diff --git a/src/systems/odometry_publisher/OdometryPublisher.cc b/src/systems/odometry_publisher/OdometryPublisher.cc
index 49d22a3604..3ceff4e423 100644
--- a/src/systems/odometry_publisher/OdometryPublisher.cc
+++ b/src/systems/odometry_publisher/OdometryPublisher.cc
@@ -229,7 +229,8 @@ void OdometryPublisher::Configure(const Entity &_entity,
         odomTopicValid);
   }
 
-  std::string odomCovTopicValid {transport::TopicUtils::AsValidTopic(odomCovTopic)};
+  std::string odomCovTopicValid {
+    transport::TopicUtils::AsValidTopic(odomCovTopic)};
   if (odomCovTopicValid.empty())
   {
     ignerr << "Failed to generate odom topic ["
@@ -467,8 +468,7 @@ void OdometryPublisherPrivate::UpdateOdometry(
         mutable_covariance()->add_data(gn2);
       msg_covariance.mutable_twist_with_covariance()->
         mutable_covariance()->add_data(gn2);
-    }
-    else {
+    } else {
       msg_covariance.mutable_pose_with_covariance()->
         mutable_covariance()->add_data(0);
       msg_covariance.mutable_twist_with_covariance()->
diff --git a/test/integration/odometry_publisher.cc b/test/integration/odometry_publisher.cc
index 949356a488..c3b1455090 100644
--- a/test/integration/odometry_publisher.cc
+++ b/test/integration/odometry_publisher.cc
@@ -486,8 +486,8 @@ class OdometryPublisherTest
     int n = odomLinVels.size();
 
     // Calculate the means.
-    double linVelSumX = 0, linVelSumY = 0, linVelSumZ = 0; 
-    double angVelSumX = 0, angVelSumY = 0, angVelSumZ = 0; 
+    double linVelSumX = 0, linVelSumY = 0, linVelSumZ = 0;
+    double angVelSumX = 0, angVelSumY = 0, angVelSumZ = 0;
     for (int i = 0; i < n; i++) {
       linVelSumX += odomLinVels[i].X();
       linVelSumY += odomLinVels[i].Y();
@@ -508,8 +508,8 @@ class OdometryPublisherTest
     EXPECT_NEAR(angVelSumZ/n, 0, 0.3);
 
     // Calculate the variation (sigma^2).
-    double linVelSqSumX = 0, linVelSqSumY = 0, linVelSqSumZ = 0; 
-    double angVelSqSumX = 0, angVelSqSumY = 0, angVelSqSumZ = 0; 
+    double linVelSqSumX = 0, linVelSqSumY = 0, linVelSqSumZ = 0;
+    double angVelSqSumX = 0, angVelSqSumY = 0, angVelSqSumZ = 0;
     for (int i = 0; i < n; i++) {
       linVelSqSumX += std::pow(odomLinVels[i].X() - linVelSumX/n, 2);
       linVelSqSumY += std::pow(odomLinVels[i].Y() - linVelSumY/n, 2);