diff --git a/rclcpp/include/rclcpp/context.hpp b/rclcpp/include/rclcpp/context.hpp
index 27af6cd..2ec86b9 100644
--- a/rclcpp/include/rclcpp/context.hpp
+++ b/rclcpp/include/rclcpp/context.hpp
@@ -52,13 +52,11 @@ public:
     auto it = sub_contexts_.find(type_i);
     if (it == sub_contexts_.end()) {
       // It doesn't exist yet, make it
-      // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
       sub_context = std::shared_ptr<SubContext>(
         new SubContext(std::forward<Args>(args) ...),
-        [] (SubContext * sub_context_ptr) {
+        [](SubContext * sub_context_ptr) {
           delete sub_context_ptr;
         });
-      // *INDENT-ON*
       sub_contexts_[type_i] = sub_context;
     } else {
       // It exists, get it out and cast it.
diff --git a/rclcpp/include/rclcpp/mapped_ring_buffer.hpp b/rclcpp/include/rclcpp/mapped_ring_buffer.hpp
index 5f850b4..69ce8b9 100644
--- a/rclcpp/include/rclcpp/mapped_ring_buffer.hpp
+++ b/rclcpp/include/rclcpp/mapped_ring_buffer.hpp
@@ -228,11 +228,11 @@ private:
   typename std::vector<element, VectorAlloc>::iterator
   get_iterator_of_key(uint64_t key)
   {
-    // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
-    auto it = std::find_if(elements_.begin(), elements_.end(), [key](element & e) -> bool {
-      return e.key == key && e.in_use;
-    });
-    // *INDENT-ON*
+    auto it = std::find_if(
+      elements_.begin(), elements_.end(),
+      [key](element & e) -> bool {
+        return e.key == key && e.in_use;
+      });
     return it;
   }
 
diff --git a/rclcpp/include/rclcpp/parameter_client.hpp b/rclcpp/include/rclcpp/parameter_client.hpp
index c0c7d62..3c4cf1a 100644
--- a/rclcpp/include/rclcpp/parameter_client.hpp
+++ b/rclcpp/include/rclcpp/parameter_client.hpp
@@ -205,20 +205,18 @@ public:
   T
   get_parameter(const std::string & parameter_name, const T & default_value)
   {
-    // *INDENT-OFF*
-    return get_parameter_impl(parameter_name,
-      std::function<T()>([&default_value]() -> T {return default_value; }));
-    // *INDENT-ON*
+    return get_parameter_impl(
+      parameter_name,
+      std::function<T()>([&default_value]() -> T {return default_value;}));
   }
 
   template<typename T>
   T
   get_parameter(const std::string & parameter_name)
   {
-    // *INDENT-OFF*
-    return get_parameter_impl(parameter_name,
-      std::function<T()>([]() -> T {throw std::runtime_error("Parameter not set"); }));
-    // *INDENT-ON*
+    return get_parameter_impl(
+      parameter_name,
+      std::function<T()>([]() -> T {throw std::runtime_error("Parameter not set");}));
   }
 
   RCLCPP_PUBLIC
diff --git a/rclcpp/src/rclcpp/client.cpp b/rclcpp/src/rclcpp/client.cpp
index a1db27f..6a7501a 100644
--- a/rclcpp/src/rclcpp/client.cpp
+++ b/rclcpp/src/rclcpp/client.cpp
@@ -99,7 +99,6 @@ ClientBase::wait_for_service_nanoseconds(std::chrono::nanoseconds timeout)
     time_to_wait = std::chrono::nanoseconds(0);
   }
   // continue forever if timeout is negative, otherwise continue until out of time_to_wait
-  // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
   do {
     if (!rclcpp::utilities::ok()) {
       return false;
@@ -115,8 +114,7 @@ ClientBase::wait_for_service_nanoseconds(std::chrono::nanoseconds timeout)
     }
     // server is not ready, loop if there is time left
     time_to_wait = timeout - (std::chrono::steady_clock::now() - start);
-  } while (timeout < std::chrono::nanoseconds(0) || time_to_wait > std::chrono::nanoseconds(0));
-  // *INDENT-ON*
+  } while (time_to_wait > std::chrono::nanoseconds(0) || timeout < std::chrono::nanoseconds(0));
   return false;  // timeout exceeded while waiting for the server to be ready
 }
 
