diff --git a/nav2_dwb_controller/dwb_plugins/include/dwb_plugins/simple_goal_checker_visibility_control.h b/nav2_dwb_controller/dwb_plugins/include/dwb_plugins/simple_goal_checker_visibility_control.h
index 0d4a72958a9..1637cbe6941 100644
--- a/nav2_dwb_controller/dwb_plugins/include/dwb_plugins/simple_goal_checker_visibility_control.h
+++ b/nav2_dwb_controller/dwb_plugins/include/dwb_plugins/simple_goal_checker_visibility_control.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef DWB_PLUGINS_SIMPLE_GOAL_CHECKER__VISIBILITY_CONTROL_H_
-#define DWB_PLUGINS_SIMPLE_GOAL_CHECKER__VISIBILITY_CONTROL_H_
+#ifndef DWB_PLUGINS__SIMPLE_GOAL_CHECKER_VISIBILITY_CONTROL_H_
+#define DWB_PLUGINS__SIMPLE_GOAL_CHECKER_VISIBILITY_CONTROL_H_
 
 // This logic was borrowed (then namespaced) from the examples on the gcc wiki:
 //     https://gcc.gnu.org/wiki/Visibility
@@ -46,4 +46,4 @@
   #define DWB_PLUGINS_SIMPLE_GOAL_CHECKER_PUBLIC_TYPE
 #endif
 
-#endif  // DWB_PLUGINS_SIMPLE_GOAL_CHECKER__VISIBILITY_CONTROL_H_
+#endif  // DWB_PLUGINS__SIMPLE_GOAL_CHECKER_VISIBILITY_CONTROL_H_
diff --git a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/conversions_visibility_control.h b/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/conversions_visibility_control.h
index 40225075be1..6ad18b72e3c 100644
--- a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/conversions_visibility_control.h
+++ b/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/conversions_visibility_control.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef NAV_2D_UTILS_CONVERSIONS__VISIBILITY_CONTROL_H_
-#define NAV_2D_UTILS_CONVERSIONS__VISIBILITY_CONTROL_H_
+#ifndef NAV_2D_UTILS__CONVERSIONS_VISIBILITY_CONTROL_H_
+#define NAV_2D_UTILS__CONVERSIONS_VISIBILITY_CONTROL_H_
 
 // This logic was borrowed (then namespaced) from the examples on the gcc wiki:
 //     https://gcc.gnu.org/wiki/Visibility
@@ -46,4 +46,4 @@
   #define NAV_2D_UTILS_CONVERSIONS_PUBLIC_TYPE
 #endif
 
-#endif  // NAV_2D_UTILS_CONVERSIONS__VISIBILITY_CONTROL_H_
+#endif  // NAV_2D_UTILS__CONVERSIONS_VISIBILITY_CONTROL_H_
diff --git a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/path_ops_visibility_control.h b/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/path_ops_visibility_control.h
index 33741938d19..7b6608792a0 100644
--- a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/path_ops_visibility_control.h
+++ b/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/path_ops_visibility_control.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef NAV_2D_UTILS_PATH_OPS__VISIBILITY_CONTROL_H_
-#define NAV_2D_UTILS_PATH_OPS__VISIBILITY_CONTROL_H_
+#ifndef NAV_2D_UTILS__PATH_OPS_VISIBILITY_CONTROL_H_
+#define NAV_2D_UTILS__PATH_OPS_VISIBILITY_CONTROL_H_
 
 // This logic was borrowed (then namespaced) from the examples on the gcc wiki:
 //     https://gcc.gnu.org/wiki/Visibility
@@ -46,4 +46,4 @@
   #define NAV_2D_UTILS_PATH_OPS_PUBLIC_TYPE
 #endif
 
