."
-      "Only works with the 'Billboards' style.",
-      this, SLOT(updateLineWidth()), this);
+  line_width_property_ = new rviz_common::properties::FloatProperty(
+    "Line Width", 0.03f,
+    "The width, in meters, of each path line."
+    "Only works with the 'Billboards' style.",
+    this, SLOT(updateLineWidth()), this);
   line_width_property_->setMin(0.001f);
   line_width_property_->hide();
 
-  color_property_ = new rviz_common::properties::ColorProperty("Color", QColor(25, 255, 0),
-      "Color to draw the path.", this);
+  color_property_ = new rviz_common::properties::ColorProperty(
+    "Color", QColor(25, 255, 0),
+    "Color to draw the path.", this);
 
-  alpha_property_ = new rviz_common::properties::FloatProperty("Alpha", 1.0,
-      "Amount of transparency to apply to the path.", this);
+  alpha_property_ = new rviz_common::properties::FloatProperty(
+    "Alpha", 1.0,
+    "Amount of transparency to apply to the path.", this);
 
-  buffer_length_property_ = new rviz_common::properties::IntProperty("Buffer Length", 1,
-      "Number of paths to display.",
-      this, SLOT(updateBufferLength()));
+  buffer_length_property_ = new rviz_common::properties::IntProperty(
+    "Buffer Length", 1,
+    "Number of paths to display.",
+    this, SLOT(updateBufferLength()));
   buffer_length_property_->setMin(1);
 
-  offset_property_ = new rviz_common::properties::VectorProperty("Offset", Ogre::Vector3::ZERO,
-      "Allows you to offset the path from the origin of the reference frame.  In meters.",
-      this, SLOT(updateOffset()));
+  offset_property_ = new rviz_common::properties::VectorProperty(
+    "Offset", Ogre::Vector3::ZERO,
+    "Allows you to offset the path from the origin of the reference frame.  In meters.",
+    this, SLOT(updateOffset()));
 
-  pose_style_property_ = new rviz_common::properties::EnumProperty("Pose Style", "None",
-      "Shape to display the pose as.",
-      this, SLOT(updatePoseStyle()));
+  pose_style_property_ = new rviz_common::properties::EnumProperty(
+    "Pose Style", "None",
+    "Shape to display the pose as.",
+    this, SLOT(updatePoseStyle()));
   pose_style_property_->addOption("None", NONE);
   pose_style_property_->addOption("Axes", AXES);
   pose_style_property_->addOption("Arrows", ARROWS);
 
-  pose_axes_length_property_ = new rviz_common::properties::FloatProperty("Length", 0.3f,
-      "Length of the axes.",
-      this, SLOT(updatePoseAxisGeometry()) );
-  pose_axes_radius_property_ = new rviz_common::properties::FloatProperty("Radius", 0.03f,
-      "Radius of the axes.",
-      this, SLOT(updatePoseAxisGeometry()) );
-
-  pose_arrow_color_property_ = new rviz_common::properties::ColorProperty("Pose Color",
-      QColor(255, 85, 255),
-      "Color to draw the poses.",
-      this, SLOT(updatePoseArrowColor()));
-  pose_arrow_shaft_length_property_ = new rviz_common::properties::FloatProperty("Shaft Length",
-      0.1f,
-      "Length of the arrow shaft.",
-      this,
-      SLOT(updatePoseArrowGeometry()));
-  pose_arrow_head_length_property_ = new rviz_common::properties::FloatProperty("Head Length", 0.2f,
-      "Length of the arrow head.",
-      this,
-      SLOT(updatePoseArrowGeometry()));
-  pose_arrow_shaft_diameter_property_ = new rviz_common::properties::FloatProperty("Shaft Diameter",
-      0.1f,
-      "Diameter of the arrow shaft.",
-      this,
-      SLOT(updatePoseArrowGeometry()));
-  pose_arrow_head_diameter_property_ = new rviz_common::properties::FloatProperty("Head Diameter",
-      0.3f,
-      "Diameter of the arrow head.",
-      this,
-      SLOT(updatePoseArrowGeometry()));
+  pose_axes_length_property_ = new rviz_common::properties::FloatProperty(
+    "Length", 0.3f,
+    "Length of the axes.",
+    this, SLOT(updatePoseAxisGeometry()) );
+  pose_axes_radius_property_ = new rviz_common::properties::FloatProperty(
+    "Radius", 0.03f,
+    "Radius of the axes.",
+    this, SLOT(updatePoseAxisGeometry()) );
+
+  pose_arrow_color_property_ = new rviz_common::properties::ColorProperty(
+    "Pose Color",
+    QColor(255, 85, 255),
+    "Color to draw the poses.",
+    this, SLOT(updatePoseArrowColor()));
+  pose_arrow_shaft_length_property_ = new rviz_common::properties::FloatProperty(
+    "Shaft Length",
+    0.1f,
+    "Length of the arrow shaft.",
+    this,
+    SLOT(updatePoseArrowGeometry()));
+  pose_arrow_head_length_property_ = new rviz_common::properties::FloatProperty(
+    "Head Length", 0.2f,
+    "Length of the arrow head.",
+    this,
+    SLOT(updatePoseArrowGeometry()));
+  pose_arrow_shaft_diameter_property_ = new rviz_common::properties::FloatProperty(
+    "Shaft Diameter",
+    0.1f,
+    "Diameter of the arrow shaft.",
+    this,
+    SLOT(updatePoseArrowGeometry()));
+  pose_arrow_head_diameter_property_ = new rviz_common::properties::FloatProperty(
+    "Head Diameter",
+    0.3f,
+    "Diameter of the arrow head.",
+    this,
+    SLOT(updatePoseArrowGeometry()));
   pose_axes_length_property_->hide();
   pose_axes_radius_property_->hide();
   pose_arrow_color_property_->hide();
@@ -173,9 +187,10 @@ void PathDisplay::allocateAxesVector(std::vector<rviz_rendering::Axes *> & axes_
     axes_vect.reserve(num);
     for (auto i = vector_size; i < num; ++i) {
       axes_vect.push_back(
-        new rviz_rendering::Axes(scene_manager_, scene_node_,
-        pose_axes_length_property_->getFloat(),
-        pose_axes_radius_property_->getFloat()));
+        new rviz_rendering::Axes(
+          scene_manager_, scene_node_,
+          pose_axes_length_property_->getFloat(),
+          pose_axes_radius_property_->getFloat()));
     }
   } else if (num < vector_size) {
     for (auto i = num; i < vector_size; ++i) {
@@ -289,7 +304,8 @@ void PathDisplay::updatePoseAxisGeometry()
 {
   for (auto & axes_vect : axes_chain_) {
     for (auto & axes : axes_vect) {
-      axes->set(pose_axes_length_property_->getFloat(),
+      axes->set(
+        pose_axes_length_property_->getFloat(),
         pose_axes_radius_property_->getFloat() );
     }
   }
@@ -312,7 +328,8 @@ void PathDisplay::updatePoseArrowGeometry()
 {
   for (auto & arrow_vect : arrow_chain_) {
     for (auto & arrow : arrow_vect) {
-      arrow->set(pose_arrow_shaft_length_property_->getFloat(),
+      arrow->set(
+        pose_arrow_shaft_length_property_->getFloat(),
         pose_arrow_shaft_diameter_property_->getFloat(),
         pose_arrow_head_length_property_->getFloat(),
         pose_arrow_head_diameter_property_->getFloat());
@@ -406,7 +423,8 @@ void PathDisplay::processMessage(nav_msgs::msg::Path::ConstSharedPtr msg)
 
   // Check if path contains invalid coordinate values
   if (!validateFloats(*msg)) {
-    setStatus(rviz_common::properties::StatusProperty::Error, "Topic", "Message contained invalid "
+    setStatus(
+      rviz_common::properties::StatusProperty::Error, "Topic", "Message contained invalid "
       "floating point "
       "values (nans or infs)");
     return;
@@ -514,7 +532,8 @@ void PathDisplay::updateArrowMarkers(
     QColor color = pose_arrow_color_property_->getColor();
     arrow_vect[i]->setColor(color.redF(), color.greenF(), color.blueF(), 1.0f);
 
-    arrow_vect[i]->set(pose_arrow_shaft_length_property_->getFloat(),
+    arrow_vect[i]->set(
+      pose_arrow_shaft_length_property_->getFloat(),
       pose_arrow_shaft_diameter_property_->getFloat(),
       pose_arrow_head_length_property_->getFloat(),
       pose_arrow_head_diameter_property_->getFloat());
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/point/point_stamped_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/point/point_stamped_display.cpp
index e517ebc06..d30fc977e 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/point/point_stamped_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/point/point_stamped_display.cpp
@@ -122,7 +122,8 @@ void PointStampedDisplay::onlyKeepHistoryLengthNumberOfVisuals()
 void PointStampedDisplay::processMessage(geometry_msgs::msg::PointStamped::ConstSharedPtr msg)
 {
   if (!rviz_common::validateFloats(msg->point)) {
-    setStatus(rviz_common::properties::StatusProperty::Error, "Topic",
+    setStatus(
+      rviz_common::properties::StatusProperty::Error, "Topic",
       "Message contained invalid floating point values (nans or infs)");
     return;
   }
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_common.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_common.cpp
index 5e8e9cba8..77989d3ba 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_common.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_common.cpp
@@ -78,7 +78,8 @@ void CloudInfo::setSelectable(
   if (selectable) {
     selection_handler_ = rviz_common::interaction::createSelectionHandler
       <PointCloudSelectionHandler>(selection_box_size, this, context);
-    cloud_->setPickColor(rviz_common::interaction::SelectionManager::handleToColor(
+    cloud_->setPickColor(
+      rviz_common::interaction::SelectionManager::handleToColor(
         selection_handler_->getHandle()));
   } else {
     selection_handler_.reset();
@@ -96,13 +97,15 @@ PointCloudCommon::PointCloudCommon(rviz_common::Display * display)
   transformer_factory_(std::make_unique<PointCloudTransformerFactory>()),
   display_(display)
 {
-  selectable_property_ = new rviz_common::properties::BoolProperty("Selectable", true,
-      "Whether or not the points in this point cloud are selectable.",
-      display_, SLOT(updateSelectable()), this);
+  selectable_property_ = new rviz_common::properties::BoolProperty(
+    "Selectable", true,
+    "Whether or not the points in this point cloud are selectable.",
+    display_, SLOT(updateSelectable()), this);
 
-  style_property_ = new rviz_common::properties::EnumProperty("Style", "Flat Squares",
-      "Rendering mode to use, in order of computational complexity.",
-      display_, SLOT(updateStyle()), this);
+  style_property_ = new rviz_common::properties::EnumProperty(
+    "Style", "Flat Squares",
+    "Rendering mode to use, in order of computational complexity.",
+    display_, SLOT(updateStyle()), this);
   style_property_->addOption("Points", rviz_rendering::PointCloud::RM_POINTS);
   style_property_->addOption("Squares", rviz_rendering::PointCloud::RM_SQUARES);
   style_property_->addOption("Flat Squares", rviz_rendering::PointCloud::RM_FLAT_SQUARES);
@@ -110,39 +113,48 @@ PointCloudCommon::PointCloudCommon(rviz_common::Display * display)
   style_property_->addOption("Boxes", rviz_rendering::PointCloud::RM_BOXES);
   style_property_->addOption("Tiles", rviz_rendering::PointCloud::RM_TILES);
 
-  point_world_size_property_ = new rviz_common::properties::FloatProperty("Size (m)", 0.01f,
-      "Point size in meters.",
-      display_, SLOT(updateBillboardSize()), this);
+  point_world_size_property_ = new rviz_common::properties::FloatProperty(
+    "Size (m)", 0.01f,
+    "Point size in meters.",
+    display_, SLOT(updateBillboardSize()), this);
   point_world_size_property_->setMin(0.0001f);
 
-  point_pixel_size_property_ = new rviz_common::properties::FloatProperty("Size (Pixels)", 3,
-      "Point size in pixels.",
-      display_, SLOT(updateBillboardSize()), this);
+  point_pixel_size_property_ = new rviz_common::properties::FloatProperty(
+    "Size (Pixels)", 3,
+    "Point size in pixels.",
+    display_, SLOT(updateBillboardSize()), this);
   point_pixel_size_property_->setMin(1);
 
-  alpha_property_ = new rviz_common::properties::FloatProperty("Alpha", 1.0f,
-      "Amount of transparency to apply to the points.  Note that this is experimental "
-      "and does not always look correct.",
-      display_, SLOT(updateAlpha()), this);
+  alpha_property_ = new rviz_common::properties::FloatProperty(
+    "Alpha", 1.0f,
+    "Amount of transparency to apply to the points.  Note that this is experimental "
+    "and does not always look correct.",
+    display_, SLOT(updateAlpha()), this);
   alpha_property_->setMin(0);
   alpha_property_->setMax(1);
 
-  decay_time_property_ = new rviz_common::properties::FloatProperty("Decay Time", 0,
-      "Duration, in seconds, to keep the incoming points.  0 means only show the latest points.",
-      display_, SLOT(queueRender()));
+  decay_time_property_ = new rviz_common::properties::FloatProperty(
+    "Decay Time", 0,
+    "Duration, in seconds, to keep the incoming points.  0 means only show the latest points.",
+    display_, SLOT(queueRender()));
   decay_time_property_->setMin(0);
 
-  xyz_transformer_property_ = new rviz_common::properties::EnumProperty("Position Transformer", "",
-      "Set the transformer to use to set the position of the points.",
-      display_, SLOT(updateXyzTransformer()), this);
-  connect(xyz_transformer_property_, SIGNAL(requestOptions(
-      rviz_common::properties::EnumProperty*)),
+  xyz_transformer_property_ = new rviz_common::properties::EnumProperty(
+    "Position Transformer", "",
+    "Set the transformer to use to set the position of the points.",
+    display_, SLOT(updateXyzTransformer()), this);
+  connect(
+    xyz_transformer_property_, SIGNAL(
+      requestOptions(
+        rviz_common::properties::EnumProperty*)),
     this, SLOT(setXyzTransformerOptions(rviz_common::properties::EnumProperty*)));
 
-  color_transformer_property_ = new rviz_common::properties::EnumProperty("Color Transformer", "",
-      "Set the transformer to use to set the color of the points.",
-      display_, SLOT(updateColorTransformer()), this);
-  connect(color_transformer_property_,
+  color_transformer_property_ = new rviz_common::properties::EnumProperty(
+    "Color Transformer", "",
+    "Set the transformer to use to set the color of the points.",
+    display_, SLOT(updateColorTransformer()), this);
+  connect(
+    color_transformer_property_,
     SIGNAL(requestOptions(rviz_common::properties::EnumProperty*)),
     this, SLOT(setColorTransformerOptions(rviz_common::properties::EnumProperty*)));
 }
@@ -325,8 +337,9 @@ void PointCloudCommon::insertNewClouds(float point_decay_time, const rclcpp::Tim
 
       cloud_info->manager_ = context_->getSceneManager();
 
-      cloud_info->scene_node_ = scene_node_->createChildSceneNode(cloud_info->position_,
-          cloud_info->orientation_);
+      cloud_info->scene_node_ = scene_node_->createChildSceneNode(
+        cloud_info->position_,
+        cloud_info->orientation_);
 
       cloud_info->scene_node_->attachObject(cloud_info->cloud_.get());
 
@@ -360,8 +373,8 @@ void PointCloudCommon::updateTransformerProperties()
       TransformerInfo & info = transformer.second;
 
       setPropertiesHidden(info.xyz_props, name != xyz_transformer_property_->getStdString());
-      setPropertiesHidden(info.color_props,
-        name != color_transformer_property_->getStdString());
+      setPropertiesHidden(
+        info.color_props, name != color_transformer_property_->getStdString());
 
       if (name == xyz_transformer_property_->getStdString() ||
         name == color_transformer_property_->getStdString())
@@ -632,10 +645,10 @@ bool PointCloudCommon::transformPoints(
     return false;
   }
 
-  xyz_trans->transform(cloud_info->message_, PointCloudTransformer::Support_XYZ, transform,
-    cloud_points);
-  color_trans->transform(cloud_info->message_, PointCloudTransformer::Support_Color, transform,
-    cloud_points);
+  xyz_trans->transform(
+    cloud_info->message_, PointCloudTransformer::Support_XYZ, transform, cloud_points);
+  color_trans->transform(
+    cloud_info->message_, PointCloudTransformer::Support_Color, transform, cloud_points);
   return true;
 }
 
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_selection_handler.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_selection_handler.cpp
index 2255664b6..66137f503 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_selection_handler.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_selection_handler.cpp
@@ -86,7 +86,8 @@ void PointCloudSelectionHandler::preRenderPass(uint32_t pass)
 
   switch (pass) {
     case 0:
-      cloud_info_->cloud_->setPickColor(rviz_common::interaction::SelectionManager::handleToColor(
+      cloud_info_->cloud_->setPickColor(
+        rviz_common::interaction::SelectionManager::handleToColor(
           getHandle()));
       break;
     case 1:
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/polygon/polygon_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/polygon/polygon_display.cpp
index d9c3851fa..cc6b9a7da 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/polygon/polygon_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/polygon/polygon_display.cpp
@@ -54,10 +54,12 @@ namespace displays
 
 PolygonDisplay::PolygonDisplay()
 {
-  color_property_ = new rviz_common::properties::ColorProperty("Color", QColor(25, 255, 0),
-      "Color to draw the polygon.", this, SLOT(queueRender()));
-  alpha_property_ = new rviz_common::properties::FloatProperty("Alpha", 1.0f,
-      "Amount of transparency to apply to the polygon.", this, SLOT(queueRender()));
+  color_property_ = new rviz_common::properties::ColorProperty(
+    "Color", QColor(25, 255, 0),
+    "Color to draw the polygon.", this, SLOT(queueRender()));
+  alpha_property_ = new rviz_common::properties::FloatProperty(
+    "Alpha", 1.0f,
+    "Amount of transparency to apply to the polygon.", this, SLOT(queueRender()));
   alpha_property_->setMin(0);
   alpha_property_->setMax(1);
 
@@ -96,7 +98,8 @@ bool validateFloats(geometry_msgs::msg::PolygonStamped::ConstSharedPtr msg)
 void PolygonDisplay::processMessage(geometry_msgs::msg::PolygonStamped::ConstSharedPtr msg)
 {
   if (!validateFloats(msg)) {
-    setStatus(rviz_common::properties::StatusProperty::Error, "Topic",
+    setStatus(
+      rviz_common::properties::StatusProperty::Error, "Topic",
       "Message contained invalid floating point values (nans or infs)");
     return;
   }
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/pose/pose_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/pose/pose_display.cpp
index 4fee62134..7e9b6ff3e 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/pose/pose_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/pose/pose_display.cpp
@@ -101,16 +101,18 @@ void PoseDisplay::onInitialize()
 {
   MFDClass::onInitialize();
 
-  arrow_ = std::make_unique<rviz_rendering::Arrow>(scene_manager_, scene_node_,
-      shaft_length_property_->getFloat(),
-      shaft_radius_property_->getFloat(),
-      head_length_property_->getFloat(),
-      head_radius_property_->getFloat());
+  arrow_ = std::make_unique<rviz_rendering::Arrow>(
+    scene_manager_, scene_node_,
+    shaft_length_property_->getFloat(),
+    shaft_radius_property_->getFloat(),
+    head_length_property_->getFloat(),
+    head_radius_property_->getFloat());
   arrow_->setDirection(Ogre::Vector3::UNIT_X);
 