diff --git a/rclcpp/src/rclcpp/executor.cpp b/rclcpp/src/rclcpp/executor.cpp
index c56c470..4fbe867 100644
--- a/rclcpp/src/rclcpp/executor.cpp
+++ b/rclcpp/src/rclcpp/executor.cpp
@@ -131,14 +131,12 @@ Executor::remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node
   weak_nodes_.erase(
     std::remove_if(
       weak_nodes_.begin(), weak_nodes_.end(),
-      // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
       [&](rclcpp::node_interfaces::NodeBaseInterface::WeakPtr & i)
       {
         bool matched = (i.lock() == node_ptr);
         node_removed |= matched;
         return matched;
       }
-      // *INDENT-ON*
     )
   );
   std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
@@ -361,12 +359,10 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
     weak_nodes_.erase(
       remove_if(
         weak_nodes_.begin(), weak_nodes_.end(),
-        // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
         [](rclcpp::node_interfaces::NodeBaseInterface::WeakPtr i)
         {
           return i.expired();
         }
-        // *INDENT-ON*
       )
     );
   }
diff --git a/rclcpp/src/rclcpp/parameter_client.cpp b/rclcpp/src/rclcpp/parameter_client.cpp
index 8b4b9d3..e1e47f5 100644
--- a/rclcpp/src/rclcpp/parameter_client.cpp
+++ b/rclcpp/src/rclcpp/parameter_client.cpp
@@ -115,7 +115,6 @@ AsyncParametersClient::get_parameters(
   auto request = std::make_shared<rcl_interfaces::srv::GetParameters::Request>();
   request->names = names;
 
-  // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
   get_parameters_client_->async_send_request(
     request,
     [request, promise_result, future_result, &callback](
@@ -139,7 +138,6 @@ AsyncParametersClient::get_parameters(
       }
     }
   );
-  // *INDENT-ON*
 
   return future_result;
 }
@@ -158,7 +156,6 @@ AsyncParametersClient::get_parameter_types(
   auto request = std::make_shared<rcl_interfaces::srv::GetParameterTypes::Request>();
   request->names = names;
 
-  // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
   get_parameter_types_client_->async_send_request(
     request,
     [promise_result, future_result, &callback](
@@ -175,7 +172,6 @@ AsyncParametersClient::get_parameter_types(
       }
     }
   );
-  // *INDENT-ON*
 
   return future_result;
 }
@@ -193,7 +189,6 @@ AsyncParametersClient::set_parameters(
 
   auto request = std::make_shared<rcl_interfaces::srv::SetParameters::Request>();
 
-  // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
   std::transform(parameters.begin(), parameters.end(), std::back_inserter(request->parameters),
     [](rclcpp::parameter::ParameterVariant p) {
       return p.to_parameter();
@@ -211,7 +206,6 @@ AsyncParametersClient::set_parameters(
       }
     }
   );
-  // *INDENT-ON*
 
   return future_result;
 }
@@ -229,7 +223,6 @@ AsyncParametersClient::set_parameters_atomically(
 
   auto request = std::make_shared<rcl_interfaces::srv::SetParametersAtomically::Request>();
 
-  // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
   std::transform(parameters.begin(), parameters.end(), std::back_inserter(request->parameters),
     [](rclcpp::parameter::ParameterVariant p) {
       return p.to_parameter();
@@ -247,7 +240,6 @@ AsyncParametersClient::set_parameters_atomically(
       }
     }
   );
-  // *INDENT-ON*
 
   return future_result;
 }
@@ -268,7 +260,6 @@ AsyncParametersClient::list_parameters(
   request->prefixes = prefixes;
   request->depth = depth;
 
