diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt
index 4a7d20c..c60faf3 100644
--- a/rcl/CMakeLists.txt
+++ b/rcl/CMakeLists.txt
@@ -41,7 +41,7 @@ if(AMENT_ENABLE_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
-  set(extra_test_libraries )
+  set(extra_test_libraries)
   ament_find_gtest()  # For GTEST_LIBRARIES
   if(APPLE)
     add_library(${PROJECT_NAME}_memory_tools_interpose SHARED test/memory_tools_osx_interpose.cpp)
diff --git a/rcl/include/rcl/allocator.h b/rcl/include/rcl/allocator.h
index b47313f..0e1b2d6 100644
--- a/rcl/include/rcl/allocator.h
+++ b/rcl/include/rcl/allocator.h
@@ -24,12 +24,13 @@ extern "C"
 
 /// Encapsulation of an allocator.
 /* To use malloc, free, and realloc use rcl_get_default_allocator */
-typedef struct rcl_allocator_t {
+typedef struct rcl_allocator_t
+{
   /// Allocate memory, given a size and state structure.
   /* An error should be indicated by returning null. */
   void * (*allocate)(size_t size, void * state);
   /// Deallocate previously allocated memory, mimicking free().
-  void (*deallocate)(void * pointer, void * state);
+  void (* deallocate)(void * pointer, void * state);
   /// Reallocates if possible, otherwise it deallocates and allocates.
   /* If unsupported then do deallocate and then allocate.
    * This should behave as realloc is described, as opposed to reallocf, i.e.
diff --git a/rcl/include/rcl/guard_condition.h b/rcl/include/rcl/guard_condition.h
index 2f150ac..de46b93 100644
--- a/rcl/include/rcl/guard_condition.h
+++ b/rcl/include/rcl/guard_condition.h
@@ -26,12 +26,14 @@ extern "C"
 struct rcl_guard_condition_impl_t;
 
 /// Handle for a rcl guard condition.
-typedef struct rcl_guard_condition_t {
+typedef struct rcl_guard_condition_t
+{
   struct rcl_guard_condition_impl_t * impl;
 } rcl_guard_condition_t;
 
 /// Options available for a rcl guard condition.
-typedef struct rcl_guard_condition_options_t {
+typedef struct rcl_guard_condition_options_t
+{
   /// Custom allocator for the guard condition, used for incidental allocations.
   /* For default behavior (malloc/free), use: rcl_get_default_allocator() */
   rcl_allocator_t allocator;
diff --git a/rcl/include/rcl/node.h b/rcl/include/rcl/node.h
index 02ab38e..78a1fe9 100644
--- a/rcl/include/rcl/node.h
+++ b/rcl/include/rcl/node.h
@@ -29,12 +29,14 @@ extern "C"
 struct rcl_node_impl_t;
 
 /// Handle for a ROS node.
-typedef struct rcl_node_t {
+typedef struct rcl_node_t
+{
   /// Private implementation pointer.
   struct rcl_node_impl_t * impl;
 } rcl_node_t;
 
-typedef struct rcl_node_options_t {
+typedef struct rcl_node_options_t
+{
   // bool anonymous_name;
   // rmw_qos_profile_t parameter_qos;
   /// If true, no parameter infrastructure will be setup.
diff --git a/rcl/include/rcl/publisher.h b/rcl/include/rcl/publisher.h
index 6f20616..bf57d1b 100644
--- a/rcl/include/rcl/publisher.h
+++ b/rcl/include/rcl/publisher.h
@@ -28,12 +28,14 @@ extern "C"
 struct rcl_publisher_impl_t;
 
 /// Handle for a rcl publisher.
-typedef struct rcl_publisher_t {
+typedef struct rcl_publisher_t
+{
   struct rcl_publisher_impl_t * impl;
 } rcl_publisher_t;
 