-  axes_ = std::make_unique<rviz_rendering::Axes>(scene_manager_, scene_node_,
-      axes_length_property_->getFloat(),
-      axes_radius_property_->getFloat());
+  axes_ = std::make_unique<rviz_rendering::Axes>(
+    scene_manager_, scene_node_,
+    axes_length_property_->getFloat(),
+    axes_radius_property_->getFloat());
 
   updateShapeChoice();
   updateColorAndAlpha();
@@ -151,7 +153,8 @@ void PoseDisplay::updateColorAndAlpha()
 
 void PoseDisplay::updateArrowGeometry()
 {
-  arrow_->set(shaft_length_property_->getFloat(),
+  arrow_->set(
+    shaft_length_property_->getFloat(),
     shaft_radius_property_->getFloat(),
     head_length_property_->getFloat(),
     head_radius_property_->getFloat());
@@ -160,7 +163,8 @@ void PoseDisplay::updateArrowGeometry()
 
 void PoseDisplay::updateAxisGeometry()
 {
-  axes_->set(axes_length_property_->getFloat(),
+  axes_->set(
+    axes_length_property_->getFloat(),
     axes_radius_property_->getFloat());
   context_->queueRender();
 }
@@ -199,15 +203,17 @@ void PoseDisplay::updateShapeVisibility()
 void PoseDisplay::processMessage(geometry_msgs::msg::PoseStamped::ConstSharedPtr message)
 {
   if (!rviz_common::validateFloats(*message)) {
-    setStatus(rviz_common::properties::StatusProperty::Error, "Topic",
+    setStatus(
+      rviz_common::properties::StatusProperty::Error, "Topic",
       "Message contained invalid floating point values (nans or infs)");
     return;
   }
 
   Ogre::Vector3 position;
   Ogre::Quaternion orientation;
-  if (!context_->getFrameManager()->transform(message->header, message->pose, position,
-    orientation))
+  if (
+    !context_->getFrameManager()->transform(
+      message->header, message->pose, position, orientation))
   {
     setMissingTransformToFixedFrame(message->header.frame_id);
     return;
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/pose_covariance/pose_with_cov_selection_handler.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/pose_covariance/pose_with_cov_selection_handler.cpp
index d9e0530a8..ddafdb0cf 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/pose_covariance/pose_with_cov_selection_handler.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/pose_covariance/pose_with_cov_selection_handler.cpp
@@ -128,12 +128,14 @@ void PoseWithCovSelectionHandler::setMessage(
     position_property_->setVector(rviz_common::pointMsgToOgre(message->pose.pose.position));
     orientation_property_->setQuaternion(
       rviz_common::quaternionMsgToOgre(message->pose.pose.orientation));
-    covariance_position_property_->setVector(Ogre::Vector3(
+    covariance_position_property_->setVector(
+      Ogre::Vector3(
         message->pose.covariance[0 + 0 * 6],
         message->pose.covariance[1 + 1 * 6],
         message->pose.covariance[2 + 2 * 6]));
 
-    covariance_orientation_property_->setVector(Ogre::Vector3(
+    covariance_orientation_property_->setVector(
+      Ogre::Vector3(
         message->pose.covariance[3 + 3 * 6],
         message->pose.covariance[4 + 4 * 6],
         message->pose.covariance[5 + 5 * 6]));
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/pose_covariance/pose_with_covariance_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/pose_covariance/pose_with_covariance_display.cpp
index b1c4a781a..bc15c59cc 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/pose_covariance/pose_with_covariance_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/pose_covariance/pose_with_covariance_display.cpp
@@ -157,7 +157,8 @@ void PoseWithCovarianceDisplay::updateColorAndAlpha()
 
 void PoseWithCovarianceDisplay::updateArrowGeometry()
 {
-  arrow_->set(shaft_length_property_->getFloat(),
+  arrow_->set(
+    shaft_length_property_->getFloat(),
     shaft_radius_property_->getFloat(),
     head_length_property_->getFloat(),
     head_radius_property_->getFloat() );
@@ -166,7 +167,8 @@ void PoseWithCovarianceDisplay::updateArrowGeometry()
 
 void PoseWithCovarianceDisplay::updateAxisGeometry()
 {
-  axes_->set(axes_length_property_->getFloat(),
+  axes_->set(
+    axes_length_property_->getFloat(),
     axes_radius_property_->getFloat() );
   context_->queueRender();
 }
@@ -216,15 +218,17 @@ void PoseWithCovarianceDisplay::processMessage(
   if (!rviz_common::validateFloats(message->pose.pose) ||
     !rviz_common::validateFloats(message->pose.covariance))
   {
-    setStatus(rviz_common::properties::StatusProperty::Error, "Topic",
+    setStatus(
+      rviz_common::properties::StatusProperty::Error, "Topic",
       "Message contained invalid floating point values (nans or infs)");
     return;
   }
 
   Ogre::Vector3 position;
   Ogre::Quaternion orientation;
-  if (!context_->getFrameManager()->transform(message->header, message->pose.pose, position,
-    orientation))
+  if (
+    !context_->getFrameManager()->transform(
+      message->header, message->pose.pose, position, orientation))
   {
     setMissingTransformToFixedFrame(message->header.frame_id);
     return;
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/range/range_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/range/range_display.cpp
index ff3ec9ca6..f6514a4a5 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/range/range_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/range/range_display.cpp
@@ -104,7 +104,8 @@ void RangeDisplay::updateBufferLength()
   cones_.resize(buffer_length);
 
   for (auto & cone : cones_) {
-    cone.reset(new rviz_rendering::Shape(
+    cone.reset(
+      new rviz_rendering::Shape(
         rviz_rendering::Shape::Cone, context_->getSceneManager(), scene_node_));
 
     cone->setScale(Ogre::Vector3(0, 0, 0));
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/relative_humidity/relative_humidity_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/relative_humidity/relative_humidity_display.cpp
index d5ab6888e..33529ab08 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/relative_humidity/relative_humidity_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/relative_humidity/relative_humidity_display.cpp
@@ -70,5 +70,6 @@ void RelativeHumidityDisplay::processMessage(
 }  // namespace rviz_default_plugins
 
 #include <pluginlib/class_list_macros.hpp>  // NOLINT
-PLUGINLIB_EXPORT_CLASS(rviz_default_plugins::displays::RelativeHumidityDisplay,
+PLUGINLIB_EXPORT_CLASS(
+  rviz_default_plugins::displays::RelativeHumidityDisplay,
   rviz_common::Display)
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/robot_model/robot_model_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/robot_model/robot_model_display.cpp
index 1759e8e1f..31454c9bf 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/robot_model/robot_model_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/robot_model/robot_model_display.cpp
@@ -86,34 +86,40 @@ RobotModelDisplay::RobotModelDisplay()
     std::make_unique<rviz_default_plugins::transformation::TransformerGuard<
       rviz_default_plugins::transformation::TFFrameTransformer>>(this, "TF"))
 {
-  visual_enabled_property_ = new Property("Visual Enabled", true,
-      "Whether to display the visual representation of the robot.",
-      this, SLOT(updateVisualVisible()));
-
-  collision_enabled_property_ = new Property("Collision Enabled", false,
-      "Whether to display the collision representation of the robot.",
-      this, SLOT(updateCollisionVisible()));
-
-  update_rate_property_ = new FloatProperty("Update Interval", 0,
-      "Interval at which to update the links, in seconds. "
-      " 0 means to update every update cycle.",
-      this);
+  visual_enabled_property_ = new Property(
+    "Visual Enabled", true,
+    "Whether to display the visual representation of the robot.",
+    this, SLOT(updateVisualVisible()));
+
+  collision_enabled_property_ = new Property(
+    "Collision Enabled", false,
+    "Whether to display the collision representation of the robot.",
+    this, SLOT(updateCollisionVisible()));
+
+  update_rate_property_ = new FloatProperty(
+    "Update Interval", 0,
+    "Interval at which to update the links, in seconds. "
+    " 0 means to update every update cycle.",
+    this);
   update_rate_property_->setMin(0);
 
-  alpha_property_ = new FloatProperty("Alpha", 1,
-      "Amount of transparency to apply to the links.",
-      this, SLOT(updateAlpha()));
+  alpha_property_ = new FloatProperty(
+    "Alpha", 1,
+    "Amount of transparency to apply to the links.",
+    this, SLOT(updateAlpha()));
   alpha_property_->setMin(0.0);
   alpha_property_->setMax(1.0);
 
-  description_source_property_ = new EnumProperty("Description Source", "Topic",
-      "Source to get the robot description from.", this, SLOT(updatePropertyVisibility()));
+  description_source_property_ = new EnumProperty(
+    "Description Source", "Topic",
+    "Source to get the robot description from.", this, SLOT(updatePropertyVisibility()));
   description_source_property_->addOption("Topic", DescriptionSource::TOPIC);
   description_source_property_->addOption("File", DescriptionSource::FILE);
 
-  description_file_property_ = new FilePickerProperty("Description File", "",
-      "Path to the robot description.",
-      this, SLOT(updateRobotDescription()));
+  description_file_property_ = new FilePickerProperty(
+    "Description File", "",
+    "Path to the robot description.",
+    this, SLOT(updateRobotDescription()));
 
   this->moveChild(topic_property_->rowNumberInParent(), this->numChildren() - 1);
   topic_property_->setDescription("Topic where filepath to urdf is published.");
@@ -121,10 +127,11 @@ RobotModelDisplay::RobotModelDisplay()
 
   qos_profile = rclcpp::QoS(rclcpp::KeepLast(1)).transient_local();
 
-  tf_prefix_property_ = new StringProperty("TF Prefix", "",
-      "Robot Model normally assumes the link name is the same as the tf frame name. "
-      " This option allows you to set a prefix.  Mainly useful for multi-robot situations.",
-      this, SLOT(updateTfPrefix()));
+  tf_prefix_property_ = new StringProperty(
+    "TF Prefix", "",
+    "Robot Model normally assumes the link name is the same as the tf frame name. "
+    " This option allows you to set a prefix.  Mainly useful for multi-robot situations.",
+    this, SLOT(updateTfPrefix()));
 }
 
 RobotModelDisplay::~RobotModelDisplay() = default;
@@ -265,7 +272,8 @@ void RobotModelDisplay::display_urdf_content()
 
 void RobotModelDisplay::updateRobot()
 {
-  robot_->update(robot::TFLinkUpdater(
+  robot_->update(
+    robot::TFLinkUpdater(
       context_->getFrameManager(),
       [this](auto arg1, auto arg2, auto arg3) {linkUpdaterStatusFunction(arg1, arg2, arg3, this);},
       tf_prefix_property_->getStdString()));
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/tf/frame_selection_handler.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/tf/frame_selection_handler.cpp
index 35c98afcf..d28c9b5ba 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/tf/frame_selection_handler.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/tf/frame_selection_handler.cpp
@@ -72,12 +72,14 @@ void FrameSelectionHandler::createProperties(const Picked & obj, Property * pare
 {
   (void) obj;
   (void) display_;
-  category_property_ = new Property("Frame " + QString::fromStdString(frame_->name_),
-      QVariant(), "", parent_property);
+  category_property_ = new Property(
+    "Frame " + QString::fromStdString(frame_->name_),
+    QVariant(), "", parent_property);
 
   enabled_property_ =
-    new BoolProperty("Enabled", true, "", category_property_, SLOT(
-        updateVisibilityFromSelection()), frame_);
+    new BoolProperty(
+    "Enabled", true, "", category_property_, SLOT(
+      updateVisibilityFromSelection()), frame_);
 
   parent_property_ = new StringProperty("Parent", "", "", category_property_);
   parent_property_->setReadOnly(true);
@@ -85,8 +87,9 @@ void FrameSelectionHandler::createProperties(const Picked & obj, Property * pare
   position_property_ = new VectorProperty("Position", Ogre::Vector3::ZERO, "", category_property_);
   position_property_->setReadOnly(true);
 
-  orientation_property_ = new QuaternionProperty("Orientation", Ogre::Quaternion::IDENTITY, "",
-      category_property_);
+  orientation_property_ = new QuaternionProperty(
+    "Orientation", Ogre::Quaternion::IDENTITY, "",
+    category_property_);
   orientation_property_->setReadOnly(true);
 }
 
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/wrench/wrench_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/wrench/wrench_display.cpp
index 783bbe9f6..6c3cf3a85 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/wrench/wrench_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/wrench/wrench_display.cpp
@@ -128,7 +128,8 @@ bool validateFloats(const geometry_msgs::msg::WrenchStamped & msg)
 void WrenchDisplay::processMessage(geometry_msgs::msg::WrenchStamped::ConstSharedPtr msg)
 {
   if (!validateFloats(*msg)) {
-    setStatus(rviz_common::properties::StatusProperty::Error, "Topic",
+    setStatus(
+      rviz_common::properties::StatusProperty::Error, "Topic",
       "Message contained invalid floating point values (nans or infs)");
     return;
   }
diff --git a/rviz_default_plugins/src/rviz_default_plugins/robot/robot.cpp b/rviz_default_plugins/src/rviz_default_plugins/robot/robot.cpp
index bfd5c49e5..a1563bf23 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/robot/robot.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/robot/robot.cpp
@@ -223,7 +223,8 @@ void Robot::update(const LinkUpdater & updater)
         log_error(link, "collision", "position");
         continue;
       }
-      link->setTransforms(visual_position, visual_orientation, collision_position,
+      link->setTransforms(
+        visual_position, visual_orientation, collision_position,
         collision_orientation);
 
       for (const auto & child_joint_name : link->getChildJointNames()) {
@@ -379,7 +380,8 @@ void Robot::calculateJointCheckboxes()
       int child_links_with_geom;
       int child_links_with_geom_checked;
       int child_links_with_geom_unchecked;
-      child_joint->calculateJointCheckboxesRecursive(child_links_with_geom,
+      child_joint->calculateJointCheckboxesRecursive(
+        child_links_with_geom,
         child_links_with_geom_checked,
         child_links_with_geom_unchecked);
       links_with_geom_checked += child_links_with_geom_checked;
diff --git a/rviz_default_plugins/src/rviz_default_plugins/robot/robot_joint.cpp b/rviz_default_plugins/src/rviz_default_plugins/robot/robot_joint.cpp
index baed1c74b..28a07dc96 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/robot/robot_joint.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/robot/robot_joint.cpp
@@ -74,7 +74,8 @@ RobotJoint::RobotJoint(Robot * robot, const urdf::JointConstSharedPtr & joint)
     nullptr,
     SLOT(updateChildVisibility()),
     this);
-  robot_element_property_->setIcon(rviz_common::loadPixmap(
+  robot_element_property_->setIcon(
+    rviz_common::loadPixmap(
       "package://rviz_default_plugins/icons/classes/RobotJoint.png"));
 
   details_ = new Property("Details", QVariant(), "", nullptr);
@@ -283,7 +284,8 @@ void RobotJoint::getChildLinkState(
         int child_links_with_geom;
         int child_links_with_geom_checked;
         int child_links_with_geom_unchecked;
-        child_joint->getChildLinkState(child_links_with_geom, child_links_with_geom_checked,
+        child_joint->getChildLinkState(
+          child_links_with_geom, child_links_with_geom_checked,
           child_links_with_geom_unchecked, recursive);
         links_with_geom_checked += child_links_with_geom_checked;
         links_with_geom_unchecked += child_links_with_geom_unchecked;
diff --git a/rviz_default_plugins/src/rviz_default_plugins/robot/robot_link.cpp b/rviz_default_plugins/src/rviz_default_plugins/robot/robot_link.cpp
index b13615349..d47057758 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/robot/robot_link.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/robot/robot_link.cpp
@@ -123,15 +123,15 @@ void RobotLinkSelectionHandler::createProperties(
   rviz_common::properties::Property * parent_property)
 {
   (void) obj;
-  Property * group = new Property("Link " + QString::fromStdString(link_->getName()),
-      QVariant(), "", parent_property);
+  Property * group = new Property(
+    "Link " + QString::fromStdString(link_->getName()), QVariant(), "", parent_property);
   properties_.push_back(group);
 
   position_property_ = new VectorProperty("Position", Ogre::Vector3::ZERO, "", group);
   position_property_->setReadOnly(true);
 
-  orientation_property_ = new QuaternionProperty("Orientation", Ogre::Quaternion::IDENTITY, "",
-      group);
+  orientation_property_ = new QuaternionProperty(
+    "Orientation", Ogre::Quaternion::IDENTITY, "", group);
   orientation_property_->setReadOnly(true);
 
   group->expand();
@@ -218,7 +218,8 @@ RobotLink::RobotLink(
   createDescription(link);
 
   if (!hasGeometry()) {
-    robot_element_property_->setIcon(rviz_common::loadPixmap(
+    robot_element_property_->setIcon(
+      rviz_common::loadPixmap(
         "package://rviz_default_plugins/icons/classes/RobotLinkNoGeom.png"));
     alpha_property_->hide();
     robot_element_property_->setValue(QVariant());
@@ -229,31 +230,37 @@ void RobotLink::setProperties(const urdf::LinkConstSharedPtr & link)
 {
   robot_element_property_ = new Property(
     link->name.c_str(), true, "", nullptr, SLOT(updateVisibility()), this);
-  robot_element_property_->setIcon(rviz_common::loadPixmap(
+  robot_element_property_->setIcon(
+    rviz_common::loadPixmap(
       "package://rviz_default_plugins/icons/classes/RobotLink.png"));
 
   details_ = new Property("Details", QVariant(), "", nullptr);
 
-  alpha_property_ = new FloatProperty("Alpha", 1,
-      "Amount of transparency to apply to this link.",
-      robot_element_property_, SLOT(updateAlpha()), this);
-
-  trail_property_ = new Property("Show Trail", false,
-      "Enable/disable a 2 meter \"ribbon\" which follows this link.",
-      robot_element_property_, SLOT(updateTrail()), this);
-
-  axes_property_ = new Property("Show Axes", false,
-      "Enable/disable showing the axes of this link.",
-      robot_element_property_, SLOT(updateAxes()), this);
-
-  position_property_ = new VectorProperty("Position", Ogre::Vector3::ZERO,
-      "Position of this link, in the current Fixed Frame.  (Not editable)",
-      robot_element_property_);
+  alpha_property_ = new FloatProperty(
+    "Alpha", 1,
+    "Amount of transparency to apply to this link.",
+    robot_element_property_, SLOT(updateAlpha()), this);
+
+  trail_property_ = new Property(
+    "Show Trail", false,
+    "Enable/disable a 2 meter \"ribbon\" which follows this link.",
+    robot_element_property_, SLOT(updateTrail()), this);
+
+  axes_property_ = new Property(
+    "Show Axes", false,
+    "Enable/disable showing the axes of this link.",
+    robot_element_property_, SLOT(updateAxes()), this);
+
+  position_property_ = new VectorProperty(
+    "Position", Ogre::Vector3::ZERO,
+    "Position of this link, in the current Fixed Frame.  (Not editable)",
+    robot_element_property_);
   position_property_->setReadOnly(true);
 
