diff --git a/rosidl_adapter_proto/cmake/rosidl_adapter_proto-extras.cmake.in b/rosidl_adapter_proto/cmake/rosidl_adapter_proto-extras.cmake.in
index 6bf7ad0..90b80e3 100644
--- a/rosidl_adapter_proto/cmake/rosidl_adapter_proto-extras.cmake.in
+++ b/rosidl_adapter_proto/cmake/rosidl_adapter_proto-extras.cmake.in
@@ -29,23 +29,23 @@ else()
     "${rosidl_adapter_proto_TEMPLATE_DIR}")
 
   include("${rosidl_adapter_proto_DIR}/rosidl_adapt_proto_interfaces.cmake")
-  
+
   add_compile_definitions("ROSIDL_ADAPTER_PROTO_BUILDING_DLL__${PROJECT_NAME}")
 
   # There is no clean way to include additional files into protobuf headers
   if(NOT WIN32)
     add_compile_options("-include${rosidl_adapter_proto_VISIBILITY_CONTROL_HEADER}")
   else()
-    add_compile_options( "/FI\"${rosidl_adapter_proto_VISIBILITY_CONTROL_HEADER}\"")
+    add_compile_options("/FI\"${rosidl_adapter_proto_VISIBILITY_CONTROL_HEADER}\"")
   endif()
-  
+
   foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
     set(_proto_dir "${${_pkg_name}_DIR}/../../../include/${_pkg_name}/${_pkg_name}/rosidl_adapter_proto__visibility_control.h")
     normalize_path(_proto_dir "${_proto_dir}")
     if(NOT WIN32)
       add_compile_options("-include${_proto_dir}")
     else()
-      add_compile_options( "/FI\"${_proto_dir}\"")
+      add_compile_options("/FI\"${_proto_dir}\"")
     endif()
   endforeach()
 
diff --git a/rosidl_adapter_proto/package.xml b/rosidl_adapter_proto/package.xml
index 7b0a027..ad4aac0 100644
--- a/rosidl_adapter_proto/package.xml
+++ b/rosidl_adapter_proto/package.xml
@@ -12,7 +12,7 @@
   <exec_depend>python3-empy</exec_depend>
   <exec_depend>rosidl_cli</exec_depend>
   <exec_depend>rosidl_parser</exec_depend>
-  
+
   <member_of_group>rosidl_interface_packages</member_of_group>
   
   <export>
diff --git a/rosidl_adapter_proto/rosidl_adapter_proto/__init__.py b/rosidl_adapter_proto/rosidl_adapter_proto/__init__.py
index 5abe056..a76db58 100644
--- a/rosidl_adapter_proto/rosidl_adapter_proto/__init__.py
+++ b/rosidl_adapter_proto/rosidl_adapter_proto/__init__.py
@@ -15,25 +15,25 @@
 # limitations under the License.
 #
 # ================================= Apache 2.0 =================================
-from rosidl_cmake import generate_files
-
-import rosidl_parser.definition as rosidl
 
 import subprocess
 import zlib
 
+from rosidl_cmake import generate_files
+import rosidl_parser.definition as rosidl
+
 # A postfix for the protobuf package name / the c++ namespace
-PROTO_PACKAGE_POSTFIX = "pb"
+PROTO_PACKAGE_POSTFIX = 'pb'
 
 # The rpc-function name for service calls. As ros services can only offer a
 # single function, this function gets a static name in the protobuf service
-PROTO_SERVICE_CALL_NAME = "Call"
+PROTO_SERVICE_CALL_NAME = 'Call'
 
 # The rpc function name for sending an action goal
-PROTO_ACTION_SEND_GOAL_CALL_NAME = "SendGoal"
+PROTO_ACTION_SEND_GOAL_CALL_NAME = 'SendGoal'
 
 # The rpc function name for retrieving the action result
-PROTO_ACTION_GET_RESULT_CALL_NAME = "GetResult"
+PROTO_ACTION_GET_RESULT_CALL_NAME = 'GetResult'
 
 # A Mapping from IDL -> Protobuf type
 MSG_TYPE_TO_PROTO = {
@@ -58,25 +58,33 @@
 
 field_val = 0
 
+
 def compute_proto_field_number(variable_name):
-    # Field number rules (https://developers.google.com/protocol-buffers/docs/proto#assigning_field_numbers)
+    # Field number rules (https://developers.google.com/protocol-buffers/docs/
+    # proto#assigning_field_numbers)
     #
     # Smallest: 1
     # Largest:  536870911 (= 2^29 - 1)
     #
     # Reserved Range: 19000 to 19999 (=> 1000 values)
 
