diff --git a/nebula_common/include/nebula_common/continental/continental_ars548.hpp b/nebula_common/include/nebula_common/continental/continental_ars548.hpp
index 06bdb3789..09cf8ef6b 100644
--- a/nebula_common/include/nebula_common/continental/continental_ars548.hpp
+++ b/nebula_common/include/nebula_common/continental/continental_ars548.hpp
@@ -15,7 +15,6 @@
 #pragma once
 
 #include "nebula_common/nebula_common.hpp"
-#include "nebula_common/nebula_status.hpp"
 
 #include <boost/algorithm/string/join.hpp>
 #include <boost/endian/buffers.hpp>
@@ -24,9 +23,7 @@
 #include <pcl/point_types.h>
 
 #include <iostream>
-#include <sstream>
 #include <string>
-#include <vector>
 
 namespace nebula
 {
@@ -58,15 +55,18 @@ struct ContinentalARS548SensorConfiguration : EthernetSensorConfigurationBase
 inline std::ostream & operator<<(
   std::ostream & os, ContinentalARS548SensorConfiguration const & arg)
 {
-  os << (EthernetSensorConfigurationBase)(arg) << ", MulticastIP: " << arg.multicast_ip
-     << ", BaseFrame: " << arg.base_frame << ", ObjectFrame: " << arg.object_frame
-     << ", ConfigurationHostPort: " << arg.configuration_host_port
-     << ", ConfigurationSensorPort: " << arg.configuration_sensor_port
-     << ", UseSensorTime: " << arg.use_sensor_time
-     << ", ConfigurationVehicleLength: " << arg.configuration_vehicle_length
-     << ", ConfigurationVehicleWidth: " << arg.configuration_vehicle_width
-     << ", ConfigurationVehicleHeight: " << arg.configuration_vehicle_height
-     << ", ConfigurationVehicleWheelbase: " << arg.configuration_vehicle_wheelbase;
+  os << "ContinentalARS548SensorConfiguration:" << '\n';
+  os << (EthernetSensorConfigurationBase)(arg) << '\n';
+  os << "MulticastIP: " << arg.multicast_ip << '\n';
+  os << "BaseFrame: " << arg.base_frame << '\n';
+  os << "ObjectFrame: " << arg.object_frame << '\n';
+  os << "ConfigurationHostPort: " << arg.configuration_host_port << '\n';
+  os << "ConfigurationSensorPort: " << arg.configuration_sensor_port << '\n';
+  os << "UseSensorTime: " << arg.use_sensor_time << '\n';
+  os << "ConfigurationVehicleLength: " << arg.configuration_vehicle_length << '\n';
+  os << "ConfigurationVehicleWidth: " << arg.configuration_vehicle_width << '\n';
+  os << "ConfigurationVehicleHeight: " << arg.configuration_vehicle_height << '\n';
+  os << "ConfigurationVehicleWheelbase: " << arg.configuration_vehicle_wheelbase;
   return os;
 }
 
diff --git a/nebula_common/include/nebula_common/continental/continental_srr520.hpp b/nebula_common/include/nebula_common/continental/continental_srr520.hpp
index ca75e6944..cab7e9178 100644
--- a/nebula_common/include/nebula_common/continental/continental_srr520.hpp
+++ b/nebula_common/include/nebula_common/continental/continental_srr520.hpp
@@ -15,21 +15,16 @@
 #pragma once
 
 #include "nebula_common/nebula_common.hpp"
-#include "nebula_common/nebula_status.hpp"
 
 #include <boost/endian/buffers.hpp>
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 
-#include <bitset>
 #include <cmath>
-#include <cstddef>
 #include <cstdint>
 #include <ctime>
-#include <fstream>
 #include <iostream>
-#include <sstream>
 #include <string>
 