-  orientation_property_ = new QuaternionProperty("Orientation", Ogre::Quaternion::IDENTITY,
-      "Orientation of this link, in the current Fixed Frame.  (Not editable)",
-      robot_element_property_);
+  orientation_property_ = new QuaternionProperty(
+    "Orientation", Ogre::Quaternion::IDENTITY,
+    "Orientation of this link, in the current Fixed Frame.  (Not editable)",
+    robot_element_property_);
   orientation_property_->setReadOnly(true);
 
   robot_element_property_->collapse();
@@ -740,7 +747,8 @@ void RobotLink::loadMaterialFromTexture(
 
       try {
         image.load(stream, extension);
-        Ogre::TextureManager::getSingleton().loadImage(filename,
+        Ogre::TextureManager::getSingleton().loadImage(
+          filename,
           RVIZ_RESOURCE_GROUP,
           image);
       } catch (Ogre::Exception & e) {
diff --git a/rviz_default_plugins/src/rviz_default_plugins/tools/goal_pose/goal_tool.cpp b/rviz_default_plugins/src/rviz_default_plugins/tools/goal_pose/goal_tool.cpp
index a611a004e..8401f8618 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/tools/goal_pose/goal_tool.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/tools/goal_pose/goal_tool.cpp
@@ -49,9 +49,10 @@ GoalTool::GoalTool()
 {
   shortcut_key_ = 'g';
 
-  topic_property_ = new rviz_common::properties::StringProperty("Topic", "goal_pose",
-      "The topic on which to publish goals.",
-      getPropertyContainer(), SLOT(updateTopic()), this);
+  topic_property_ = new rviz_common::properties::StringProperty(
+    "Topic", "goal_pose",
+    "The topic on which to publish goals.",
+    getPropertyContainer(), SLOT(updateTopic()), this);
 
   qos_profile_property_ = new rviz_common::properties::QosProfileProperty(
     topic_property_, qos_profile_);
diff --git a/rviz_default_plugins/src/rviz_default_plugins/tools/pose/pose_tool.cpp b/rviz_default_plugins/src/rviz_default_plugins/tools/pose/pose_tool.cpp
index ad9c21267..2ea673d67 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/tools/pose/pose_tool.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/tools/pose/pose_tool.cpp
@@ -128,8 +128,9 @@ void PoseTool::makeArrowVisibleAndSetOrientation(double angle)
 
   // we need base_orient, since the arrow goes along the -z axis by default
   // (for historical reasons)
-  Ogre::Quaternion orient_x = Ogre::Quaternion(Ogre::Radian(-Ogre::Math::HALF_PI),
-      Ogre::Vector3::UNIT_Y);
+  Ogre::Quaternion orient_x = Ogre::Quaternion(
+    Ogre::Radian(-Ogre::Math::HALF_PI),
+    Ogre::Vector3::UNIT_Y);
 
   arrow_->setOrientation(Ogre::Quaternion(Ogre::Radian(angle), Ogre::Vector3::UNIT_Z) * orient_x);
 }
diff --git a/rviz_default_plugins/src/rviz_default_plugins/tools/pose_estimate/initial_pose_tool.cpp b/rviz_default_plugins/src/rviz_default_plugins/tools/pose_estimate/initial_pose_tool.cpp
index f82cb19b2..35690effb 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/tools/pose_estimate/initial_pose_tool.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/tools/pose_estimate/initial_pose_tool.cpp
@@ -50,9 +50,10 @@ InitialPoseTool::InitialPoseTool()
 {
   shortcut_key_ = 'p';
 
-  topic_property_ = new rviz_common::properties::StringProperty("Topic", "initialpose",
-      "The topic on which to publish initial pose estimates.",
-      getPropertyContainer(), SLOT(updateTopic()), this);
+  topic_property_ = new rviz_common::properties::StringProperty(
+    "Topic", "initialpose",
+    "The topic on which to publish initial pose estimates.",
+    getPropertyContainer(), SLOT(updateTopic()), this);
 
   qos_profile_property_ = new rviz_common::properties::QosProfileProperty(
     topic_property_, qos_profile_);
diff --git a/rviz_default_plugins/src/rviz_default_plugins/view_controllers/orbit/orbit_view_controller.cpp b/rviz_default_plugins/src/rviz_default_plugins/view_controllers/orbit/orbit_view_controller.cpp
index d7c005d74..fdba3517c 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/view_controllers/orbit/orbit_view_controller.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/view_controllers/orbit/orbit_view_controller.cpp
@@ -69,27 +69,33 @@ using rviz_rendering::Shape;
 OrbitViewController::OrbitViewController()
 : focal_shape_(nullptr), dragging_(false)
 {
-  distance_property_ = new FloatProperty("Distance", DISTANCE_START,
-      "Distance from the focal point.", this);
+  distance_property_ = new FloatProperty(
+    "Distance", DISTANCE_START,
+    "Distance from the focal point.", this);
   distance_property_->setMin(0.01f);
 
-  focal_shape_size_property_ = new FloatProperty("Focal Shape Size", FOCAL_SHAPE_SIZE_START,
-      "Focal shape size.", this);
+  focal_shape_size_property_ = new FloatProperty(
+    "Focal Shape Size", FOCAL_SHAPE_SIZE_START,
+    "Focal shape size.", this);
   focal_shape_size_property_->setMin(0.001f);
 
-  focal_shape_fixed_size_property_ = new BoolProperty("Focal Shape Fixed Size",
-      FOCAL_SHAPE_FIXED_SIZE, "Focal shape size.", this);
+  focal_shape_fixed_size_property_ = new BoolProperty(
+    "Focal Shape Fixed Size",
+    FOCAL_SHAPE_FIXED_SIZE, "Focal shape size.", this);
 
-  yaw_property_ = new FloatProperty("Yaw", YAW_START,
-      "Rotation of the camera around the Z (up) axis.", this);
+  yaw_property_ = new FloatProperty(
+    "Yaw", YAW_START,
+    "Rotation of the camera around the Z (up) axis.", this);
 
-  pitch_property_ = new FloatProperty("Pitch", PITCH_START,
-      "How much the camera is tipped downward.", this);
+  pitch_property_ = new FloatProperty(
+    "Pitch", PITCH_START,
+    "How much the camera is tipped downward.", this);
   pitch_property_->setMax(Ogre::Math::HALF_PI - 0.001f);
   pitch_property_->setMin(-pitch_property_->getMax());
 
-  focal_point_property_ = new VectorProperty("Focal Point", Ogre::Vector3::ZERO,
-      "The center point which the camera orbits.", this);
+  focal_point_property_ = new VectorProperty(
+    "Focal Point", Ogre::Vector3::ZERO,
+    "The center point which the camera orbits.", this);
 }
 
 void OrbitViewController::onInitialize()
@@ -157,7 +163,8 @@ void OrbitViewController::handleMouseEvent(rviz_common::ViewportMouseEvent & eve
 
 void OrbitViewController::setShiftOrbitStatus()
 {
-  setStatus("<b>Left-Click:</b> Move X/Y.  "
+  setStatus(
+    "<b>Left-Click:</b> Move X/Y.  "
     "<b>Right-Click:</b>: Move Z.  "
     "<b>Mouse Wheel:</b>: Zoom.");
 }
@@ -295,7 +302,8 @@ void OrbitViewController::lookAt(const Ogre::Vector3 & point)
 {
   Ogre::SceneNode * camera_parent = camera_->getParentSceneNode();
   Ogre::Vector3 camera_position = camera_parent->getPosition();
-  focal_point_property_->setVector(target_scene_node_->getOrientation().Inverse() *
+  focal_point_property_->setVector(
+    target_scene_node_->getOrientation().Inverse() *
     (point - target_scene_node_->getPosition()));
   distance_property_->setFloat(focal_point_property_->getVector().distance(camera_position));
   updateFocalShapeSize();
@@ -367,7 +375,8 @@ void OrbitViewController::updateFocalShapeSize()
     distance_property = 1;
   }
 
-  focal_shape_->setScale(Ogre::Vector3(
+  focal_shape_->setScale(
+    Ogre::Vector3(
       fshape_size * distance_property,
       fshape_size * distance_property,
       fshape_size * distance_property / 5.0f));
diff --git a/rviz_default_plugins/src/rviz_default_plugins/view_controllers/ortho/fixed_orientation_ortho_view_controller.cpp b/rviz_default_plugins/src/rviz_default_plugins/view_controllers/ortho/fixed_orientation_ortho_view_controller.cpp
index 9087d743c..94f647b46 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/view_controllers/ortho/fixed_orientation_ortho_view_controller.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/view_controllers/ortho/fixed_orientation_ortho_view_controller.cpp
@@ -176,7 +176,8 @@ void FixedOrientationOrthoViewController::onTargetFrameChanged(
 {
   (void) old_reference_orientation;
 
-  move(old_reference_position.x - reference_position_.x,
+  move(
+    old_reference_position.x - reference_position_.x,
     old_reference_position.y - reference_position_.y);
 }
 
@@ -198,7 +199,8 @@ void FixedOrientationOrthoViewController::updateCamera()
   // For Z, we use a value that seems to work very well in the past. It once was connected to
   // half the far_clip_distance.
   auto camera_parent = getCameraParent(camera_);
-  camera_parent->setPosition(Ogre::Vector3(
+  camera_parent->setPosition(
+    Ogre::Vector3(
       x_property_->getFloat(), y_property_->getFloat(), ORTHO_VIEW_CONTROLLER_CAMERA_Z));
 }
 
diff --git a/rviz_default_plugins/src/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller.cpp b/rviz_default_plugins/src/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller.cpp
index 41fcd4945..7fcdcd2a6 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller.cpp
@@ -204,5 +204,6 @@ void XYOrbitViewController::handleWheelEvent(
 }  // namespace rviz_default_plugins
 
 #include <pluginlib/class_list_macros.hpp>  // NOLINT
-PLUGINLIB_EXPORT_CLASS(rviz_default_plugins::view_controllers::XYOrbitViewController,
+PLUGINLIB_EXPORT_CLASS(
+  rviz_default_plugins::view_controllers::XYOrbitViewController,
   rviz_common::ViewController)
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/display_test_fixture.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/display_test_fixture.cpp
index cf0203af4..a8687ce21 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/display_test_fixture.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/display_test_fixture.cpp
@@ -85,7 +85,9 @@ void DisplayTestFixture::mockValidTransform(Ogre::Vector3 position, Ogre::Quater
   EXPECT_CALL(
     *frame_manager_,
     transform(::testing::_, ::testing::_, ::testing::_, ::testing::_, ::testing::_))  // NOLINT
-  .WillRepeatedly(::testing::DoAll(      // NOLINT
+  .WillRepeatedly(
+    // NOLINT
+    ::testing::DoAll(
       ::testing::SetArgReferee<3>(position),
       ::testing::SetArgReferee<4>(orientation),
       ::testing::Return(true)
@@ -94,7 +96,9 @@ void DisplayTestFixture::mockValidTransform(Ogre::Vector3 position, Ogre::Quater
   EXPECT_CALL(
     *frame_manager_,
     getTransform(::testing::_, ::testing::_, ::testing::_, ::testing::_))
-  .WillRepeatedly(::testing::DoAll(      // NOLINT
+  .WillRepeatedly(
+    // NOLINT
+    ::testing::DoAll(
       ::testing::SetArgReferee<2>(position),
       ::testing::SetArgReferee<3>(orientation),
       ::testing::Return(true)
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/fluid_pressure/fluid_pressure_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/fluid_pressure/fluid_pressure_display_visual_test.cpp
index c5782c454..9874aec64 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/fluid_pressure/fluid_pressure_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/fluid_pressure/fluid_pressure_display_visual_test.cpp
@@ -63,7 +63,8 @@ TEST_F(VisualTestFixture, sphere_changes_color_depending_on_fluid_pressure) {
   fluid_pressure_publisher->setFluidPressure(99000);
   captureMainWindow("fluid_pressure_display_low_fluid_pressure");
 
-  executor_->queueAction([fluid_pressure_publisher]()
+  executor_->queueAction(
+    [fluid_pressure_publisher]()
     {
       fluid_pressure_publisher->setFluidPressure(104000);
     });
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/illuminance/illuminance_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/illuminance/illuminance_display_visual_test.cpp
index 330e198fb..57534da2c 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/illuminance/illuminance_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/illuminance/illuminance_display_visual_test.cpp
@@ -63,7 +63,8 @@ TEST_F(VisualTestFixture, sphere_changes_color_depending_on_illuminance) {
   illuminance_publisher->setIlluminance(150);
   captureMainWindow("illuminance_display_low_illuminance");
 
-  executor_->queueAction([illuminance_publisher]()
+  executor_->queueAction(
+    [illuminance_publisher]()
     {
       illuminance_publisher->setIlluminance(800);
     });
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_test.cpp
index 02eb9de5f..30b5b4867 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_test.cpp
@@ -161,7 +161,9 @@ TEST_F(MapTestFixture, showMap_defaults_empty_frame_id_to_map) {
   EXPECT_CALL(
     *frame_manager_,
     transform("/map", _, _, _, _))  // NOLINT
-  .WillRepeatedly(DoAll(    // NOLINT
+  .WillRepeatedly(
+    // NOLINT
+    DoAll(
       SetArgReferee<3>(position), SetArgReferee<4>(orientation), Return(true)));
 
   auto message = createMapMessage();
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_visual_test.cpp
index 380e7d431..fb60aa5b4 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/map/map_display_visual_test.cpp
@@ -42,7 +42,8 @@
 TEST_F(VisualTestFixture, test_map_display_with_large_map) {
   auto publishers = std::vector<PublisherWithFrame>();
   publishers.emplace_back(PublisherWithFrame(std::make_shared<nodes::MapPublisher>(), "map_frame"));
-  publishers.emplace_back(PublisherWithFrame(
+  publishers.emplace_back(
+    PublisherWithFrame(
       std::make_shared<nodes::SingleMarkerPublisher>(), "marker_frame"));
   auto map_publisher = std::make_unique<VisualTestPublisher>(publishers);
 
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_common_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_common_test.cpp
index 4cc31f70c..cf52ca96a 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_common_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_common_test.cpp
@@ -91,7 +91,8 @@ visualization_msgs::msg::Marker::SharedPtr createSharedPtrMessage(
 TEST_F(MarkerCommonFixture, processMessage_creates_correct_marker_on_add_type) {
   mockValidTransform();
 
-  common_->processMessage(createSharedPtrMessage(
+  common_->processMessage(
+    createSharedPtrMessage(
       visualization_msgs::msg::Marker::ADD, visualization_msgs::msg::Marker::TEXT_VIEW_FACING));
 
   auto text = rviz_rendering::findOneMovableText(scene_manager_->getRootSceneNode());
@@ -103,17 +104,20 @@ TEST_F(MarkerCommonFixture, processMessage_creates_correct_marker_on_add_type) {
 TEST_F(MarkerCommonFixture, processMessage_deletes_correct_marker_on_delete_type) {
   mockValidTransform();
 
-  common_->processMessage(createSharedPtrMessage(
+  common_->processMessage(
+    createSharedPtrMessage(
       visualization_msgs::msg::Marker::ADD,
       visualization_msgs::msg::Marker::TEXT_VIEW_FACING,
       0));
 
-  common_->processMessage(createSharedPtrMessage(
+  common_->processMessage(
+    createSharedPtrMessage(
       visualization_msgs::msg::Marker::ADD,
       visualization_msgs::msg::Marker::POINTS,
       1));
 
-  common_->processMessage(createSharedPtrMessage(
+  common_->processMessage(
+    createSharedPtrMessage(
       visualization_msgs::msg::Marker::DELETE,
       visualization_msgs::msg::Marker::TEXT_VIEW_FACING,
       0));
@@ -125,17 +129,20 @@ TEST_F(MarkerCommonFixture, processMessage_deletes_correct_marker_on_delete_type
 TEST_F(MarkerCommonFixture, processMessage_with_deleteall_deletes_all_markers) {
   mockValidTransform();
 
-  common_->processMessage(createSharedPtrMessage(
+  common_->processMessage(
+    createSharedPtrMessage(
       visualization_msgs::msg::Marker::ADD,
       visualization_msgs::msg::Marker::TEXT_VIEW_FACING,
       0));
 
-  common_->processMessage(createSharedPtrMessage(
+  common_->processMessage(
+    createSharedPtrMessage(
       visualization_msgs::msg::Marker::ADD,
       visualization_msgs::msg::Marker::POINTS,
       1));
 
-  common_->processMessage(createSharedPtrMessage(
+  common_->processMessage(
+    createSharedPtrMessage(
       visualization_msgs::msg::Marker::DELETEALL,
       visualization_msgs::msg::Marker::TEXT_VIEW_FACING,
       3));
@@ -156,7 +163,8 @@ TEST_F(MarkerCommonFixture, proccesMessage_add_all_markers_correctly) {
 
   marker->type = visualization_msgs::msg::Marker::MESH_RESOURCE;
   common_->processMessage(marker);
-  ASSERT_TRUE(rviz_rendering::findEntityByMeshName(
+  ASSERT_TRUE(
+    rviz_rendering::findEntityByMeshName(
       scene_manager_->getRootSceneNode(), marker->mesh_resource));
 
   common_->deleteAllMarkers();
@@ -181,7 +189,8 @@ TEST_F(MarkerCommonFixture, proccesMessage_add_all_markers_correctly) {
 
   marker->type = visualization_msgs::msg::Marker::CYLINDER;
   common_->processMessage(marker);
-  ASSERT_TRUE(rviz_rendering::findEntityByMeshName(
+  ASSERT_TRUE(
+    rviz_rendering::findEntityByMeshName(
       scene_manager_->getRootSceneNode(), "rviz_cylinder.mesh"));
 
   common_->deleteAllMarkers();
@@ -201,14 +210,16 @@ TEST_F(MarkerCommonFixture, proccesMessage_add_all_markers_correctly) {
 TEST_F(MarkerCommonFixture, processMessage_adds_two_markers_of_same_type_if_ids_are_different) {
   mockValidTransform();
 
-  common_->processMessage(createSharedPtrMessage(
+  common_->processMessage(
+    createSharedPtrMessage(
       visualization_msgs::msg::Marker::ADD,
       visualization_msgs::msg::Marker::ARROW,
       0));
 
   EXPECT_THAT(rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(1));
 
-  common_->processMessage(createSharedPtrMessage(
+  common_->processMessage(
+    createSharedPtrMessage(
       visualization_msgs::msg::Marker::ADD,
       visualization_msgs::msg::Marker::ARROW,
       1));
@@ -216,7 +227,8 @@ TEST_F(MarkerCommonFixture, processMessage_adds_two_markers_of_same_type_if_ids_
   EXPECT_THAT(rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(2));
 }
 
-TEST_F(MarkerCommonFixture,
+TEST_F(
+  MarkerCommonFixture,
   processMessage_adds_two_markers_of_same_type_if_namespaces_are_different) {
   mockValidTransform();
 
@@ -236,14 +248,16 @@ TEST_F(MarkerCommonFixture,
 TEST_F(MarkerCommonFixture, processMessage_does_not_create_new_marker_if_id_already_exists) {
   mockValidTransform();
 
-  common_->processMessage(createSharedPtrMessage(
+  common_->processMessage(
+    createSharedPtrMessage(
       visualization_msgs::msg::Marker::ADD,
       visualization_msgs::msg::Marker::ARROW,
       0));
 
   EXPECT_THAT(rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(1));
 
-  common_->processMessage(createSharedPtrMessage(
+  common_->processMessage(
+    createSharedPtrMessage(
       visualization_msgs::msg::Marker::ADD,
       visualization_msgs::msg::Marker::ARROW,
       0));
@@ -273,14 +287,16 @@ TEST_F(MarkerCommonFixture, processMessage_updates_modified_marker) {
 TEST_F(MarkerCommonFixture, processMessage_using_modify_works_like_add) {
   mockValidTransform();
 