-    field_number = zlib.crc32(bytearray(variable_name, 'utf8')) # Create a 32 bit hash from the variable name
-    field_number = (field_number % (536870911 - 1000))          # Reduce to the correct amount of values
-    field_number += 1                                           # Account for the fact that we must not use 0
+    # Create a 32 bit hash from the variable name
+    field_number = zlib.crc32(bytearray(variable_name, 'utf8'))
+    # Reduce to the correct amount of values
+    field_number = (field_number % (536870911 - 1000))
+    # Account for the fact that we must not use 0
+    field_number += 1
+    # Account for the fact that we must not use 19000 to 19999
     if field_number >= 19000:
-        field_number += 1000                                    # Account for the fact that we must not use 19000 to 19999
-    
+        field_number += 1000
+
     return field_number
 
+
 def to_proto_import(namespaced_type):
     assert isinstance(namespaced_type, rosidl.NamespacedType)
-    return "/".join(namespaced_type.namespaces + [namespaced_type.name]) + ".proto"
+    return '/'.join(namespaced_type.namespaces + [namespaced_type.name]) + '.proto'
+
 
 def collect_proto_imports(rosidl_message):
     assert isinstance(rosidl_message, rosidl.Message)
@@ -90,11 +98,12 @@ def collect_proto_imports(rosidl_message):
             namespaced_type = member.type.value_type
         else:
             continue
-    
+
         import_set.add(to_proto_import(namespaced_type))
 
     return import_set
 
+
 def generate_proto(generator_arguments_file):
     mapping = {
         'idl.proto.em': '%s.proto',
@@ -102,13 +111,15 @@ def generate_proto(generator_arguments_file):
     generate_files(generator_arguments_file, mapping, keep_case=True)
     return 0
 
+
 def compile_proto(protoc_path, proto_path_list, cpp_out_dir, proto_files, package_name):
     protoc_cmd = [protoc_path]
 
     for path in proto_path_list:
-        protoc_cmd.append("--proto_path=" + path)
-    
-    protoc_cmd.append(f"--cpp_out=dllexport_decl=ROSIDL_ADAPTER_PROTO_PUBLIC__{package_name}:{cpp_out_dir}")
+        protoc_cmd.append('--proto_path=' + path)
+
+    protoc_cmd.append(
+        f'--cpp_out=dllexport_decl=ROSIDL_ADAPTER_PROTO_PUBLIC__{package_name}:{cpp_out_dir}')
     protoc_cmd = protoc_cmd + proto_files
 
-    subprocess.check_call(protoc_cmd)
\ No newline at end of file
+    subprocess.check_call(protoc_cmd)
diff --git a/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/message_type_support.hpp b/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/message_type_support.hpp
index 33ef29b..57dbf1a 100644
--- a/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/message_type_support.hpp
+++ b/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/message_type_support.hpp
@@ -1,19 +1,19 @@
 /* ================================ Apache 2.0 =================================
  *
  * Copyright (C) 2021 Continental
- * 
+ *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
- * 
+ *
  *     http://www.apache.org/licenses/LICENSE-2.0
- * 
+ *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
- * 
+ *
  * ================================ Apache 2.0 =================================
  */
 
@@ -29,11 +29,9 @@ typedef struct message_type_support_t
   const char * message_namespace;
   const char * message_name;
 
-  bool (* serialize)(const void * ros_message, std::string& serialized_message);
-  bool (* deserialize)(void * ros_message, const void *serialized_data, size_t size);
-  std::string (*get_descriptor)();
-  
+  bool (* serialize)(const void * ros_message, std::string & serialized_message);
+  bool (* deserialize)(void * ros_message, const void * serialized_data, size_t size);
+  std::string (* get_descriptor)();
 } message_type_support_t;
 
-}
-
+}  // namespace rosidl_typesupport_protobuf
diff --git a/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/message_type_support_decl.hpp b/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/message_type_support_decl.hpp
index 93d3179..509fbe1 100644
--- a/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/message_type_support_decl.hpp
+++ b/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/message_type_support_decl.hpp
@@ -1,19 +1,19 @@
 /* ================================ Apache 2.0 =================================
  *
  * Copyright (C) 2021 Continental
- * 
+ *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
- * 
+ *
  *     http://www.apache.org/licenses/LICENSE-2.0
- * 
+ *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
- * 
+ *
  * ================================ Apache 2.0 =================================
  */
 
@@ -21,7 +21,7 @@
 
 #include <rosidl_typesupport_protobuf/visibility_control.h>
 
-//rosidl_message_type_support_t
+// rosidl_message_type_support_t
 #include "rosidl_typesupport_protobuf/rosidl_generator_c_pkg_adapter.hpp"
 
 namespace rosidl_typesupport_protobuf
@@ -32,4 +32,4 @@ template<typename T>
 ROSIDL_TYPESUPPORT_PROTOBUF_PUBLIC
 const rosidl_message_type_support_t * get_message_type_support_handle();
 
-}  // namespace rosidl_typesupport_protobuf_cpp
+}  // namespace rosidl_typesupport_protobuf
diff --git a/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/proto_descriptor_helper.hpp b/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/proto_descriptor_helper.hpp
index 0d71133..95a71a2 100644
--- a/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/proto_descriptor_helper.hpp
+++ b/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/proto_descriptor_helper.hpp
@@ -1,6 +1,23 @@
+/* ================================ Apache 2.0 =================================
+ *
+ * Copyright (C) 2021 Continental
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ================================ Apache 2.0 =================================
+ */
 #pragma once
 
