diff --git a/pcl_ros/cfg/SACSegmentation_common.py b/pcl_ros/cfg/SACSegmentation_common.py
index 9bf8da1c..0bef192b 100644
--- a/pcl_ros/cfg/SACSegmentation_common.py
+++ b/pcl_ros/cfg/SACSegmentation_common.py
@@ -1,8 +1,8 @@
 #! /usr/bin/env python
 
-from dynamic_reconfigure.parameter_generator_catkin import int_t
-from dynamic_reconfigure.parameter_generator_catkin import double_t
 from dynamic_reconfigure.parameter_generator_catkin import bool_t
+from dynamic_reconfigure.parameter_generator_catkin import double_t
+from dynamic_reconfigure.parameter_generator_catkin import int_t
 from dynamic_reconfigure.parameter_generator_catkin import str_t
 
 # set up parameters that we care about
@@ -11,37 +11,37 @@ PACKAGE = 'pcl_ros'
 
 def add_common_parameters(gen):
     # add(self, name, paramtype, level, description, default = None, min = None,
-    # max = None, edit_method = "")
-    gen.add("max_iterations", int_t, 0,
-            "The maximum number of iterations the algorithm will run for",
+    # max = None, edit_method = '')
+    gen.add('max_iterations', int_t, 0,
+            'The maximum number of iterations the algorithm will run for',
             50, 0, 100000)
-    gen.add("probability", double_t, 0,
-            "The desired probability of choosing at least one sample free from outliers",
+    gen.add('probability', double_t, 0,
+            'The desired probability of choosing at least one sample free from outliers',
             0.99, 0.5, 0.99)
-    gen.add("distance_threshold", double_t, 0,
-            "The distance to model threshold",
+    gen.add('distance_threshold', double_t, 0,
+            'The distance to model threshold',
             0.02, 0, 1.0)
-    gen.add("optimize_coefficients", bool_t, 0,
-            "Model coefficient refinement",
+    gen.add('optimize_coefficients', bool_t, 0,
+            'Model coefficient refinement',
             True)
-    gen.add("radius_min", double_t, 0,
-            "The minimum allowed model radius (where applicable)",
+    gen.add('radius_min', double_t, 0,
+            'The minimum allowed model radius (where applicable)',
             0.0, 0, 1.0)
-    gen.add("radius_max", double_t, 0,
-            "The maximum allowed model radius (where applicable)",
+    gen.add('radius_max', double_t, 0,
+            'The maximum allowed model radius (where applicable)',
             0.05, 0, 1.0)
-    gen.add("eps_angle", double_t, 0,
-            ("The maximum allowed difference between the model normal "
-             "and the given axis in radians."),
+    gen.add('eps_angle', double_t, 0,
+            ('The maximum allowed difference between the model normal '
+             'and the given axis in radians.'),
             0.17, 0.0, 1.5707)
-    gen.add("min_inliers", int_t, 0,
-            "The minimum number of inliers a model must have in order to be considered valid.",
+    gen.add('min_inliers', int_t, 0,
+            'The minimum number of inliers a model must have in order to be considered valid.',
             0, 0, 100000)
-    gen.add("input_frame", str_t, 0,
-            ("The input TF frame the data should be transformed into, "
-             "if input.header.frame_id is different."),
-            "")
-    gen.add("output_frame", str_t, 0,
-            ("The output TF frame the data should be transformed into, "
-             "if input.header.frame_id is different."),
-            "")
+    gen.add('input_frame', str_t, 0,
+            ('The input TF frame the data should be transformed into, '
+             'if input.header.frame_id is different.'),
+            '')
+    gen.add('output_frame', str_t, 0,
+            ('The output TF frame the data should be transformed into, '
+             'if input.header.frame_id is different.'),
+            '')
diff --git a/pcl_ros/cfg/common.py b/pcl_ros/cfg/common.py
index 43c49554..27e47107 100644
--- a/pcl_ros/cfg/common.py
+++ b/pcl_ros/cfg/common.py
@@ -1,8 +1,8 @@
 #! /usr/bin/env python
 
-from dynamic_reconfigure.parameter_generator_catkin import str_t
-from dynamic_reconfigure.parameter_generator_catkin import double_t
 from dynamic_reconfigure.parameter_generator_catkin import bool_t
+from dynamic_reconfigure.parameter_generator_catkin import double_t
+from dynamic_reconfigure.parameter_generator_catkin import str_t
 