 /// Options available for a rcl publisher.
-typedef struct rcl_publisher_options_t {
+typedef struct rcl_publisher_options_t
+{
   /// Middleware quality of service settings for the publisher.
   rmw_qos_profile_t qos;
   /// Custom allocator for the publisher, used for incidental allocations.
diff --git a/rcl/include/rcl/subscription.h b/rcl/include/rcl/subscription.h
index 0b212d2..8d6e6f7 100644
--- a/rcl/include/rcl/subscription.h
+++ b/rcl/include/rcl/subscription.h
@@ -28,12 +28,14 @@ extern "C"
 struct rcl_subscription_impl_t;
 
 /// Handle for a rcl subscription.
-typedef struct rcl_subscription_t {
+typedef struct rcl_subscription_t
+{
   struct rcl_subscription_impl_t * impl;
 } rcl_subscription_t;
 
 /// Options available for a rcl subscription.
-typedef struct rcl_subscription_options_t {
+typedef struct rcl_subscription_options_t
+{
   /// Middleware quality of service settings for the subscription.
   rmw_qos_profile_t qos;
   /// If true, messages published from within the same node are ignored.
diff --git a/rcl/include/rcl/time.h b/rcl/include/rcl/time.h
index fddbce4..b12f508 100644
--- a/rcl/include/rcl/time.h
+++ b/rcl/include/rcl/time.h
@@ -42,7 +42,8 @@ extern "C"
  * The struct is capable of representing any time until the year 2554 with
  * nanosecond precisions.
  */
-typedef struct rcl_system_time_point_t {
+typedef struct rcl_system_time_point_t
+{
   uint64_t nanoseconds;
 } rcl_system_time_point_t;
 
@@ -56,7 +57,8 @@ typedef struct rcl_system_time_point_t {
  *
  * The struct represents time as nanoseconds in an unsigned 64-bit integer.
  */
-typedef struct rcl_steady_time_point_t {
+typedef struct rcl_steady_time_point_t
+{
   uint64_t nanoseconds;
 } rcl_steady_time_point_t;
 
@@ -64,7 +66,8 @@ typedef struct rcl_steady_time_point_t {
 /* The struct can represent any time within the range [~292 years, ~-292 years]
  * with nanosecond precision.
  */
-typedef struct rcl_duration_t {
+typedef struct rcl_duration_t
+{
   int64_t nanoseconds;
 } rcl_duration_t;
 
diff --git a/rcl/include/rcl/timer.h b/rcl/include/rcl/timer.h
index ca921e4..2298741 100644
--- a/rcl/include/rcl/timer.h
+++ b/rcl/include/rcl/timer.h
@@ -30,7 +30,8 @@ extern "C"
 struct rcl_timer_impl_t;
 
 /// Handle for a ROS timer.
-typedef struct rcl_timer_t {
+typedef struct rcl_timer_t
+{
   /// Private implementation pointer.
   struct rcl_timer_impl_t * impl;
 } rcl_timer_t;
diff --git a/rcl/include/rcl/wait.h b/rcl/include/rcl/wait.h
index eb75555..55e926b 100644
--- a/rcl/include/rcl/wait.h
+++ b/rcl/include/rcl/wait.h
@@ -31,7 +31,8 @@ extern "C"
 struct rcl_wait_set_impl_t;
 
 /// Container for subscription's, guard condition's, etc to be waited on.
-typedef struct rcl_wait_set_t {
+typedef struct rcl_wait_set_t
+{
   /// Storage for subscription pointers.
   const rcl_subscription_t ** subscriptions;
   size_t size_of_subscriptions;
diff --git a/rcl/src/rcl/common.h b/rcl/src/rcl/common.h
index 379611f..03bf242 100644
--- a/rcl/src/rcl/common.h
+++ b/rcl/src/rcl/common.h
@@ -27,8 +27,8 @@ extern "C"
   RCL_CHECK_FOR_NULL_WITH_MSG(argument, #argument " argument is null", return error_return_type)
 
 #define RCL_CHECK_FOR_NULL_WITH_MSG(value, msg, error_statement) if (!value) { \
-  RCL_SET_ERROR_MSG(msg); \
-  error_statement; \
+    RCL_SET_ERROR_MSG(msg); \
+    error_statement; \
 }
 