-#include <string>
 #include <algorithm>
 #include <string>
 #include <vector>
@@ -8,7 +25,7 @@
 // protobuf includes
 #ifdef _MSC_VER
 #pragma warning(push)
-#pragma warning(disable: 4100 4127 4146 4800) // disable proto warnings
+#pragma warning(disable: 4100 4127 4146 4800)  // disable proto warnings
 #endif
 #include <google/protobuf/descriptor.pb.h>
 #ifdef _MSC_VER
@@ -16,86 +33,76 @@
 #endif
 
 
-inline bool HasFile(const google::protobuf::FileDescriptorSet& fset_, const std::string& fname_)
+inline bool HasFile(const google::protobuf::FileDescriptorSet & fset_, const std::string & fname_)
 {
-  for (auto findex = 0; findex < fset_.file_size(); ++findex)
-  {
-    if (fset_.file(findex).name() == fname_)
-    {
-      return(true);
+  for (auto findex = 0; findex < fset_.file_size(); ++findex) {
+    if (fset_.file(findex).name() == fname_) {
+      return true;
     }
   }
-  return(false);
+  return false;
 }
 
-inline bool GetFileDescriptor(const google::protobuf::Descriptor* desc_, google::protobuf::FileDescriptorSet& fset_)
+inline bool GetFileDescriptor(
+  const google::protobuf::Descriptor * desc_,
+  google::protobuf::FileDescriptorSet & fset_)
 {
-  
-  if (desc_ == nullptr) return(false);
-  const google::protobuf::FileDescriptor* fdesc = desc_->file();
-  
-  for (auto dep = 0; dep < fdesc->dependency_count(); ++dep)
-  {
+  if (desc_ == nullptr) {return false;}
+  const google::protobuf::FileDescriptor * fdesc = desc_->file();
+
+  for (auto dep = 0; dep < fdesc->dependency_count(); ++dep) {
     // iterate containing messages
-    const google::protobuf::FileDescriptor* sfdesc = fdesc->dependency(dep);
-    
-    for (auto mtype = 0; mtype < sfdesc->message_type_count(); ++mtype)
-    {
-      const google::protobuf::Descriptor* desc = sfdesc->message_type(mtype);
+    const google::protobuf::FileDescriptor * sfdesc = fdesc->dependency(dep);
+
+    for (auto mtype = 0; mtype < sfdesc->message_type_count(); ++mtype) {
+      const google::protobuf::Descriptor * desc = sfdesc->message_type(mtype);
       GetFileDescriptor(desc, fset_);
     }
 
     // containing enums ?
-    if (sfdesc->enum_type_count() > 0)
-    {
-      const google::protobuf::EnumDescriptor* edesc = sfdesc->enum_type(0);
-      const google::protobuf::FileDescriptor* efdesc = edesc->file();
+    if (sfdesc->enum_type_count() > 0) {
+      const google::protobuf::EnumDescriptor * edesc = sfdesc->enum_type(0);
+      const google::protobuf::FileDescriptor * efdesc = edesc->file();
 
-      if (!HasFile(fset_, efdesc->name()))
-      {
-        google::protobuf::FileDescriptorProto* epdesc = fset_.add_file();
+      if (!HasFile(fset_, efdesc->name())) {
+        google::protobuf::FileDescriptorProto * epdesc = fset_.add_file();
         efdesc->CopyTo(epdesc);
       }
     }
 
-  
     // containing services ?
-    if (sfdesc->service_count() > 0)
-    {
-      const google::protobuf::ServiceDescriptor* svdesc = sfdesc->service(0);
-      const google::protobuf::FileDescriptor*    svfdesc = svdesc->file();
+    if (sfdesc->service_count() > 0) {
+      const google::protobuf::ServiceDescriptor * svdesc = sfdesc->service(0);
+      const google::protobuf::FileDescriptor * svfdesc = svdesc->file();
 
-      if (!HasFile(fset_, svfdesc->name()))
-      {
-        google::protobuf::FileDescriptorProto* svpdesc = fset_.add_file();
+      if (!HasFile(fset_, svfdesc->name())) {
+        google::protobuf::FileDescriptorProto * svpdesc = fset_.add_file();
         svfdesc->CopyTo(svpdesc);
       }
     }
   }
 
-  if (HasFile(fset_, fdesc->name())) return(true);
+  if (HasFile(fset_, fdesc->name())) {return true;}
 
