diff --git a/include/tachimawari/joint/tf2/frame.hpp b/include/tachimawari/joint/tf2/frame.hpp
index a1ab892..da13ab3 100644
--- a/include/tachimawari/joint/tf2/frame.hpp
+++ b/include/tachimawari/joint/tf2/frame.hpp
@@ -44,9 +44,9 @@ class Frame
     const double translation_z, const double const_roll, const double const_pitch,
     const double const_yaw);
 
-  void update_quaternion(std::vector<Joint> current_joints);
-  void update_quaternion(keisan::Angle<double> imu_yaw);
-  geometry_msgs::msg::TransformStamped get_transform_stamped(rclcpp::Time time_stamp);
+  void update_quaternion(const std::vector<Joint> & current_joints);
+  void update_quaternion(const keisan::Angle<double> & imu_yaw);
+  geometry_msgs::msg::TransformStamped get_transform_stamped(const rclcpp::Time & time_stamp);
 
   uint8_t id;
 
@@ -70,7 +70,7 @@ class Frame
     YAW,
   };
 
-  double get_joint_angle(uint8_t quaternion_axis, std::vector<Joint> current_joints);
+  double get_joint_angle(const uint8_t & quaternion_axis, const std::vector<Joint> & current_joints);
 };
 }  // namespace tachimawari::joint
 
diff --git a/include/tachimawari/joint/tf2/tf2_manager.hpp b/include/tachimawari/joint/tf2/tf2_manager.hpp
index e6f3c44..61e512b 100644
--- a/include/tachimawari/joint/tf2/tf2_manager.hpp
+++ b/include/tachimawari/joint/tf2/tf2_manager.hpp
@@ -43,7 +43,7 @@ class Tf2Manager
   explicit Tf2Manager();
 
   bool load_configuration(const std::string & path);
-  void update(std::vector<Joint> current_joints, keisan::Angle<double> imu_yaw);
+  void update(const std::vector<Joint> & current_joints, const keisan::Angle<double> & imu_yaw);
   std::vector<Frame> get_frames() { return frames; }
 
 private:
diff --git a/src/tachimawari/joint/tf2/frame.cpp b/src/tachimawari/joint/tf2/frame.cpp
index 3d50a60..27f1bc6 100644
--- a/src/tachimawari/joint/tf2/frame.cpp
+++ b/src/tachimawari/joint/tf2/frame.cpp
@@ -48,7 +48,7 @@ Frame::Frame(
 {
 }
 
-geometry_msgs::msg::TransformStamped Frame::get_transform_stamped(rclcpp::Time time_stamp)
+geometry_msgs::msg::TransformStamped Frame::get_transform_stamped(const rclcpp::Time & time_stamp)
 {
   auto map_string_name = FrameId::frame_id_string.find(id);
   std::string frame_name = map_string_name->second;
@@ -72,7 +72,7 @@ geometry_msgs::msg::TransformStamped Frame::get_transform_stamped(rclcpp::Time t
   return t;
 }
 
-void Frame::update_quaternion(std::vector<Joint> current_joints)
+void Frame::update_quaternion(const std::vector<Joint> & current_joints)
 {
   double roll_deg = get_joint_angle(ROLL, current_joints) + const_roll;
   double pitch_deg = get_joint_angle(PITCH, current_joints) + const_pitch;
@@ -91,7 +91,7 @@ void Frame::update_quaternion(std::vector<Joint> current_joints)
   quaternion_w = q.w();
 }
 
-void Frame::update_quaternion(keisan::Angle<double> imu_yaw)
+void Frame::update_quaternion(const keisan::Angle<double> & imu_yaw)
 {
   tf2::Quaternion q;
   q.setRPY(0, 0, imu_yaw.radian());
@@ -102,7 +102,7 @@ void Frame::update_quaternion(keisan::Angle<double> imu_yaw)
   quaternion_w = q.w();
 }
 
-double Frame::get_joint_angle(uint8_t quaternion_axis, std::vector<Joint> current_joints)
+double Frame::get_joint_angle(const uint8_t & quaternion_axis, const std::vector<Joint> & current_joints)
 {
   auto map = FrameId::frame_joint_map.find(id);
   std::vector<uint8_t> frame_joints = map->second;
diff --git a/src/tachimawari/joint/tf2/tf2_manager.cpp b/src/tachimawari/joint/tf2/tf2_manager.cpp
index d646952..b51ab07 100644
--- a/src/tachimawari/joint/tf2/tf2_manager.cpp
+++ b/src/tachimawari/joint/tf2/tf2_manager.cpp
@@ -67,7 +67,7 @@ bool Tf2Manager::load_configuration(const std::string & path)
   return true;
 }
 
-void Tf2Manager::update(std::vector<Joint> current_joints, keisan::Angle<double> imu_yaw)
+void Tf2Manager::update(const std::vector<Joint> & current_joints, const keisan::Angle<double> & imu_yaw)
 {
   for (auto & item : frames) {
     if (item.id == FrameId::ODOM) {