 // This value put in env_value is only valid until the next call to rcl_impl_getenv (on Windows).
diff --git a/rcl/src/rcl/guard_condition.c b/rcl/src/rcl/guard_condition.c
index 595c58f..f081d61 100644
--- a/rcl/src/rcl/guard_condition.c
+++ b/rcl/src/rcl/guard_condition.c
@@ -23,7 +23,8 @@ extern "C"
 #include "rcl/rcl.h"
 #include "rmw/rmw.h"
 
-typedef struct rcl_guard_condition_impl_t {
+typedef struct rcl_guard_condition_impl_t
+{
   rmw_guard_condition_t * rmw_handle;
   rcl_guard_condition_options_t options;
 } rcl_guard_condition_impl_t;
diff --git a/rcl/src/rcl/node.c b/rcl/src/rcl/node.c
index d6e94b3..57dab8e 100644
--- a/rcl/src/rcl/node.c
+++ b/rcl/src/rcl/node.c
@@ -28,7 +28,8 @@ extern "C"
 
 #include "./common.h"
 
-typedef struct rcl_node_impl_t {
+typedef struct rcl_node_impl_t
+{
   rcl_node_options_t options;
   rmw_node_t * rmw_node_handle;
   uint64_t rcl_instance_id;
@@ -80,7 +81,7 @@ rcl_node_init(rcl_node_t * node, const char * name, const rcl_node_options_t * o
     goto fail;
   }
   if (ros_domain_id) {
-    unsigned long number = strtoul(ros_domain_id, NULL, 0);
+    unsigned long number = strtoul(ros_domain_id, NULL, 0);  // NOLINT(runtime/int)
     if (number == ULONG_MAX) {
       RCL_SET_ERROR_MSG("failed to interpret ROS_DOMAIN_ID as integral number");
       goto fail;
diff --git a/rcl/src/rcl/publisher.c b/rcl/src/rcl/publisher.c
index c7dc189..d0c2a67 100644
--- a/rcl/src/rcl/publisher.c
+++ b/rcl/src/rcl/publisher.c
@@ -24,7 +24,8 @@ extern "C"
 #include "./common.h"
 #include "rmw/rmw.h"
 
-typedef struct rcl_publisher_impl_t {
+typedef struct rcl_publisher_impl_t
+{
   rcl_publisher_options_t options;
   rmw_publisher_t * rmw_handle;
 } rcl_publisher_impl_t;
diff --git a/rcl/src/rcl/rcl.c b/rcl/src/rcl/rcl.c
index 537b975..53d4b25 100644
--- a/rcl/src/rcl/rcl.c
+++ b/rcl/src/rcl/rcl.c
@@ -65,7 +65,7 @@ rcl_init(int argc, char ** argv, rcl_allocator_t allocator)
   memset(__rcl_argv, 0, sizeof(char **) * argc);
   for (size_t i = 0; i < argc; ++i) {
     __rcl_argv[i] = (char *)__rcl_allocator.allocate(strlen(argv[i]), __rcl_allocator.state);
-    strcpy(__rcl_argv[i], argv[i]);
+    strcpy(__rcl_argv[i], argv[i]);  // NOLINT(runtime/printf)
   }
   atomic_store(&__rcl_instance_id, ++__rcl_next_unique_id);
   if (atomic_load(&__rcl_instance_id) == 0) {
diff --git a/rcl/src/rcl/subscription.c b/rcl/src/rcl/subscription.c
index 6e8b3a0..57a6b8c 100644
--- a/rcl/src/rcl/subscription.c
+++ b/rcl/src/rcl/subscription.c
@@ -22,7 +22,8 @@ extern "C"
 #include "rmw/rmw.h"
 #include "./common.h"
 