-  google::protobuf::FileDescriptorProto* pdesc = fset_.add_file();
+  google::protobuf::FileDescriptorProto * pdesc = fset_.add_file();
   fdesc->CopyTo(pdesc);
-  for (auto field = 0; field < desc_->field_count(); ++field)
-  {
-    const google::protobuf::FieldDescriptor* fddesc = desc_->field(field);
-    const google::protobuf::Descriptor*      desc = fddesc->message_type();
+  for (auto field = 0; field < desc_->field_count(); ++field) {
+    const google::protobuf::FieldDescriptor * fddesc = desc_->field(field);
+    const google::protobuf::Descriptor * desc = fddesc->message_type();
     GetFileDescriptor(desc, fset_);
   }
 
-  return(true);
+  return true;
 }
 
 template<typename T>
 inline std::string GetProtoMessageDescription()
 {
-  const google::protobuf::Descriptor* desc = T::descriptor();
+  const google::protobuf::Descriptor * desc = T::descriptor();
   google::protobuf::FileDescriptorSet pset;
-  if (GetFileDescriptor(desc, pset))
-  {
+  if (GetFileDescriptor(desc, pset)) {
     std::string desc_s = pset.SerializeAsString();
-    return(desc_s);
+    return desc_s;
   }
-  return("");
-}
\ No newline at end of file
+  return "";
+}
diff --git a/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/rosidl_generator_c_pkg_adapter.hpp b/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/rosidl_generator_c_pkg_adapter.hpp
index 70ffd74..7cef40d 100644
--- a/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/rosidl_generator_c_pkg_adapter.hpp
+++ b/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/rosidl_generator_c_pkg_adapter.hpp
@@ -5,9 +5,9 @@
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
-* 
+*
 *      http://www.apache.org/licenses/LICENSE-2.0
-* 
+*
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
@@ -17,10 +17,10 @@
 * ========================= RMW eCAL LICENSE =================================
 */
 
-//From Foxy distro rosidl_generator_c has been renamed to rosidl_generator_c,
-//purpose of this header file is to alias old C type names to new ones, that way the
-//rest of the code doesn't have to care about old package name regardless of distro.
-//any rosidl_generator_c to rosidl_runtime_c adaptions should be added here
+// From Foxy distro rosidl_generator_c has been renamed to rosidl_generator_c,
+// purpose of this header file is to alias old C type names to new ones, that way the
+// rest of the code doesn't have to care about old package name regardless of distro.
+// any rosidl_generator_c to rosidl_runtime_c adaptions should be added here
 
 #pragma once
 
@@ -32,4 +32,3 @@
 #include <rosidl_runtime_c/u16string_functions.h>
 #include <rosidl_runtime_c/message_type_support_struct.h>
 #include <rosidl_runtime_c/service_type_support_struct.h>
-
diff --git a/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/service_type_support.hpp b/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/service_type_support.hpp
index da558fc..256e9b2 100644
--- a/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/service_type_support.hpp
+++ b/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/service_type_support.hpp
@@ -1,19 +1,19 @@
 /* ================================ Apache 2.0 =================================
  *
  * Copyright (C) 2021 Continental
- * 
+ *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
- * 
+ *
  *     http://www.apache.org/licenses/LICENSE-2.0
- * 
+ *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
- * 
+ *
  * ================================ Apache 2.0 =================================
  */
 
@@ -35,4 +35,4 @@ typedef struct service_type_support_t
   const rosidl_message_type_support_t * response;
 } service_type_support_t;
 
-}
\ No newline at end of file
+}  // namespace rosidl_typesupport_protobuf
diff --git a/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/service_type_support_decl.hpp b/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/service_type_support_decl.hpp
index 854b99f..8c6ec15 100644
--- a/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/service_type_support_decl.hpp
+++ b/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/service_type_support_decl.hpp
@@ -1,19 +1,19 @@
 /* ================================ Apache 2.0 =================================
  *
  * Copyright (C) 2021 Continental
- * 
+ *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
- * 
+ *
  *     http://www.apache.org/licenses/LICENSE-2.0
- * 
+ *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
- * 
+ *
  * ================================ Apache 2.0 =================================
  */
 
@@ -21,7 +21,7 @@
 
 #include <rosidl_typesupport_protobuf/visibility_control.h>
 
-//rosidl_service_type_support_t
+// rosidl_service_type_support_t
 #include "rosidl_typesupport_protobuf/rosidl_generator_c_pkg_adapter.hpp"
 
 namespace rosidl_typesupport_protobuf
@@ -36,4 +36,4 @@ template<typename T>
 ROSIDL_TYPESUPPORT_PROTOBUF_PUBLIC
 const rosidl_service_type_support_t * get_service_type_support_handle();
 
-}  // namespace rosidl_typesupport_protobuf_cpp
+}  // namespace rosidl_typesupport_protobuf
diff --git a/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/visibility_control.h b/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/visibility_control.h
index ce6940d..73d2a5b 100644
--- a/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/visibility_control.h
+++ b/rosidl_typesupport_protobuf/include/rosidl_typesupport_protobuf/visibility_control.h
@@ -1,19 +1,19 @@
 /* ================================ Apache 2.0 =================================
  *
  * Copyright (C) 2021 Continental
- * 
+ *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
- * 
+ *
  *     http://www.apache.org/licenses/LICENSE-2.0
- * 
+ *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
- * 
+ *
  * ================================ Apache 2.0 =================================
  */
 #pragma once
@@ -54,4 +54,4 @@ extern "C"
 