-  common_->processMessage(createSharedPtrMessage(
+  common_->processMessage(
+    createSharedPtrMessage(
       visualization_msgs::msg::Marker::ADD,
       visualization_msgs::msg::Marker::ARROW,
       0));
 
   EXPECT_THAT(rviz_rendering::findAllArrows(scene_manager_->getRootSceneNode()), SizeIs(1));
 
-  common_->processMessage(createSharedPtrMessage(
+  common_->processMessage(
+    createSharedPtrMessage(
       visualization_msgs::msg::Marker::MODIFY,
       visualization_msgs::msg::Marker::ARROW,
       0));
@@ -300,12 +316,14 @@ TEST_F(MarkerCommonFixture, update_retransforms_frame_locked_messages) {
   EXPECT_CALL(
     *frame_manager_,
     transform(_, _, _, _, _))  // NOLINT
-  .WillOnce(DoAll(
+  .WillOnce(
+    DoAll(
       SetArgReferee<3>(starting_position),
       SetArgReferee<4>(starting_orientation),
       Return(true)
   ))
-  .WillOnce(DoAll(
+  .WillOnce(
+    DoAll(
       SetArgReferee<3>(next_position),
       SetArgReferee<4>(next_orientation),
       Return(true)));
@@ -315,13 +333,15 @@ TEST_F(MarkerCommonFixture, update_retransforms_frame_locked_messages) {
   auto pointCloud = rviz_rendering::findOnePointCloud(scene_manager_->getRootSceneNode());
   ASSERT_TRUE(pointCloud);
   EXPECT_THAT(pointCloud->getParentSceneNode()->getPosition(), Vector3Eq(starting_position));
-  EXPECT_THAT(pointCloud->getParentSceneNode()->getOrientation(),
+  EXPECT_THAT(
+    pointCloud->getParentSceneNode()->getOrientation(),
     QuaternionEq(starting_orientation));
 
   common_->update(0, 0);
 
   EXPECT_THAT(pointCloud->getParentSceneNode()->getPosition(), Vector3Eq(next_position));
-  EXPECT_THAT(pointCloud->getParentSceneNode()->getOrientation(),
+  EXPECT_THAT(
+    pointCloud->getParentSceneNode()->getOrientation(),
     QuaternionEq(next_orientation));
 }
 
@@ -335,7 +355,8 @@ TEST_F(MarkerCommonFixture, update_does_not_retransform_normal_messages) {
   EXPECT_CALL(
     *frame_manager_,
     transform(_, _, _, _, _))  // NOLINT
-  .WillOnce(DoAll(
+  .WillOnce(
+    DoAll(
       SetArgReferee<3>(starting_position),
       SetArgReferee<4>(starting_orientation),
       Return(true)
@@ -346,13 +367,15 @@ TEST_F(MarkerCommonFixture, update_does_not_retransform_normal_messages) {
   auto pointCloud = rviz_rendering::findOnePointCloud(scene_manager_->getRootSceneNode());
   ASSERT_TRUE(pointCloud);
   EXPECT_THAT(pointCloud->getParentSceneNode()->getPosition(), Vector3Eq(starting_position));
-  EXPECT_THAT(pointCloud->getParentSceneNode()->getOrientation(),
+  EXPECT_THAT(
+    pointCloud->getParentSceneNode()->getOrientation(),
     QuaternionEq(starting_orientation));
 
   common_->update(0, 0);
 
   EXPECT_THAT(pointCloud->getParentSceneNode()->getPosition(), Vector3Eq(starting_position));
-  EXPECT_THAT(pointCloud->getParentSceneNode()->getOrientation(),
+  EXPECT_THAT(
+    pointCloud->getParentSceneNode()->getOrientation(),
     QuaternionEq(starting_orientation));
 }
 
@@ -366,25 +389,30 @@ TEST_F(MarkerCommonFixture, processMessage_adds_new_namespace_for_message) {
 
   common_->processMessage(marker);
 
-  ASSERT_THAT(display_->findProperty("Namespaces")->childAt(0)->getName().toStdString(),
+  ASSERT_THAT(
+    display_->findProperty("Namespaces")->childAt(0)->getName().toStdString(),
     StrEq("test_ns"));
 }
 
 TEST_F(MarkerCommonFixture, processMessage_does_not_add_new_namespace_if_already_present) {
   mockValidTransform();
 
-  common_->processMessage(createSharedPtrMessage(
+  common_->processMessage(
+    createSharedPtrMessage(
       visualization_msgs::msg::Marker::ADD, visualization_msgs::msg::Marker::POINTS));
 
   ASSERT_THAT(display_->findProperty("Namespaces")->numChildren(), Eq(1));
-  ASSERT_THAT(display_->findProperty("Namespaces")->childAt(0)->getName().toStdString(),
+  ASSERT_THAT(
+    display_->findProperty("Namespaces")->childAt(0)->getName().toStdString(),
     StrEq("test_ns"));
 
-  common_->processMessage(createSharedPtrMessage(
+  common_->processMessage(
+    createSharedPtrMessage(
       visualization_msgs::msg::Marker::ADD, visualization_msgs::msg::Marker::TEXT_VIEW_FACING));
 
   ASSERT_THAT(display_->findProperty("Namespaces")->numChildren(), Eq(1));
-  ASSERT_THAT(display_->findProperty("Namespaces")->childAt(0)->getName().toStdString(),
+  ASSERT_THAT(
+    display_->findProperty("Namespaces")->childAt(0)->getName().toStdString(),
     StrEq("test_ns"));
 }
 
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/line_marker_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/line_marker_test.cpp
index 24d5eeaab..047fd0cc4 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/line_marker_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/line_marker_test.cpp
@@ -148,15 +148,18 @@ TEST_F(MarkersTestFixture, setMessage_adds_billboard_line_with_one_color) {
   EXPECT_TRUE(billboard_chain->isVisible());
   EXPECT_THAT(billboard_chain->getNumberOfChains(), Eq(1u));
   EXPECT_THAT(billboard_chain->getNumChainElements(0), Eq(2u));
-  EXPECT_THAT(billboard_chain->getChainElement(0, 1).position,
+  EXPECT_THAT(
+    billboard_chain->getChainElement(0, 1).position,
     Vector3Eq(Ogre::Vector3(first_point.x, first_point.y, first_point.z)));
-  EXPECT_THAT(billboard_chain->getChainElement(0, 0).position,
+  EXPECT_THAT(
+    billboard_chain->getChainElement(0, 0).position,
     Vector3Eq(Ogre::Vector3(second_point.x, second_point.y, second_point.z)));
   assertColorEquals(message.color, billboard_chain, 0);
   assertColorEquals(message.color, billboard_chain, 1);
 }
 
-TEST_F(MarkersTestFixture,
+TEST_F(
+  MarkersTestFixture,
   setMessage_adds_billboard_line_with_many_colors_if_all_points_have_color_information) {
   marker_ = makeMarker<rviz_default_plugins::displays::markers::LineListMarker>();
   mockValidTransform();
@@ -179,9 +182,11 @@ TEST_F(MarkersTestFixture,
   EXPECT_TRUE(billboard_chain->isVisible());
   EXPECT_THAT(billboard_chain->getNumberOfChains(), Eq(1u));
   EXPECT_THAT(billboard_chain->getNumChainElements(0), Eq(2u));
-  EXPECT_THAT(billboard_chain->getChainElement(0, 1).position,
+  EXPECT_THAT(
+    billboard_chain->getChainElement(0, 1).position,
     Vector3Eq(Ogre::Vector3(first_point.x, first_point.y, first_point.z)));
-  EXPECT_THAT(billboard_chain->getChainElement(0, 0).position,
+  EXPECT_THAT(
+    billboard_chain->getChainElement(0, 0).position,
     Vector3Eq(Ogre::Vector3(second_point.x, second_point.y, second_point.z)));
   assertColorEquals(second_point_color, billboard_chain, 0);
   assertColorEquals(first_point_color, billboard_chain, 1);
@@ -222,10 +227,13 @@ TEST_F(MarkersTestFixture, setMessage_adds_many_points_into_same_chain) {
   EXPECT_TRUE(billboard_chain->isVisible());
   EXPECT_THAT(billboard_chain->getNumberOfChains(), Eq(1u));
   EXPECT_THAT(billboard_chain->getNumChainElements(0), Eq(3u));
-  EXPECT_THAT(billboard_chain->getChainElement(0, 2).position,
+  EXPECT_THAT(
+    billboard_chain->getChainElement(0, 2).position,
     Vector3Eq(Ogre::Vector3(first_point.x, first_point.y, first_point.z)));
-  EXPECT_THAT(billboard_chain->getChainElement(0, 1).position,
+  EXPECT_THAT(
+    billboard_chain->getChainElement(0, 1).position,
     Vector3Eq(Ogre::Vector3(second_point.x, second_point.y, second_point.z)));
-  EXPECT_THAT(billboard_chain->getChainElement(0, 0).position,
+  EXPECT_THAT(
+    billboard_chain->getChainElement(0, 0).position,
     Vector3Eq(Ogre::Vector3(third_point.x, third_point.y, third_point.z)));
 }
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/mesh_resource_marker_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/mesh_resource_marker_test.cpp
index 4e9243c56..08852653a 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/mesh_resource_marker_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/markers/mesh_resource_marker_test.cpp
@@ -79,8 +79,8 @@ TEST_F(MarkersTestFixture, setMessage_with_transform_sets_position_and_orientati
   ASSERT_TRUE(entity);
   EXPECT_TRUE(entity->isVisible());
   EXPECT_THAT(entity->getParentSceneNode()->getPosition(), Vector3Eq(Ogre::Vector3(0, 1, 0)));
-  EXPECT_THAT(entity->getParentSceneNode()->getOrientation(),
-    QuaternionEq(Ogre::Quaternion(0, 0, 1, 0)));
+  EXPECT_THAT(
+    entity->getParentSceneNode()->getOrientation(), QuaternionEq(Ogre::Quaternion(0, 0, 1, 0)));
 }
 
 TEST_F(MarkersTestFixture, setMessage_does_not_attach_entity_when_mesh_is_missing) {
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/odometry/odometry_display_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/odometry/odometry_display_test.cpp
index 3f0c5df20..604d64eed 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/odometry/odometry_display_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/odometry/odometry_display_test.cpp
@@ -141,7 +141,8 @@ TEST_F(OdometryDisplayFixture, processMessage_returns_early_if_transform_is_miss
   EXPECT_THAT(axes, IsEmpty());
 }
 
-TEST_F(OdometryDisplayFixture,
+TEST_F(
+  OdometryDisplayFixture,
   processMessage_returns_early_if_message_position_and_orientation_are_close_to_previous_ones) {
   mockValidTransform();
   auto odometry_message = createOdometryMessage();
@@ -190,18 +191,22 @@ TEST_F(
 
   display_->processMessage(odometry_message);
 
-  EXPECT_TRUE(rviz_default_plugins::arrowIsVisible(
+  EXPECT_TRUE(
+    rviz_default_plugins::arrowIsVisible(
       rviz_rendering::findOneArrow(scene_manager_->getRootSceneNode())));
-  EXPECT_FALSE(rviz_default_plugins::axesAreVisible(
+  EXPECT_FALSE(
+    rviz_default_plugins::axesAreVisible(
       rviz_rendering::findOneAxes(scene_manager_->getRootSceneNode())));
 
   shape_property->setString("Axes");
   odometry_message->pose.pose.position.x = 35;
   display_->processMessage(odometry_message);
 
-  EXPECT_FALSE(rviz_default_plugins::arrowIsVisible(
+  EXPECT_FALSE(
+    rviz_default_plugins::arrowIsVisible(
       rviz_rendering::findOneArrow(scene_manager_->getRootSceneNode())));
-  EXPECT_TRUE(rviz_default_plugins::axesAreVisible(
+  EXPECT_TRUE(
+    rviz_default_plugins::axesAreVisible(
       rviz_rendering::findOneAxes(scene_manager_->getRootSceneNode())));
 }
 
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/odometry/quaternion_helper_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/odometry/quaternion_helper_test.cpp
index e4653bff5..6543d4105 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/odometry/quaternion_helper_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/odometry/quaternion_helper_test.cpp
@@ -40,8 +40,8 @@ using namespace ::testing;  // NOLINT
 TEST(QuaternionHelper, ogreQuaternionHelper_returns_0_for_equal_inputs) {
   Ogre::Quaternion quaternion(1.0f, 0.0f, 0.0f, 0.0f);
 
-  EXPECT_THAT(rviz_default_plugins::ogreQuaternionAngularDistance(quaternion, quaternion),
-    Eq(0.0f));
+  EXPECT_THAT(
+    rviz_default_plugins::ogreQuaternionAngularDistance(quaternion, quaternion), Eq(0.0f));
 }
 
 TEST(QuaternionHelper, ogreQuaternionHelper_returns_angle) {
@@ -54,8 +54,10 @@ TEST(QuaternionHelper, ogreQuaternionHelper_returns_angle) {
   Ogre::Quaternion quaternion3;
   quaternion3.FromAngleAxis(Ogre::Radian(1.2f), axis);
 
-  EXPECT_THAT(rviz_default_plugins::ogreQuaternionAngularDistance(quaternion1, quaternion2),
+  EXPECT_THAT(
+    rviz_default_plugins::ogreQuaternionAngularDistance(quaternion1, quaternion2),
     FloatNear(0.5f, 0.001f));
-  EXPECT_THAT(rviz_default_plugins::ogreQuaternionAngularDistance(quaternion1, quaternion3),
+  EXPECT_THAT(
+    rviz_default_plugins::ogreQuaternionAngularDistance(quaternion1, quaternion3),
     FloatNear(1.2f, 0.001f));
 }
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/point/point_stamped_display_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/point/point_stamped_display_test.cpp
index 02dac6265..0f86071d3 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/point/point_stamped_display_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/point/point_stamped_display_test.cpp
@@ -79,8 +79,9 @@ void assertPointsPresent(std::vector<Ogre::Entity *> entities, Ogre::Vector3 pos
 {
   bool found = false;
   for (auto entity : entities) {
-    if (Matches(Vector3Eq(position))(entity->getParentSceneNode()
-      ->getParentSceneNode()->getPosition()))
+    if (
+      Matches(Vector3Eq(position))(
+        entity->getParentSceneNode()->getParentSceneNode()->getPosition()))
     {
       found = true;
     }
@@ -98,8 +99,8 @@ TEST_F(PointStampedTestFixture, processMessage_adds_nothing_to_scene_if_invalid_
   EXPECT_THAT(objects.size(), Eq(0u));
 }
 
-TEST_F(PointStampedTestFixture,
-  processMessage_stores_no_more_messages_in_scene_than_history_allows)
+TEST_F(
+  PointStampedTestFixture, processMessage_stores_no_more_messages_in_scene_than_history_allows)
 {
   mockValidTransform();
   EXPECT_THAT(point_stamped_display_->childAt(4)->getNameStd(), StrEq("History Length"));
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_common_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_common_test.cpp
index 218820c37..1c1e67582 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_common_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_common_test.cpp
@@ -182,7 +182,8 @@ TEST_F(PointCloudCommonTestFixture, update_colors_the_points_using_the_selected_
   EXPECT_THAT(point_cloud->getPoints()[0].color, ColourValueEq(Ogre::ColourValue(1, 0, 0)));
 }
 
-TEST_F(PointCloudCommonTestFixture,
+TEST_F(
+  PointCloudCommonTestFixture,
   sending_a_point_cloud_with_not_enough_data_results_in_error_but_no_crash)
 {
   point_cloud_common_->initialize(
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_selection_handler_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_selection_handler_test.cpp
index b479604a0..75f00e1f8 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_selection_handler_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_selection_handler_test.cpp
@@ -148,7 +148,8 @@ TEST_F(PointCloudSelectionHandlerFixture, onSelect_selects_only_points_actually_
     ContainsWireBoxWithBoundingBox(Ogre::AxisAlignedBox(0.5f, -1.5f, 0.5f, 1.5f, -0.5f, 1.5f)));
 }
 
-TEST_F(PointCloudSelectionHandlerFixture,
+TEST_F(
+  PointCloudSelectionHandlerFixture,
   onDeselect_destroys_wired_bounding_boxes_for_unpicked_objects)
 {
   std::vector<rviz_default_plugins::Point> message_points =
@@ -177,7 +178,8 @@ TEST_F(PointCloudSelectionHandlerFixture,
     ContainsWireBoxWithBoundingBox(Ogre::AxisAlignedBox(0.5f, -1.5f, 0.5f, 1.5f, -0.5f, 1.5f)));
 }
 
-TEST_F(PointCloudSelectionHandlerFixture,
+TEST_F(
+  PointCloudSelectionHandlerFixture,
   createProperties_creates_tree_of_properties_without_color_for_simple_clouds)
 {
   std::vector<rviz_default_plugins::Point> message_points =
@@ -199,17 +201,20 @@ TEST_F(PointCloudSelectionHandlerFixture,
   auto first_point_property = parent->childAt(0);
   ASSERT_THAT(first_point_property, HasNumberOfSubproperties(1));
   EXPECT_THAT(first_point_property->getNameStd(), StartsWith("Point 0 [cloud"));
-  EXPECT_THAT(first_point_property->childAt(0),
+  EXPECT_THAT(
+    first_point_property->childAt(0),
     HasPositionPropertyWithPosition(Ogre::Vector3(1, 1, 1)));
 
   auto second_point_property = parent->childAt(1);
   ASSERT_THAT(second_point_property, HasNumberOfSubproperties(1));
   EXPECT_THAT(second_point_property->getNameStd(), StartsWith("Point 3 [cloud"));
-  EXPECT_THAT(second_point_property->childAt(0),
+  EXPECT_THAT(
+    second_point_property->childAt(0),
     HasPositionPropertyWithPosition(Ogre::Vector3(1, -1, 1)));
 }
 
-TEST_F(PointCloudSelectionHandlerFixture,
+TEST_F(
+  PointCloudSelectionHandlerFixture,
   createProperties_creates_tree_of_properties_with_color_for_clouds_with_rgb)
 {
   std::vector<rviz_default_plugins::ColoredPoint> message_points =
@@ -234,7 +239,8 @@ TEST_F(PointCloudSelectionHandlerFixture,
   EXPECT_THAT(parent->childAt(1), HasColorProperty("1; 1; 1", 0.0f));
 }
 
-TEST_F(PointCloudSelectionHandlerFixture,
+TEST_F(
+  PointCloudSelectionHandlerFixture,
   createProperties_creates_tree_of_properties_with_intensity_for_clouds_with_intensity)
 {
   std::vector<rviz_default_plugins::PointWithIntensity> message_points =
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/intensity_pc_transformer_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/intensity_pc_transformer_test.cpp
index 4ed4e32e0..8cb071bb4 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/intensity_pc_transformer_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_transformers/intensity_pc_transformer_test.cpp
@@ -62,7 +62,8 @@ TEST(IntensityPCTransformer, transform_returns_points_colored_depending_on_the_i
   ASSERT_THAT(points_out[2].color, Eq(Ogre::ColourValue(1, 0, 1)));  // 1
 }
 
-TEST(IntensityPCTransformer,
+TEST(
+  IntensityPCTransformer,
   transform_interpolates_between_min_and_max_color_if_use_rainbow_is_diabled) {
   PointWithIntensity p1 = {0, 0, 0, 0};
   PointWithIntensity p2 = {0, 0, 0, 1};
@@ -94,7 +95,8 @@ TEST(IntensityPCTransformer,
   ASSERT_THAT(points_out[2].color, Eq(Ogre::ColourValue(1, 0, 0)));  // 1
 }
 