-typedef struct rcl_subscription_impl_t {
+typedef struct rcl_subscription_impl_t
+{
   rcl_subscription_options_t options;
   rmw_subscription_t * rmw_handle;
 } rcl_subscription_impl_t;
diff --git a/rcl/src/rcl/time_win32.c b/rcl/src/rcl/time_win32.c
index dcc8c20..b57a552 100644
--- a/rcl/src/rcl/time_win32.c
+++ b/rcl/src/rcl/time_win32.c
@@ -155,7 +155,7 @@ rcl_system_time_point_now(rcl_system_time_point_t * now)
 #else
     start_li.QuadPart -= 116444736000000000ULL;
 #endif
-    start.sec = (uint64_t)(start_li.QuadPart / 10000000); // 100-ns units. odd.
+    start.sec = (uint64_t)(start_li.QuadPart / 10000000);  // 100-ns units. odd.
     start.nsec = (start_li.LowPart % 10000000) * 100;
     if (atomic_compare_exchange_strong(&start_ns, 0, RCL_S_TO_NS(start.sec) + start.nsec)) {
       // If it matched 0 this call was first to setup, set the cpu_freq and init_cpu_time globals.
diff --git a/rcl/src/rcl/timer.c b/rcl/src/rcl/timer.c
index cea2edb..a8c74fa 100644
--- a/rcl/src/rcl/timer.c
+++ b/rcl/src/rcl/timer.c
@@ -23,7 +23,8 @@ extern "C"
 
 #include "./common.h"
 
-typedef struct rcl_timer_impl_t {
+typedef struct rcl_timer_impl_t
+{
   // The user supplied callback.
   atomic_uintptr_t callback;
   // This is a duration in nanoseconds.
diff --git a/rcl/src/rcl/wait.c b/rcl/src/rcl/wait.c
index d7aff5e..25d4807 100644
--- a/rcl/src/rcl/wait.c
+++ b/rcl/src/rcl/wait.c
@@ -29,7 +29,8 @@ extern "C"
 #include "rmw/rmw.h"
 #include "./common.h"
 
-typedef struct rcl_wait_set_impl_t {
+typedef struct rcl_wait_set_impl_t
+{
   size_t subscription_index;
   rmw_subscriptions_t rmw_subscriptions;
   size_t guard_condition_index;
@@ -173,16 +174,16 @@ rcl_wait_set_get_allocator(const rcl_wait_set_t * wait_set, rcl_allocator_t * al
     RCL_SET_ERROR_MSG("wait set is invalid"); \
     return RCL_RET_WAIT_SET_INVALID; \
   } \
-  if (!(wait_set->impl->Type##_index < wait_set->size_of_##Type##s)) { \
+  if (!(wait_set->impl->Type ## _index < wait_set->size_of_ ## Type ## s)) { \
     RCL_SET_ERROR_MSG(#Type "s set is full"); \
     return RCL_RET_WAIT_SET_FULL; \
   } \
-  size_t current_index = wait_set->impl->Type##_index++; \
-  wait_set->Type##s[current_index] = Type;
+  size_t current_index = wait_set->impl->Type ## _index++; \
+  wait_set->Type ## s[current_index] = Type;
 
 #define SET_ADD_RMW(Type, RMWStorage) \
   /* Also place into rmw storage. */ \
-  rmw_##Type##_t * rmw_handle = rcl_##Type##_get_rmw_##Type##_handle(Type); \
+  rmw_ ## Type ## _t * rmw_handle = rcl_ ## Type ## _get_rmw_ ## Type ## _handle(Type); \
   RCL_CHECK_FOR_NULL_WITH_MSG( \
     rmw_handle, rcl_get_error_string_safe(), return RCL_RET_ERROR); \
   wait_set->impl->RMWStorage[current_index] = rmw_handle->data;
@@ -193,8 +194,8 @@ rcl_wait_set_get_allocator(const rcl_wait_set_t * wait_set, rcl_allocator_t * al
     RCL_SET_ERROR_MSG("wait set is invalid"); \
     return RCL_RET_WAIT_SET_INVALID; \
   } \
-  memset(wait_set->Type##s, 0, sizeof(rcl_##Type##_t *) * wait_set->size_of_##Type##s);  \
-  wait_set->impl->Type##_index = 0; \
+  memset(wait_set->Type ## s, 0, sizeof(rcl_ ## Type ## _t *) * wait_set->size_of_ ## Type ## s); \
+  wait_set->impl->Type ## _index = 0; \
 