 #ifdef __cplusplus
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/rosidl_typesupport_protobuf/rosidl_typesupport_protobuf/__init__.py b/rosidl_typesupport_protobuf/rosidl_typesupport_protobuf/__init__.py
index c15e430..e37b701 100644
--- a/rosidl_typesupport_protobuf/rosidl_typesupport_protobuf/__init__.py
+++ b/rosidl_typesupport_protobuf/rosidl_typesupport_protobuf/__init__.py
@@ -16,107 +16,126 @@
 #
 # ================================= Apache 2.0 =================================
 
-import os
-
 from rosidl_cmake import convert_camel_case_to_lower_case_underscore
-from rosidl_parser import definition
 
 # A postfix for the protobuf package name / the c++ namespace
-PROTO_PACKAGE_POSTFIX = "pb"
+PROTO_PACKAGE_POSTFIX = 'pb'
+
+_TYPE_SUPPORT_NAME = ''
+_NAMESPACE_DELIMETER = ''
 
-_TYPE_SUPPORT_NAME = ""
-_NAMESPACE_DELIMETER = ""
 
 def set_type_support_name(val):
-  global _TYPE_SUPPORT_NAME
-  _TYPE_SUPPORT_NAME = val
+    global _TYPE_SUPPORT_NAME
+    _TYPE_SUPPORT_NAME = val
+
 
 def set_namespace_delimeter(val):
-  global _NAMESPACE_DELIMETER
-  _NAMESPACE_DELIMETER = val
+    global _NAMESPACE_DELIMETER
+    _NAMESPACE_DELIMETER = val
+
 
 def ros_message_header(package_name, interface_path):
-  include_parts = [package_name] + list(interface_path.parents[0].parts)
-  include_parts += ["detail"] 
-  include_parts += [convert_camel_case_to_lower_case_underscore(interface_path.stem)]
-  include_base = '/'.join(include_parts)
+    include_parts = [package_name] + list(interface_path.parents[0].parts)
+    include_parts += ['detail']
+    include_parts += [convert_camel_case_to_lower_case_underscore(interface_path.stem)]
+    include_base = '/'.join(include_parts)
+
+    return f'{include_base}__struct.hpp'
 
-  return f"{include_base}__struct.hpp"
 
 def ros_message_header_c(package_name, interface_path):
-  include_parts = [package_name] + list(interface_path.parents[0].parts)
-  include_parts += ["detail"]
-  include_parts += [convert_camel_case_to_lower_case_underscore(interface_path.stem)]
-  include_base = '/'.join(include_parts)
+    include_parts = [package_name] + list(interface_path.parents[0].parts)
+    include_parts += ['detail']
+    include_parts += [convert_camel_case_to_lower_case_underscore(interface_path.stem)]
+    include_base = '/'.join(include_parts)
+
+    return f'{include_base}__struct.h'
 
-  return f"{include_base}__struct.h"
 
 def ros_message_functions_header_c(package_name, interface_path):
-  include_parts = [package_name] + list(interface_path.parents[0].parts)
-  include_parts += ["detail"]
-  include_parts += [convert_camel_case_to_lower_case_underscore(interface_path.stem)]
-  include_base = '/'.join(include_parts)
+    include_parts = [package_name] + list(interface_path.parents[0].parts)
+    include_parts += ['detail']
+    include_parts += [convert_camel_case_to_lower_case_underscore(interface_path.stem)]
+    include_base = '/'.join(include_parts)
+
+    return f'{include_base}__functions.h'
 
-  return f"{include_base}__functions.h"
 
 def ros_message_functions_header_c_from_namespace(namespace, name):
-  include_parts = list(namespace)
-  include_parts += ["detail"]
-  include_parts += [convert_camel_case_to_lower_case_underscore(name)]
-  include_base = '/'.join(include_parts)
+    include_parts = list(namespace)
+    include_parts += ['detail']
+    include_parts += [convert_camel_case_to_lower_case_underscore(name)]
+    include_base = '/'.join(include_parts)
+
+    return f'{include_base}__functions.h'
 
-  return f"{include_base}__functions.h"
 
 def protobuf_message_header(package_name, interface_path):
-  include_parts = [package_name] + list(interface_path.parents[0].parts)
-  include_base = '/'.join(include_parts)
-  include_prefix = interface_path.stem
+    include_parts = [package_name] + list(interface_path.parents[0].parts)
+    include_prefix = interface_path.stem
+
+    return '/'.join(include_parts + [include_prefix + '.pb.h'])
 