 namespace nebula
@@ -55,9 +50,11 @@ struct ContinentalSRR520SensorConfiguration : CANSensorConfigurationBase
 inline std::ostream & operator<<(
   std::ostream & os, ContinentalSRR520SensorConfiguration const & arg)
 {
-  os << (CANSensorConfigurationBase)(arg) << ", BaseFrame: " << arg.base_frame
-     << ", SyncUseBusTime: " << arg.sync_use_bus_time
-     << ", ConfigurationVehicleWheelbase: " << arg.configuration_vehicle_wheelbase;
+  os << "ContinentalSRR520SensorConfiguration:" << '\n';
+  os << (CANSensorConfigurationBase)(arg) << '\n';
+  os << "BaseFrame: " << arg.base_frame << '\n';
+  os << "SyncUseBusTime: " << arg.sync_use_bus_time << '\n';
+  os << "ConfigurationVehicleWheelbase: " << arg.configuration_vehicle_wheelbase;
   return os;
 }
 
diff --git a/nebula_common/include/nebula_common/hesai/hesai_common.hpp b/nebula_common/include/nebula_common/hesai/hesai_common.hpp
index 2017bbf4f..7f8a081b8 100644
--- a/nebula_common/include/nebula_common/hesai/hesai_common.hpp
+++ b/nebula_common/include/nebula_common/hesai/hesai_common.hpp
@@ -35,6 +35,7 @@ struct HesaiSensorConfiguration : public LidarConfigurationBase
   uint16_t gnss_port{};
   double scan_phase{};
   double dual_return_distance_threshold{};
+  std::string calibration_path{};
   uint16_t rotation_speed;
   uint16_t cloud_min_angle;
   uint16_t cloud_max_angle;
@@ -49,13 +50,18 @@ struct HesaiSensorConfiguration : public LidarConfigurationBase
 /// @return stream
 inline std::ostream & operator<<(std::ostream & os, HesaiSensorConfiguration const & arg)
 {
-  os << (LidarConfigurationBase)(arg) << ", GnssPort: " << arg.gnss_port
-     << ", ScanPhase:" << arg.scan_phase << ", RotationSpeed:" << arg.rotation_speed
-     << ", FOV(Start):" << arg.cloud_min_angle << ", FOV(End):" << arg.cloud_max_angle
-     << ", DualReturnDistanceThreshold:" << arg.dual_return_distance_threshold
-     << ", PtpProfile:" << arg.ptp_profile << ", PtpDomain:" << std::to_string(arg.ptp_domain)
-     << ", PtpTransportType:" << arg.ptp_transport_type
-     << ", PtpSwitchType:" << arg.ptp_switch_type;
+  os << "HesaiSensorConfiguration:" << '\n';
+  os << (LidarConfigurationBase)(arg) << '\n';
+  os << "GnssPort: " << arg.gnss_port << '\n';
+  os << "ScanPhase: " << arg.scan_phase << '\n';
+  os << "RotationSpeed: " << arg.rotation_speed << '\n';
+  os << "FOV(Start): " << arg.cloud_min_angle << '\n';
+  os << "FOV(End): " << arg.cloud_max_angle << '\n';
+  os << "DualReturnDistanceThreshold: " << arg.dual_return_distance_threshold << '\n';
+  os << "PtpProfile: " << arg.ptp_profile << '\n';
+  os << "PtpDomain: " << std::to_string(arg.ptp_domain) << '\n';
+  os << "PtpTransportType: " << arg.ptp_transport_type << '\n';
+  os << "PtpSwitchType: " << arg.ptp_switch_type;
   return os;
 }
 
@@ -106,7 +112,7 @@ struct HesaiCalibrationConfiguration : public HesaiCalibrationConfigurationBase
 
       std::vector<std::string> actual_tokens(tok.begin(), tok.end());
       if (actual_tokens.size() < expected_cols || actual_tokens.size() > expected_cols) {
-        std::cerr << "Ignoring line with unexpected data:" << line << std::endl;
+        std::cerr << "Ignoring line with unexpected data: " << line << std::endl;
         continue;
       }
 
@@ -318,10 +324,10 @@ struct HesaiCorrection : public HesaiCalibrationConfigurationBase
   inline nebula::Status SaveToFileFromBytes(
     const std::string & correction_file, const std::vector<uint8_t> & buf) override
   {
-    std::cerr << "Saving in:" << correction_file << "\n";
+    std::cerr << "Saving in: " << correction_file << "\n";
     std::ofstream ofs(correction_file, std::ios::trunc | std::ios::binary);
     if (!ofs) {
-      std::cerr << "Could not create file:" << correction_file << "\n";
+      std::cerr << "Could not create file: " << correction_file << "\n";
       return Status::CANNOT_SAVE_FILE;
     }
     std::cerr << "Writing start...." << buf.size() << "\n";
diff --git a/nebula_common/include/nebula_common/nebula_common.hpp b/nebula_common/include/nebula_common/nebula_common.hpp
index 747946255..aa8ba175a 100644
--- a/nebula_common/include/nebula_common/nebula_common.hpp
+++ b/nebula_common/include/nebula_common/nebula_common.hpp
@@ -20,7 +20,6 @@
 #include <boost/tokenizer.hpp>
 