 #define SET_CLEAR_RMW(Type, RMWStorage, RMWCount) \
   /* Also clear the rmw storage. */ \
@@ -207,43 +208,42 @@ rcl_wait_set_get_allocator(const rcl_wait_set_t * wait_set, rcl_allocator_t * al
   RCL_CHECK_ARGUMENT_FOR_NULL(wait_set, RCL_RET_INVALID_ARGUMENT); \
   RCL_CHECK_FOR_NULL_WITH_MSG( \
     wait_set->impl, "wait set is invalid", return RCL_RET_WAIT_SET_INVALID); \
-  if (size == wait_set->size_of_##Type##s) { \
+  if (size == wait_set->size_of_ ## Type ## s) { \
     return RCL_RET_OK; \
   } \
   rcl_allocator_t allocator = wait_set->impl->allocator; \
   if (size == 0) { \
-    if (wait_set->Type##s) { \
-      allocator.deallocate(wait_set->Type##s, allocator.state); \
-      wait_set->Type##s = NULL; \
+    if (wait_set->Type ## s) { \
+      allocator.deallocate(wait_set->Type ## s, allocator.state); \
+      wait_set->Type ## s = NULL; \
     } \
     ExtraDealloc \
-  } \
-  else { \
-    wait_set->size_of_##Type##s = 0; \
-    wait_set->Type##s = (const rcl_##Type##_t **)allocator.reallocate( \
-      wait_set->Type##s, sizeof(rcl_##Type##_t *) * size, allocator.state); \
+  } else { \
+    wait_set->size_of_ ## Type ## s = 0; \
+    wait_set->Type ## s = (const rcl_ ## Type ## _t * *)allocator.reallocate( \
+      wait_set->Type ## s, sizeof(rcl_ ## Type ## _t *) * size, allocator.state); \
     RCL_CHECK_FOR_NULL_WITH_MSG( \
-      wait_set->Type##s, "allocating memory failed", return RCL_RET_BAD_ALLOC); \
-    wait_set->size_of_##Type##s = size; \
+      wait_set->Type ## s, "allocating memory failed", return RCL_RET_BAD_ALLOC); \
+    wait_set->size_of_ ## Type ## s = size; \
     ExtraRealloc \
   } \
   return RCL_RET_OK;
 
 #define SET_RESIZE_RMW_DEALLOC(RMWStorage, RMWCount) \
   /* Also deallocate the rmw storage. */ \
-    if (wait_set->impl->RMWStorage) { \
-      allocator.deallocate(wait_set->impl->RMWStorage, allocator.state); \
-      wait_set->impl->RMWStorage = NULL; \
-    }
+  if (wait_set->impl->RMWStorage) { \
+    allocator.deallocate(wait_set->impl->RMWStorage, allocator.state); \
+    wait_set->impl->RMWStorage = NULL; \
+  }
 
 #define SET_RESIZE_RMW_REALLOC(Type, RMWStorage, RMWCount) \
   /* Also resize the rmw storage. */ \
   wait_set->impl->RMWCount = 0; \
   wait_set->impl->RMWStorage = (void **)allocator.reallocate( \
-    wait_set->impl->RMWStorage, sizeof(rcl_##Type##_t *) * size, allocator.state); \
+    wait_set->impl->RMWStorage, sizeof(rcl_ ## Type ## _t *) * size, allocator.state); \
   if (!wait_set->impl->RMWStorage) { \
-    allocator.deallocate(wait_set->Type##s, allocator.state); \
-    wait_set->size_of_##Type##s = 0; \
+    allocator.deallocate(wait_set->Type ## s, allocator.state); \
+    wait_set->size_of_ ## Type ## s = 0; \
     RCL_SET_ERROR_MSG("allocating memory failed"); \
     return RCL_RET_BAD_ALLOC; \
   } \
@@ -336,7 +336,7 @@ rcl_wait_set_clear_timers(rcl_wait_set_t * wait_set)
 rcl_ret_t
 rcl_wait_set_resize_timers(rcl_wait_set_t * wait_set, size_t size)
 {
-  SET_RESIZE(timer, ;, ;)
+  SET_RESIZE(timer,;,;)  // NOLINT
 }
 
