diff --git a/rcl/include/rcl/time.h b/rcl/include/rcl/time.h
index f171913..f235fbf 100644
--- a/rcl/include/rcl/time.h
+++ b/rcl/include/rcl/time.h
@@ -399,8 +399,8 @@ rcl_set_default_ros_time_source(rcl_time_source_t * process_time_source);
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
-rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * finish,
-  rcl_duration_t * delta);
+rcl_difference_times(
+  rcl_time_point_t * start, rcl_time_point_t * finish, rcl_duration_t * delta);
 
 /// Fill the time point with the current value of the associated clock.
 /**
@@ -466,8 +466,8 @@ rcl_disable_ros_time_override(rcl_time_source_t * time_source);
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
-rcl_is_enabled_ros_time_override(rcl_time_source_t * time_source,
-  bool * is_enabled);
+rcl_is_enabled_ros_time_override(
+  rcl_time_source_t * time_source, bool * is_enabled);
 
 /// Set the current time for this `RCL_ROS_TIME` time source.
 /**
@@ -485,8 +485,8 @@ rcl_is_enabled_ros_time_override(rcl_time_source_t * time_source,
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
-rcl_set_ros_time_override(rcl_time_source_t * time_source,
-  rcl_time_point_value_t time_value);
+rcl_set_ros_time_override(
+  rcl_time_source_t * time_source, rcl_time_point_value_t time_value);
 
 #if __cplusplus
 }
diff --git a/rcl/src/rcl/rmw_implementation_identifier_check.c b/rcl/src/rcl/rmw_implementation_identifier_check.c
index 9c08ea2..3356622 100644
--- a/rcl/src/rcl/rmw_implementation_identifier_check.c
+++ b/rcl/src/rcl/rmw_implementation_identifier_check.c
@@ -35,7 +35,7 @@ extern "C"
   #pragma section(".CRT$XCU", read)
   #define INITIALIZER2_(f, p) \
   static void f(void); \
-  __declspec(allocate(".CRT$XCU")) void(*f ## _)(void) = f; \
+  __declspec(allocate(".CRT$XCU")) void (*f ## _)(void) = f; \
   __pragma(comment(linker, "/include:" p #f "_")) \
   static void f(void)
   #ifdef _WIN64
diff --git a/rcl/src/rcl/time.c b/rcl/src/rcl/time.c
index 95e7785..ee298f5 100644
--- a/rcl/src/rcl/time.c
+++ b/rcl/src/rcl/time.c
@@ -286,8 +286,8 @@ rcl_set_default_ros_time_source(rcl_time_source_t * process_time_source)
 }
 
 rcl_ret_t
-rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * finish,
-  rcl_duration_t * delta)
+rcl_difference_times(
+  rcl_time_point_t * start, rcl_time_point_t * finish, rcl_duration_t * delta)
 {
   if (start->time_source->type != finish->time_source->type) {
     RCL_SET_ERROR_MSG(
diff --git a/rcl/test/memory_tools/test_memory_tools.cpp b/rcl/test/memory_tools/test_memory_tools.cpp
index ecf3376..9030f18 100644
--- a/rcl/test/memory_tools/test_memory_tools.cpp
+++ b/rcl/test/memory_tools/test_memory_tools.cpp
@@ -20,19 +20,22 @@
  */
 TEST(TestMemoryTools, test_allocation_checking_tools) {
   size_t unexpected_mallocs = 0;
-  auto on_unexpected_malloc = ([&unexpected_mallocs]() {
-    unexpected_mallocs++;
-  });
+  auto on_unexpected_malloc = (
+    [&unexpected_mallocs]() {
+      unexpected_mallocs++;
+    });
   set_on_unexpected_malloc_callback(on_unexpected_malloc);
   size_t unexpected_reallocs = 0;
-  auto on_unexpected_realloc = ([&unexpected_reallocs]() {
-    unexpected_reallocs++;
-  });
+  auto on_unexpected_realloc = (
+    [&unexpected_reallocs]() {
+      unexpected_reallocs++;
+    });
   set_on_unexpected_realloc_callback(on_unexpected_realloc);
   size_t unexpected_frees = 0;
-  auto on_unexpected_free = ([&unexpected_frees]() {
-    unexpected_frees++;
-  });
+  auto on_unexpected_free = (
+    [&unexpected_frees]() {
+      unexpected_frees++;
+    });
   set_on_unexpected_free_callback(on_unexpected_free);
   void * mem = nullptr;
   void * remem = nullptr;
diff --git a/rcl/test/rcl/client_fixture.cpp b/rcl/test/rcl/client_fixture.cpp
index bdf1760..999663f 100644
--- a/rcl/test/rcl/client_fixture.cpp
+++ b/rcl/test/rcl/client_fixture.cpp
@@ -66,12 +66,13 @@ wait_for_client_to_be_ready(
     RCUTILS_LOG_ERROR("Error in wait set init: %s", rcl_get_error_string_safe())
     return false;
   }
-  auto wait_set_exit = make_scope_exit([&wait_set]() {
-    if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR("Error in wait set fini: %s", rcl_get_error_string_safe())
-      throw std::runtime_error("error while waiting for client");
-    }
-  });
+  auto wait_set_exit = make_scope_exit(
+    [&wait_set]() {
+      if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
+        RCUTILS_LOG_ERROR("Error in wait set fini: %s", rcl_get_error_string_safe())
+        throw std::runtime_error("error while waiting for client");
+      }
+    });
   size_t iteration = 0;
   do {
     ++iteration;
@@ -115,12 +116,13 @@ int main(int argc, char ** argv)
       RCUTILS_LOG_ERROR("Error in node init: %s", rcl_get_error_string_safe())
       return -1;
     }
-    auto node_exit = make_scope_exit([&main_ret, &node]() {
-      if (rcl_node_fini(&node) != RCL_RET_OK) {
-        RCUTILS_LOG_ERROR("Error in node fini: %s", rcl_get_error_string_safe())
-        main_ret = -1;
-      }
-    });
+    auto node_exit = make_scope_exit(
+      [&main_ret, &node]() {
+        if (rcl_node_fini(&node) != RCL_RET_OK) {
+          RCUTILS_LOG_ERROR("Error in node fini: %s", rcl_get_error_string_safe())
+          main_ret = -1;
+        }
+      });
 
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
       example_interfaces, AddTwoInts);
@@ -134,12 +136,13 @@ int main(int argc, char ** argv)
       return -1;
     }
 