 #include <algorithm>
-#include <map>
 #include <ostream>
 #include <string>
 #include <vector>
@@ -498,7 +497,8 @@ struct LidarConfigurationBase : EthernetSensorConfigurationBase
 /// @return stream
 inline std::ostream & operator<<(std::ostream & os, SensorConfigurationBase const & arg)
 {
-  os << "SensorModel: " << arg.sensor_model << ", FrameID: " << arg.frame_id;
+  os << "SensorModel: " << arg.sensor_model << '\n';
+  os << "FrameID: " << arg.frame_id;
   return os;
 }
 
@@ -508,8 +508,10 @@ inline std::ostream & operator<<(std::ostream & os, SensorConfigurationBase cons
 /// @return stream
 inline std::ostream & operator<<(std::ostream & os, EthernetSensorConfigurationBase const & arg)
 {
-  os << (SensorConfigurationBase)(arg) << ", HostIP: " << arg.host_ip
-     << ", SensorIP: " << arg.sensor_ip << ", DataPort: " << arg.data_port;
+  os << (SensorConfigurationBase)(arg) << '\n';
+  os << "HostIP: " << arg.host_ip << '\n';
+  os << "SensorIP: " << arg.sensor_ip << '\n';
+  os << "DataPort: " << arg.data_port;
   return os;
 }
 
@@ -519,10 +521,12 @@ inline std::ostream & operator<<(std::ostream & os, EthernetSensorConfigurationB
 /// @return stream
 inline std::ostream & operator<<(std::ostream & os, CANSensorConfigurationBase const & arg)
 {
-  os << (SensorConfigurationBase)(arg)
-     << ", Interface: " << arg.interface << ", ReceiverTimeoutSec: " << arg.receiver_timeout_sec
-     << ", SenderTimeoutSec: " << arg.sender_timeout_sec << ", Filters: " << arg.filters
-     << ", UseBusTime: " << arg.use_bus_time;
+  os << (SensorConfigurationBase)(arg) << '\n';
+  os << "Interface: " << arg.interface << '\n';
+  os << "ReceiverTimeoutSec: " << arg.receiver_timeout_sec << '\n';
+  os << "SenderTimeoutSec: " << arg.sender_timeout_sec << '\n';
+  os << "Filters: " << arg.filters << '\n';
+  os << "UseBusTime: " << arg.use_bus_time;
   return os;
 }
 
@@ -533,9 +537,11 @@ inline std::ostream & operator<<(std::ostream & os, CANSensorConfigurationBase c
 inline std::ostream & operator<<(
   std::ostream & os, nebula::drivers::LidarConfigurationBase const & arg)
 {
-  os << (EthernetSensorConfigurationBase)(arg) << ", ReturnMode: " << arg.return_mode
-     << ", Frequency: " << arg.frequency_ms << ", MTU: " << arg.packet_mtu_size
-     << ", Use sensor time: " << arg.use_sensor_time;
+  os << (EthernetSensorConfigurationBase)(arg) << '\n';
+  os << "ReturnMode: " << arg.return_mode << '\n';
+  os << "Frequency: " << arg.frequency_ms << '\n';
+  os << "MTU: " << arg.packet_mtu_size << '\n';
+  os << "Use sensor time: " << arg.use_sensor_time;
   return os;
 }
 