-TEST(IntensityPCTransformer,
+TEST(
+  IntensityPCTransformer,
   transform_uses_default_min_max_intensity_if_autocompute_bounds_is_disabled) {
   PointWithIntensity p1 = {0, 0, 0, 0};
   PointWithIntensity p2 = {0, 0, 0, 1024};
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/pose_array/pose_array_display_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/pose_array/pose_array_display_test.cpp
index a9355c5d5..b0ee55c63 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/pose_array/pose_array_display_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/pose_array/pose_array_display_test.cpp
@@ -123,7 +123,8 @@ TEST_F(PoseArrayDisplayFixture, at_startup_only_flat_arrows_propertie_are_visibl
   EXPECT_FALSE(arrow_2d_length_property_->getHidden());
 }
 
-TEST_F(PoseArrayDisplayFixture,
+TEST_F(
+  PoseArrayDisplayFixture,
   processMessage_corrctly_manages_property_visibility_from_arrow2d_to_arrow3d) {
   mockValidTransform();
   auto msg = createMessageWithOnePose();
@@ -142,7 +143,8 @@ TEST_F(PoseArrayDisplayFixture,
   EXPECT_TRUE(arrow_2d_length_property_->getHidden());
 }
 
-TEST_F(PoseArrayDisplayFixture,
+TEST_F(
+  PoseArrayDisplayFixture,
   processMessage_corrctly_manages_property_visibility_from_arrow2d_to_axes) {
   mockValidTransform();
   auto msg = createMessageWithOnePose();
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/relative_humidity/relative_humidity_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/relative_humidity/relative_humidity_display_visual_test.cpp
index 564f96d07..a892cae8c 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/relative_humidity/relative_humidity_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/relative_humidity/relative_humidity_display_visual_test.cpp
@@ -63,7 +63,8 @@ TEST_F(VisualTestFixture, sphere_changes_color_depending_on_relative_humidity) {
   relative_humidity_publisher->setRelativeHumidity(0.15);
   captureMainWindow("relative_humidity_display_low_relative_humidity");
 
-  executor_->queueAction([relative_humidity_publisher]()
+  executor_->queueAction(
+    [relative_humidity_publisher]()
     {
       relative_humidity_publisher->setRelativeHumidity(0.85);
     });
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/temperature/temperature_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/temperature/temperature_display_visual_test.cpp
index 0533a1a31..45123c2a1 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/temperature/temperature_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/temperature/temperature_display_visual_test.cpp
@@ -63,7 +63,8 @@ TEST_F(VisualTestFixture, sphere_changes_color_depending_on_temperature) {
   temperature_publisher->setTemperature(15.);
   captureMainWindow("temperature_display_low_temperature");
 
-  executor_->queueAction([temperature_publisher]()
+  executor_->queueAction(
+    [temperature_publisher]()
     {
       temperature_publisher->setTemperature(85.);
     });
diff --git a/rviz_default_plugins/test/rviz_default_plugins/mock_frame_manager.hpp b/rviz_default_plugins/test/rviz_default_plugins/mock_frame_manager.hpp
index a3afd597a..053a12e7d 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/mock_frame_manager.hpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/mock_frame_manager.hpp
@@ -53,9 +53,11 @@ class MockFrameManager : public rviz_common::FrameManagerIface
   MOCK_METHOD0(getTime, rclcpp::Time());
 
   MOCK_METHOD3(getTransform, bool(const std::string &, Ogre::Vector3 &, Ogre::Quaternion &));
-  MOCK_METHOD4(getTransform, bool(
+  MOCK_METHOD4(
+    getTransform, bool(
       const std::string &, rclcpp::Time, Ogre::Vector3 &, Ogre::Quaternion &));
-  MOCK_METHOD5(transform, bool(
+  MOCK_METHOD5(
+    transform, bool(
       const std::string &,
       rclcpp::Time,
       const geometry_msgs::msg::Pose &,
@@ -66,8 +68,8 @@ class MockFrameManager : public rviz_common::FrameManagerIface
   MOCK_METHOD2(transformHasProblems, bool(const std::string &, std::string &));
   MOCK_METHOD3(transformHasProblems, bool(const std::string &, rclcpp::Time, std::string &));
   MOCK_METHOD0(getFixedFrame, const std::string & ());
-  MOCK_METHOD0(getConnector,
-    rviz_common::transformation::TransformationLibraryConnector::WeakPtr());
+  MOCK_METHOD0(
+    getConnector, rviz_common::transformation::TransformationLibraryConnector::WeakPtr());
   MOCK_METHOD0(getTransformer, std::shared_ptr<rviz_common::transformation::FrameTransformer>());
   MOCK_METHOD0(getAllFrameNames, std::vector<std::string>());
   MOCK_METHOD1(
diff --git a/rviz_default_plugins/test/rviz_default_plugins/mock_handler_manager.hpp b/rviz_default_plugins/test/rviz_default_plugins/mock_handler_manager.hpp
index 2c19ff227..48074359a 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/mock_handler_manager.hpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/mock_handler_manager.hpp
@@ -48,12 +48,14 @@ class MockHandlerManager : public rviz_common::interaction::HandlerManagerIface
 public:
   MOCK_METHOD0(createHandle, rviz_common::interaction::CollObjectHandle());
 
-  MOCK_METHOD2(addHandler, void(rviz_common::interaction::CollObjectHandle,
+  MOCK_METHOD2(
+    addHandler, void(rviz_common::interaction::CollObjectHandle,
     rviz_common::interaction::SelectionHandlerWeakPtr));
   MOCK_METHOD1(removeHandler, void(rviz_common::interaction::CollObjectHandle));
   MOCK_METHOD1(addListener, void(rviz_common::interaction::HandlerManagerListener *));
   MOCK_METHOD1(removeListener, void(rviz_common::interaction::HandlerManagerListener *));
-  MOCK_METHOD1(getHandler,
+  MOCK_METHOD1(
+    getHandler,
     rviz_common::interaction::SelectionHandlerPtr(rviz_common::interaction::CollObjectHandle));
 
   MOCK_METHOD1(enableInteraction, void(bool));
diff --git a/rviz_default_plugins/test/rviz_default_plugins/mock_window_manager_interface.hpp b/rviz_default_plugins/test/rviz_default_plugins/mock_window_manager_interface.hpp
index 83f19752c..24d572b20 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/mock_window_manager_interface.hpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/mock_window_manager_interface.hpp
@@ -41,7 +41,8 @@ class MockWindowManagerInterface : public rviz_common::WindowManagerInterface
 public:
   MOCK_METHOD0(getParentWindow, QWidget * ());
 
-  MOCK_METHOD4(addPane,
+  MOCK_METHOD4(
+    addPane,
     rviz_common::PanelDockWidget *(
       const QString & name, QWidget * pane, Qt::DockWidgetArea area, bool floating));
 
diff --git a/rviz_default_plugins/test/rviz_default_plugins/robot/mock_link_updater.hpp b/rviz_default_plugins/test/rviz_default_plugins/robot/mock_link_updater.hpp
index 6507eb3af..5d158be90 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/robot/mock_link_updater.hpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/robot/mock_link_updater.hpp
@@ -44,14 +44,16 @@
 class MockLinkUpdater : public rviz_default_plugins::robot::LinkUpdater
 {
 public:
-  MOCK_CONST_METHOD5(getLinkTransforms, bool(
+  MOCK_CONST_METHOD5(
+    getLinkTransforms, bool(
       const std::string & link_name,
       Ogre::Vector3 & visual_position,
       Ogre::Quaternion & visual_orientation,
       Ogre::Vector3 & collision_position,
       Ogre::Quaternion & collision_orientation));
 
-  MOCK_CONST_METHOD3(setLinkStatus, void(
+  MOCK_CONST_METHOD3(
+    setLinkStatus, void(
       rviz_common::properties::StatusLevel level,
       const std::string & link_name,
       const std::string & text));
diff --git a/rviz_default_plugins/test/rviz_default_plugins/robot/robot_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/robot/robot_test.cpp
index 5b3040c73..d6d54ca3d 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/robot/robot_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/robot/robot_test.cpp
@@ -128,13 +128,16 @@ TEST_F(RobotTestFixture, load_creates_links_and_sets_the_scene_node_positions) {
   auto link1 = robot_->getLink("test_robot_link");
   EXPECT_THAT(link1->getVisualNode()->getChild(0)->getPosition(), Vector3Eq(Ogre::Vector3::ZERO));
   EXPECT_THAT(link1->getVisualNode()->getChild(0)->getScale(), Vector3Eq(Ogre::Vector3(1, 1, 1)));
-  EXPECT_THAT(link1->getCollisionNode()->getChild(0)->getPosition(),
+  EXPECT_THAT(
+    link1->getCollisionNode()->getChild(0)->getPosition(),
     Vector3Eq(Ogre::Vector3::ZERO));
-  EXPECT_THAT(link1->getCollisionNode()->getChild(0)->getScale(),
+  EXPECT_THAT(
+    link1->getCollisionNode()->getChild(0)->getScale(),
     Vector3Eq(Ogre::Vector3(1, 1, 1)));
 
   auto link3 = robot_->getLink("test_robot_link_head");
-  EXPECT_THAT(link3->getVisualNode()->getChild(0)->getPosition(),
+  EXPECT_THAT(
+    link3->getVisualNode()->getChild(0)->getPosition(),
     Vector3Eq(Ogre::Vector3(0, 0, 2)));
   EXPECT_THAT(link3->getVisualNode()->getChild(0)->getScale(), Vector3Eq(Ogre::Vector3(2, 2, 2)));
   EXPECT_THAT(link3->getCollisionNode()->numChildren(), Eq(0u));
@@ -144,16 +147,20 @@ TEST_F(RobotTestFixture, load_sets_joint_parents_and_children) {
   robot_->load(urdf_model_);
 
   EXPECT_THAT(robot_->getJoint("test_robot_fixed1")->getParentLinkName(), StrEq("test_robot_link"));
-  EXPECT_THAT(robot_->getJoint("test_robot_fixed1")->getChildLinkName(),
+  EXPECT_THAT(
+    robot_->getJoint("test_robot_fixed1")->getChildLinkName(),
     StrEq("test_robot_link_right_arm"));
 
   EXPECT_THAT(robot_->getJoint("test_robot_fixed2")->getParentLinkName(), StrEq("test_robot_link"));
-  EXPECT_THAT(robot_->getJoint("test_robot_fixed2")->getChildLinkName(),
+  EXPECT_THAT(
+    robot_->getJoint("test_robot_fixed2")->getChildLinkName(),
     StrEq("test_robot_link_left_arm"));
 
-  EXPECT_THAT(robot_->getJoint("test_robot_continuous")->getParentLinkName(),
+  EXPECT_THAT(
+    robot_->getJoint("test_robot_continuous")->getParentLinkName(),
     StrEq("test_robot_link"));
-  EXPECT_THAT(robot_->getJoint("test_robot_continuous")->getChildLinkName(),
+  EXPECT_THAT(
+    robot_->getJoint("test_robot_continuous")->getChildLinkName(),
     StrEq("test_robot_link_head"));
 }
 
@@ -245,7 +252,8 @@ TEST_F(RobotTestFixture, update_sets_position_and_orientation_in_links_and_joint
   Ogre::Quaternion collision_orientation(0, 0, 0, 1);
 
   EXPECT_CALL(link_updater, getLinkTransforms(StrEq("test_robot_link"), _, _, _, _))
-  .WillOnce(DoAll(
+  .WillOnce(
+    DoAll(
       SetArgReferee<1>(visual_position),
       SetArgReferee<2>(visual_orientation),
       SetArgReferee<3>(collision_position),
@@ -275,10 +283,12 @@ TEST_F(RobotTestFixture, link_descriptions_show_correct_hierarchy) {
   EXPECT_THAT(prop->numChildren(), Eq(9));
   EXPECT_THAT(prop->childAt(0)->getNameStd(), StrEq("Link Tree Style"));
   EXPECT_THAT(prop->childAt(5)->getNameStd(), StrEq("test_robot_link"));
-  EXPECT_THAT(prop->childAt(5)->getDescription().toStdString(),
-    StrEq("Root Link <b>test_robot_link</b> has 3 child joints: "
-    "<b>test_robot_continuous</b>, <b>test_robot_fixed1</b>, <b>test_robot_fixed2</b>.  "
-    "Check/uncheck to show/hide this link in the display."
+  EXPECT_THAT(
+    prop->childAt(5)->getDescription().toStdString(),
+    StrEq(
+      "Root Link <b>test_robot_link</b> has 3 child joints: "
+      "<b>test_robot_continuous</b>, <b>test_robot_fixed1</b>, <b>test_robot_fixed2</b>.  "
+      "Check/uncheck to show/hide this link in the display."
     )
   );
 }
@@ -292,10 +302,12 @@ TEST_F(RobotTestFixture, joint_descriptions_show_correct_hierarchy) {
   EXPECT_THAT(prop->numChildren(), Eq(8));
   EXPECT_THAT(prop->childAt(0)->getNameStd(), StrEq("Link Tree Style"));
   EXPECT_THAT(prop->childAt(5)->getNameStd(), StrEq("test_robot_continuous"));
-  EXPECT_THAT(prop->childAt(5)->getDescription().toStdString(),
-    StrEq("Joint <b>test_robot_continuous</b> with parent link <b>test_robot_link</b> "
-    "and child link <b>test_robot_link_head</b>.  "
-    "Check/uncheck to show/hide this joint's child link."
+  EXPECT_THAT(
+    prop->childAt(5)->getDescription().toStdString(),
+    StrEq(
+      "Joint <b>test_robot_continuous</b> with parent link <b>test_robot_link</b> "
+      "and child link <b>test_robot_link_head</b>.  "
+      "Check/uncheck to show/hide this joint's child link."
     )
   );
 }
diff --git a/rviz_default_plugins/test/rviz_default_plugins/tools/pose/pose_tool_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/tools/pose/pose_tool_test.cpp
index 0defd4186..5e2abe406 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/tools/pose/pose_tool_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/tools/pose/pose_tool_test.cpp
@@ -107,7 +107,8 @@ TEST_F(PoseToolTestFixture, processMouseEvent_sets_arrow_position_below_mouse_cu
   EXPECT_THAT(arrows[0]->getPosition(), Vector3Eq(Ogre::Vector3(10, 15, 0)));
 }
 
-TEST_F(PoseToolTestFixture,
+TEST_F(
+  PoseToolTestFixture,
   processMouseEvent_sets_arrow_orientation_in_direction_of_the_mouse_while_making_it_visible) {
   auto left_click_event = generateMousePressEvent(10, 10);
   auto move_mouse_event = generateMouseMoveWhileLeftClickedEvent(0, 0);
diff --git a/rviz_default_plugins/test/rviz_default_plugins/tools/select/selection_tool_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/tools/select/selection_tool_test.cpp
index 0d70c3df1..e5ca2e003 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/tools/select/selection_tool_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/tools/select/selection_tool_test.cpp
@@ -84,7 +84,8 @@ TEST_F(SelectionToolTestFixture, processMouseEvent_replaces_selection_on_mouse_r
   selection_tool_->processMouseEvent(click_event);
 
   auto release_event = generateMouseReleaseEvent(100, 200);
-  EXPECT_CALL(*selection_manager_, select(
+  EXPECT_CALL(
+    *selection_manager_, select(
       _,
       click_event.x, click_event.y,
       release_event.x, release_event.y,
@@ -97,7 +98,8 @@ TEST_F(SelectionToolTestFixture, processMouseEvent_adds_to_selection_when_holdin
   selection_tool_->processMouseEvent(click_event);
 
   auto release_event = generateMouseReleaseEvent(100, 200, Qt::ShiftModifier);
-  EXPECT_CALL(*selection_manager_, select(
+  EXPECT_CALL(
+    *selection_manager_, select(
       _,
       click_event.x, click_event.y,
       release_event.x, release_event.y,
@@ -110,7 +112,8 @@ TEST_F(SelectionToolTestFixture, processMouseEvent_removes_from_selection_when_h
   selection_tool_->processMouseEvent(click_event);
 
   auto release_event = generateMouseReleaseEvent(100, 200, Qt::ControlModifier);
-  EXPECT_CALL(*selection_manager_, select(
+  EXPECT_CALL(
+    *selection_manager_, select(
       _,
       click_event.x, click_event.y,
       release_event.x, release_event.y,
diff --git a/rviz_default_plugins/test/rviz_default_plugins/transformation/frame_transformer_tf_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/transformation/frame_transformer_tf_test.cpp
index 4ee803d7c..ede3d4c9c 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/transformation/frame_transformer_tf_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/transformation/frame_transformer_tf_test.cpp
@@ -113,7 +113,8 @@ TEST_F(FrameTransformerTfFixture, canTransform_returns_false_if_frame_does_not_e
 
   std::string error;
   std::string expected_error = "For frame [another_frame]: Frame [another_frame] does not exist";
-  EXPECT_FALSE(tf_transformer_->canTransform(
+  EXPECT_FALSE(
+    tf_transformer_->canTransform(
       "fixed_frame", "another_frame", tf2::get_now(), &error));
   EXPECT_THAT(error, testing::StrEq(expected_error));
 }
@@ -124,15 +125,18 @@ TEST_F(FrameTransformerTfFixture, canTransform_returns_false_if_fixed_frame_does
   std::string error;
   std::string expected_error =
     "For frame [frame]: Fixed Frame [another_fixed_frame] does not exist";
-  EXPECT_FALSE(tf_transformer_->canTransform(
+  EXPECT_FALSE(
+    tf_transformer_->canTransform(
       "another_fixed_frame", "frame", tf2::get_now(), &error));
   EXPECT_THAT(error, testing::StrEq(expected_error));
 }
 