-    auto client_exit = make_scope_exit([&client, &main_ret, &node]() {
-      if (rcl_client_fini(&client, &node)) {
-        RCUTILS_LOG_ERROR("Error in client fini: %s", rcl_get_error_string_safe())
-        main_ret = -1;
-      }
-    });
+    auto client_exit = make_scope_exit(
+      [&client, &main_ret, &node]() {
+        if (rcl_client_fini(&client, &node)) {
+          RCUTILS_LOG_ERROR("Error in client fini: %s", rcl_get_error_string_safe())
+          main_ret = -1;
+        }
+      });
 
     // Wait until server is available
     if (!wait_for_server_to_be_available(&node, &client, 1000, 100)) {
diff --git a/rcl/test/rcl/service_fixture.cpp b/rcl/test/rcl/service_fixture.cpp
index fc3d787..8512964 100644
--- a/rcl/test/rcl/service_fixture.cpp
+++ b/rcl/test/rcl/service_fixture.cpp
@@ -40,12 +40,13 @@ wait_for_service_to_be_ready(
     RCUTILS_LOG_ERROR("Error in wait set init: %s", rcl_get_error_string_safe())
     return false;
   }
-  auto wait_set_exit = make_scope_exit([&wait_set]() {
-    if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR("Error in wait set fini: %s", rcl_get_error_string_safe())
-      throw std::runtime_error("error waiting for service to be ready");
-    }
-  });
+  auto wait_set_exit = make_scope_exit(
+    [&wait_set]() {
+      if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
+        RCUTILS_LOG_ERROR("Error in wait set fini: %s", rcl_get_error_string_safe())
+        throw std::runtime_error("error waiting for service to be ready");
+      }
+    });
   size_t iteration = 0;
   do {
     ++iteration;
@@ -89,12 +90,13 @@ int main(int argc, char ** argv)
       RCUTILS_LOG_ERROR("Error in node init: %s", rcl_get_error_string_safe())
       return -1;
     }
-    auto node_exit = make_scope_exit([&main_ret, &node]() {
-      if (rcl_node_fini(&node) != RCL_RET_OK) {
-        RCUTILS_LOG_ERROR("Error in node fini: %s", rcl_get_error_string_safe())
-        main_ret = -1;
-      }
-    });
+    auto node_exit = make_scope_exit(
+      [&main_ret, &node]() {
+        if (rcl_node_fini(&node) != RCL_RET_OK) {
+          RCUTILS_LOG_ERROR("Error in node fini: %s", rcl_get_error_string_safe())
+          main_ret = -1;
+        }
+      });
 
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
       example_interfaces, AddTwoInts);
@@ -108,19 +110,21 @@ int main(int argc, char ** argv)
       return -1;
     }
 
-    auto service_exit = make_scope_exit([&main_ret, &service, &node]() {
-      if (rcl_service_fini(&service, &node)) {
-        RCUTILS_LOG_ERROR("Error in service fini: %s", rcl_get_error_string_safe())
-        main_ret = -1;
-      }
-    });
+    auto service_exit = make_scope_exit(
+      [&main_ret, &service, &node]() {
+        if (rcl_service_fini(&service, &node)) {
+          RCUTILS_LOG_ERROR("Error in service fini: %s", rcl_get_error_string_safe())
+          main_ret = -1;
+        }
+      });
 
     // Initialize a response.
     example_interfaces__srv__AddTwoInts_Response service_response;
     example_interfaces__srv__AddTwoInts_Response__init(&service_response);
-    auto response_exit = make_scope_exit([&service_response]() {
-      example_interfaces__srv__AddTwoInts_Response__fini(&service_response);
-    });
+    auto response_exit = make_scope_exit(
+      [&service_response]() {
+        example_interfaces__srv__AddTwoInts_Response__fini(&service_response);
+      });
 
     // Block until a client request comes in.
 
@@ -132,9 +136,10 @@ int main(int argc, char ** argv)
     // Take the pending request.
     example_interfaces__srv__AddTwoInts_Request service_request;
     example_interfaces__srv__AddTwoInts_Request__init(&service_request);
-    auto request_exit = make_scope_exit([&service_request]() {
-      example_interfaces__srv__AddTwoInts_Request__fini(&service_request);
-    });
+    auto request_exit = make_scope_exit(
+      [&service_request]() {
+        example_interfaces__srv__AddTwoInts_Request__fini(&service_request);
+      });
     rmw_request_id_t header;
     // TODO(jacquelinekay) May have to check for timeout error codes
     if (rcl_take_request(&service, &header, &service_request) != RCL_RET_OK) {
diff --git a/rcl/test/rcl/test_client.cpp b/rcl/test/rcl/test_client.cpp
index b5291d9..fe50085 100644
--- a/rcl/test/rcl/test_client.cpp
+++ b/rcl/test/rcl/test_client.cpp
@@ -84,11 +84,12 @@ TEST_F(TestClientFixture, test_client_nominal) {
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
   EXPECT_EQ(strcmp(rcl_client_get_service_name(&client), expected_topic_name), 0);
 
-  auto client_exit = make_scope_exit([&client, this]() {
-    stop_memory_checking();
-    rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  });
+  auto client_exit = make_scope_exit(
+    [&client, this]() {
+      stop_memory_checking();
+      rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+    });
 