 rcl_ret_t
@@ -397,8 +397,7 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
     &wait_set->impl->rmw_guard_conditions,
     &dummy_services,
     &dummy_clients,
-    timeout_argument
-  );
+    timeout_argument);
   // Check for error.
   if (ret != RMW_RET_OK) {
     RCL_SET_ERROR_MSG(rmw_get_error_string_safe());
diff --git a/rcl/test/memory_tools.hpp b/rcl/test/memory_tools.hpp
index ac20a65..f220baf 100644
--- a/rcl/test/memory_tools.hpp
+++ b/rcl/test/memory_tools.hpp
@@ -16,29 +16,32 @@
 //   https://dxr.mozilla.org/mozilla-central/rev/
 //    cc9c6cd756cb744596ba039dcc5ad3065a7cc3ea/memory/build/replace_malloc.c
 
-#ifndef TEST__MEMORY_TOOLS_HPP_
-#define TEST__MEMORY_TOOLS_HPP_
+#ifndef MEMORY_TOOLS_HPP_
+#define MEMORY_TOOLS_HPP_
 
 #include <gtest/gtest.h>
-
-#include <functional>
 #include <stddef.h>
 
-typedef std::function<void()> UnexpectedCallbackType;
+#include <functional>
+
+typedef std::function<void ()> UnexpectedCallbackType;
 
 void start_memory_checking();
 
-#define ASSERT_NO_MALLOC(statements) assert_no_malloc_begin(); statements; assert_no_malloc_end();
+#define ASSERT_NO_MALLOC(statements) \
+  assert_no_malloc_begin(); statements; assert_no_malloc_end();
 void assert_no_malloc_begin();
 void assert_no_malloc_end();
 void set_on_unepexcted_malloc_callback(UnexpectedCallbackType callback);
 
-#define ASSERT_NO_REALLOC(statements) assert_no_realloc_begin(); statements; assert_no_realloc_end();
+#define ASSERT_NO_REALLOC(statements) \
+  assert_no_realloc_begin(); statements; assert_no_realloc_end();
 void assert_no_realloc_begin();
 void assert_no_realloc_end();
 void set_on_unepexcted_realloc_callback(UnexpectedCallbackType callback);
 
-#define ASSERT_NO_FREE(statements) assert_no_free_begin(); statements; assert_no_free_end();
+#define ASSERT_NO_FREE(statements) \
+  assert_no_free_begin(); statements; assert_no_free_end();
 void assert_no_free_begin();
 void assert_no_free_end();
 void set_on_unepexcted_free_callback(UnexpectedCallbackType callback);
@@ -47,4 +50,4 @@ void stop_memory_checking();
 
 void memory_checking_thread_init();
 