 TEST_F(FrameTransformerTfFixture, canTransform_returns_false_if_transform_does_not_exist) {
   tf_wrapper_->getBuffer()->setTransform(getTransformStamped(), "test", true);
-  tf_wrapper_->getBuffer()->setTransform(getTransformStamped("third_frame",
-    "fourth_frame"), "test", true);
+  tf_wrapper_->getBuffer()->setTransform(
+    getTransformStamped(
+      "third_frame",
+      "fourth_frame"), "test", true);
 
   std::string error;
   std::string partial_expected_error = "No transform to fixed frame";
@@ -146,6 +150,7 @@ TEST_F(FrameTransformerTfFixture, canTransform_returns_true_if_transform_exists)
   tf_wrapper_->getBuffer()->setTransform(getTransformStamped(), "test", true);
 
   std::string error;
-  EXPECT_TRUE(tf_transformer_->canTransform(
+  EXPECT_TRUE(
+    tf_transformer_->canTransform(
       "fixed_frame", "frame", tf2::get_now(), &error));
 }
diff --git a/rviz_default_plugins/test/rviz_default_plugins/transformation/mock_frame_transformer.hpp b/rviz_default_plugins/test/rviz_default_plugins/transformation/mock_frame_transformer.hpp
index 6a6186b93..9bcbf731d 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/transformation/mock_frame_transformer.hpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/transformation/mock_frame_transformer.hpp
@@ -43,38 +43,45 @@
 class MockFrameTransformer : public rviz_common::transformation::FrameTransformer
 {
 public:
-  MOCK_METHOD2(initialize, void(
+  MOCK_METHOD2(
+    initialize, void(
       rviz_common::ros_integration::RosNodeAbstractionIface::WeakPtr, rclcpp::Clock::SharedPtr));
   MOCK_METHOD0(clear, void());
   MOCK_CONST_METHOD0(getAllFrameNames, std::vector<std::string>());
   MOCK_METHOD2(
     transform, geometry_msgs::msg::PoseStamped(
       const geometry_msgs::msg::PoseStamped &, const std::string &));
-  MOCK_CONST_METHOD3(lookupTransform, geometry_msgs::msg::TransformStamped(
+  MOCK_CONST_METHOD3(
+    lookupTransform, geometry_msgs::msg::TransformStamped(
       const std::string &, const std::string &, const tf2::TimePoint &));
-  MOCK_CONST_METHOD5(lookupTransform, geometry_msgs::msg::TransformStamped(
+  MOCK_CONST_METHOD5(
+    lookupTransform, geometry_msgs::msg::TransformStamped(
       const std::string &,
       const tf2::TimePoint &,
       const std::string &,
       const tf2::TimePoint &,
       const std::string &));
-  MOCK_CONST_METHOD4(canTransform, bool(
+  MOCK_CONST_METHOD4(
+    canTransform, bool(
       const std::string &, const std::string &, const tf2::TimePoint &, std::string *));
-  MOCK_CONST_METHOD6(canTransform, bool(
+  MOCK_CONST_METHOD6(
+    canTransform, bool(
       const std::string &,
       const tf2::TimePoint &,
       const std::string &,
       const tf2::TimePoint &,
       const std::string &,
       std::string *));
-  MOCK_METHOD5(waitForTransform, tf2_ros::TransformStampedFuture(
+  MOCK_METHOD5(
+    waitForTransform, tf2_ros::TransformStampedFuture(
       const std::string &,
       const std::string &,
       const tf2::TimePoint &,
       const tf2::Duration &,
       tf2_ros::TransformReadyCallback));
   MOCK_CONST_METHOD2(frameHasProblems, bool(const std::string &, std::string &));
-  MOCK_METHOD0(getConnector,
+  MOCK_METHOD0(
+    getConnector,
     rviz_common::transformation::TransformationLibraryConnector::WeakPtr());
 };
 
diff --git a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/fps/fps_view_controller_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/fps/fps_view_controller_test.cpp
index e6f3964a8..2ff7ea8a4 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/fps/fps_view_controller_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/fps/fps_view_controller_test.cpp
@@ -135,7 +135,8 @@ TEST_F(FPSViewControllerTestFixture, moving_the_wheel_moves_camera_in_looking_di
   EXPECT_THAT(z_position->getValue().toFloat(), FloatNear(0, 0.001f));
 }
 
-TEST_F(FPSViewControllerTestFixture,
+TEST_F(
+  FPSViewControllerTestFixture,
   moving_the_mouse_with_right_button_moves_camera_in_looking_direction) {
   setCameraToDefaultPosition();
 
diff --git a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/orbit/orbit_view_controller_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/orbit/orbit_view_controller_test.cpp
index 215a209a8..2c218ce79 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/orbit/orbit_view_controller_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/orbit/orbit_view_controller_test.cpp
@@ -160,7 +160,8 @@ TEST_F(OrbitViewControllerTestFixture, moving_the_mouse_with_shift_and_left_move
   EXPECT_THAT(z_property->getValue().toFloat(), FloatNear(7.27013f, 0.001f));
 }
 
-TEST_F(OrbitViewControllerTestFixture,
+TEST_F(
+  OrbitViewControllerTestFixture,
   mimic_does_not_change_view_when_given_any_orbit_view_controller)
 {
   auto xy_orbit_view =
@@ -183,7 +184,8 @@ TEST_F(OrbitViewControllerTestFixture,
   EXPECT_THAT(pitch_property->getValue().toFloat(), FloatNear(0.5f, 0.001f));
 }
 
-TEST_F(OrbitViewControllerTestFixture,
+TEST_F(
+  OrbitViewControllerTestFixture,
   mimic_keeps_focal_point_and_view_from_top_down_ortho_view_controller)
 {
   auto ortho_view =
diff --git a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/ortho/ortho_view_controller_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/ortho/ortho_view_controller_test.cpp
index 236d01733..145b721cd 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/ortho/ortho_view_controller_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/ortho/ortho_view_controller_test.cpp
@@ -143,7 +143,8 @@ TEST_F(OrthoViewControllerTestFixture, update_sets_camera_to_position_indicated_
   EXPECT_THAT(camera_parent->getPosition(), Vector3Eq(Ogre::Vector3(-2, 2, 500)));
 }
 
-TEST_F(OrthoViewControllerTestFixture,
+TEST_F(
+  OrthoViewControllerTestFixture,
   mimic_sets_camera_above_focal_point_when_given_an_orbit_view_controller)
 {
   auto orbit_view = std::make_shared<rviz_default_plugins::view_controllers::OrbitViewController>();
@@ -163,7 +164,8 @@ TEST_F(OrthoViewControllerTestFixture,
   EXPECT_THAT(camera_parent->getPosition(), Vector3Eq(Ogre::Vector3(10, 12, 500)));
 }
 
-TEST_F(OrthoViewControllerTestFixture,
+TEST_F(
+  OrthoViewControllerTestFixture,
   mimic_does_not_move_camera_when_given_same_class_controller)
 {
   auto old_ortho_view =
@@ -181,7 +183,8 @@ TEST_F(OrthoViewControllerTestFixture,
   EXPECT_THAT(y_property->getValue().toFloat(), FloatNear(0, 0.001f));
 }
 
-TEST_F(OrthoViewControllerTestFixture,
+TEST_F(
+  OrthoViewControllerTestFixture,
   mimic_sets_camera_at_view_controller_camera_position_when_given_any_view_controller)
 {
   auto controller = std::make_shared<MockViewController>();
diff --git a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller_test.cpp
index 369d8c520..67be2fd4d 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller_test.cpp
@@ -181,7 +181,8 @@ TEST_F(XYOrbitViewControllerTestFixture, moving_the_focal_point_from_above_moves
   EXPECT_THAT(z_property->getValue().toFloat(), FloatNear(0, 0.001f));
 }
 
-TEST_F(XYOrbitViewControllerTestFixture,
+TEST_F(
+  XYOrbitViewControllerTestFixture,
   mimic_does_not_change_view_when_changing_back_and_forth_between_orbit_view_controllers)
 {
   auto orbit_view =
@@ -213,7 +214,8 @@ TEST_F(XYOrbitViewControllerTestFixture,
   // moving away from frame origin
 }
 
-TEST_F(XYOrbitViewControllerTestFixture,
+TEST_F(
+  XYOrbitViewControllerTestFixture,
   mimic_keeps_focal_point_and_view_from_top_down_ortho_view_controller)
 {
   auto ortho_view =
@@ -240,7 +242,8 @@ TEST_F(XYOrbitViewControllerTestFixture,
   EXPECT_THAT(z_property->getValue().toFloat(), FloatNear(0, 0.001f));
 }
 
-TEST_F(XYOrbitViewControllerTestFixture,
+TEST_F(
+  XYOrbitViewControllerTestFixture,
   mimic_does_not_move_camera_when_given_same_class_controller)
 {
   auto old_orbit_view =
@@ -264,12 +267,9 @@ TEST_F(XYOrbitViewControllerTestFixture,
   auto z_property = xy_orbit_->childAt(9)->childAt(2);
   auto yaw_property = xy_orbit_->childAt(7);
   auto pitch_property = xy_orbit_->childAt(8);
-  EXPECT_THAT(x_property->getValue().toFloat(),
-    FloatNear(old_x_value, 0.001f));
-  EXPECT_THAT(y_property->getValue().toFloat(),
-    FloatNear(old_y_value, 0.001f));
-  EXPECT_THAT(z_property->getValue().toFloat(),
-    FloatNear(old_z_value, 0.001f));
+  EXPECT_THAT(x_property->getValue().toFloat(), FloatNear(old_x_value, 0.001f));
+  EXPECT_THAT(y_property->getValue().toFloat(), FloatNear(old_y_value, 0.001f));
+  EXPECT_THAT(z_property->getValue().toFloat(), FloatNear(old_z_value, 0.001f));
   EXPECT_THAT(yaw_property->getValue().toFloat(), FloatNear(0, 0.001f));
   EXPECT_THAT(pitch_property->getValue().toFloat(), FloatNear(0.5f, 0.001f));
 }
diff --git a/rviz_rendering/src/rviz_rendering/mesh_loader_helpers/assimp_loader.cpp b/rviz_rendering/src/rviz_rendering/mesh_loader_helpers/assimp_loader.cpp
index 2a7ae4df9..6b033af1a 100644
--- a/rviz_rendering/src/rviz_rendering/mesh_loader_helpers/assimp_loader.cpp
+++ b/rviz_rendering/src/rviz_rendering/mesh_loader_helpers/assimp_loader.cpp
@@ -230,9 +230,10 @@ Ogre::MeshPtr AssimpLoader::meshFromAssimpScene(const std::string & name, const
 
 const aiScene * AssimpLoader::getScene(const std::string & resource_path)
 {
-  return importer_->ReadFile(resource_path,
-           aiProcess_SortByPType | aiProcess_GenNormals | aiProcess_Triangulate |
-           aiProcess_GenUVCoords | aiProcess_FlipUVs);
+  return importer_->ReadFile(
+    resource_path,
+    aiProcess_SortByPType | aiProcess_GenNormals | aiProcess_Triangulate |
+    aiProcess_GenUVCoords | aiProcess_FlipUVs);
 }
 
 std::string AssimpLoader::getErrorMessage()
diff --git a/rviz_rendering/src/rviz_rendering/mesh_loader_helpers/stl_loader.cpp b/rviz_rendering/src/rviz_rendering/mesh_loader_helpers/stl_loader.cpp
index 3a3dc4c35..b5a269e22 100644
--- a/rviz_rendering/src/rviz_rendering/mesh_loader_helpers/stl_loader.cpp
+++ b/rviz_rendering/src/rviz_rendering/mesh_loader_helpers/stl_loader.cpp
@@ -57,31 +57,34 @@ bool STLLoader::load(uint8_t * buffer, const size_t num_bytes, const std::string
 
     // check for "endsolid" as well
     if (buffer_str.find("endsolid", 5) != std::string::npos) {
-      RVIZ_RENDERING_LOG_ERROR_STREAM("The STL file '" << origin << "' is malformed. It "
-        "starts with the word 'solid' and also contains the "
-        "word 'endsolid', indicating that it's an ASCII STL "
-        "file, but rviz can only load binary STL files so it "
-        "will not be loaded. Please convert it to a "
-        "binary STL file.");
+      RVIZ_RENDERING_LOG_ERROR_STREAM(
+        "The STL file '" << origin << "' is malformed. It "
+          "starts with the word 'solid' and also contains the "
+          "word 'endsolid', indicating that it's an ASCII STL "
+          "file, but rviz can only load binary STL files so it "
+          "will not be loaded. Please convert it to a "
+          "binary STL file.");
       return false;
     }
 
     // chastise the user for malformed files
-    RVIZ_RENDERING_LOG_WARNING_STREAM("The STL file '" << origin << "' is malformed. It starts "
-      "with the word 'solid', indicating that it's an ASCII "
-      "STL file, but it does not contain the word 'endsolid' so "
-      "it is either a malformed ASCII STL file or it is actually "
-      "a binary STL file. Trying to interpret it as a binary "
-      "STL file instead.");
+    RVIZ_RENDERING_LOG_WARNING_STREAM(
+      "The STL file '" << origin << "' is malformed. It starts "
+        "with the word 'solid', indicating that it's an ASCII "
+        "STL file, but it does not contain the word 'endsolid' so "
+        "it is either a malformed ASCII STL file or it is actually "
+        "a binary STL file. Trying to interpret it as a binary "
+        "STL file instead.");
   }
 
   // make sure there's enough data for a binary STL header and triangle count
   static const size_t binary_stl_header_len = 84;
   if (num_bytes <= binary_stl_header_len) {
-    RVIZ_RENDERING_LOG_ERROR_STREAM("The STL file '" << origin << "' is malformed. It "
-      "appears to be a binary STL file but does not contain "
-      "enough data for the 80 byte header and 32-bit integer "
-      "triangle count.");
+    RVIZ_RENDERING_LOG_ERROR_STREAM(
+      "The STL file '" << origin << "' is malformed. It "
+        "appears to be a binary STL file but does not contain "
+        "enough data for the 80 byte header and 32-bit integer "
+        "triangle count.");
     return false;
   }
 
@@ -90,15 +93,17 @@ bool STLLoader::load(uint8_t * buffer, const size_t num_bytes, const std::string
   static const size_t number_of_bytes_per_triangle = 50;
   size_t expected_size = binary_stl_header_len + num_triangles * number_of_bytes_per_triangle;
   if (num_bytes < expected_size) {
-    RVIZ_RENDERING_LOG_ERROR_STREAM("The STL file '" << origin << "' is malformed. According "
-      "to the binary STL header it should have '" <<
-      num_triangles << "' triangles, but it has too little data for that to be the case.");
+    RVIZ_RENDERING_LOG_ERROR_STREAM(
+      "The STL file '" << origin << "' is malformed. According "
+        "to the binary STL header it should have '" <<
+        num_triangles << "' triangles, but it has too little data for that to be the case.");
     return false;
   } else if (num_bytes > expected_size) {
-    RVIZ_RENDERING_LOG_WARNING_STREAM("The STL file '" << origin << "' is malformed. According "
-      "to the binary STL header it should have '" <<
-      num_triangles << "' triangles, but it has too much" <<
-      " data for that to be the case. The extra data will be ignored.");
+    RVIZ_RENDERING_LOG_WARNING_STREAM(
+      "The STL file '" << origin << "' is malformed. According "
+        "to the binary STL header it should have '" <<
+        num_triangles << "' triangles, but it has too much" <<
+        " data for that to be the case. The extra data will be ignored.");
   }
 
   // load the binary STL data
diff --git a/rviz_rendering/src/rviz_rendering/objects/arrow.cpp b/rviz_rendering/src/rviz_rendering/objects/arrow.cpp
index f07b39588..f70e6cba6 100644
--- a/rviz_rendering/src/rviz_rendering/objects/arrow.cpp
+++ b/rviz_rendering/src/rviz_rendering/objects/arrow.cpp
@@ -120,8 +120,8 @@ void Arrow::setOrientation(const Ogre::Quaternion & orientation)
 {
   // "forward" (negative z) should always be our identity orientation
   // ... wouldn't need to mangle the orientation if we just fix the cylinders!
-  scene_node_->setOrientation(orientation *
-    Ogre::Quaternion(Ogre::Degree(-90), Ogre::Vector3::UNIT_X) );
+  scene_node_->setOrientation(
+    orientation * Ogre::Quaternion(Ogre::Degree(-90), Ogre::Vector3::UNIT_X) );
 }
 
 void Arrow::setDirection(const Ogre::Vector3 & direction)
diff --git a/rviz_rendering/src/rviz_rendering/objects/billboard_line.cpp b/rviz_rendering/src/rviz_rendering/objects/billboard_line.cpp
index 739620247..f986a5e20 100644
--- a/rviz_rendering/src/rviz_rendering/objects/billboard_line.cpp
+++ b/rviz_rendering/src/rviz_rendering/objects/billboard_line.cpp
@@ -176,7 +176,8 @@ void BillboardLine::addPoint(const Ogre::Vector3 & point)
 void BillboardLine::addPoint(const Ogre::Vector3 & point, const Ogre::ColourValue & color)
 {
   assert(current_line_ < num_lines_);
-  assert(chain_containers_[current_chain_container_]->
+  assert(
+    chain_containers_[current_chain_container_]->
     getNumChainElements(current_line_ % chains_per_container_) <= max_points_per_line_);
 
   incrementChainContainerIfNecessary();
@@ -204,7 +205,8 @@ void BillboardLine::setLineWidth(float width)
 {
   width_ = width;
 
-  changeAllElements([width](Ogre::BillboardChain::Element element) {
+  changeAllElements(
+    [width](Ogre::BillboardChain::Element element) {
       element.width = width;
       return element;
     });
@@ -232,7 +234,8 @@ void BillboardLine::setColor(float r, float g, float b, float a)
 
   color_ = Ogre::ColourValue(r, g, b, a);
 
-  changeAllElements([this](Ogre::BillboardChain::Element element) {
+  changeAllElements(
+    [this](Ogre::BillboardChain::Element element) {
       element.colour = color_;
       return element;
     });
diff --git a/rviz_rendering/src/rviz_rendering/objects/covariance_visual.cpp b/rviz_rendering/src/rviz_rendering/objects/covariance_visual.cpp
index d47e98c14..475be7a89 100644
--- a/rviz_rendering/src/rviz_rendering/objects/covariance_visual.cpp
+++ b/rviz_rendering/src/rviz_rendering/objects/covariance_visual.cpp
@@ -125,12 +125,14 @@ diagonalizeCovariance(
     eigenvectors = eigensolver.eigenvectors();
 
     if (eigenvalues.minCoeff() < 0) {
-      RVIZ_RENDERING_LOG_WARNING("Negative eigenvalue found for position. Is the "
+      RVIZ_RENDERING_LOG_WARNING(
+        "Negative eigenvalue found for position. Is the "
         "covariance matrix correct (positive semidefinite)?");
       covariance_valid = false;
     }
   } else {
-    RVIZ_RENDERING_LOG_WARNING("failed to compute eigen vectors/values for position. Is the "
+    RVIZ_RENDERING_LOG_WARNING(
+      "failed to compute eigen vectors/values for position. Is the "
       "covariance matrix correct?");
     covariance_valid = false;
   }
@@ -198,9 +200,11 @@ computeShapeScaleAndOrientation2D(const Eigen::Matrix2d & covariance, Plane plan
   Ogre::Quaternion orientation;
   switch (plane) {
     case Plane::YZ_PLANE:
-      orientation.FromRotationMatrix(Ogre::Matrix3(1, 0, 0,
-        0, eigenvectors[0][0], eigenvectors[0][1],
-        0, eigenvectors[1][0], eigenvectors[1][1]));
+      orientation.FromRotationMatrix(
+        Ogre::Matrix3(
+          1, 0, 0,
+          0, eigenvectors[0][0], eigenvectors[0][1],
+          0, eigenvectors[1][0], eigenvectors[1][1]));
 
       scale.x = 0;
       scale.y = 2.f * std::sqrt(eigenvalues[0]);
@@ -208,9 +212,11 @@ computeShapeScaleAndOrientation2D(const Eigen::Matrix2d & covariance, Plane plan
       break;
 
     case Plane::XZ_PLANE:
-      orientation.FromRotationMatrix(Ogre::Matrix3(eigenvectors[0][0], 0, eigenvectors[0][1],
-        0, 1, 0,
-        eigenvectors[1][0], 0, eigenvectors[1][1]));
+      orientation.FromRotationMatrix(
+        Ogre::Matrix3(
+          eigenvectors[0][0], 0, eigenvectors[0][1],
+          0, 1, 0,
+          eigenvectors[1][0], 0, eigenvectors[1][1]));
 
       scale.x = 2.f * std::sqrt(eigenvalues[0]);
       scale.y = 0;
@@ -218,9 +224,11 @@ computeShapeScaleAndOrientation2D(const Eigen::Matrix2d & covariance, Plane plan
       break;
 
     case Plane::XY_PLANE:
-      orientation.FromRotationMatrix(Ogre::Matrix3(eigenvectors[0][0], eigenvectors[0][1], 0,
-        eigenvectors[1][0], eigenvectors[1][1], 0,
-        0, 0, 1));
+      orientation.FromRotationMatrix(
+        Ogre::Matrix3(
+          eigenvectors[0][0], eigenvectors[0][1], 0,
+          eigenvectors[1][0], eigenvectors[1][1], 0,
+          0, 0, 1));
 
       scale.x = 2.f * std::sqrt(eigenvalues[0]);
       scale.y = 2.f * std::sqrt(eigenvalues[1]);
diff --git a/rviz_rendering/src/rviz_rendering/objects/movable_text.cpp b/rviz_rendering/src/rviz_rendering/objects/movable_text.cpp
index d2e5285d7..7c9df6fbf 100644
--- a/rviz_rendering/src/rviz_rendering/objects/movable_text.cpp
+++ b/rviz_rendering/src/rviz_rendering/objects/movable_text.cpp
@@ -119,7 +119,8 @@ void MovableText::setFontName(const Ogre::String & font_name)
     font_name_ = font_name;
     font_ = Ogre::FontManager::getSingleton().getByName(font_name_, MATERIAL_GROUP).get();
     if (!font_) {
-      throw Ogre::Exception(Ogre::Exception::ERR_ITEM_NOT_FOUND, "Could not find font " +
+      throw Ogre::Exception(
+              Ogre::Exception::ERR_ITEM_NOT_FOUND, "Could not find font " +
               font_name, "MovableText::setFontName");
     }
 