-  return '/'.join(include_parts + [include_prefix + ".pb.h"])
 
 def typesupport_header(package_name, interface_path):
-  include_parts = [package_name] + list(interface_path.parents[0].parts) + [convert_camel_case_to_lower_case_underscore(interface_path.stem)]
-  include_base = '/'.join(include_parts)
-  
-  return f"{include_base}__{_TYPE_SUPPORT_NAME}.hpp"
+    include_parts = [package_name] + list(interface_path.parents[0].parts) + \
+        [convert_camel_case_to_lower_case_underscore(interface_path.stem)]
+    include_base = '/'.join(include_parts)
+
+    return f'{include_base}__{_TYPE_SUPPORT_NAME}.hpp'
+
 
 def visibility_control_header(package_name):
-  return f"{package_name}/{_TYPE_SUPPORT_NAME}__visibility_control.h"
+    return f'{package_name}/{_TYPE_SUPPORT_NAME}__visibility_control.h'
+
 
 def ros_type_namespace(package_name, interface_path):
-  return _NAMESPACE_DELIMETER.join([package_name] + list(interface_path.parents[0].parts))
+    return _NAMESPACE_DELIMETER.join([package_name] + list(interface_path.parents[0].parts))
+
 
 def ros_type_name(message):
-  return message.structure.namespaced_type.name
+    return message.structure.namespaced_type.name
+
 
 def ros_type(package_name, interface_path, message):
-  ros_type_ns = ros_type_namespace(package_name, interface_path)
-  ros_type_nm = ros_type_name(message)
-  return "::" + _NAMESPACE_DELIMETER.join([ros_type_ns, ros_type_nm])
+    ros_type_ns = ros_type_namespace(package_name, interface_path)
+    ros_type_nm = ros_type_name(message)
+    return '::' + _NAMESPACE_DELIMETER.join([ros_type_ns, ros_type_nm])
+
 
 def ros_type_from_namespaced_type(namespaced_type):
-  return "::" + _NAMESPACE_DELIMETER.join(namespaced_type.namespaces + [namespaced_type.name])
+    return '::' + _NAMESPACE_DELIMETER.join(namespaced_type.namespaces + [namespaced_type.name])
+
 
 def ros_type_from_namespaced_type_c(namespaced_type):
-  return "::" + _NAMESPACE_DELIMETER.join(namespaced_type.namespaces + [namespaced_type.name])
+    return '::' + _NAMESPACE_DELIMETER.join(namespaced_type.namespaces + [namespaced_type.name])
+
 
 def ros_service_namespace(package_name, interface_path):
-  return _NAMESPACE_DELIMETER.join([package_name] + list(interface_path.parents[0].parts))
+    return _NAMESPACE_DELIMETER.join([package_name] + list(interface_path.parents[0].parts))
+
 
 def ros_service_name(service):
-  return service.namespaced_type.name
+    return service.namespaced_type.name
+
 
 def ros_service_type(package_name, interface_path, service):
-  ros_type_ns = ros_service_namespace(package_name, interface_path)
-  ros_type_nm = ros_service_name(service)
-  return "::" + _NAMESPACE_DELIMETER.join([ros_type_ns, ros_type_nm])
+    ros_type_ns = ros_service_namespace(package_name, interface_path)
+    ros_type_nm = ros_service_name(service)
+    return '::' + _NAMESPACE_DELIMETER.join([ros_type_ns, ros_type_nm])
+
 
 def protobuf_type(package_name, interface_path, message):
-  namespace = "::".join([package_name] + list(interface_path.parents[0].parts))
-  return "::" + "::".join([namespace, PROTO_PACKAGE_POSTFIX, ros_type_name(message)])
+    namespace = '::'.join([package_name] + list(interface_path.parents[0].parts))
+    return '::' + '::'.join([namespace, PROTO_PACKAGE_POSTFIX, ros_type_name(message)])
+
 
 def protobuf_type_from_namespaced_type(namespaced_type):
-  return "::" + "::".join(namespaced_type.namespaces + [PROTO_PACKAGE_POSTFIX, namespaced_type.name])
+    return '::' + '::'.join(namespaced_type.namespaces +
+                            [PROTO_PACKAGE_POSTFIX, namespaced_type.name])
+
 
 def protobuf_type_from_namespaced_type_c(namespaced_type):
-  return "::" + "::".join(namespaced_type.namespaces + [PROTO_PACKAGE_POSTFIX, namespaced_type.name])
+    return '::' + '::'.join(namespaced_type.namespaces +
+                            [PROTO_PACKAGE_POSTFIX, namespaced_type.name])
diff --git a/rosidl_typesupport_protobuf_c/package.xml b/rosidl_typesupport_protobuf_c/package.xml
index 40aa97c..99be2f2 100644
--- a/rosidl_typesupport_protobuf_c/package.xml
+++ b/rosidl_typesupport_protobuf_c/package.xml
@@ -27,9 +27,6 @@
   <exec_depend>rosidl_parser</exec_depend>
   <exec_depend>rosidl_typesupport_interface</exec_depend>
 
