diff --git a/include/tachimawari/joint/tf2/frame.hpp b/include/tachimawari/joint/tf2/frame.hpp
index 7e5e900..685edbe 100644
--- a/include/tachimawari/joint/tf2/frame.hpp
+++ b/include/tachimawari/joint/tf2/frame.hpp
@@ -54,7 +54,7 @@ class Frame
   double translation_y;
   double translation_z;
 
-  double quaternion_x;  // maybe change to keisan angle
+  double quaternion_x;
   double quaternion_y;
   double quaternion_z;
   double quaternion_w;
diff --git a/include/tachimawari/joint/tf2/frame_id.hpp b/include/tachimawari/joint/tf2/frame_id.hpp
index 43029b7..813c5e1 100644
--- a/include/tachimawari/joint/tf2/frame_id.hpp
+++ b/include/tachimawari/joint/tf2/frame_id.hpp
@@ -55,4 +55,4 @@ class FrameId
 
 }  // namespace tachimawari::joint
 
-#endif  // TACHIMAWARI__JOINT_TF2__FRAME_ID_HPP_
\ No newline at end of file
+#endif  // TACHIMAWARI__JOINT_TF2__FRAME_ID_HPP_
diff --git a/src/tachimawari/joint/node/joint_node.cpp b/src/tachimawari/joint/node/joint_node.cpp
index 516f694..cb7090f 100644
--- a/src/tachimawari/joint/node/joint_node.cpp
+++ b/src/tachimawari/joint/node/joint_node.cpp
@@ -34,17 +34,17 @@
 namespace tachimawari::joint
 {
 
-std::string JointNode::get_node_prefix() { return "joint"; }
+std::string JointNode::get_node_prefix() {return "joint";}
 
-std::string JointNode::control_joints_topic() { return get_node_prefix() + "/control_joints"; }
+std::string JointNode::control_joints_topic() {return get_node_prefix() + "/control_joints";}
 
-std::string JointNode::set_joints_topic() { return get_node_prefix() + "/set_joints"; }
+std::string JointNode::set_joints_topic() {return get_node_prefix() + "/set_joints";}
 
-std::string JointNode::set_torques_topic() { return get_node_prefix() + "/set_torques"; }
+std::string JointNode::set_torques_topic() {return get_node_prefix() + "/set_torques";}
 
-std::string JointNode::status_topic() { return "measurement/status"; }
+std::string JointNode::status_topic() {return "measurement/status";}
 
-std::string JointNode::current_joints_topic() { return get_node_prefix() + "/current_joints"; }
+std::string JointNode::current_joints_topic() {return get_node_prefix() + "/current_joints";}
 
 JointNode::JointNode(
   rclcpp::Node::SharedPtr node, std::shared_ptr<JointManager> joint_manager, std::string path)
@@ -74,7 +74,7 @@ JointNode::JointNode(
       std::vector<Joint> joints;
       std::transform(
         message->ids.begin(), message->ids.end(), std::back_inserter(joints),
-        [](uint8_t id) -> Joint { return Joint(id, 0); });
+        [](uint8_t id) -> Joint {return Joint(id, 0);});
 
       this->joint_manager->torque_enable(joints, message->torque_enable);
     });
@@ -87,7 +87,7 @@ JointNode::JointNode(
   current_joints_publisher = node->create_publisher<CurrentJoints>(current_joints_topic(), 10);
 }
 
-void JointNode::update() { middleware.update(); }
+void JointNode::update() {middleware.update();}
 
 void JointNode::publish_current_joints()
 {
diff --git a/src/tachimawari/node/tachimawari_node.cpp b/src/tachimawari/node/tachimawari_node.cpp
index c08adb2..5e162b0 100644
--- a/src/tachimawari/node/tachimawari_node.cpp
+++ b/src/tachimawari/node/tachimawari_node.cpp
@@ -44,26 +44,27 @@ TachimawariNode::TachimawariNode(
   imu_node(nullptr),
   control_node(nullptr)
 {
-  node_timer = node->create_wall_timer(8ms, [this]() {
-    if (this->control_manager) {
-      this->control_manager->add_default_bulk_read_packet();
-      this->control_manager->send_bulk_read_packet();
+  node_timer = node->create_wall_timer(
+    8ms, [this]() {
+      if (this->control_manager) {
+        this->control_manager->add_default_bulk_read_packet();
+        this->control_manager->send_bulk_read_packet();
 
-      if (this->imu_node) {
-        this->imu_node->update();
-      }
+        if (this->imu_node) {
+          this->imu_node->update();
+        }
 
-      if (this->control_node) {
-        this->control_node->update();
-      }
+        if (this->control_node) {
+          this->control_node->update();
+        }
 
-      if (this->joint_node) {
-        this->joint_node->update();
+        if (this->joint_node) {
+          this->joint_node->update();
 
-        this->joint_node->publish_current_joints();
-        this->joint_node->publish_frame_tree();
+          this->joint_node->publish_current_joints();
+          this->joint_node->publish_frame_tree();
+        }
       }
-    }
   });
 }