diff --git a/nebula_common/include/nebula_common/robosense/robosense_common.hpp b/nebula_common/include/nebula_common/robosense/robosense_common.hpp
index 8541f8f90..575a7d700 100644
--- a/nebula_common/include/nebula_common/robosense/robosense_common.hpp
+++ b/nebula_common/include/nebula_common/robosense/robosense_common.hpp
@@ -46,8 +46,10 @@ struct RobosenseSensorConfiguration : LidarConfigurationBase
 /// @return stream
 inline std::ostream & operator<<(std::ostream & os, RobosenseSensorConfiguration const & arg)
 {
-  os << (LidarConfigurationBase)(arg) << ", GnssPort: " << arg.gnss_port
-     << ", ScanPhase:" << arg.scan_phase;
+  os << "RobosenseSensorConfiguration:" << '\n';
+  os << (LidarConfigurationBase)(arg) << '\n';
+  os << "GnssPort: " << arg.gnss_port << '\n';
+  os << "ScanPhase: " << arg.scan_phase;
   return os;
 }
 
diff --git a/nebula_common/include/nebula_common/velodyne/velodyne_common.hpp b/nebula_common/include/nebula_common/velodyne/velodyne_common.hpp
index 22265780b..dc9c1e453 100644
--- a/nebula_common/include/nebula_common/velodyne/velodyne_common.hpp
+++ b/nebula_common/include/nebula_common/velodyne/velodyne_common.hpp
@@ -39,9 +39,13 @@ struct VelodyneSensorConfiguration : LidarConfigurationBase
 /// @return stream
 inline std::ostream & operator<<(std::ostream & os, VelodyneSensorConfiguration const & arg)
 {
-  os << (LidarConfigurationBase)(arg) << ", GnssPort: " << arg.gnss_port
-     << ", ScanPhase:" << arg.scan_phase << ", RotationSpeed:" << arg.rotation_speed
-     << ", FOV(Start):" << arg.cloud_min_angle << ", FOV(End):" << arg.cloud_max_angle;
+  os << "VelodyneSensorConfiguration:" << '\n';
+  os << (LidarConfigurationBase)(arg) << '\n';
+  os << "GnssPort: " << arg.gnss_port << '\n';
+  os << "ScanPhase: " << arg.scan_phase << '\n';
+  os << "RotationSpeed: " << arg.rotation_speed << '\n';
+  os << "FOV(Start): " << arg.cloud_min_angle << '\n';
+  os << "FOV(End): " << arg.cloud_max_angle;
   return os;
 }
 
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
index a8caf43f5..aafe9d155 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
@@ -77,8 +77,8 @@ class HesaiDecoder : public HesaiScanDecoder
   {
     if (packet.size() < sizeof(typename SensorT::packet_t)) {
       RCLCPP_ERROR_STREAM(
-        logger_, "Packet size mismatch:" << packet.size() << " | Expected at least:"
-                                         << sizeof(typename SensorT::packet_t));
+        logger_, "Packet size mismatch: " << packet.size() << " | Expected at least: "
+                                          << sizeof(typename SensorT::packet_t));
       return false;
     }
     if (std::memcpy(&packet_, packet.data(), sizeof(typename SensorT::packet_t))) {
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_decoder.hpp
index ab00b9af5..48bf77eb2 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_decoder.hpp
@@ -67,8 +67,8 @@ class RobosenseDecoder : public RobosenseScanDecoder
   {
     if (msop_packet.size() < sizeof(typename SensorT::packet_t)) {
       RCLCPP_ERROR_STREAM(
-        logger_, "Packet size mismatch:" << msop_packet.size() << " | Expected at least:"
-                                         << sizeof(typename SensorT::packet_t));
+        logger_, "Packet size mismatch: " << msop_packet.size() << " | Expected at least: "
+                                          << sizeof(typename SensorT::packet_t));
       return false;
     }
     if (std::memcpy(&packet_, msop_packet.data(), sizeof(typename SensorT::packet_t))) {
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_info_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_info_decoder.hpp
index 8e6f4d4bd..02a00792c 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_info_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_info_decoder.hpp
@@ -50,8 +50,8 @@ class RobosenseInfoDecoder : public RobosenseInfoDecoderBase
     const auto packet_size = raw_packet.size();
     if (packet_size < sizeof(typename SensorT::info_t)) {
       RCLCPP_ERROR_STREAM(
-        logger_, "Packet size mismatch:" << packet_size << " | Expected at least:"
-                                         << sizeof(typename SensorT::info_t));
+        logger_, "Packet size mismatch: " << packet_size << " | Expected at least: "
+                                          << sizeof(typename SensorT::info_t));
       return false;
     }
     try {
diff --git a/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp b/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
index 649085018..fe4b61844 100644
--- a/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
+++ b/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
@@ -17,10 +17,8 @@
 #include "rclcpp/serialization.hpp"
 #include "rclcpp/serialized_message.hpp"
 #include "rcpputils/filesystem_helper.hpp"
-#include "rcutils/time.h"
 #include "rosbag2_cpp/reader.hpp"
 #include "rosbag2_cpp/readers/sequential_reader.hpp"
-#include "rosbag2_cpp/writer.hpp"
 #include "rosbag2_cpp/writers/sequential_writer.hpp"
 #include "rosbag2_storage/storage_options.hpp"
 
