diff --git a/sensing/imu_corrector/src/gyro_bias_estimation_module.hpp b/sensing/imu_corrector/src/gyro_bias_estimation_module.hpp
index dfa152d32c0d9..9eff50d296a95 100644
--- a/sensing/imu_corrector/src/gyro_bias_estimation_module.hpp
+++ b/sensing/imu_corrector/src/gyro_bias_estimation_module.hpp
@@ -31,7 +31,7 @@ class GyroBiasEstimationModule
   void update_bias(
     const std::vector<geometry_msgs::msg::PoseStamped> & pose_list,
     const std::vector<geometry_msgs::msg::Vector3Stamped> & gyro_list);
-  geometry_msgs::msg::Vector3 get_bias_base_link() const;
+  [[nodiscard]] geometry_msgs::msg::Vector3 get_bias_base_link() const;
 
 private:
   std::pair<geometry_msgs::msg::Vector3, geometry_msgs::msg::Vector3> gyro_bias_pair_;
diff --git a/sensing/imu_corrector/src/imu_corrector_core.cpp b/sensing/imu_corrector/src/imu_corrector_core.cpp
index f96bab16443fe..c6e12d2481f89 100644
--- a/sensing/imu_corrector/src/imu_corrector_core.cpp
+++ b/sensing/imu_corrector/src/imu_corrector_core.cpp
@@ -23,7 +23,7 @@
 
 #include <algorithm>
 
-std::array<double, 9> transformCovariance(const std::array<double, 9> & cov)
+std::array<double, 9> transform_covariance(const std::array<double, 9> & cov)
 {
   using COV_IDX = autoware::universe_utils::xyz_covariance_index::XYZ_COV_IDX;
 
@@ -32,7 +32,7 @@ std::array<double, 9> transformCovariance(const std::array<double, 9> & cov)
   max_cov = std::max(max_cov, cov[COV_IDX::Y_Y]);
   max_cov = std::max(max_cov, cov[COV_IDX::Z_Z]);
 
-  std::array<double, 9> cov_transformed;
+  std::array<double, 9> cov_transformed{};
   cov_transformed.fill(0.);
   cov_transformed[COV_IDX::X_X] = max_cov;
   cov_transformed[COV_IDX::Y_Y] = max_cov;
@@ -40,7 +40,7 @@ std::array<double, 9> transformCovariance(const std::array<double, 9> & cov)
   return cov_transformed;
 }
 
-geometry_msgs::msg::Vector3 transformVector3(
+geometry_msgs::msg::Vector3 transform_vector3(
   const geometry_msgs::msg::Vector3 & vec, const geometry_msgs::msg::TransformStamped & transform)
 {
   geometry_msgs::msg::Vector3Stamped vec_stamped;
@@ -73,12 +73,12 @@ ImuCorrector::ImuCorrector(const rclcpp::NodeOptions & options)
   accel_stddev_imu_link_ = declare_parameter<double>("acceleration_stddev", 10000.0);
 
   imu_sub_ = create_subscription<sensor_msgs::msg::Imu>(
-    "input", rclcpp::QoS{1}, std::bind(&ImuCorrector::callbackImu, this, std::placeholders::_1));
+    "input", rclcpp::QoS{1}, std::bind(&ImuCorrector::callback_imu, this, std::placeholders::_1));
 
   imu_pub_ = create_publisher<sensor_msgs::msg::Imu>("output", rclcpp::QoS{10});
 }
 
-void ImuCorrector::callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr)
+void ImuCorrector::callback_imu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr)
 {
   sensor_msgs::msg::Imu imu_msg;
   imu_msg = *imu_msg_ptr;
@@ -113,12 +113,13 @@ void ImuCorrector::callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_m
   imu_msg_base_link.header.stamp = imu_msg_ptr->header.stamp;
   imu_msg_base_link.header.frame_id = output_frame_;
   imu_msg_base_link.linear_acceleration =
-    transformVector3(imu_msg.linear_acceleration, *tf_imu2base_ptr);
+    transform_vector3(imu_msg.linear_acceleration, *tf_imu2base_ptr);
   imu_msg_base_link.linear_acceleration_covariance =
-    transformCovariance(imu_msg.linear_acceleration_covariance);
-  imu_msg_base_link.angular_velocity = transformVector3(imu_msg.angular_velocity, *tf_imu2base_ptr);
+    transform_covariance(imu_msg.linear_acceleration_covariance);
+  imu_msg_base_link.angular_velocity =
+    transform_vector3(imu_msg.angular_velocity, *tf_imu2base_ptr);
   imu_msg_base_link.angular_velocity_covariance =
-    transformCovariance(imu_msg.angular_velocity_covariance);
+    transform_covariance(imu_msg.angular_velocity_covariance);
 
   imu_pub_->publish(imu_msg_base_link);
 }
diff --git a/sensing/imu_corrector/src/imu_corrector_core.hpp b/sensing/imu_corrector/src/imu_corrector_core.hpp
index 0dacab4651477..c02aa88a313a7 100644
--- a/sensing/imu_corrector/src/imu_corrector_core.hpp
+++ b/sensing/imu_corrector/src/imu_corrector_core.hpp
@@ -37,7 +37,7 @@ class ImuCorrector : public rclcpp::Node
   explicit ImuCorrector(const rclcpp::NodeOptions & options);
 
 private:
-  void callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr);
+  void callback_imu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr);
 
   rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imu_sub_;
 
diff --git a/sensing/imu_corrector/test/test_gyro_bias_estimation_module.cpp b/sensing/imu_corrector/test/test_gyro_bias_estimation_module.cpp
index 78558feeb7936..257552e15cbab 100644
--- a/sensing/imu_corrector/test/test_gyro_bias_estimation_module.cpp
+++ b/sensing/imu_corrector/test/test_gyro_bias_estimation_module.cpp
@@ -63,7 +63,9 @@ TEST_F(GyroBiasEstimationModuleTest, GetBiasEstimationWhenVehicleStopped)
 
 TEST_F(GyroBiasEstimationModuleTest, GetInsufficientDataException)
 {
-  ASSERT_THROW(module.get_bias_base_link(), std::runtime_error);
+  // for the case of method with [[nodiscard]] attribute
+  geometry_msgs::msg::Vector3 bias_base_link;
+  ASSERT_THROW(bias_base_link = module.get_bias_base_link(), std::runtime_error);
 }
 
 TEST_F(GyroBiasEstimationModuleTest, GetInsufficientDataExceptionWhenVehicleMoving)