@@ -351,7 +352,8 @@ Ogre::HardwareVertexBufferSharedPtr MovableText::setupHardwareBuffers() const
   offset += Ogre::VertexElement::getTypeSize(Ogre::VET_FLOAT3);
 
   if (!declaration->findElementBySemantic(Ogre::VES_TEXTURE_COORDINATES)) {
-    declaration->addElement(POS_TEX_BINDING, offset, Ogre::VET_FLOAT2,
+    declaration->addElement(
+      POS_TEX_BINDING, offset, Ogre::VET_FLOAT2,
       Ogre::VES_TEXTURE_COORDINATES, 0);
   }
 
diff --git a/rviz_rendering/src/rviz_rendering/objects/point_cloud.cpp b/rviz_rendering/src/rviz_rendering/objects/point_cloud.cpp
index 28387b01b..0f8fffbc6 100644
--- a/rviz_rendering/src/rviz_rendering/objects/point_cloud.cpp
+++ b/rviz_rendering/src/rviz_rendering/objects/point_cloud.cpp
@@ -275,8 +275,10 @@ float PointCloud::getBoundingRadius() const
 {
   return bounding_box_.isNull() ?
          0.0f :
-         Ogre::Math::Sqrt(std::max(bounding_box_.getMaximum().squaredLength(),
-           bounding_box_.getMinimum().squaredLength()));
+         Ogre::Math::Sqrt(
+    std::max(
+      bounding_box_.getMaximum().squaredLength(),
+      bounding_box_.getMinimum().squaredLength()));
 }
 
 void PointCloud::getWorldTransforms(Ogre::Matrix4 * xform) const
@@ -479,14 +481,16 @@ void PointCloud::addPoints(
     if (internals.bufferIsFull()) {
       assert(internals.noBufferOverflowOccurred());
 
-      finishRenderable(internals,
+      finishRenderable(
+        internals,
         static_cast<uint32_t>(internals.rend->getBuffer()->getNumVertices()));
 
       internals = createNewRenderable(static_cast<uint32_t>(stop_iterator - current_point));
     }
     internals.aabb.merge(current_point->position);
-    internals = addPointToHardwareBuffer(internals, current_point,
-        static_cast<uint32_t>(current_point - start_iterator));
+    internals = addPointToHardwareBuffer(
+      internals, current_point,
+      static_cast<uint32_t>(current_point - start_iterator));
   }
 
   finishRenderable(internals, internals.current_vertex_count);
@@ -502,8 +506,9 @@ PointCloud::RenderableInternals
 PointCloud::createNewRenderable(uint32_t number_of_points_to_be_added)
 {
   RenderableInternals internals;
-  internals.buffer_size = std::min<uint32_t>(VERTEX_BUFFER_CAPACITY,
-      number_of_points_to_be_added * getVerticesPerPoint());
+  internals.buffer_size = std::min<uint32_t>(
+    VERTEX_BUFFER_CAPACITY,
+    number_of_points_to_be_added * getVerticesPerPoint());
 
   internals.rend = createRenderable(internals.buffer_size, getRenderOperationType());
 
@@ -595,7 +600,8 @@ PointCloud::addPointToHardwareBuffer(
     *iptr = color;
     ++float_buffer;
 
-    assert(reinterpret_cast<uint8_t *>(float_buffer) <=
+    assert(
+      reinterpret_cast<uint8_t *>(float_buffer) <=
       reinterpret_cast<uint8_t *>(float_buffer) +
       internals.rend->getBuffer()->getNumVertices() *
       internals.rend->getRenderOperation()->vertexData->vertexDeclaration->getVertexSize(0));
@@ -696,8 +702,8 @@ PointCloudRenderablePtr PointCloud::createRenderable(
   int num_points,
   Ogre::RenderOperation::OperationType operation_type)
 {
-  PointCloudRenderablePtr rend(new PointCloudRenderable(this, num_points,
-    !current_mode_supports_geometry_shader_, operation_type));
+  PointCloudRenderablePtr rend(new PointCloudRenderable(
+      this, num_points, !current_mode_supports_geometry_shader_, operation_type));
   rend->setMaterial(current_material_);
   Ogre::Vector4 alpha(alpha_, 0.0f, 0.0f, 0.0f);
   Ogre::Vector4 highlight(0.0f, 0.0f, 0.0f, 0.0f);
diff --git a/rviz_rendering/src/rviz_rendering/objects/point_cloud_renderable.cpp b/rviz_rendering/src/rviz_rendering/objects/point_cloud_renderable.cpp
index d7c35680e..98e682e3c 100644
--- a/rviz_rendering/src/rviz_rendering/objects/point_cloud_renderable.cpp
+++ b/rviz_rendering/src/rviz_rendering/objects/point_cloud_renderable.cpp
@@ -67,8 +67,10 @@ void PointCloudRenderable::_notifyCurrentCamera(Ogre::Camera * camera)
 
 Ogre::Real PointCloudRenderable::getBoundingRadius() const
 {
-  return Ogre::Math::Sqrt(std::max(mBox.getMaximum().squaredLength(),
-           mBox.getMinimum().squaredLength()));
+  return Ogre::Math::Sqrt(
+    std::max(
+      mBox.getMaximum().squaredLength(),
+      mBox.getMinimum().squaredLength()));
 }
 
 Ogre::Real PointCloudRenderable::getSquaredViewDepth(const Ogre::Camera * cam) const
diff --git a/rviz_rendering/src/rviz_rendering/render_system.cpp b/rviz_rendering/src/rviz_rendering/render_system.cpp
index 384007ea3..836adb9c6 100644
--- a/rviz_rendering/src/rviz_rendering/render_system.cpp
+++ b/rviz_rendering/src/rviz_rendering/render_system.cpp
@@ -173,9 +173,8 @@ RenderSystem::setupDummyWindowId()
 
   XVisualInfo * visual = glXChooseVisual(display, screen, attribList);
 
-  dummy_window_id_ = XCreateSimpleWindow(display,
-      RootWindow(display, screen),
-      0, 0, 1, 1, 0, 0, 0);
+  dummy_window_id_ = XCreateSimpleWindow(
+    display, RootWindow(display, screen), 0, 0, 1, 1, 0, 0, 0);
 
   GLXContext context = glXCreateContext(display, visual, nullptr, 1);
 
@@ -368,8 +367,8 @@ void RenderSystem::addAdditionalResourcesFromAmentIndex() const
   for (auto resource : resource_locations) {
     std::string content;
     std::string prefix_path;
-    if (ament_index_cpp::get_resource(RVIZ_OGRE_MEDIA_RESOURCE_NAME, resource.first, content,
-      &prefix_path))
+    if (ament_index_cpp::get_resource(
+        RVIZ_OGRE_MEDIA_RESOURCE_NAME, resource.first, content, &prefix_path))
     {
       std::vector<std::string> filenames =
         string_helper::splitStringIntoTrimmedItems(content, '\n');
@@ -378,8 +377,8 @@ void RenderSystem::addAdditionalResourcesFromAmentIndex() const
         if (!QDir(QString::fromStdString(resource_path)).exists()) {
           RVIZ_RENDERING_LOG_WARNING_STREAM("Could not find folder " << resource_path);
         }
-        Ogre::ResourceGroupManager::getSingleton().addResourceLocation(resource_path, "FileSystem",
-          "rviz_rendering");
+        Ogre::ResourceGroupManager::getSingleton().addResourceLocation(
+          resource_path, "FileSystem", "rviz_rendering");
       }
     }
   }
diff --git a/rviz_rendering/src/rviz_rendering/string_helper.cpp b/rviz_rendering/src/rviz_rendering/string_helper.cpp
index 91bb39d4c..8cf250d98 100644
--- a/rviz_rendering/src/rviz_rendering/string_helper.cpp
+++ b/rviz_rendering/src/rviz_rendering/string_helper.cpp
@@ -43,12 +43,14 @@ std::vector<std::string> rviz_rendering::string_helper::splitStringIntoTrimmedIt
   std::string item;
   std::vector<std::string> filenames;
   while (std::getline(stringstream, item, delimiter)) {
-    auto whitespace_front = std::find_if_not(item.begin(), item.end(), [](char character) {
-          return std::isspace<char>(character, std::locale(""));
-        });
-    auto whitespace_back = std::find_if_not(item.rbegin(), item.rend(), [](char character) {
-          return std::isspace<char>(character, std::locale(""));
-        });
+    auto whitespace_front = std::find_if_not(
+      item.begin(), item.end(), [](char character) {
+        return std::isspace<char>(character, std::locale(""));
+      });
+    auto whitespace_back = std::find_if_not(
+      item.rbegin(), item.rend(), [](char character) {
+        return std::isspace<char>(character, std::locale(""));
+      });
     item.erase(whitespace_back.base(), item.end());
     item.erase(item.begin(), whitespace_front);
     if (!item.empty()) {
diff --git a/rviz_rendering/test/rviz_rendering/objects/billboard_line_test.cpp b/rviz_rendering/test/rviz_rendering/objects/billboard_line_test.cpp
index 34e72ab43..ed03d253e 100644
--- a/rviz_rendering/test/rviz_rendering/objects/billboard_line_test.cpp
+++ b/rviz_rendering/test/rviz_rendering/objects/billboard_line_test.cpp
@@ -124,8 +124,8 @@ TEST_F(BillboardLineTestFixture, new_billboard_contains_correct_points_as_boundi
   auto chains = grid_cell->getChains();
 
   // chains are basically bounded by the square
-  auto bounding_box = Ogre::AxisAlignedBox(Ogre::Vector3(-1.1f, -1.1f, -0.1f),
-      Ogre::Vector3(1.1f, 1.1f, 0.1f));
+  auto bounding_box = Ogre::AxisAlignedBox(
+    Ogre::Vector3(-1.1f, -1.1f, -0.1f), Ogre::Vector3(1.1f, 1.1f, 0.1f));
   ASSERT_THAT(chains[0]->getBoundingBox(), Eq(bounding_box));
 }
 
diff --git a/rviz_rendering/test/rviz_rendering/objects/covariance_visual_test.cpp b/rviz_rendering/test/rviz_rendering/objects/covariance_visual_test.cpp
index da9adcebf..8cfabe724 100644
--- a/rviz_rendering/test/rviz_rendering/objects/covariance_visual_test.cpp
+++ b/rviz_rendering/test/rviz_rendering/objects/covariance_visual_test.cpp
@@ -115,10 +115,12 @@ void assertCovarianceOrientationOffsetIsPresent(
 {
   bool found = false;
   for (auto entity : entities) {
-    if (Matches(Vector3Eq(direction))(entity->getParentSceneNode()->getParentSceneNode()
-      ->getParentSceneNode()->getPosition()) &&
-      Matches(Vector3Eq(Ogre::Vector3(length, length, length)))(entity->getParentSceneNode()
-      ->getParentSceneNode()->getParentSceneNode()->getParentSceneNode()->getScale()))
+    if (Matches(Vector3Eq(direction))(
+        entity->getParentSceneNode()->getParentSceneNode()
+        ->getParentSceneNode()->getPosition()) &&
+      Matches(Vector3Eq(Ogre::Vector3(length, length, length)))(
+        entity->getParentSceneNode()
+        ->getParentSceneNode()->getParentSceneNode()->getParentSceneNode()->getScale()))
     {
       found = true;
     }
@@ -135,19 +137,23 @@ TEST_F(CovarianceVisualTestFixture, covariance_visual_3D)
   EXPECT_THAT(covariance_visual_node_->getPosition(), Vector3Eq(position));
   auto all_spheres = findAllSpheres(covariance_visual_node_);
   ASSERT_THAT(all_spheres, SizeIs(1));
-  EXPECT_THAT(all_spheres[0]->getParentSceneNode()->getPosition(),
+  EXPECT_THAT(
+    all_spheres[0]->getParentSceneNode()->getPosition(),
     Vector3Eq(Ogre::Vector3(0.0, 0.0, 0.0)));
   EXPECT_TRUE(all_spheres[0]->isVisible());
 
   auto all_orientation_uncertainties = findAllCylinders(covariance_visual_node_);
   ASSERT_THAT(all_orientation_uncertainties, SizeIs(3));
-  assertCovarianceOrientationOffsetIsPresent(all_orientation_uncertainties,
+  assertCovarianceOrientationOffsetIsPresent(
+    all_orientation_uncertainties,
     Ogre::Vector3::UNIT_Y, offset);
   EXPECT_TRUE(all_orientation_uncertainties[0]->isVisible());
-  assertCovarianceOrientationOffsetIsPresent(all_orientation_uncertainties,
+  assertCovarianceOrientationOffsetIsPresent(
+    all_orientation_uncertainties,
     Ogre::Vector3::UNIT_X, offset);
   EXPECT_TRUE(all_orientation_uncertainties[1]->isVisible());
-  assertCovarianceOrientationOffsetIsPresent(all_orientation_uncertainties,
+  assertCovarianceOrientationOffsetIsPresent(
+    all_orientation_uncertainties,
     Ogre::Vector3::UNIT_Z, offset);
   EXPECT_TRUE(all_orientation_uncertainties[2]->isVisible());
 
@@ -165,7 +171,8 @@ TEST_F(CovarianceVisualTestFixture, covariance_visual_2D)
   EXPECT_THAT(covariance_visual_node_->getPosition(), Vector3Eq(position));
   auto all_spheres = findAllSpheres(covariance_visual_node_);
   ASSERT_THAT(all_spheres, SizeIs(1));
-  EXPECT_THAT(all_spheres[0]->getParentSceneNode()->getPosition(),
+  EXPECT_THAT(
+    all_spheres[0]->getParentSceneNode()->getPosition(),
     Vector3Eq(Ogre::Vector3(0.0, 0.0, 0.0)));
   EXPECT_TRUE(all_spheres[0]->isVisible());
 
diff --git a/rviz_rendering/test/rviz_rendering/objects/grid_test.cpp b/rviz_rendering/test/rviz_rendering/objects/grid_test.cpp
index fa43955d2..82a128ee4 100644
--- a/rviz_rendering/test/rviz_rendering/objects/grid_test.cpp
+++ b/rviz_rendering/test/rviz_rendering/objects/grid_test.cpp
@@ -76,12 +76,14 @@ Ogre::AxisAlignedBox expectedBoxForBillboards(
   float cell_length, float line_width)
 {
   return Ogre::AxisAlignedBox(
-    Ogre::Vector3(-cell_length * cell_count / 2 - line_width,
-    -cell_length * height_count / 2 - line_width,
-    -cell_length * cell_count / 2 - line_width),
-    Ogre::Vector3(cell_length * cell_count / 2 + line_width,
-    cell_length * height_count / 2 + line_width,
-    cell_length * cell_count / 2 + line_width));
+    Ogre::Vector3(
+      -cell_length * cell_count / 2 - line_width,
+      -cell_length * height_count / 2 - line_width,
+      -cell_length * cell_count / 2 - line_width),
+    Ogre::Vector3(
+      cell_length * cell_count / 2 + line_width,
+      cell_length * height_count / 2 + line_width,
+      cell_length * cell_count / 2 + line_width));
 }
 
 Ogre::AxisAlignedBox expectedBoxForLines(
@@ -118,14 +120,15 @@ TEST_F(GridTestFixture, setHeight_creates_object_with_correct_height_in_bounding
   ASSERT_THAT(manual_object->getBoundingBox(), Eq(expected_bounding_box));
 }
 
-TEST_F(GridTestFixture,
+TEST_F(
+  GridTestFixture,
   createGrid_returns_billboard_object_with_bounding_box_bounding_cells_including_billboard_size) {
   uint32_t cell_count = 2;
   float cell_length = 2.0f;
   float line_width = 0.1f;
 
-  auto grid = createGrid(rviz_rendering::Grid::Style::Billboards,
-      cell_count, cell_length, line_width);
+  auto grid = createGrid(
+    rviz_rendering::Grid::Style::Billboards, cell_count, cell_length, line_width);
 
   grid.create();
 
@@ -139,8 +142,8 @@ TEST_F(GridTestFixture, setStyle_creates_a_new_grid_with_new_style) {
   float cell_length = 2.0f;
   float line_width = 0.1f;
 
-  auto grid = createGrid(rviz_rendering::Grid::Style::Lines,
-      cell_count, cell_length, line_width);
+  auto grid = createGrid(
+    rviz_rendering::Grid::Style::Lines, cell_count, cell_length, line_width);
   grid.create();
 
   grid.setStyle(rviz_rendering::Grid::Style::Billboards);
diff --git a/rviz_rendering/test/rviz_rendering/objects/movable_text_test.cpp b/rviz_rendering/test/rviz_rendering/objects/movable_text_test.cpp
index 5bd326fc3..f1c3a4f16 100644
--- a/rviz_rendering/test/rviz_rendering/objects/movable_text_test.cpp
+++ b/rviz_rendering/test/rviz_rendering/objects/movable_text_test.cpp
@@ -121,7 +121,8 @@ TEST_F(MovableTextTestFixture, larger_char_height_makes_characters_wider) {
 TEST_F(MovableTextTestFixture, horizontal_alignment_center_centers_x_coordinate) {
   auto movable_text = std::make_shared<rviz_rendering::MovableText>("W");
 
-  movable_text->setTextAlignment(rviz_rendering::MovableText::HorizontalAlignment::H_CENTER,
+  movable_text->setTextAlignment(
+    rviz_rendering::MovableText::HorizontalAlignment::H_CENTER,
     rviz_rendering::MovableText::VerticalAlignment::V_BELOW);
   movable_text->update();
 
@@ -137,7 +138,8 @@ TEST_F(MovableTextTestFixture, horizontal_alignment_center_centers_x_coordinate)
 TEST_F(MovableTextTestFixture, vertical_alignment_center_centers_y_coordinate) {
   auto movable_text = std::make_shared<rviz_rendering::MovableText>("W");
 
-  movable_text->setTextAlignment(rviz_rendering::MovableText::HorizontalAlignment::H_LEFT,
+  movable_text->setTextAlignment(
+    rviz_rendering::MovableText::HorizontalAlignment::H_LEFT,
     rviz_rendering::MovableText::VerticalAlignment::V_CENTER);
   movable_text->update();
 
@@ -153,7 +155,8 @@ TEST_F(MovableTextTestFixture, vertical_alignment_center_centers_y_coordinate) {
 TEST_F(MovableTextTestFixture, vertical_alignment_above_puts_y_coordinate_above_zero) {
   auto movable_text = std::make_shared<rviz_rendering::MovableText>("W");
 