 # set up parameters that we care about
 PACKAGE = 'pcl_ros'
@@ -10,27 +10,27 @@ PACKAGE = 'pcl_ros'
 
 def add_common_parameters(gen):
     # def add (self, name, paramtype, level, description, default = None, min = None,
-    # max = None, edit_method = ""):
-    gen.add("filter_field_name", str_t, 0, "The field name used for filtering", "z")
-    gen.add("filter_limit_min", double_t, 0,
-            "The minimum allowed field value a point will be considered from",
+    # max = None, edit_method = ''):
+    gen.add('filter_field_name', str_t, 0, 'The field name used for filtering', 'z')
+    gen.add('filter_limit_min', double_t, 0,
+            'The minimum allowed field value a point will be considered from',
             0.0, -100000.0, 100000.0)
-    gen.add("filter_limit_max", double_t, 0,
-            "The maximum allowed field value a point will be considered from",
+    gen.add('filter_limit_max', double_t, 0,
+            'The maximum allowed field value a point will be considered from',
             1.0, -100000.0, 100000.0)
-    gen.add("filter_limit_negative", bool_t, 0,
-            ("Set to true if we want to return the data outside "
-             "[filter_limit_min; filter_limit_max]."),
+    gen.add('filter_limit_negative', bool_t, 0,
+            ('Set to true if we want to return the data outside '
+             '[filter_limit_min; filter_limit_max].'),
             False)
-    gen.add("keep_organized", bool_t, 0,
-            ("Set whether the filtered points should be kept and set to NaN, "
-             "or removed from the PointCloud, thus potentially breaking its organized structure."),
+    gen.add('keep_organized', bool_t, 0,
+            ('Set whether the filtered points should be kept and set to NaN, '
+             'or removed from the PointCloud, thus potentially breaking its organized structure.'),
             False)
-    gen.add("input_frame", str_t, 0,
-            ("The input TF frame the data should be transformed into before processing, "
-             "if input.header.frame_id is different."),
-            "")
-    gen.add("output_frame", str_t, 0,
-            ("The output TF frame the data should be transformed into after processing, "
-             "if input.header.frame_id is different."),
-            "")
+    gen.add('input_frame', str_t, 0,
+            ('The input TF frame the data should be transformed into before processing, '
+             'if input.header.frame_id is different.'),
+            '')
+    gen.add('output_frame', str_t, 0,
+            ('The output TF frame the data should be transformed into after processing, '
+             'if input.header.frame_id is different.'),
+            '')
diff --git a/pcl_ros/include/pcl_ros/impl/transforms.hpp b/pcl_ros/include/pcl_ros/impl/transforms.hpp
index 31c0e1fe..1f92e648 100644
--- a/pcl_ros/include/pcl_ros/impl/transforms.hpp
+++ b/pcl_ros/include/pcl_ros/impl/transforms.hpp
@@ -37,7 +37,6 @@
 #ifndef PCL_ROS__IMPL__TRANSFORMS_HPP_
 #define PCL_ROS__IMPL__TRANSFORMS_HPP_
 
-#include "pcl_ros/transforms.hpp"
 #include <pcl/common/transforms.h>
 #include <pcl_conversions/pcl_conversions.h>
 #include <tf2/convert.h>
@@ -45,14 +44,18 @@
 #include <tf2/LinearMath/Transform.h>
 #include <tf2/LinearMath/Quaternion.h>
 #include <tf2/LinearMath/Vector3.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
+
+#include <Eigen/Dense>
+#include <string>
+
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>
 #include <rclcpp/logging.hpp>
 #include <rclcpp/time.hpp>
-#include <Eigen/Dense>
-#include <string>
+
+#include "pcl_ros/transforms.hpp"
 
 using pcl_conversions::fromPCL;
 using pcl_conversions::toPCL;
diff --git a/pcl_ros/include/pcl_ros/io/bag_io.hpp b/pcl_ros/include/pcl_ros/io/bag_io.hpp
index 6f5add21..bad98c7d 100644
--- a/pcl_ros/include/pcl_ros/io/bag_io.hpp
+++ b/pcl_ros/include/pcl_ros/io/bag_io.hpp
@@ -38,11 +38,11 @@
 #ifndef PCL_ROS__IO__BAG_IO_HPP_
 #define PCL_ROS__IO__BAG_IO_HPP_
 