@@ -41,7 +39,7 @@ HesaiRosOfflineExtractBag::HesaiRosOfflineExtractBag(
   wrapper_status_ =
     GetParameters(sensor_configuration, calibration_configuration, correction_configuration);
   if (Status::OK != wrapper_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error: " << wrapper_status_);
     return;
   }
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
@@ -152,7 +150,7 @@ Status HesaiRosOfflineExtractBag::GetParameters(
     }
   }
 
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
+  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig: " << sensor_configuration);
   return Status::OK;
 }
 
diff --git a/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp b/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp
index 720236446..c21d37df7 100644
--- a/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp
+++ b/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp
@@ -17,7 +17,6 @@
 #include "rclcpp/serialization.hpp"
 #include "rclcpp/serialized_message.hpp"
 #include "rcpputils/filesystem_helper.hpp"
-#include "rcutils/time.h"
 #include "rosbag2_cpp/reader.hpp"
 #include "rosbag2_cpp/readers/sequential_reader.hpp"
 #include "rosbag2_storage/storage_options.hpp"
@@ -41,7 +40,7 @@ HesaiRosOfflineExtractSample::HesaiRosOfflineExtractSample(
   wrapper_status_ =
     GetParameters(sensor_configuration, calibration_configuration, correction_configuration);
   if (Status::OK != wrapper_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error: " << wrapper_status_);
     return;
   }
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
@@ -149,7 +148,7 @@ Status HesaiRosOfflineExtractSample::GetParameters(
     }
   }
 
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
+  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig: " << sensor_configuration);
   return Status::OK;
 }
 
diff --git a/nebula_examples/src/velodyne/velodyne_ros_offline_extract_bag_pcd.cpp b/nebula_examples/src/velodyne/velodyne_ros_offline_extract_bag_pcd.cpp
index fca1b5d7c..5c9c67e39 100644
--- a/nebula_examples/src/velodyne/velodyne_ros_offline_extract_bag_pcd.cpp
+++ b/nebula_examples/src/velodyne/velodyne_ros_offline_extract_bag_pcd.cpp
@@ -32,7 +32,7 @@ VelodyneRosOfflineExtractBag::VelodyneRosOfflineExtractBag(
 
   wrapper_status_ = GetParameters(sensor_configuration, calibration_configuration);
   if (Status::OK != wrapper_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error: " << wrapper_status_);
     return;
   }
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
diff --git a/nebula_hw_interfaces/src/nebula_robosense_hw_interfaces/robosense_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_robosense_hw_interfaces/robosense_hw_interface.cpp
index 3ce4858fc..d8d972488 100644
--- a/nebula_hw_interfaces/src/nebula_robosense_hw_interfaces/robosense_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_robosense_hw_interfaces/robosense_hw_interface.cpp
@@ -56,7 +56,7 @@ Status RobosenseHwInterface::InfoInterfaceStart()
   try {
     std::cout << "Starting UDP server for info packets on: " << *sensor_configuration_ << std::endl;
     PrintInfo(
-      "Starting UDP server for info packets on: " + sensor_configuration_->sensor_ip + ":" +
+      "Starting UDP server for info packets on: " + sensor_configuration_->sensor_ip + ": " +
       std::to_string(sensor_configuration_->gnss_port));
     info_udp_driver_->init_receiver(
       sensor_configuration_->host_ip, sensor_configuration_->gnss_port);
diff --git a/nebula_hw_interfaces/src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp
index 23b01d2b4..40ba0f754 100644
--- a/nebula_hw_interfaces/src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp
@@ -129,7 +129,7 @@ boost::property_tree::ptree VelodyneHwInterface::ParseJson(const std::string & s
     ss << str;
     boost::property_tree::read_json(ss, tree);
   } catch (boost::property_tree::json_parser_error & e) {
-    std::cerr << "Error on ParseJson:" << e.what() << std::endl;
+    std::cerr << "Error on ParseJson: " << e.what() << std::endl;
   }
   return tree;
 }
diff --git a/nebula_ros/src/continental/continental_ars548_ros_wrapper.cpp b/nebula_ros/src/continental/continental_ars548_ros_wrapper.cpp
index a1db3cc2d..a07fdde19 100644
--- a/nebula_ros/src/continental/continental_ars548_ros_wrapper.cpp
+++ b/nebula_ros/src/continental/continental_ars548_ros_wrapper.cpp
@@ -37,7 +37,7 @@ ContinentalARS548RosWrapper::ContinentalARS548RosWrapper(const rclcpp::NodeOptio
       (std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
   }
 