   // Initialize the client request.
   example_interfaces__srv__AddTwoInts_Request req;
diff --git a/rcl/test/rcl/test_graph.cpp b/rcl/test/rcl/test_graph.cpp
index 839ecba..31ca8fd 100644
--- a/rcl/test/rcl/test_graph.cpp
+++ b/rcl/test/rcl/test_graph.cpp
@@ -421,38 +421,39 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
   // Create a thread to sleep for a time, then create a publisher, sleep more, then a subscriber,
   // sleep more, destroy the subscriber, sleep more, and then destroy the publisher.
   std::promise<bool> topic_changes_promise;
-  std::thread topic_thread([this, &topic_changes_promise]() {
-    // sleep
-    std::this_thread::sleep_for(std::chrono::milliseconds(100));
-    // create the publisher
-    rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
-    rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
-    rcl_ret_t ret = rcl_publisher_init(
-      &pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),
-      "/chatter_test_graph_guard_condition_topics", &pub_ops);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-    // sleep
-    std::this_thread::sleep_for(std::chrono::milliseconds(100));
-    // create the subscription
-    rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
-    rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
-    ret = rcl_subscription_init(
-      &sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),
-      "/chatter_test_graph_guard_condition_topics", &sub_ops);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-    // sleep
-    std::this_thread::sleep_for(std::chrono::milliseconds(100));
-    // destroy the subscription
-    ret = rcl_subscription_fini(&sub, this->node_ptr);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-    // sleep
-    std::this_thread::sleep_for(std::chrono::milliseconds(100));
-    // destroy the publication
-    ret = rcl_publisher_fini(&pub, this->node_ptr);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-    // notify that the thread is done
-    topic_changes_promise.set_value(true);
-  });
+  std::thread topic_thread(
+    [this, &topic_changes_promise]() {
+      // sleep
+      std::this_thread::sleep_for(std::chrono::milliseconds(100));
+      // create the publisher
+      rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
+      rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
+      rcl_ret_t ret = rcl_publisher_init(
+        &pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),
+        "/chatter_test_graph_guard_condition_topics", &pub_ops);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+      // sleep
+      std::this_thread::sleep_for(std::chrono::milliseconds(100));
+      // create the subscription
+      rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
+      rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
+      ret = rcl_subscription_init(
+        &sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),
+        "/chatter_test_graph_guard_condition_topics", &sub_ops);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+      // sleep
+      std::this_thread::sleep_for(std::chrono::milliseconds(100));
+      // destroy the subscription
+      ret = rcl_subscription_fini(&sub, this->node_ptr);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+      // sleep
+      std::this_thread::sleep_for(std::chrono::milliseconds(100));
+      // destroy the publication
+      ret = rcl_publisher_fini(&pub, this->node_ptr);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+      // notify that the thread is done
+      topic_changes_promise.set_value(true);
+    });
   // Wait for the graph state to change, expecting it to do so at least 4 times,
   // once for each change in the topics thread.
   const rcl_guard_condition_t * graph_guard_condition =
@@ -493,11 +494,12 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
   rcl_client_options_t client_options = rcl_client_get_default_options();
   ret = rcl_client_init(&client, this->node_ptr, ts, service_name, &client_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto client_exit = make_scope_exit([&client, this]() {
-    stop_memory_checking();
-    rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  });
+  auto client_exit = make_scope_exit(
+    [&client, this]() {
+      stop_memory_checking();
+      rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+    });
   // Check, knowing there is no service server (created by us at least).
   bool is_available;
   ret = rcl_service_server_is_available(this->node_ptr, &client, &is_available);
@@ -561,11 +563,12 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
     rcl_service_options_t service_options = rcl_service_get_default_options();
     ret = rcl_service_init(&service, this->node_ptr, ts, service_name, &service_options);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-    auto service_exit = make_scope_exit([&service, this]() {
-      stop_memory_checking();
-      rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);
-      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-    });
+    auto service_exit = make_scope_exit(
+      [&service, this]() {
+        stop_memory_checking();
+        rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);
+        EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+      });
     // Wait for and then assert that it is available.
     wait_for_service_state_to_change(true, is_available);
     ASSERT_TRUE(is_available);
diff --git a/rcl/test/rcl/test_guard_condition.cpp b/rcl/test/rcl/test_guard_condition.cpp
index 35c0d7a..2f2f3e1 100644
--- a/rcl/test/rcl/test_guard_condition.cpp
+++ b/rcl/test/rcl/test_guard_condition.cpp
@@ -64,11 +64,12 @@ TEST_F(
   ret = rcl_init(0, nullptr, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret);
   // Setup automatic rcl_shutdown()
-  auto rcl_shutdown_exit = make_scope_exit([]() {
-    stop_memory_checking();
-    rcl_ret_t ret = rcl_shutdown();
-    ASSERT_EQ(RCL_RET_OK, ret);
-  });
+  auto rcl_shutdown_exit = make_scope_exit(
+    []() {
+      stop_memory_checking();
+      rcl_ret_t ret = rcl_shutdown();
+      ASSERT_EQ(RCL_RET_OK, ret);
+    });
 
   // Create a zero initialized guard_condition (but not initialized).
   rcl_guard_condition_t zero_guard_condition = rcl_get_zero_initialized_guard_condition();
@@ -79,11 +80,12 @@ TEST_F(
   ret = rcl_guard_condition_init(&guard_condition, default_options);
   ASSERT_EQ(RCL_RET_OK, ret);
   // Setup automatic finalization of guard condition.
-  auto rcl_guard_condition_exit = make_scope_exit([&guard_condition]() {
-    stop_memory_checking();
-    rcl_ret_t ret = rcl_guard_condition_fini(&guard_condition);
-    EXPECT_EQ(RCL_RET_OK, ret);
-  });
+  auto rcl_guard_condition_exit = make_scope_exit(
+    [&guard_condition]() {
+      stop_memory_checking();
+      rcl_ret_t ret = rcl_guard_condition_fini(&guard_condition);
+      EXPECT_EQ(RCL_RET_OK, ret);
+    });
 