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
   <member_of_group>rosidl_typesupport_c_packages</member_of_group>
 
   <export>
diff --git a/rosidl_typesupport_protobuf_cpp/CMakeLists.txt b/rosidl_typesupport_protobuf_cpp/CMakeLists.txt
index a74a0f2..cc6ebcc 100644
--- a/rosidl_typesupport_protobuf_cpp/CMakeLists.txt
+++ b/rosidl_typesupport_protobuf_cpp/CMakeLists.txt
@@ -35,9 +35,9 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-if (CMAKE_CXX_COMPILER_ID MATCHES "MSVC")
-	add_compile_options(/W4)
-	add_compile_definitions(_CRT_SECURE_NO_WARNINGS)
+if(CMAKE_CXX_COMPILER_ID MATCHES "MSVC")
+  add_compile_options(/W4)
+  add_compile_definitions(_CRT_SECURE_NO_WARNINGS)
 endif()
 
 find_package(ament_cmake REQUIRED)
diff --git a/rosidl_typesupport_protobuf_cpp/cmake/rosidl_typesupport_protobuf_cpp_generate_interfaces.cmake b/rosidl_typesupport_protobuf_cpp/cmake/rosidl_typesupport_protobuf_cpp_generate_interfaces.cmake
index 62c4068..3b71698 100644
--- a/rosidl_typesupport_protobuf_cpp/cmake/rosidl_typesupport_protobuf_cpp_generate_interfaces.cmake
+++ b/rosidl_typesupport_protobuf_cpp/cmake/rosidl_typesupport_protobuf_cpp_generate_interfaces.cmake
@@ -106,7 +106,7 @@ configure_file(
 set(_target_suffix "__rosidl_typesupport_protobuf_cpp")
 
 add_library(${rosidl_generate_interfaces_TARGET}${_target_suffix} SHARED
-  ${_generated_files} 
+  ${_generated_files}
   ${rosidl_adapter_proto_GENERATED_CPP}
 )
 
@@ -125,7 +125,7 @@ set_target_properties(${rosidl_generate_interfaces_TARGET}${_target_suffix}
 if(WIN32)
   target_compile_definitions(${rosidl_generate_interfaces_TARGET}${_target_suffix}
     PRIVATE "ROSIDL_TYPESUPPORT_PROTOBUF_BUILDING_DLL" "ROSIDL_TYPESUPPORT_PROTOBUF_CPP_BUILDING_DLL__${PROJECT_NAME}")
-  set (Protobuf_USE_STATIC_LIBS TRUE)
+  set(Protobuf_USE_STATIC_LIBS TRUE)
 endif()
 
 # Set compiler flags
diff --git a/rosidl_typesupport_protobuf_cpp/include/rosidl_typesupport_protobuf_cpp/identifier.hpp b/rosidl_typesupport_protobuf_cpp/include/rosidl_typesupport_protobuf_cpp/identifier.hpp
index 083c23c..1e487b3 100644
--- a/rosidl_typesupport_protobuf_cpp/include/rosidl_typesupport_protobuf_cpp/identifier.hpp
+++ b/rosidl_typesupport_protobuf_cpp/include/rosidl_typesupport_protobuf_cpp/identifier.hpp
@@ -1,19 +1,19 @@
 /* ================================ Apache 2.0 =================================
  *
  * Copyright (C) 2021 Continental
- * 
+ *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
- * 
+ *
  *     http://www.apache.org/licenses/LICENSE-2.0
- * 
+ *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
- * 
+ *
  * ================================ Apache 2.0 =================================
  */
 
@@ -25,6 +25,6 @@ namespace rosidl_typesupport_protobuf_cpp
 {
 
 ROSIDL_TYPESUPPORT_PROTOBUF_IMPORT
-extern const char *identifier;
+extern const char * identifier;
 
 }  // namespace rosidl_typesupport_protobuf_cpp
diff --git a/rosidl_typesupport_protobuf_cpp/include/rosidl_typesupport_protobuf_cpp/wstring_conversion.hpp b/rosidl_typesupport_protobuf_cpp/include/rosidl_typesupport_protobuf_cpp/wstring_conversion.hpp
index e51b756..bb10e31 100644
--- a/rosidl_typesupport_protobuf_cpp/include/rosidl_typesupport_protobuf_cpp/wstring_conversion.hpp
+++ b/rosidl_typesupport_protobuf_cpp/include/rosidl_typesupport_protobuf_cpp/wstring_conversion.hpp
@@ -1,35 +1,36 @@
 /* ================================ Apache 2.0 =================================
  *
  * Copyright (C) 2021 Continental
- * 
+ *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
- * 
+ *
  *     http://www.apache.org/licenses/LICENSE-2.0
- * 
+ *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
- * 
+ *
  * ================================ Apache 2.0 =================================
  */
 
 #pragma once
 
+#include <rosidl_typesupport_protobuf/visibility_control.h>
+
 #include <string>
 