-#endif  // TEST__MEMORY_TOOLS_HPP_
+#endif  // MEMORY_TOOLS_HPP_
diff --git a/rcl/test/memory_tools_common.cpp b/rcl/test/memory_tools_common.cpp
index 731db36..18c3ef0 100644
--- a/rcl/test/memory_tools_common.cpp
+++ b/rcl/test/memory_tools_common.cpp
@@ -39,7 +39,8 @@ void set_on_unepexcted_malloc_callback(UnexpectedCallbackType callback)
     return;
   }
   if (!unexpected_malloc_callback) {
-    unexpected_malloc_callback = (UnexpectedCallbackType *)malloc(sizeof(UnexpectedCallbackType));
+    unexpected_malloc_callback =
+      reinterpret_cast<UnexpectedCallbackType *>(malloc(sizeof(UnexpectedCallbackType)));
     if (!unexpected_malloc_callback) {
       throw std::bad_alloc();
     }
@@ -51,7 +52,7 @@ void set_on_unepexcted_malloc_callback(UnexpectedCallbackType callback)
 void *
 custom_malloc(size_t size)
 {
-  if (!enabled.load()) return malloc(size);
+  if (!enabled.load()) {return malloc(size);}
   auto foo = SCOPE_EXIT(enabled.store(true););
   enabled.store(false);
   if (!malloc_expected) {
@@ -78,7 +79,8 @@ void set_on_unepexcted_realloc_callback(UnexpectedCallbackType callback)
     return;
   }
   if (!unexpected_realloc_callback) {
-    unexpected_realloc_callback = (UnexpectedCallbackType *)malloc(sizeof(UnexpectedCallbackType));
+    unexpected_realloc_callback =
+      reinterpret_cast<UnexpectedCallbackType *>(malloc(sizeof(UnexpectedCallbackType)));
     if (!unexpected_realloc_callback) {
       throw std::bad_alloc();
     }
@@ -90,7 +92,7 @@ void set_on_unepexcted_realloc_callback(UnexpectedCallbackType callback)
 void *
 custom_realloc(void * memory_in, size_t size)
 {
-  if (!enabled.load()) return realloc(memory_in, size);
+  if (!enabled.load()) {return realloc(memory_in, size);}
   auto foo = SCOPE_EXIT(enabled.store(true););
   enabled.store(false);
   if (!realloc_expected) {
@@ -118,7 +120,8 @@ void set_on_unepexcted_free_callback(UnexpectedCallbackType callback)
     return;
   }
   if (!unexpected_free_callback) {
-    unexpected_free_callback = (UnexpectedCallbackType *)malloc(sizeof(UnexpectedCallbackType));
+    unexpected_free_callback =
+      reinterpret_cast<UnexpectedCallbackType *>(malloc(sizeof(UnexpectedCallbackType)));
     if (!unexpected_free_callback) {
       throw std::bad_alloc();
     }
@@ -130,7 +133,7 @@ void set_on_unepexcted_free_callback(UnexpectedCallbackType callback)
 void
 custom_free(void * memory)
 {
-  if (!enabled.load()) return free(memory);
+  if (!enabled.load()) {return free(memory);}
   auto foo = SCOPE_EXIT(enabled.store(true););
   enabled.store(false);
   if (!free_expected) {
diff --git a/rcl/test/memory_tools_osx_interpose.cpp b/rcl/test/memory_tools_osx_interpose.cpp
index 980b005..91579cf 100644
--- a/rcl/test/memory_tools_osx_interpose.cpp
+++ b/rcl/test/memory_tools_osx_interpose.cpp
@@ -20,16 +20,17 @@
 // used an interposition table like the following:
 //
 
-typedef struct interpose_s {
+typedef struct interpose_s
+{
   void * new_func;
   void * orig_func;
 } interpose_t;
 
-#define OSX_INTERPOSE(newf,oldf) \
+#define OSX_INTERPOSE(newf, oldf) \
   __attribute__((used)) static const interpose_t \
-  macinterpose##newf##oldf __attribute__ ((section("__DATA, __interpose"))) = { \
-    (void *)newf, \
-    (void *)oldf, \
+  macinterpose ## newf ## oldf __attribute__ ((section("__DATA, __interpose"))) = { \
+    reinterpret_cast<void *>(newf), \
+    reinterpret_cast<void *>(oldf), \
   }
 
 // End Interpose.
diff --git a/rcl/test/rcl/test_allocator.cpp b/rcl/test/rcl/test_allocator.cpp
index f63ec18..0294267 100644
--- a/rcl/test/rcl/test_allocator.cpp
+++ b/rcl/test/rcl/test_allocator.cpp
@@ -18,7 +18,8 @@
 
 #include "../memory_tools.hpp"
 