-#include <pcl_ros/pcl_nodelet.hpp>
 #include <sensor_msgs/PointCloud2.h>
 #include <rosbag/bag.h>
 #include <rosbag/view.h>
 #include <string>
+#include <pcl_ros/pcl_nodelet.hpp>
 
 namespace pcl_ros
 {
diff --git a/pcl_ros/include/pcl_ros/pcl_node.hpp b/pcl_ros/include/pcl_ros/pcl_node.hpp
index d80cb6f4..31be9944 100644
--- a/pcl_ros/include/pcl_ros/pcl_node.hpp
+++ b/pcl_ros/include/pcl_ros/pcl_node.hpp
@@ -44,30 +44,25 @@
 #ifndef PCL_ROS__PCL_NODE_HPP_
 #define PCL_ROS__PCL_NODE_HPP_
 
-#include <sensor_msgs/msg/point_cloud2.hpp>
-// PCL includes
-#include <pcl_msgs/msg/point_indices.hpp>
-#include <pcl_msgs/msg/model_coefficients.hpp>
-#include <pcl/pcl_base.h>
-#include <pcl/point_types.h>
-#include <pcl_conversions/pcl_conversions.h>
-// ROS Nodelet includes
-// #include <nodelet_topic_tools/nodelet_lazy.h>  // TODO(daisukes): lazy subscription
 #include <message_filters/subscriber.h>
 #include <message_filters/synchronizer.h>
 #include <message_filters/sync_policies/exact_time.h>
 #include <message_filters/sync_policies/approximate_time.h>
-
-// Include TF
+#include <pcl/pcl_base.h>
+#include <pcl/point_types.h>
+#include <pcl_conversions/pcl_conversions.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_ros/buffer.h>
+// #include <nodelet_topic_tools/nodelet_lazy.h>  // TODO(daisukes): lazy subscription
 
-// STL
 #include <memory>
 #include <string>
 #include <vector>
-// ROS2 includes
+
 #include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/point_cloud2.hpp>
+#include <pcl_msgs/msg/point_indices.hpp>
+#include <pcl_msgs/msg/model_coefficients.hpp>
 
 // #include "pcl_ros/point_cloud.hpp"
 
@@ -199,9 +194,9 @@ protected:
   bool approximate_sync_;
 
   /** \brief TF listener object. */
-  tf2_ros::TransformListener tf_listener_;
   tf2_ros::Buffer tf_buffer_;
-  
+  tf2_ros::TransformListener tf_listener_;
+
   /** \brief Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero).
     * \param cloud the point cloud to test
     * \param topic_name an optional topic name (only used for printing, defaults to "input")
@@ -249,7 +244,9 @@ protected:
     * \param topic_name an optional topic name (only used for printing, defaults to "indices")
     */
   inline bool
-  isValid(const PointIndicesConstPtr & indices, const std::string & topic_name = "indices")
+  isValid(
+    const PointIndicesConstPtr & /*indices*/,
+    const std::string & /*topic_name*/ = "indices")
   {
     /*if (indices->indices.empty ())
     {
@@ -269,7 +266,9 @@ protected:
     * \param topic_name an optional topic name (only used for printing, defaults to "model")
     */
   inline bool
-  isValid(const ModelCoefficientsConstPtr & model, const std::string & topic_name = "model")
+  isValid(
+    const ModelCoefficientsConstPtr & /*model*/,
+    const std::string & /*topic_name*/ = "model")
   {
     /*if (model->values.empty ())
     {
diff --git a/pcl_ros/include/pcl_ros/point_cloud.hpp b/pcl_ros/include/pcl_ros/point_cloud.hpp
index b25697e1..b1da6b0a 100644
--- a/pcl_ros/include/pcl_ros/point_cloud.hpp
+++ b/pcl_ros/include/pcl_ros/point_cloud.hpp
@@ -44,12 +44,12 @@
 