-  movable_text->setTextAlignment(rviz_rendering::MovableText::HorizontalAlignment::H_LEFT,
+  movable_text->setTextAlignment(
+    rviz_rendering::MovableText::HorizontalAlignment::H_LEFT,
     rviz_rendering::MovableText::VerticalAlignment::V_ABOVE);
   movable_text->update();
 
@@ -169,7 +172,8 @@ TEST_F(MovableTextTestFixture, vertical_alignment_above_puts_y_coordinate_above_
 TEST_F(MovableTextTestFixture, vertical_alignment_above_puts_y_coordinate_above) {
   auto movable_text = std::make_shared<rviz_rendering::MovableText>("W\nW");
 
-  movable_text->setTextAlignment(rviz_rendering::MovableText::HorizontalAlignment::H_LEFT,
+  movable_text->setTextAlignment(
+    rviz_rendering::MovableText::HorizontalAlignment::H_LEFT,
     rviz_rendering::MovableText::VerticalAlignment::V_ABOVE);
   movable_text->update();
 
@@ -217,7 +221,8 @@ TEST_F(MovableTextTestFixture, setLineSpacing_changes_space_between_lines) {
 TEST_F(MovableTextTestFixture, horizontal_alignment_works_correctly_with_spaces) {
   auto movable_text = std::make_shared<rviz_rendering::MovableText>("A A");
 
-  movable_text->setTextAlignment(rviz_rendering::MovableText::HorizontalAlignment::H_CENTER,
+  movable_text->setTextAlignment(
+    rviz_rendering::MovableText::HorizontalAlignment::H_CENTER,
     rviz_rendering::MovableText::VerticalAlignment::V_BELOW);
   movable_text->update();
 
diff --git a/rviz_rendering/test/rviz_rendering/objects/point_cloud_renderable_test.cpp b/rviz_rendering/test/rviz_rendering/objects/point_cloud_renderable_test.cpp
index 0db21a258..23210ead4 100644
--- a/rviz_rendering/test/rviz_rendering/objects/point_cloud_renderable_test.cpp
+++ b/rviz_rendering/test/rviz_rendering/objects/point_cloud_renderable_test.cpp
@@ -92,7 +92,8 @@ TEST_F(PointCloudRenderableTestFixture, renderable_contains_a_correctly_filled_b
     renderable_->getRenderOperation()->operationType, Eq(Ogre::RenderOperation::OT_TRIANGLE_LIST));
 }
 
-TEST_F(PointCloudRenderableTestFixture,
+TEST_F(
+  PointCloudRenderableTestFixture,
   getSquaredViewDepth_returns_squared_length_to_center_of_bounding_box_for_default_camera) {
   Ogre::Camera * camera = Ogre::Root::getSingletonPtr()
     ->createSceneManager()
diff --git a/rviz_rendering/test/rviz_rendering/objects/point_cloud_test.cpp b/rviz_rendering/test/rviz_rendering/objects/point_cloud_test.cpp
index d7d45ac57..23c4b45f7 100644
--- a/rviz_rendering/test/rviz_rendering/objects/point_cloud_test.cpp
+++ b/rviz_rendering/test/rviz_rendering/objects/point_cloud_test.cpp
@@ -112,7 +112,8 @@ TEST_F(PointCloudTestFixture, clear_resets_bounding_box_bounding_radius_and_clea
   ASSERT_THAT(point_cloud->getBoundingRadius(), FloatEq(0.0f));
 }
 
-TEST_F(PointCloudTestFixture,
+TEST_F(
+  PointCloudTestFixture,
   getBoundingRadius_returns_length_to_point_farthest_away_from_origin) {
   auto point_cloud = std::make_shared<rviz_rendering::PointCloud>();
 
@@ -121,7 +122,8 @@ TEST_F(PointCloudTestFixture,
   ASSERT_THAT(point_cloud->getBoundingRadius(), FloatEq(Ogre::Math::Sqrt(2)));
 }
 
-TEST_F(PointCloudTestFixture,
+TEST_F(
+  PointCloudTestFixture,
   for_one_point_getBoundingBox_returns_bounding_box_containing_only_one_point) {
   auto point_cloud = std::make_shared<rviz_rendering::PointCloud>();
 
@@ -240,7 +242,8 @@ TEST_F(PointCloudTestFixture, setRenderMode_changes_material) {
   }
 }
 
-TEST_F(PointCloudTestFixture,
+TEST_F(
+  PointCloudTestFixture,
   setRenderMode_regenerates_renderables_with_different_size_when_geometry_support_changes) {
   auto point_cloud = std::make_shared<rviz_rendering::PointCloud>();
   point_cloud->addPoints(singlePointArray.begin(), singlePointArray.end());
@@ -296,7 +299,8 @@ TEST_F(PointCloudTestFixture, addPoints_adds_vertices_with_correct_geometry_when
   ASSERT_THAT(number_of_vertices_in_all_renderables, Eq(number_of_vertices_per_flat_square * 5));
 }
 
-TEST_F(PointCloudTestFixture,
+TEST_F(
+  PointCloudTestFixture,
   adding_and_removing_points_many_times_does_not_lead_to_superfluous_renderables) {
   auto point_cloud = std::make_shared<rviz_rendering::PointCloud>();
   point_cloud->setRenderMode(rviz_rendering::PointCloud::RM_BOXES);
diff --git a/rviz_rendering/test/rviz_rendering/scene_graph_introspection.cpp b/rviz_rendering/test/rviz_rendering/scene_graph_introspection.cpp
index 325c17f4e..4b6acaaf0 100644
--- a/rviz_rendering/test/rviz_rendering/scene_graph_introspection.cpp
+++ b/rviz_rendering/test/rviz_rendering/scene_graph_introspection.cpp
@@ -165,8 +165,8 @@ std::vector<Ogre::SceneNode *> findAllAxes(Ogre::SceneNode * scene_node)
         ->getParentSceneNode()  // SceneNode from cylinder_entity
         ->getParentSceneNode();  // SceneNode from axes
       if (axes_scene_node) {
-        auto local_cylinder_entities = findAllEntitiesByMeshName(axes_scene_node,
-            "rviz_cylinder.mesh");
+        auto local_cylinder_entities = findAllEntitiesByMeshName(
+          axes_scene_node, "rviz_cylinder.mesh");
         if (local_cylinder_entities.size() == 3 &&
           std::find(axes.begin(), axes.end(), axes_scene_node) == axes.end())
         {
@@ -187,7 +187,8 @@ Ogre::SceneNode * findOneAxes(Ogre::SceneNode * scene_node)
 std::vector<Ogre::Vector3> getPositionsFromNodes(const std::vector<Ogre::SceneNode *> & nodes)
 {
   std::vector<Ogre::Vector3> positions(nodes.size(), Ogre::Vector3::ZERO);
-  std::transform(nodes.cbegin(), nodes.cend(), positions.begin(), [](auto node) {
+  std::transform(
+    nodes.cbegin(), nodes.cend(), positions.begin(), [](auto node) {
       return node->getPosition();
     });
   return positions;
@@ -196,7 +197,8 @@ std::vector<Ogre::Vector3> getPositionsFromNodes(const std::vector<Ogre::SceneNo
 std::vector<Ogre::Quaternion> getOrientationsFromNodes(const std::vector<Ogre::SceneNode *> & nodes)
 {
   std::vector<Ogre::Quaternion> orientations(nodes.size(), Ogre::Quaternion::IDENTITY);
-  std::transform(nodes.cbegin(), nodes.cend(), orientations.begin(), [](auto node) {
+  std::transform(
+    nodes.cbegin(), nodes.cend(), orientations.begin(), [](auto node) {
       return node->getOrientation();
     });
   return orientations;
diff --git a/rviz_rendering_tests/test/test_rviz_ogre_media_exports.cpp b/rviz_rendering_tests/test/test_rviz_ogre_media_exports.cpp
index da0e32ef9..6fad5d083 100644
--- a/rviz_rendering_tests/test/test_rviz_ogre_media_exports.cpp
+++ b/rviz_rendering_tests/test/test_rviz_ogre_media_exports.cpp
@@ -38,18 +38,21 @@
 TEST(CMake_Macro__Test, correctly_registers_plugin_in_ament_index) {
   std::string content;
   std::string prefix_path;
-  ASSERT_TRUE(ament_index_cpp::get_resource("rviz_ogre_media_exports", "rviz_rendering_tests",
-    content,
-    &prefix_path));
+  ASSERT_TRUE(
+    ament_index_cpp::get_resource(
+      "rviz_ogre_media_exports", "rviz_rendering_tests",
+      content,
+      &prefix_path));
 }
 
 TEST(CMake_Macro__Test, ament_index_resource_file_has_correct_content) {
   std::string content;
   std::string prefix_path;
-  ament_index_cpp::get_resource("rviz_ogre_media_exports", "rviz_rendering_tests", content,
-    &prefix_path);
+  ament_index_cpp::get_resource(
+    "rviz_ogre_media_exports", "rviz_rendering_tests", content, &prefix_path);
 
-  ASSERT_EQ(content,
+  ASSERT_EQ(
+    content,
     "rviz_rendering_tests/ogre_media_resources/scripts\n"
     "rviz_rendering_tests/ogre_media_resources/meshes\n");
 }
@@ -57,8 +60,8 @@ TEST(CMake_Macro__Test, ament_index_resource_file_has_correct_content) {
 TEST(CMake_Macro__Test, folders_are_installed_to_correct_location) {
   std::string content;
   std::string prefix_path;
-  ament_index_cpp::get_resource("rviz_ogre_media_exports", "rviz_rendering_tests", content,
-    &prefix_path);
+  ament_index_cpp::get_resource(
+    "rviz_ogre_media_exports", "rviz_rendering_tests", content, &prefix_path);
 
   struct stat info;
   std::string scripts = prefix_path + "/share/rviz_rendering_tests/ogre_media_resources/scripts";
diff --git a/rviz_visual_testing_framework/src/internal/display_handler.cpp b/rviz_visual_testing_framework/src/internal/display_handler.cpp
index 04e97174b..29d59de38 100644
--- a/rviz_visual_testing_framework/src/internal/display_handler.cpp
+++ b/rviz_visual_testing_framework/src/internal/display_handler.cpp
@@ -115,7 +115,8 @@ void DisplayHandler::removeAllDisplays()
 
 void DisplayHandler::removeDisplay(std::shared_ptr<BasePageObject> display)
 {
-  executor_->queueAction([this, display]() {
+  executor_->queueAction(
+    [this, display]() {
       this->removeDisplayWithoutDelay(display->getDisplayId());
     }
   );
@@ -123,7 +124,8 @@ void DisplayHandler::removeDisplay(std::shared_ptr<BasePageObject> display)
 
 void DisplayHandler::openAddDisplayDialog()
 {
-  executor_->queueAction([this]() {
+  executor_->queueAction(
+    [this]() {
       auto add_display_button = this->getAddDisplayButton();
 
       QTest::mouseClick(add_display_button, Qt::MouseButton::LeftButton);
@@ -133,7 +135,8 @@ void DisplayHandler::openAddDisplayDialog()
 
 void DisplayHandler::selectDisplayAndConfirm(std::shared_ptr<BasePageObject> page_object)
 {
-  executor_->queueAction([page_object]() {
+  executor_->queueAction(
+    [page_object]() {
       auto add_display_dialog_window = QApplication::activeWindow();
 
       auto create_visualization_type_box = add_display_dialog_window->findChild<QWidget *>(
diff --git a/rviz_visual_testing_framework/src/internal/image_tester.cpp b/rviz_visual_testing_framework/src/internal/image_tester.cpp
index 64f1bc118..e4a714aa6 100644
--- a/rviz_visual_testing_framework/src/internal/image_tester.cpp
+++ b/rviz_visual_testing_framework/src/internal/image_tester.cpp
@@ -76,7 +76,8 @@ void ImageTester::assertImageIdentity(
       ".\n";
   }
 
-  resizeAndCropImage(image_name, test_image, reference_image_width,
+  resizeAndCropImage(
+    image_name, test_image, reference_image_width,
     reference_image_height, test_image_width, test_image_height);
 
   size_t different_pixels_number = pixelDifference(
diff --git a/rviz_visual_testing_framework/src/internal/rviz_scene_test.cpp b/rviz_visual_testing_framework/src/internal/rviz_scene_test.cpp
index 7b3f68797..2de7a4577 100644
--- a/rviz_visual_testing_framework/src/internal/rviz_scene_test.cpp
+++ b/rviz_visual_testing_framework/src/internal/rviz_scene_test.cpp
@@ -88,7 +88,8 @@ void RvizTestScene::takeTestShot(Ogre::String name)
 
 void RvizTestScene::takeScreenShot(Ogre::String name)
 {
-  executor_->queueAction([this, name] {
+  executor_->queueAction(
+    [this, name] {
       render_window_->captureScreenShot(name);
     }
   );
diff --git a/rviz_visual_testing_framework/src/internal/visual_test.cpp b/rviz_visual_testing_framework/src/internal/visual_test.cpp
index abb99bfaa..508581d28 100644
--- a/rviz_visual_testing_framework/src/internal/visual_test.cpp
+++ b/rviz_visual_testing_framework/src/internal/visual_test.cpp
@@ -80,8 +80,9 @@ void VisualTest::takeReferenceScreenShot(
   Ogre::String screenshot_name, std::shared_ptr<PageObjectWithWindow> display)
 {
   std::string images_name = QDir::toNativeSeparators(
-    QString::fromStdString(source_directory_path_ + reference_images_path_suffix_ +
-    screenshot_name)).toStdString();
+    QString::fromStdString(
+      source_directory_path_ + reference_images_path_suffix_ +
+      screenshot_name)).toStdString();
 
   if (display) {
     display->captureDisplayRenderWindow(images_name + "_ref.png");
@@ -94,8 +95,9 @@ void VisualTest::takeTestScreenShot(
   Ogre::String screenshot_name, std::shared_ptr<PageObjectWithWindow> display)
 {
   std::string images_name = QDir::toNativeSeparators(
-    QString::fromStdString(build_directory_path_ + test_images_path_suffix_ +
-    screenshot_name)).toStdString();
+    QString::fromStdString(
+      build_directory_path_ + test_images_path_suffix_ +
+      screenshot_name)).toStdString();
 
   if (display) {
     display->captureDisplayRenderWindow(images_name + ".png");
@@ -148,8 +150,9 @@ void VisualTest::setTesterThreshold(double threshold)
 bool VisualTest::checkImageExists(std::string & name)
 {
   const std::string reference_image_name = QDir::toNativeSeparators(
-    QString::fromStdString(source_directory_path_ + reference_images_path_suffix_ +
-    name + "_ref.png")).toStdString();
+    QString::fromStdString(
+      source_directory_path_ + reference_images_path_suffix_ +
+      name + "_ref.png")).toStdString();
   struct stat buffer;
 
   return stat(reference_image_name.c_str(), &buffer) == 0;
@@ -157,8 +160,9 @@ bool VisualTest::checkImageExists(std::string & name)
 
 bool VisualTest::directoriesDoNotExist()
 {
-  const std::string reference_directory = QDir::toNativeSeparators(QString::fromStdString(
-        source_directory_path_ + reference_images_path_suffix_)).toStdString();
+  const std::string reference_directory = QDir::toNativeSeparators(
+    QString::fromStdString(
+      source_directory_path_ + reference_images_path_suffix_)).toStdString();
   const std::string test_directory = QDir::toNativeSeparators(
     QString::fromStdString(build_directory_path_ + test_images_path_suffix_)).toStdString();
   struct stat buffer;
diff --git a/rviz_visual_testing_framework/src/page_objects/base_page_object.cpp b/rviz_visual_testing_framework/src/page_objects/base_page_object.cpp
index 7447e0170..bcb8c3f6e 100644
--- a/rviz_visual_testing_framework/src/page_objects/base_page_object.cpp
+++ b/rviz_visual_testing_framework/src/page_objects/base_page_object.cpp
@@ -79,7 +79,8 @@ void BasePageObject::setComboBox(
   const QString & value_to_set,
   std::vector<QString> super_properties)
 {
-  executor_->queueAction([this, value_to_set, property_to_change,
+  executor_->queueAction(
+    [this, value_to_set, property_to_change,
     super_properties{std::move(super_properties)}] {
       auto index_to_change =
       getValueToChangeFromAllProperties(property_to_change, super_properties);
@@ -258,7 +259,8 @@ QString BasePageObject::getDisplayName() const
 
 void BasePageObject::collapse()
 {
-  executor_->queueAction([this] {
+  executor_->queueAction(
+    [this] {
       int display_index =
       helpers::findIndex(display_id_, *all_display_ids_vector_);
       auto relative_display_index = helpers::getDisplaysTreeView()->model()->index(
diff --git a/rviz_visual_testing_framework/src/page_objects/page_object_with_window.cpp b/rviz_visual_testing_framework/src/page_objects/page_object_with_window.cpp
index 1b70a0e2e..711bc2af6 100644
--- a/rviz_visual_testing_framework/src/page_objects/page_object_with_window.cpp
+++ b/rviz_visual_testing_framework/src/page_objects/page_object_with_window.cpp
@@ -41,7 +41,8 @@ PageObjectWithWindow::PageObjectWithWindow(int display_category, QString display
 
 void PageObjectWithWindow::captureDisplayRenderWindow(std::string image_name)
 {
-  executor_->queueAction([this, image_name] {
+  executor_->queueAction(
+    [this, image_name] {
       if (!render_window_) {
         setRenderWindow();
       }
diff --git a/rviz_visual_testing_framework/src/visual_test_fixture.cpp b/rviz_visual_testing_framework/src/visual_test_fixture.cpp
index d0c8c6f3f..a674a4f99 100644
--- a/rviz_visual_testing_framework/src/visual_test_fixture.cpp
+++ b/rviz_visual_testing_framework/src/visual_test_fixture.cpp
@@ -56,13 +56,17 @@ void VisualTestFixture::SetUpTestCase()
   std::string package_share_directory = ament_index_cpp::get_package_share_directory(
     "rviz_visual_testing_framework");
   if (VisualTest::generateReferenceImages()) {
-    visualizer_app_->loadConfig(QDir::toNativeSeparators(
-        QString::fromStdString(package_share_directory +
-        "/config/visual_tests_default_config.rviz")));
+    visualizer_app_->loadConfig(
+      QDir::toNativeSeparators(
+        QString::fromStdString(
+          package_share_directory +
+          "/config/visual_tests_default_config.rviz")));
   } else {
-    visualizer_app_->loadConfig(QDir::toNativeSeparators(
-        QString::fromStdString(package_share_directory +
-        "/config/visual_tests_test_image_config.rviz")));
+    visualizer_app_->loadConfig(
+      QDir::toNativeSeparators(
+        QString::fromStdString(
+          package_share_directory +
+          "/config/visual_tests_test_image_config.rviz")));
   }
 }
 
@@ -101,7 +105,8 @@ void VisualTestFixture::setCamLookAt(Ogre::Vector3 camera_look_at_vector)
 
 void VisualTestFixture::updateCamWithDelay(Ogre::Vector3 new_pose, Ogre::Vector3 new_look_at)
 {
-  executor_->queueAction([this, new_pose, new_look_at] {
+  executor_->queueAction(
+    [this, new_pose, new_look_at] {
       visual_test_->setCamPose(new_pose);
       visual_test_->setCamLookAt(new_look_at);
     });