-#endif  // NAV_2D_UTILS_PATH_OPS__VISIBILITY_CONTROL_H_
+#endif  // NAV_2D_UTILS__PATH_OPS_VISIBILITY_CONTROL_H_
diff --git a/nav2_map_server/include/nav2_map_server/occ_grid_loader.hpp b/nav2_map_server/include/nav2_map_server/occ_grid_loader.hpp
index 7c0fddd76f3..3dc031c4673 100644
--- a/nav2_map_server/include/nav2_map_server/occ_grid_loader.hpp
+++ b/nav2_map_server/include/nav2_map_server/occ_grid_loader.hpp
@@ -35,7 +35,9 @@ namespace nav2_map_server
  * @brief Parses the map yaml file and creates a service and a publisher that
  * provides occupancy grid
  */
-class NAV2_MAP_SERVER_PUBLIC OccGridLoader : public rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
+class
+NAV2_MAP_SERVER_PUBLIC
+OccGridLoader : public rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
 {
 public:
   /**
diff --git a/nav2_util/include/nav2_util/map_loader/visibility_control.h b/nav2_util/include/nav2_util/map_loader/visibility_control.h
index dccd5fc28fe..98853342ed2 100644
--- a/nav2_util/include/nav2_util/map_loader/visibility_control.h
+++ b/nav2_util/include/nav2_util/map_loader/visibility_control.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MAP_LOADER__VISIBILITY_CONTROL_H_
-#define MAP_LOADER__VISIBILITY_CONTROL_H_
+#ifndef NAV2_UTIL__MAP_LOADER__VISIBILITY_CONTROL_H_
+#define NAV2_UTIL__MAP_LOADER__VISIBILITY_CONTROL_H_
 
 // This logic was borrowed (then namespaced) from the examples on the gcc wiki:
 //     https://gcc.gnu.org/wiki/Visibility
@@ -46,4 +46,4 @@
   #define MAP_LOADER_PUBLIC_TYPE
 #endif
 
-#endif  // MAP_LOADER__VISIBILITY_CONTROL_H_
+#endif  // NAV2_UTIL__MAP_LOADER__VISIBILITY_CONTROL_H_
diff --git a/nav2_util/include/nav2_util/node_utils.hpp b/nav2_util/include/nav2_util/node_utils.hpp
index ca4f8cdbb10..c437ff30ed8 100644
--- a/nav2_util/include/nav2_util/node_utils.hpp
+++ b/nav2_util/include/nav2_util/node_utils.hpp
@@ -32,7 +32,8 @@ namespace nav2_util
  * \param[in] potential_node_name Potential name but possibly with invalid charaters.
  * \return A copy of the input string but with non-alphanumeric characters replaced with '_'
  */
-std::string NAV2_UTIL_PUBLIC sanitize_node_name(const std::string & potential_node_name);
+NAV2_UTIL_PUBLIC
+std::string sanitize_node_name(const std::string & potential_node_name);
 
 /// Concatenate two namespaces to produce an absolute namespace
 /**
@@ -40,7 +41,8 @@ std::string NAV2_UTIL_PUBLIC sanitize_node_name(const std::string & potential_no
  * \param[in] sub_ns The namespace to place after top_ns
  * \return An absolute namespace starting with "/"
 */
-std::string NAV2_UTIL_PUBLIC add_namespaces(const std::string & top_ns, const std::string & sub_ns = "");
+NAV2_UTIL_PUBLIC
+std::string add_namespaces(const std::string & top_ns, const std::string & sub_ns = "");
 
 /// Add some random characters to a node name to ensure it is unique in the system
 /**
@@ -53,7 +55,8 @@ std::string NAV2_UTIL_PUBLIC add_namespaces(const std::string & top_ns, const st
  * \param[in] prefix A string to help understand the purpose of the node.
  * \return A copy of the prefix + '_' + 8 random digits. eg. prefix_12345678
  */
-std::string NAV2_UTIL_PUBLIC generate_internal_node_name(const std::string & prefix = "");
+NAV2_UTIL_PUBLIC
+std::string generate_internal_node_name(const std::string & prefix = "");
 
 /// Creates a node with a name as generated by generate_internal_node_name
 /**
@@ -65,7 +68,8 @@ std::string NAV2_UTIL_PUBLIC generate_internal_node_name(const std::string & pre
  * \param[in] prefix A string to help understand the purpose of the node.
  * \return A shared_ptr to the node.
  */
-rclcpp::Node::SharedPtr NAV2_UTIL_PUBLIC generate_internal_node(const std::string & prefix = "");
+NAV2_UTIL_PUBLIC
+rclcpp::Node::SharedPtr generate_internal_node(const std::string & prefix = "");
 
 /// Generates a pseudo random string of digits.
 /**
@@ -76,10 +80,11 @@ rclcpp::Node::SharedPtr NAV2_UTIL_PUBLIC generate_internal_node(const std::strin
  * \param[in] len Length of the output string
  * \return A string containing random digits
  */
-std::string NAV2_UTIL_PUBLIC time_to_string(size_t len);
+NAV2_UTIL_PUBLIC
+std::string time_to_string(size_t len);
 
-rclcpp::NodeOptions
 NAV2_UTIL_PUBLIC
+rclcpp::NodeOptions
 get_node_options_default(bool allow_undeclared = true, bool declare_initial_params = true);
 
 template<typename NodeT>