   // Test rcl_guard_condition_get_options().
   const rcl_guard_condition_options_t * actual_options;
@@ -142,10 +144,11 @@ TEST_F(
   // Initialize rcl with rcl_init().
   ret = rcl_init(0, nullptr, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret);
-  auto rcl_shutdown_exit = make_scope_exit([]() {
-    rcl_ret_t ret = rcl_shutdown();
-    ASSERT_EQ(RCL_RET_OK, ret);
-  });
+  auto rcl_shutdown_exit = make_scope_exit(
+    []() {
+      rcl_ret_t ret = rcl_shutdown();
+      ASSERT_EQ(RCL_RET_OK, ret);
+    });
   // Try invalid arguments.
   ret = rcl_guard_condition_init(nullptr, default_options);
   ASSERT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << "Expected RCL_RET_INVALID_ARGUMENT";
diff --git a/rcl/test/rcl/test_node.cpp b/rcl/test/rcl/test_node.cpp
index c6a2e6d..a5f9162 100644
--- a/rcl/test/rcl/test_node.cpp
+++ b/rcl/test/rcl/test_node.cpp
@@ -88,31 +88,34 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
     // This is the normal check (not windows and windows if not opensplice)
     ASSERT_EQ(RCL_RET_OK, ret);
   }
-  auto rcl_invalid_node_exit = make_scope_exit([&invalid_node]() {
-    stop_memory_checking();
-    rcl_ret_t ret = rcl_node_fini(&invalid_node);
-    EXPECT_EQ(RCL_RET_OK, ret);
-  });
+  auto rcl_invalid_node_exit = make_scope_exit(
+    [&invalid_node]() {
+      stop_memory_checking();
+      rcl_ret_t ret = rcl_node_fini(&invalid_node);
+      EXPECT_EQ(RCL_RET_OK, ret);
+    });
   ret = rcl_shutdown();  // Shutdown to invalidate the node.
   ASSERT_EQ(RCL_RET_OK, ret);
   ret = rcl_init(0, nullptr, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret);
-  auto rcl_shutdown_exit = make_scope_exit([]() {
-    stop_memory_checking();
-    rcl_ret_t ret = rcl_shutdown();
-    ASSERT_EQ(RCL_RET_OK, ret);
-  });
+  auto rcl_shutdown_exit = make_scope_exit(
+    []() {
+      stop_memory_checking();
+      rcl_ret_t ret = rcl_shutdown();
+      ASSERT_EQ(RCL_RET_OK, ret);
+    });
   // Create a zero init node.
   rcl_node_t zero_node = rcl_get_zero_initialized_node();
   // Create a normal node.
   rcl_node_t node = rcl_get_zero_initialized_node();
   ret = rcl_node_init(&node, name, namespace_, &default_options);
   ASSERT_EQ(RCL_RET_OK, ret);
-  auto rcl_node_exit = make_scope_exit([&node]() {
-    stop_memory_checking();
-    rcl_ret_t ret = rcl_node_fini(&node);
-    EXPECT_EQ(RCL_RET_OK, ret);
-  });
+  auto rcl_node_exit = make_scope_exit(
+    [&node]() {
+      stop_memory_checking();
+      rcl_ret_t ret = rcl_node_fini(&node);
+      EXPECT_EQ(RCL_RET_OK, ret);
+    });
   // Test rcl_node_is_valid().
   bool is_valid;
   is_valid = rcl_node_is_valid(nullptr);
@@ -311,10 +314,11 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_life_cycle)
   // Initialize rcl with rcl_init().
   ret = rcl_init(0, nullptr, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret);
-  auto rcl_shutdown_exit = make_scope_exit([]() {
-    rcl_ret_t ret = rcl_shutdown();
-    ASSERT_EQ(RCL_RET_OK, ret);
-  });
+  auto rcl_shutdown_exit = make_scope_exit(
+    []() {
+      rcl_ret_t ret = rcl_shutdown();
+      ASSERT_EQ(RCL_RET_OK, ret);
+    });
   // Try invalid arguments.
   ret = rcl_node_init(nullptr, name, namespace_, &default_options);
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
@@ -401,10 +405,11 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_name_restri
   // Initialize rcl with rcl_init().
   ret = rcl_init(0, nullptr, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret);
-  auto rcl_shutdown_exit = make_scope_exit([]() {
-    rcl_ret_t ret = rcl_shutdown();
-    ASSERT_EQ(RCL_RET_OK, ret);
-  });
+  auto rcl_shutdown_exit = make_scope_exit(
+    []() {
+      rcl_ret_t ret = rcl_shutdown();
+      ASSERT_EQ(RCL_RET_OK, ret);
+    });
 
   const char * namespace_ = "/ns";
   rcl_node_options_t default_options = rcl_node_get_default_options();
@@ -461,10 +466,11 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_namespace_r
   // Initialize rcl with rcl_init().
   ret = rcl_init(0, nullptr, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret);
-  auto rcl_shutdown_exit = make_scope_exit([]() {
-    rcl_ret_t ret = rcl_shutdown();
-    ASSERT_EQ(RCL_RET_OK, ret);
-  });
+  auto rcl_shutdown_exit = make_scope_exit(
+    []() {
+      rcl_ret_t ret = rcl_shutdown();
+      ASSERT_EQ(RCL_RET_OK, ret);
+    });
 
   const char * name = "node";
   rcl_node_options_t default_options = rcl_node_get_default_options();
diff --git a/rcl/test/rcl/test_publisher.cpp b/rcl/test/rcl/test_publisher.cpp
index a9fd06c..93a3091 100644
--- a/rcl/test/rcl/test_publisher.cpp
+++ b/rcl/test/rcl/test_publisher.cpp
@@ -93,11 +93,12 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto publisher_exit = make_scope_exit([&publisher, this]() {
-    stop_memory_checking();
-    rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  });
+  auto publisher_exit = make_scope_exit(
+    [&publisher, this]() {
+      stop_memory_checking();
+      rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+    });
   EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher), expected_topic_name), 0);
   std_msgs__msg__Int64 msg;
   std_msgs__msg__Int64__init(&msg);
@@ -118,11 +119,12 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto publisher_exit = make_scope_exit([&publisher, this]() {
-    stop_memory_checking();
-    rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  });
+  auto publisher_exit = make_scope_exit(
+    [&publisher, this]() {
+      stop_memory_checking();
+      rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+    });
   std_msgs__msg__String msg;
   std_msgs__msg__String__init(&msg);
   ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.data, "testing"));
diff --git a/rcl/test/rcl/test_service.cpp b/rcl/test/rcl/test_service.cpp
index 91470ba..29f19b8 100644
--- a/rcl/test/rcl/test_service.cpp
+++ b/rcl/test/rcl/test_service.cpp
@@ -84,11 +84,12 @@ wait_for_service_to_be_ready(
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 0, 0, 1, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto wait_set_exit = make_scope_exit([&wait_set]() {
-    stop_memory_checking();
-    rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
-    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  });
+  auto wait_set_exit = make_scope_exit(
+    [&wait_set]() {
+      stop_memory_checking();
+      rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
+      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+    });
   size_t iteration = 0;
   do {
     ++iteration;
@@ -128,21 +129,23 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
 
   // Check that the service name matches what we assigned.
   EXPECT_EQ(strcmp(rcl_service_get_service_name(&service), expected_topic), 0);
-  auto service_exit = make_scope_exit([&service, this]() {
-    stop_memory_checking();
-    rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  });
+  auto service_exit = make_scope_exit(
+    [&service, this]() {
+      stop_memory_checking();
+      rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+    });
 
   rcl_client_t client = rcl_get_zero_initialized_client();
   rcl_client_options_t client_options = rcl_client_get_default_options();
   ret = rcl_client_init(&client, this->node_ptr, ts, topic, &client_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto client_exit = make_scope_exit([&client, this]() {
-    stop_memory_checking();
-    rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  });
+  auto client_exit = make_scope_exit(
+    [&client, this]() {
+      stop_memory_checking();
+      rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+    });
 