-#include <rosidl_typesupport_protobuf/visibility_control.h>
 
 namespace rosidl_typesupport_protobuf_cpp
 {
 
 ROSIDL_TYPESUPPORT_PROTOBUF_PUBLIC
-void write_to_string(const std::u16string &u16str, std::string &str);
+void write_to_string(const std::u16string & u16str, std::string & str);
 
 ROSIDL_TYPESUPPORT_PROTOBUF_PUBLIC
-void write_to_u16string(const std::string &str, std::u16string &u16str);
+void write_to_u16string(const std::string & str, std::u16string & u16str);
 
-}
\ No newline at end of file
+}
diff --git a/rosidl_typesupport_protobuf_cpp/rosidl_typesupport_protobuf_cpp/__init__.py b/rosidl_typesupport_protobuf_cpp/rosidl_typesupport_protobuf_cpp/__init__.py
index 644abe8..16585cb 100644
--- a/rosidl_typesupport_protobuf_cpp/rosidl_typesupport_protobuf_cpp/__init__.py
+++ b/rosidl_typesupport_protobuf_cpp/rosidl_typesupport_protobuf_cpp/__init__.py
@@ -16,9 +16,8 @@
 #
 # ================================= Apache 2.0 =================================
 
-import rosidl_typesupport_protobuf
+from rosidl_cmake import generate_files
 
-from rosidl_cmake import generate_files, convert_camel_case_to_lower_case_underscore
 
 def generate_cpp(generator_arguments_file):
     mapping = {
@@ -26,4 +25,4 @@ def generate_cpp(generator_arguments_file):
         "idl__type_support.cpp.em": "detail/%s__type_support.cpp",
     }
     generate_files(generator_arguments_file, mapping)
-    return 0
\ No newline at end of file
+    return 0
diff --git a/rosidl_typesupport_protobuf_cpp/src/identifier.cpp b/rosidl_typesupport_protobuf_cpp/src/identifier.cpp
index 29754be..abedb50 100644
--- a/rosidl_typesupport_protobuf_cpp/src/identifier.cpp
+++ b/rosidl_typesupport_protobuf_cpp/src/identifier.cpp
@@ -1,19 +1,19 @@
 /* ================================ Apache 2.0 =================================
  *
  * Copyright (C) 2021 Continental
- * 
+ *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
- * 
+ *
  *     http://www.apache.org/licenses/LICENSE-2.0
- * 
+ *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
- * 
+ *
  * ================================ Apache 2.0 =================================
  */
 
@@ -23,6 +23,6 @@ namespace rosidl_typesupport_protobuf_cpp
 {
 
 ROSIDL_TYPESUPPORT_PROTOBUF_EXPORT
-const char *identifier = "rosidl_typesupport_protobuf_cpp";
+const char * identifier = "rosidl_typesupport_protobuf_cpp";
 
 }  // namespace rosidl_typesupport_protobuf_cpp
diff --git a/rosidl_typesupport_protobuf_cpp/src/wstring_conversion.cpp b/rosidl_typesupport_protobuf_cpp/src/wstring_conversion.cpp
index 0dc9eb6..592709f 100644
--- a/rosidl_typesupport_protobuf_cpp/src/wstring_conversion.cpp
+++ b/rosidl_typesupport_protobuf_cpp/src/wstring_conversion.cpp
@@ -1,19 +1,19 @@
 /* ================================ Apache 2.0 =================================
  *
  * Copyright (C) 2021 Continental
- * 
+ *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
- * 
+ *
  *     http://www.apache.org/licenses/LICENSE-2.0
- * 
+ *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
- * 
+ *
  * ================================ Apache 2.0 =================================
  */
 
@@ -24,19 +24,19 @@
 namespace rosidl_typesupport_protobuf_cpp
 {
 
-void write_to_string(const std::u16string &u16str, std::string &str)
+void write_to_string(const std::u16string & u16str, std::string & str)
 {
-    auto data_size = u16str.size() * sizeof(std::u16string::value_type);
-    str.resize(data_size);
-    auto str_start = &str[0];
-    std::memcpy(str_start, u16str.data(), data_size);
+  auto data_size = u16str.size() * sizeof(std::u16string::value_type);
+  str.resize(data_size);
+  auto str_start = &str[0];
+  std::memcpy(str_start, u16str.data(), data_size);
 }
 
-void write_to_u16string(const std::string &str, std::u16string &u16str)
+void write_to_u16string(const std::string & str, std::u16string & u16str)
 {
-    u16str.resize(str.size() / sizeof(std::u16string::value_type));
-    auto wstr_start = &u16str[0];
-    std::memcpy(wstr_start, str.data(), str.size());
+  u16str.resize(str.size() / sizeof(std::u16string::value_type));
+  auto wstr_start = &u16str[0];
+  std::memcpy(wstr_start, str.data(), str.size());
 }
 
-}
\ No newline at end of file
+}  // namespace rosidl_typesupport_protobuf_cpp