-class TestAllocatorFixture : public ::testing::Test {
+class TestAllocatorFixture : public::testing::Test
+{
 public:
   TestAllocatorFixture()
   {
@@ -47,17 +48,22 @@ public:
 
 /* Tests the default allocator.
  */
-TEST_F(TestAllocatorFixture, test_default_allocator_normal)
-{
+TEST_F(TestAllocatorFixture, test_default_allocator_normal) {
   ASSERT_NO_MALLOC(
     rcl_allocator_t allocator = rcl_get_default_allocator();
   )
   size_t mallocs = 0;
   size_t reallocs = 0;
   size_t frees = 0;
-  set_on_unepexcted_malloc_callback([&mallocs]() {mallocs++;});
-  set_on_unepexcted_realloc_callback([&reallocs]() {reallocs++;});
-  set_on_unepexcted_free_callback([&frees]() {frees++;});
+  set_on_unepexcted_malloc_callback([&mallocs]() {
+    mallocs++;
+  });
+  set_on_unepexcted_realloc_callback([&reallocs]() {
+    reallocs++;
+  });
+  set_on_unepexcted_free_callback([&frees]() {
+    frees++;
+  });
   assert_no_malloc_begin();
   assert_no_realloc_begin();
   assert_no_free_begin();
diff --git a/rcl/test/rcl/test_time.cpp b/rcl/test/rcl/test_time.cpp
index 7c259bd..99851fe 100644
--- a/rcl/test/rcl/test_time.cpp
+++ b/rcl/test/rcl/test_time.cpp
@@ -21,7 +21,8 @@
 
 #include "../memory_tools.hpp"
 
-class TestTimeFixture : public ::testing::Test {
+class TestTimeFixture : public::testing::Test
+{
 public:
   void SetUp()
   {
@@ -45,8 +46,7 @@ public:
 
 /* Tests the rcl_system_time_point_now() function.
  */
-TEST_F(TestTimeFixture, test_rcl_system_time_point_now)
-{
+TEST_F(TestTimeFixture, test_rcl_system_time_point_now) {
   assert_no_realloc_begin();
   rcl_ret_t ret = RCL_RET_OK;
   // Check for invalid argument error condition (allowed to alloc).
@@ -78,8 +78,7 @@ TEST_F(TestTimeFixture, test_rcl_system_time_point_now)
 
 /* Tests the rcl_steady_time_point_now() function.
  */
-TEST_F(TestTimeFixture, test_rcl_steady_time_point_now)
-{
+TEST_F(TestTimeFixture, test_rcl_steady_time_point_now) {
   assert_no_realloc_begin();
   rcl_ret_t ret = RCL_RET_OK;
   // Check for invalid argument error condition (allowed to alloc).
diff --git a/rcl/test/scope_exit.hpp b/rcl/test/scope_exit.hpp
index cb12fce..056e1fa 100644
--- a/rcl/test/scope_exit.hpp
+++ b/rcl/test/scope_exit.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TEST__SCOPE_EXIT_HPP_
-#define TEST__SCOPE_EXIT_HPP_
+#ifndef SCOPE_EXIT_HPP_
+#define SCOPE_EXIT_HPP_
 
 #include <functional>
 
@@ -37,4 +37,4 @@ make_scope_exit(Callable callable)
 
 #define SCOPE_EXIT(code) make_scope_exit([&]() {code; })
 
-#endif  // TEST__SCOPE_EXIT_HPP_
+#endif  // SCOPE_EXIT_HPP_
diff --git a/rcl/test/test_memory_tools.cpp b/rcl/test/test_memory_tools.cpp
index 770991e..1714c4f 100644
--- a/rcl/test/test_memory_tools.cpp
+++ b/rcl/test/test_memory_tools.cpp
@@ -18,16 +18,21 @@
 
 /* Tests the allocatation checking tools.
  */
-TEST(TestMemoryTools, test_allocation_checking_tools)
-{
+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_unepexcted_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_unepexcted_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_unepexcted_free_callback(on_unexpected_free);
   void * mem = nullptr;
   // First try before enabling, should have no effect.