 
   // TODO(wjwwood): add logic to wait for the connection to be established
@@ -171,10 +174,11 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
     // Initialize a response.
     example_interfaces__srv__AddTwoInts_Response service_response;
     example_interfaces__srv__AddTwoInts_Response__init(&service_response);
-    auto msg_exit = make_scope_exit([&service_response]() {
-      stop_memory_checking();
-      example_interfaces__srv__AddTwoInts_Response__fini(&service_response);
-    });
+    auto msg_exit = make_scope_exit(
+      [&service_response]() {
+        stop_memory_checking();
+        example_interfaces__srv__AddTwoInts_Response__fini(&service_response);
+      });
 
     // Initialize a separate instance of the request and take the pending request.
     example_interfaces__srv__AddTwoInts_Request service_request;
diff --git a/rcl/test/rcl/test_subscription.cpp b/rcl/test/rcl/test_subscription.cpp
index fb5d722..d30e58c 100644
--- a/rcl/test/rcl/test_subscription.cpp
+++ b/rcl/test/rcl/test_subscription.cpp
@@ -85,11 +85,12 @@ wait_for_subscription_to_be_ready(
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret = rcl_wait_set_init(&wait_set, 1, 0, 0, 0, 0, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto wait_set_exit = make_scope_exit([&wait_set]() {
-    stop_memory_checking();
-    rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
-    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  });
+  auto wait_set_exit = make_scope_exit(
+    [&wait_set]() {
+      stop_memory_checking();
+      rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
+      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+    });
   size_t iteration = 0;
   do {
     ++iteration;
@@ -134,20 +135,22 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto publisher_exit = make_scope_exit([&publisher, this]() {
-    stop_memory_checking();
-    rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  });
+  auto publisher_exit = make_scope_exit(
+    [&publisher, this]() {
+      stop_memory_checking();
+      rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+    });
   rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
   rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
   ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto subscription_exit = make_scope_exit([&subscription, this]() {
-    stop_memory_checking();
-    rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  });
+  auto subscription_exit = make_scope_exit(
+    [&subscription, this]() {
+      stop_memory_checking();
+      rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+    });
   EXPECT_EQ(strcmp(rcl_subscription_get_topic_name(&subscription), expected_topic), 0);
   // TODO(wjwwood): add logic to wait for the connection to be established
   //                probably using the count_subscriptions busy wait mechanism
@@ -167,10 +170,11 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   {
     std_msgs__msg__Int64 msg;
     std_msgs__msg__Int64__init(&msg);
-    auto msg_exit = make_scope_exit([&msg]() {
-      stop_memory_checking();
-      std_msgs__msg__Int64__fini(&msg);
-    });
+    auto msg_exit = make_scope_exit(
+      [&msg]() {
+        stop_memory_checking();
+        std_msgs__msg__Int64__fini(&msg);
+      });
     ret = rcl_take(&subscription, &msg, nullptr);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
     ASSERT_EQ(42, msg.data);
@@ -188,20 +192,22 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto publisher_exit = make_scope_exit([&publisher, this]() {
-    stop_memory_checking();
-    rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  });
+  auto publisher_exit = make_scope_exit(
+    [&publisher, this]() {
+      stop_memory_checking();
+      rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+    });
   rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
   rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
   ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto subscription_exit = make_scope_exit([&subscription, this]() {
-    stop_memory_checking();
-    rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  });
+  auto subscription_exit = make_scope_exit(
+    [&subscription, this]() {
+      stop_memory_checking();
+      rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+    });
   // TODO(wjwwood): add logic to wait for the connection to be established
   //                probably using the count_subscriptions busy wait mechanism
   //                until then we will sleep for a short period of time
@@ -221,10 +227,11 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   {
     std_msgs__msg__String msg;
     std_msgs__msg__String__init(&msg);
-    auto msg_exit = make_scope_exit([&msg]() {
-      stop_memory_checking();
-      std_msgs__msg__String__fini(&msg);
-    });
+    auto msg_exit = make_scope_exit(
+      [&msg]() {
+        stop_memory_checking();
+        std_msgs__msg__String__fini(&msg);
+      });
     ret = rcl_take(&subscription, &msg, nullptr);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
     ASSERT_EQ(std::string(test_string), std::string(msg.data.data, msg.data.size));
diff --git a/rcl/test/rcl/test_wait.cpp b/rcl/test/rcl/test_wait.cpp
index ec0c8bc..8498b3a 100644
--- a/rcl/test/rcl/test_wait.cpp
+++ b/rcl/test/rcl/test_wait.cpp
@@ -109,14 +109,15 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), negative_timeout) {
   ret = rcl_wait_set_add_timer(&wait_set, &timer);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
 
-  auto scope_exit = make_scope_exit([&guard_cond, &wait_set, &timer]() {
-    rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-    ret = rcl_wait_set_fini(&wait_set);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-    ret = rcl_timer_fini(&timer);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  });
+  auto scope_exit = make_scope_exit(
+    [&guard_cond, &wait_set, &timer]() {
+      rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+      ret = rcl_wait_set_fini(&wait_set);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+      ret = rcl_timer_fini(&timer);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+    });
 
   int64_t timeout = -1;
   std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
@@ -142,12 +143,13 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout) {
   ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
 
-  auto scope_exit = make_scope_exit([&guard_cond, &wait_set]() {
-    rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-    ret = rcl_wait_set_fini(&wait_set);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  });
+  auto scope_exit = make_scope_exit(
+    [&guard_cond, &wait_set]() {
+      rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+      ret = rcl_wait_set_fini(&wait_set);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+    });
 
   // Time spent during wait should be negligible.
   int64_t timeout = 0;
@@ -181,14 +183,15 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
   ret = rcl_wait_set_add_timer(&wait_set, &canceled_timer);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
 