-  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig:" << *config_ptr_);
+  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig: " << *config_ptr_);
 
   launch_hw_ = declare_parameter<bool>("launch_hw", param_read_only());
 
diff --git a/nebula_ros/src/continental/continental_srr520_ros_wrapper.cpp b/nebula_ros/src/continental/continental_srr520_ros_wrapper.cpp
index 8fff84139..24438746b 100644
--- a/nebula_ros/src/continental/continental_srr520_ros_wrapper.cpp
+++ b/nebula_ros/src/continental/continental_srr520_ros_wrapper.cpp
@@ -14,6 +14,8 @@
 
 #include "nebula_ros/continental/continental_srr520_ros_wrapper.hpp"
 
+#pragma clang diagnostic ignored "-Wbitwise-instead-of-logical"
+
 namespace nebula
 {
 namespace ros
@@ -35,7 +37,7 @@ ContinentalSRR520RosWrapper::ContinentalSRR520RosWrapper(const rclcpp::NodeOptio
       (std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
   }
 
-  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig:" << *config_ptr_);
+  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig: " << *config_ptr_);
 
   launch_hw_ = declare_parameter<bool>("launch_hw", param_read_only());
 
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index f7b93cb81..f45eb1231 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -26,7 +26,7 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
       (std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
   }
 
-  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig:" << *sensor_cfg_ptr_);
+  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig: " << *sensor_cfg_ptr_);
 
   launch_hw_ = declare_parameter<bool>("launch_hw", param_read_only());
 
diff --git a/nebula_ros/src/hesai/hw_monitor_wrapper.cpp b/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
index 239c57d3f..4f3384659 100644
--- a/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
+++ b/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
@@ -59,8 +59,8 @@ HesaiHwMonitorWrapper::HesaiHwMonitorWrapper(
   std::cout << result << std::endl;
   info_model_ = result.get_str_model();
   info_serial_ = std::string(std::begin(result.sn), std::end(result.sn));
-  RCLCPP_INFO_STREAM(logger_, "Model:" << info_model_);
-  RCLCPP_INFO_STREAM(logger_, "Serial:" << info_serial_);
+  RCLCPP_INFO_STREAM(logger_, "Model: " << info_model_);
+  RCLCPP_INFO_STREAM(logger_, "Serial: " << info_serial_);
   InitializeHesaiDiagnostics();
 }
 
diff --git a/nebula_ros/src/robosense/robosense_ros_wrapper.cpp b/nebula_ros/src/robosense/robosense_ros_wrapper.cpp
index 194a49398..72d837022 100644
--- a/nebula_ros/src/robosense/robosense_ros_wrapper.cpp
+++ b/nebula_ros/src/robosense/robosense_ros_wrapper.cpp
@@ -28,7 +28,7 @@ RobosenseRosWrapper::RobosenseRosWrapper(const rclcpp::NodeOptions & options)
       (std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
   }
 