-  // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
   list_parameters_client_->async_send_request(
     request,
     [promise_result, future_result, &callback](
@@ -280,7 +271,6 @@ AsyncParametersClient::list_parameters(
       }
     }
   );
-  // *INDENT-ON*
 
   return future_result;
 }
diff --git a/rclcpp/src/rclcpp/parameter_service.cpp b/rclcpp/src/rclcpp/parameter_service.cpp
index a06e561..8ce773f 100644
--- a/rclcpp/src/rclcpp/parameter_service.cpp
+++ b/rclcpp/src/rclcpp/parameter_service.cpp
@@ -29,7 +29,6 @@ ParameterService::ParameterService(
 : node_(node)
 {
   std::weak_ptr<rclcpp::node::Node> captured_node = node_;
-  // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
   get_parameters_service_ = node_->create_service<rcl_interfaces::srv::GetParameters>(
     std::string(node_->get_name()) + "/" + parameter_service_names::get_parameters,
     [captured_node](
@@ -46,8 +45,7 @@ ParameterService::ParameterService(
         response->values.push_back(pvariant.get_parameter_value());
       }
     },
-    qos_profile
-  );
+    qos_profile);
 
   get_parameter_types_service_ = node_->create_service<rcl_interfaces::srv::GetParameterTypes>(
     std::string(node_->get_name()) + "/" + parameter_service_names::get_parameter_types,
@@ -66,8 +64,7 @@ ParameterService::ParameterService(
         return static_cast<rclcpp::parameter::ParameterType>(type);
       });
     },
-    qos_profile
-  );
+    qos_profile);
 
   set_parameters_service_ = node_->create_service<rcl_interfaces::srv::SetParameters>(
     std::string(node_->get_name()) + "/" + parameter_service_names::set_parameters,
@@ -87,8 +84,7 @@ ParameterService::ParameterService(
       auto results = node->set_parameters(pvariants);
       response->results = results;
     },
-    qos_profile
-  );
+    qos_profile);
 
   set_parameters_atomically_service_ =
     node_->create_service<rcl_interfaces::srv::SetParametersAtomically>(
@@ -106,14 +102,12 @@ ParameterService::ParameterService(
       std::transform(request->parameters.cbegin(), request->parameters.cend(),
       std::back_inserter(pvariants),
       [](const rcl_interfaces::msg::Parameter & p) {
-        return rclcpp::parameter::ParameterVariant::
-        from_parameter(p);
+        return rclcpp::parameter::ParameterVariant::from_parameter(p);
       });
       auto result = node->set_parameters_atomically(pvariants);
       response->result = result;
     },
-    qos_profile
-  );
+    qos_profile);
 
   describe_parameters_service_ = node_->create_service<rcl_interfaces::srv::DescribeParameters>(
     std::string(node_->get_name()) + "/" + parameter_service_names::describe_parameters,
@@ -129,8 +123,7 @@ ParameterService::ParameterService(
       auto descriptors = node->describe_parameters(request->names);
       response->descriptors = descriptors;
     },
-    qos_profile
-  );
+    qos_profile);
 
   list_parameters_service_ = node_->create_service<rcl_interfaces::srv::ListParameters>(
     std::string(node_->get_name()) + "/" + parameter_service_names::list_parameters,
@@ -146,7 +139,5 @@ ParameterService::ParameterService(
       auto result = node->list_parameters(request->prefixes, request->depth);
       response->result = result;
     },
-    qos_profile
-  );
-  // *INDENT-ON*
+    qos_profile);
 }
diff --git a/rclcpp/src/rclcpp/utilities.cpp b/rclcpp/src/rclcpp/utilities.cpp
index e0a0d02..22132cf 100644
--- a/rclcpp/src/rclcpp/utilities.cpp
+++ b/rclcpp/src/rclcpp/utilities.cpp
@@ -139,12 +139,10 @@ signal_handler(int signal_value)
       old_action.sa_sigaction(signal_value, siginfo, context);
     }
   } else {
-    // *INDENT-OFF*
     if (
       old_action.sa_handler != NULL &&  // Is set
       old_action.sa_handler != SIG_DFL &&  // Is not default
       old_action.sa_handler != SIG_IGN)  // Is not ignored
-    // *INDENT-ON*
     {
       old_action.sa_handler(signal_value);
     }