-  auto scope_exit = make_scope_exit([&guard_cond, &wait_set, &canceled_timer]() {
-    rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-    ret = rcl_wait_set_fini(&wait_set);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-    ret = rcl_timer_fini(&canceled_timer);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  });
+  auto scope_exit = make_scope_exit(
+    [&guard_cond, &wait_set, &canceled_timer]() {
+      rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+      ret = rcl_wait_set_fini(&wait_set);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+      ret = rcl_timer_fini(&canceled_timer);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+    });
 
   int64_t timeout = RCL_MS_TO_NS(10);
   std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
@@ -292,14 +295,15 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), multi_wait_set_threade
     test_set.thread_id = 0;
   }
   // Setup safe tear-down.
-  auto scope_exit = make_scope_exit([&test_sets]() {
-    for (auto & test_set : test_sets) {
-      rcl_ret_t ret = rcl_guard_condition_fini(&test_set.guard_condition);
-      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-      ret = rcl_wait_set_fini(&test_set.wait_set);
-      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-    }
-  });
+  auto scope_exit = make_scope_exit(
+    [&test_sets]() {
+      for (auto & test_set : test_sets) {
+        rcl_ret_t ret = rcl_guard_condition_fini(&test_set.guard_condition);
+        EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+        ret = rcl_wait_set_fini(&test_set.wait_set);
+        EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+      }
+    });
   // Now kick off all the threads.
   size_t thread_enumeration = 0;
   for (auto & test_set : test_sets) {
@@ -349,27 +353,29 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), guard_condition) {
   ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
 
-  auto scope_exit = make_scope_exit([&wait_set, &guard_cond]() {
-    rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-    ret = rcl_guard_condition_fini(&guard_cond);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  });
+  auto scope_exit = make_scope_exit(
+    [&wait_set, &guard_cond]() {
+      rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+      ret = rcl_guard_condition_fini(&guard_cond);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+    });
 
   std::promise<rcl_ret_t> p;
 
   int64_t timeout = -1;
 
   std::chrono::nanoseconds trigger_diff;
-  std::thread trigger_thread([&p, &guard_cond, &trigger_diff]() {
-    std::chrono::steady_clock::time_point before_trigger = std::chrono::steady_clock::now();
-    std::this_thread::sleep_for(std::chrono::milliseconds(10));
-    rcl_ret_t ret = rcl_trigger_guard_condition(&guard_cond);
-    std::chrono::steady_clock::time_point after_trigger = std::chrono::steady_clock::now();
-    trigger_diff = std::chrono::duration_cast<std::chrono::nanoseconds>(
-      after_trigger - before_trigger);
-    p.set_value(ret);
-  });
+  std::thread trigger_thread(
+    [&p, &guard_cond, &trigger_diff]() {
+      std::chrono::steady_clock::time_point before_trigger = std::chrono::steady_clock::now();
+      std::this_thread::sleep_for(std::chrono::milliseconds(10));
+      rcl_ret_t ret = rcl_trigger_guard_condition(&guard_cond);
+      std::chrono::steady_clock::time_point after_trigger = std::chrono::steady_clock::now();
+      trigger_diff = std::chrono::duration_cast<std::chrono::nanoseconds>(
+        after_trigger - before_trigger);
+      p.set_value(ret);
+    });
   auto f = p.get_future();
 
   std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
diff --git a/rcl/test/scope_exit.hpp b/rcl/test/scope_exit.hpp
index 056e1fa..e101244 100644
--- a/rcl/test/scope_exit.hpp
+++ b/rcl/test/scope_exit.hpp
@@ -22,7 +22,7 @@ struct ScopeExit
 {
   explicit ScopeExit(Callable callable)
   : callable_(callable) {}
-  ~ScopeExit() {callable_(); }
+  ~ScopeExit() {callable_();}
 
 private:
   Callable callable_;
@@ -35,6 +35,6 @@ make_scope_exit(Callable callable)
   return ScopeExit<Callable>(callable);
 }
 
-#define SCOPE_EXIT(code) make_scope_exit([&]() {code; })
+#define SCOPE_EXIT(code) make_scope_exit([&]() {code;})
 
 #endif  // SCOPE_EXIT_HPP_
diff --git a/rcl/test/test_namespace.cpp b/rcl/test/test_namespace.cpp
index a3da6bf..aee0027 100644
--- a/rcl/test/test_namespace.cpp
+++ b/rcl/test/test_namespace.cpp
@@ -86,22 +86,24 @@ TEST_F(TestNamespaceFixture, test_client_server) {
   rcl_service_options_t service_options = rcl_service_get_default_options();
   ret = rcl_service_init(&service, this->node_ptr, ts, service_name, &service_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto service_exit = make_scope_exit([&service, this]() {
-    stop_memory_checking();
-    rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  });
+  auto service_exit = make_scope_exit(
+    [&service, this]() {
+      stop_memory_checking();
+      rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+    });
 
   rcl_client_t unmatched_client = rcl_get_zero_initialized_client();
   rcl_client_options_t unmatched_client_options = rcl_client_get_default_options();
   ret = rcl_client_init(
     &unmatched_client, this->node_ptr, ts, unmatched_client_name, &unmatched_client_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto unmatched_client_exit = make_scope_exit([&unmatched_client, this]() {
-    stop_memory_checking();
-    rcl_ret_t ret = rcl_client_fini(&unmatched_client, this->node_ptr);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  });
+  auto unmatched_client_exit = make_scope_exit(
+    [&unmatched_client, this]() {
+      stop_memory_checking();
+      rcl_ret_t ret = rcl_client_fini(&unmatched_client, this->node_ptr);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+    });
 
   bool is_available = false;
   for (auto i = 0; i < timeout; ++i) {
@@ -119,11 +121,12 @@ TEST_F(TestNamespaceFixture, test_client_server) {
   ret = rcl_client_init(
     &matched_client, this->node_ptr, ts, matched_client_name, &matched_client_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto matched_client_exit = make_scope_exit([&matched_client, this]() {
-    stop_memory_checking();
-    rcl_ret_t ret = rcl_client_fini(&matched_client, this->node_ptr);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  });
+  auto matched_client_exit = make_scope_exit(
+    [&matched_client, this]() {
+      stop_memory_checking();
+      rcl_ret_t ret = rcl_client_fini(&matched_client, this->node_ptr);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+    });
 
   is_available = false;
   for (auto i = 0; i < timeout; ++i) {
diff --git a/rcl_lifecycle/src/default_state_machine.c b/rcl_lifecycle/src/default_state_machine.c
index 711bb9d..c426bd5 100644
--- a/rcl_lifecycle/src/default_state_machine.c
+++ b/rcl_lifecycle/src/default_state_machine.c
@@ -37,122 +37,147 @@ rcl_lifecycle_transition_t * empty_transition = NULL;
 unsigned int empty_transition_size = 0;
 