-  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig:" << *sensor_cfg_ptr_);
+  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig: " << *sensor_cfg_ptr_);
 
   launch_hw_ = declare_parameter<bool>("launch_hw", param_read_only());
 
diff --git a/nebula_ros/src/velodyne/hw_monitor_wrapper.cpp b/nebula_ros/src/velodyne/hw_monitor_wrapper.cpp
index d8aae2bc6..44c56528d 100644
--- a/nebula_ros/src/velodyne/hw_monitor_wrapper.cpp
+++ b/nebula_ros/src/velodyne/hw_monitor_wrapper.cpp
@@ -35,8 +35,8 @@ VelodyneHwMonitorWrapper::VelodyneHwMonitorWrapper(
   try {
     info_model_ = GetPtreeValue(current_snapshot_tree, mtx_snapshot_, key_info_model);
     info_serial_ = GetPtreeValue(current_snapshot_tree, mtx_snapshot_, key_info_serial);
-    RCLCPP_INFO_STREAM(logger_, "Model:" << info_model_);
-    RCLCPP_INFO_STREAM(logger_, "Serial:" << info_serial_);
+    RCLCPP_INFO_STREAM(logger_, "Model: " << info_model_);
+    RCLCPP_INFO_STREAM(logger_, "Serial: " << info_serial_);
   } catch (boost::bad_lexical_cast & ex) {
     RCLCPP_ERROR(logger_, " Error: Can't get model and serial");
     return;
@@ -737,8 +737,8 @@ std::tuple<bool, uint8_t, std::string, std::string> VelodyneHwMonitorWrapper::Ve
       std::ostringstream os;
       for (auto v = child->begin(); v != child->end(); ++v) {
         os << "(";
-        os << "mean:" << v->second.get<std::string>("mean") << ", ";
-        os << "stddev:" << v->second.get<std::string>("stddev") << ", ";
+        os << "mean: " << v->second.get<std::string>("mean") << ", ";
+        os << "stddev: " << v->second.get<std::string>("stddev") << ", ";
         os << "), ";
       }
       mes = os.str();
diff --git a/nebula_ros/src/velodyne/velodyne_ros_wrapper.cpp b/nebula_ros/src/velodyne/velodyne_ros_wrapper.cpp
index 49c93b43a..5edce1953 100644
--- a/nebula_ros/src/velodyne/velodyne_ros_wrapper.cpp
+++ b/nebula_ros/src/velodyne/velodyne_ros_wrapper.cpp
@@ -26,7 +26,7 @@ VelodyneRosWrapper::VelodyneRosWrapper(const rclcpp::NodeOptions & options)
       (std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
   }
 
-  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig:" << *sensor_cfg_ptr_);
+  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig: " << *sensor_cfg_ptr_);
 
   launch_hw_ = declare_parameter<bool>("launch_hw", param_read_only());
 
diff --git a/nebula_tests/continental/continental_ros_decoder_test_ars548.cpp b/nebula_tests/continental/continental_ros_decoder_test_ars548.cpp
index 727b9db62..9315bbe50 100644
--- a/nebula_tests/continental/continental_ros_decoder_test_ars548.cpp
+++ b/nebula_tests/continental/continental_ros_decoder_test_ars548.cpp
@@ -46,7 +46,7 @@ ContinentalRosDecoderTest::ContinentalRosDecoderTest(
 
   wrapper_status_ = GetParameters(sensor_configuration);
   if (Status::OK != wrapper_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error: " << wrapper_status_);
     return;
   }
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
@@ -111,7 +111,7 @@ Status ContinentalRosDecoderTest::GetParameters(
     return Status::INVALID_SENSOR_MODEL;
   }
 
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
+  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig: " << sensor_configuration);
   return Status::OK;
 }
 
diff --git a/nebula_tests/continental/continental_ros_decoder_test_srr520.cpp b/nebula_tests/continental/continental_ros_decoder_test_srr520.cpp
index 7991fada1..31cbf4db1 100644
--- a/nebula_tests/continental/continental_ros_decoder_test_srr520.cpp
+++ b/nebula_tests/continental/continental_ros_decoder_test_srr520.cpp
@@ -46,7 +46,7 @@ ContinentalRosDecoderTest::ContinentalRosDecoderTest(
 
   wrapper_status_ = GetParameters(sensor_configuration);
   if (Status::OK != wrapper_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error: " << wrapper_status_);
     return;
   }
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
@@ -113,7 +113,7 @@ Status ContinentalRosDecoderTest::GetParameters(
     return Status::INVALID_SENSOR_MODEL;
   }
 