 #include <ros/ros.h>
 #include <pcl/point_cloud.h>
-#include <pcl/pcl_config.h> // for PCL_VERSION_COMPARE
+#include <pcl/pcl_config.h>  // for PCL_VERSION_COMPARE
 #if PCL_VERSION_COMPARE(>=, 1, 11, 0)
 #include <pcl/type_traits.h>
 #else
 #include <pcl/point_traits.h>
-#endif // PCL_VERSION_COMPARE(>=, 1, 11, 0)
+#endif  // PCL_VERSION_COMPARE(>=, 1, 11, 0)
 #include <pcl/for_each_type.h>
 #include <pcl/conversions.h>
 #if ROS_POINTER_COMPATIBILITY_IMPLEMENTED
@@ -61,9 +61,6 @@
 #endif
 #include <pcl_conversions/pcl_conversions.h>
 #include <sensor_msgs/PointCloud2.h>
-#include <boost/foreach.hpp> // for BOOST_FOREACH
-#include <boost/mpl/size.hpp>
-#include <boost/ref.hpp>
 #include <string>
 #include <utility>
 #include <vector>
@@ -71,6 +68,9 @@
 #include <type_traits>
 #include <memory>
 #endif
+#include <boost/foreach.hpp>  // for BOOST_FOREACH
+#include <boost/mpl/size.hpp>
+#include <boost/ref.hpp>
 
 namespace pcl
 {
diff --git a/pcl_ros/include/pcl_ros/transforms.hpp b/pcl_ros/include/pcl_ros/transforms.hpp
index 1b5312f3..e1bd4a6b 100644
--- a/pcl_ros/include/pcl_ros/transforms.hpp
+++ b/pcl_ros/include/pcl_ros/transforms.hpp
@@ -41,11 +41,11 @@
 #include <tf2/LinearMath/Transform.h>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
+#include <Eigen/Dense>
+#include <string>
 #include <rclcpp/time.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>
-#include <Eigen/Dense>
-#include <string>
 
 namespace pcl_ros
 {
diff --git a/pcl_ros/src/pcl_ros/io/pcd_io.cpp b/pcl_ros/src/pcl_ros/io/pcd_io.cpp
index 5f379342..33985cbb 100644
--- a/pcl_ros/src/pcl_ros/io/pcd_io.cpp
+++ b/pcl_ros/src/pcl_ros/io/pcd_io.cpp
@@ -36,8 +36,8 @@
  */
 
 #include <pluginlib/class_list_macros.h>
-#include <pcl_ros/io/pcd_io.hpp>
 #include <string>
+#include <pcl_ros/io/pcd_io.hpp>
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 void
diff --git a/pcl_ros/src/test/test_tf_message_filter_pcl.cpp b/pcl_ros/src/test/test_tf_message_filter_pcl.cpp
index 980a7d6b..a32d7511 100644
--- a/pcl_ros/src/test/test_tf_message_filter_pcl.cpp
+++ b/pcl_ros/src/test/test_tf_message_filter_pcl.cpp
@@ -38,10 +38,6 @@
 #include <tf/transform_listener.h>
 #include <tf/transform_broadcaster.h>
 
-#include <boost/bind.hpp>
-#include <boost/scoped_ptr.hpp>
-
-#include <pcl_ros/point_cloud.hpp>
 #include <pcl_conversions/pcl_conversions.h>
 
 #include <ros/ros.h>
@@ -52,6 +48,11 @@
 #include <string>
 #include <vector>
 
+#include <boost/bind.hpp>
+#include <boost/scoped_ptr.hpp>
+
+#include <pcl_ros/point_cloud.hpp>
+
 // using a random point type, as we want to make sure that it does work with
 // other points than just XYZ
 typedef pcl::PointCloud<pcl::PointXYZRGBNormal> PCDType;
diff --git a/pcl_ros/src/transforms.cpp b/pcl_ros/src/transforms.cpp
index 2ca2462a..d733708d 100644
--- a/pcl_ros/src/transforms.cpp
+++ b/pcl_ros/src/transforms.cpp
@@ -36,6 +36,7 @@
 
 #include "pcl_ros/transforms.hpp"
 #include "pcl_ros/impl/transforms.hpp"
+
 #include <pcl/common/transforms.h>
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
@@ -43,18 +44,20 @@
 #include <tf2/exceptions.h>
 #include <tf2/LinearMath/Transform.h>
 #include <tf2/LinearMath/Vector3.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
-#include <sensor_msgs/msg/point_cloud2.hpp>
-#include <geometry_msgs/msg/transform_stamped.hpp>
-#include <rclcpp/logging.hpp>
-#include <rclcpp/time.hpp>
+
 #include <Eigen/Dense>
 #include <cmath>
 #include <limits>
 #include <string>
 