 // Primary States
-const rcl_lifecycle_state_t rcl_state_unknown =
-{"unknown", lifecycle_msgs__msg__State__PRIMARY_STATE_UNKNOWN,
- NULL, NULL, 0};
-const rcl_lifecycle_state_t rcl_state_unconfigured =
-{"unconfigured", lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
- NULL, NULL, 0};
-const rcl_lifecycle_state_t rcl_state_inactive =
-{"inactive", lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
- NULL, NULL, 0};
-const rcl_lifecycle_state_t rcl_state_active =
-{"active", lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE,
- NULL, NULL, 0};
-const rcl_lifecycle_state_t rcl_state_finalized =
-{"finalized", lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED,
- NULL, NULL, 0};
+const rcl_lifecycle_state_t rcl_state_unknown = {
+  "unknown", lifecycle_msgs__msg__State__PRIMARY_STATE_UNKNOWN, NULL, NULL, 0
+};
+const rcl_lifecycle_state_t rcl_state_unconfigured = {
+  "unconfigured", lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED, NULL, NULL, 0
+};
+const rcl_lifecycle_state_t rcl_state_inactive = {
+  "inactive", lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE, NULL, NULL, 0
+};
+const rcl_lifecycle_state_t rcl_state_active = {
+  "active", lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE, NULL, NULL, 0
+};
+const rcl_lifecycle_state_t rcl_state_finalized = {
+  "finalized", lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED, NULL, NULL, 0
+};
 // Transition States
-const rcl_lifecycle_state_t rcl_state_configuring =
-{"configuring", lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
- NULL, NULL, 0};
-const rcl_lifecycle_state_t rcl_state_cleaningup =
-{"cleaningup", lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
- NULL, NULL, 0};
-const rcl_lifecycle_state_t rcl_state_shuttingdown =
-{"shuttingdown", lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
- NULL, NULL, 0};
-const rcl_lifecycle_state_t rcl_state_activating =
-{"activating", lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
- NULL, NULL, 0};
-const rcl_lifecycle_state_t rcl_state_deactivating =
-{"deactivating", lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
- NULL, NULL, 0};
-const rcl_lifecycle_state_t rcl_state_errorprocessing =
-{"errorprocessing", lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
- NULL, NULL, 0};
+const rcl_lifecycle_state_t rcl_state_configuring = {
+  "configuring", lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING, NULL, NULL, 0
+};
+const rcl_lifecycle_state_t rcl_state_cleaningup = {
+  "cleaningup", lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP, NULL, NULL, 0
+};
+const rcl_lifecycle_state_t rcl_state_shuttingdown = {
+  "shuttingdown", lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN, NULL, NULL, 0
+};
+const rcl_lifecycle_state_t rcl_state_activating = {
+  "activating", lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING, NULL, NULL, 0
+};
+const rcl_lifecycle_state_t rcl_state_deactivating = {
+  "deactivating", lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING, NULL, NULL, 0
+};
+const rcl_lifecycle_state_t rcl_state_errorprocessing = {
+  "errorprocessing", lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING, NULL, NULL, 0
+};
 
 // Transitions
-const rcl_lifecycle_transition_t rcl_transition_configure =
-{"configure", lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
- &rcl_state_unconfigured, &rcl_state_configuring};
-const rcl_lifecycle_transition_t rcl_transition_configure_success =
-{"configure_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
- &rcl_state_configuring, &rcl_state_inactive};
-const rcl_lifecycle_transition_t rcl_transition_configure_failure =
-{"configure_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_FAILURE,
- &rcl_state_configuring, &rcl_state_unconfigured};
-const rcl_lifecycle_transition_t rcl_transition_configure_error =
-{"configure_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_ERROR,
- &rcl_state_configuring, &rcl_state_errorprocessing};
+const rcl_lifecycle_transition_t rcl_transition_configure = {
+  "configure", lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
+  &rcl_state_unconfigured, &rcl_state_configuring
+};
+const rcl_lifecycle_transition_t rcl_transition_configure_success = {
+  "configure_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
+  &rcl_state_configuring, &rcl_state_inactive
+};
+const rcl_lifecycle_transition_t rcl_transition_configure_failure = {
+  "configure_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_FAILURE,
+  &rcl_state_configuring, &rcl_state_unconfigured
+};
+const rcl_lifecycle_transition_t rcl_transition_configure_error = {
+  "configure_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_ERROR,
+  &rcl_state_configuring, &rcl_state_errorprocessing
+};
 
-const rcl_lifecycle_transition_t rcl_transition_cleanup =
-{"cleanup", lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
- &rcl_state_inactive, &rcl_state_cleaningup};
-const rcl_lifecycle_transition_t rcl_transition_cleanup_success =
-{"cleanup_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS,
- &rcl_state_cleaningup, &rcl_state_unconfigured};
-const rcl_lifecycle_transition_t rcl_transition_cleanup_failure =
-{"cleanup_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_FAILURE,
- &rcl_state_cleaningup, &rcl_state_inactive};
-const rcl_lifecycle_transition_t rcl_transition_cleanup_error =
-{"cleanup_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_ERROR,
- &rcl_state_cleaningup, &rcl_state_errorprocessing};
+const rcl_lifecycle_transition_t rcl_transition_cleanup = {
+  "cleanup", lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
+  &rcl_state_inactive, &rcl_state_cleaningup
+};
+const rcl_lifecycle_transition_t rcl_transition_cleanup_success = {
+  "cleanup_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS,
+  &rcl_state_cleaningup, &rcl_state_unconfigured
+};
+const rcl_lifecycle_transition_t rcl_transition_cleanup_failure = {
+  "cleanup_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_FAILURE,
+  &rcl_state_cleaningup, &rcl_state_inactive
+};
+const rcl_lifecycle_transition_t rcl_transition_cleanup_error = {
+  "cleanup_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_ERROR,
+  &rcl_state_cleaningup, &rcl_state_errorprocessing
+};
 