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
+  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig: " << sensor_configuration);
   return Status::OK;
 }
 
diff --git a/nebula_tests/hesai/hesai_ros_decoder_test.cpp b/nebula_tests/hesai/hesai_ros_decoder_test.cpp
index 7968f5ce9..ccf1348e5 100644
--- a/nebula_tests/hesai/hesai_ros_decoder_test.cpp
+++ b/nebula_tests/hesai/hesai_ros_decoder_test.cpp
@@ -5,11 +5,8 @@
 #include "rclcpp/serialization.hpp"
 #include "rclcpp/serialized_message.hpp"
 #include "rcpputils/filesystem_helper.hpp"
-#include "rcutils/time.h"
 #include "rosbag2_cpp/reader.hpp"
 #include "rosbag2_cpp/readers/sequential_reader.hpp"
-#include "rosbag2_cpp/writer.hpp"
-#include "rosbag2_cpp/writers/sequential_writer.hpp"
 #include "rosbag2_storage/storage_options.hpp"
 
 #include <gtest/gtest.h>
@@ -33,7 +30,7 @@ HesaiRosDecoderTest::HesaiRosDecoderTest(
   wrapper_status_ =
     GetParameters(sensor_configuration, calibration_configuration, correction_configuration);
   if (Status::OK != wrapper_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error: " << wrapper_status_);
     return;
   }
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
@@ -249,7 +246,7 @@ Status HesaiRosDecoderTest::GetParameters(
     }
   }
 
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
+  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig: " << sensor_configuration);
   return Status::OK;
 }
 
diff --git a/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.cpp b/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.cpp
index b4bb04236..828794e75 100644
--- a/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.cpp
+++ b/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.cpp
@@ -5,11 +5,8 @@
 #include "rclcpp/serialization.hpp"
 #include "rclcpp/serialized_message.hpp"
 #include "rcpputils/filesystem_helper.hpp"
-#include "rcutils/time.h"
 #include "rosbag2_cpp/reader.hpp"
 #include "rosbag2_cpp/readers/sequential_reader.hpp"
-#include "rosbag2_cpp/writer.hpp"
-#include "rosbag2_cpp/writers/sequential_writer.hpp"
 #include "rosbag2_storage/storage_options.hpp"
 
 #include <gtest/gtest.h>
@@ -33,7 +30,7 @@ VelodyneRosDecoderTest::VelodyneRosDecoderTest(
 
   wrapper_status_ = GetParameters(sensor_configuration, calibration_configuration);
   if (Status::OK != wrapper_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error: " << wrapper_status_);
     return;
   }
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
@@ -254,7 +251,7 @@ Status VelodyneRosDecoderTest::GetParameters(
     }
   }
 
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
+  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig: " << sensor_configuration);
   return Status::OK;
 }
 
diff --git a/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp32.cpp b/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp32.cpp
index bfa6a490e..a10c4c81a 100644
--- a/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp32.cpp
+++ b/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp32.cpp
@@ -28,7 +28,7 @@ VelodyneRosDecoderTest::VelodyneRosDecoderTest(
 
   wrapper_status_ = GetParameters(sensor_configuration, calibration_configuration);
   if (Status::OK != wrapper_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error: " << wrapper_status_);
     return;
   }
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
@@ -250,7 +250,7 @@ Status VelodyneRosDecoderTest::GetParameters(
     }
   }
 
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
+  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig: " << sensor_configuration);
   return Status::OK;
 }
 
diff --git a/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp b/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp
index c6980daef..68201d6a4 100644
--- a/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp
+++ b/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp
@@ -33,7 +33,7 @@ VelodyneRosDecoderTest::VelodyneRosDecoderTest(
 
   wrapper_status_ = GetParameters(sensor_configuration, calibration_configuration);
   if (Status::OK != wrapper_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error: " << wrapper_status_);
     return;
   }
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
@@ -254,7 +254,7 @@ Status VelodyneRosDecoderTest::GetParameters(
     }
   }
 
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
+  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig: " << sensor_configuration);
   return Status::OK;
 }