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#include <sensor_msgs/msg/point_cloud2.hpp>
+#include <geometry_msgs/msg/transform_stamped.hpp>
+#include <rclcpp/logging.hpp>
+#include <rclcpp/time.hpp>
+
 namespace pcl_ros
 {
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
diff --git a/pcl_ros/tests/filters/test_filter_component.py b/pcl_ros/tests/filters/test_filter_component.py
index 2c31983e..2e01e0e8 100644
--- a/pcl_ros/tests/filters/test_filter_component.py
+++ b/pcl_ros/tests/filters/test_filter_component.py
@@ -36,9 +36,8 @@ import launch.actions
 import launch_ros.actions
 import launch_testing.actions
 import launch_testing.markers
-import pytest
-
 from launch_testing_ros import WaitForTopics
+import pytest
 from sensor_msgs.msg import PointCloud2
 
 
@@ -78,6 +77,7 @@ def generate_test_description():
 
 
 class TestFilter(unittest.TestCase):
+
     def test_filter_output(self):
         wait_for_topics = WaitForTopics([('output', PointCloud2)], timeout=5.0)
         assert wait_for_topics.wait()
diff --git a/pcl_ros/tests/filters/test_filter_executable.py b/pcl_ros/tests/filters/test_filter_executable.py
index 11bcdb6d..b5e8e7c9 100644
--- a/pcl_ros/tests/filters/test_filter_executable.py
+++ b/pcl_ros/tests/filters/test_filter_executable.py
@@ -36,9 +36,8 @@ import launch.actions
 import launch_ros.actions
 import launch_testing.actions
 import launch_testing.markers
-import pytest
-
 from launch_testing_ros import WaitForTopics
+import pytest
 from sensor_msgs.msg import PointCloud2
 
 
@@ -49,9 +48,9 @@ def generate_test_description():
     filter_executable = os.getenv('FILTER_EXECUTABLE')
     parameters = ast.literal_eval(os.getenv('PARAMETERS')) if 'PARAMETERS' in os.environ else {}
 
-    ros_arguments = ["-r", "input:=point_cloud2"]
+    ros_arguments = ['-r', 'input:=point_cloud2']
     for key in parameters.keys():
-        ros_arguments.extend(["-p", "{}:={}".format(key, parameters[key])])
+        ros_arguments.extend(['-p', '{}:={}'.format(key, parameters[key])])
 
     return launch.LaunchDescription([
 
@@ -72,7 +71,7 @@ def generate_test_description():
         launch_ros.actions.Node(
             package='pcl_ros',
             executable=filter_executable,
-            output="screen",
+            output='screen',
             ros_arguments=ros_arguments
         ),
         launch_testing.actions.ReadyToTest()
@@ -80,6 +79,7 @@ def generate_test_description():
 
 
 class TestFilter(unittest.TestCase):
+
     def test_filter_output(self):
         wait_for_topics = WaitForTopics([('output', PointCloud2)], timeout=5.0)
         assert wait_for_topics.wait()
diff --git a/pcl_ros/tools/bag_to_pcd.cpp b/pcl_ros/tools/bag_to_pcd.cpp
index c895b801..a06d7305 100644
--- a/pcl_ros/tools/bag_to_pcd.cpp
+++ b/pcl_ros/tools/bag_to_pcd.cpp
@@ -49,11 +49,13 @@ Cloud Data) format.
 #include <pcl/common/io.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl_conversions/pcl_conversions.h>
+
 #include <tf/transform_listener.h>
 #include <tf/transform_broadcaster.h>
-#include <boost/filesystem.hpp>
 #include <sstream>
 #include <string>
+
+#include <boost/filesystem.hpp>
 #include "pcl_ros/transforms.hpp"
 
 typedef sensor_msgs::PointCloud2 PointCloud;
diff --git a/pcl_ros/tools/pcd_to_pointcloud.cpp b/pcl_ros/tools/pcd_to_pointcloud.cpp
index f8368f3d..cb21a24d 100644
--- a/pcl_ros/tools/pcd_to_pointcloud.cpp
+++ b/pcl_ros/tools/pcd_to_pointcloud.cpp
@@ -43,21 +43,18 @@
 
  **/
 
-// STL
+#include <pcl/common/io.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/point_types.h>
+#include <pcl_conversions/pcl_conversions.h>
+
 #include <chrono>
 #include <string>
 #include <thread>
 
-// PCL
-#include <pcl/common/io.h>
-#include <pcl/io/pcd_io.h>
-#include <pcl/point_types.h>
-
-// ROS core
 #include <rclcpp/rclcpp.hpp>
 #include "rclcpp_components/register_node_macro.hpp"
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#include <pcl_conversions/pcl_conversions.h>
 
 namespace pcl_ros
 {