-const rcl_lifecycle_transition_t rcl_transition_activate =
-{"activate", lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
- &rcl_state_inactive, &rcl_state_activating};
-const rcl_lifecycle_transition_t rcl_transition_activate_success =
-{"activate_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
- &rcl_state_activating, &rcl_state_active};
-const rcl_lifecycle_transition_t rcl_transition_activate_failure =
-{"activate_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_FAILURE,
- &rcl_state_activating, &rcl_state_inactive};
-const rcl_lifecycle_transition_t rcl_transition_activate_error =
-{"activate_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_ERROR,
- &rcl_state_activating, &rcl_state_errorprocessing};
+const rcl_lifecycle_transition_t rcl_transition_activate = {
+  "activate", lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
+  &rcl_state_inactive, &rcl_state_activating
+};
+const rcl_lifecycle_transition_t rcl_transition_activate_success = {
+  "activate_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
+  &rcl_state_activating, &rcl_state_active
+};
+const rcl_lifecycle_transition_t rcl_transition_activate_failure = {
+  "activate_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_FAILURE,
+  &rcl_state_activating, &rcl_state_inactive
+};
+const rcl_lifecycle_transition_t rcl_transition_activate_error = {
+  "activate_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_ERROR,
+  &rcl_state_activating, &rcl_state_errorprocessing
+};
 
-const rcl_lifecycle_transition_t rcl_transition_deactivate =
-{"deactivate", lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
- &rcl_state_active, &rcl_state_deactivating};
-const rcl_lifecycle_transition_t rcl_transition_deactivate_success =
-{"deactivate_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS,
- &rcl_state_deactivating, &rcl_state_inactive};
-const rcl_lifecycle_transition_t rcl_transition_deactivate_failure =
-{"deactivate_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_FAILURE,
- &rcl_state_deactivating, &rcl_state_active};
-const rcl_lifecycle_transition_t rcl_transition_deactivate_error =
-{"deactivate_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_ERROR,
- &rcl_state_deactivating, &rcl_state_errorprocessing};
+const rcl_lifecycle_transition_t rcl_transition_deactivate = {
+  "deactivate", lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
+  &rcl_state_active, &rcl_state_deactivating
+};
+const rcl_lifecycle_transition_t rcl_transition_deactivate_success = {
+  "deactivate_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS,
+  &rcl_state_deactivating, &rcl_state_inactive
+};
+const rcl_lifecycle_transition_t rcl_transition_deactivate_failure = {
+  "deactivate_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_FAILURE,
+  &rcl_state_deactivating, &rcl_state_active
+};
+const rcl_lifecycle_transition_t rcl_transition_deactivate_error = {
+  "deactivate_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_ERROR,
+  &rcl_state_deactivating, &rcl_state_errorprocessing
+};
 
-const rcl_lifecycle_transition_t rcl_transition_unconfigured_shutdown =
-{"unconfigured_shutdown", lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN,
- &rcl_state_unconfigured, &rcl_state_shuttingdown};
-const rcl_lifecycle_transition_t rcl_transition_inactive_shutdown =
-{"inactive_shutdown", lifecycle_msgs__msg__Transition__TRANSITION_INACTIVE_SHUTDOWN,
- &rcl_state_inactive, &rcl_state_shuttingdown};
-const rcl_lifecycle_transition_t rcl_transition_active_shutdown =
-{"active_shutdown", lifecycle_msgs__msg__Transition__TRANSITION_ACTIVE_SHUTDOWN,
- &rcl_state_active, &rcl_state_shuttingdown};
-const rcl_lifecycle_transition_t rcl_transition_shutdown_success =
-{"shutdown_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_SUCCESS,
- &rcl_state_shuttingdown, &rcl_state_finalized};
-const rcl_lifecycle_transition_t rcl_transition_shutdown_failure =
-{"shutdown_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_FAILURE,
- &rcl_state_shuttingdown, &rcl_state_finalized};
-const rcl_lifecycle_transition_t rcl_transition_shutdown_error =
-{"shutdown_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_ERROR,
- &rcl_state_shuttingdown, &rcl_state_errorprocessing};
+const rcl_lifecycle_transition_t rcl_transition_unconfigured_shutdown = {
+  "unconfigured_shutdown", lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN,
+  &rcl_state_unconfigured, &rcl_state_shuttingdown
+};
+const rcl_lifecycle_transition_t rcl_transition_inactive_shutdown = {
+  "inactive_shutdown", lifecycle_msgs__msg__Transition__TRANSITION_INACTIVE_SHUTDOWN,
+  &rcl_state_inactive, &rcl_state_shuttingdown
+};
+const rcl_lifecycle_transition_t rcl_transition_active_shutdown = {
+  "active_shutdown", lifecycle_msgs__msg__Transition__TRANSITION_ACTIVE_SHUTDOWN,
+  &rcl_state_active, &rcl_state_shuttingdown
+};
+const rcl_lifecycle_transition_t rcl_transition_shutdown_success = {
+  "shutdown_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_SUCCESS,
+  &rcl_state_shuttingdown, &rcl_state_finalized
+};
+const rcl_lifecycle_transition_t rcl_transition_shutdown_failure = {
+  "shutdown_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_FAILURE,
+  &rcl_state_shuttingdown, &rcl_state_finalized
+};
+const rcl_lifecycle_transition_t rcl_transition_shutdown_error = {
+  "shutdown_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_ERROR,
+  &rcl_state_shuttingdown, &rcl_state_errorprocessing
+};
 
-const rcl_lifecycle_transition_t rcl_transition_error_success =
-{"errorprocessing_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_SUCCESS,
- &rcl_state_errorprocessing, &rcl_state_unconfigured};
-const rcl_lifecycle_transition_t rcl_transition_error_failure =
-{"errorprocessing_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_FAILURE,
- &rcl_state_errorprocessing, &rcl_state_finalized};
-const rcl_lifecycle_transition_t rcl_transition_error_error =
-{"errorprocessing_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_ERROR,
- &rcl_state_errorprocessing, &rcl_state_finalized};
+const rcl_lifecycle_transition_t rcl_transition_error_success = {
+  "errorprocessing_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_SUCCESS,
+  &rcl_state_errorprocessing, &rcl_state_unconfigured
+};
+const rcl_lifecycle_transition_t rcl_transition_error_failure = {
+  "errorprocessing_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_FAILURE,
+  &rcl_state_errorprocessing, &rcl_state_finalized
+};
+const rcl_lifecycle_transition_t rcl_transition_error_error = {
+  "errorprocessing_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_ERROR,
+  &rcl_state_errorprocessing, &rcl_state_finalized
+};
 
 // default implementation as despicted on
 // design.ros2.org