diff --git a/.github/workflows/release-repository.yaml b/.github/workflows/release-repository.yaml
index bad7309..695e36a 100644
--- a/.github/workflows/release-repository.yaml
+++ b/.github/workflows/release-repository.yaml
@@ -2,107 +2,113 @@
 name: Release repository
 
 on:
-    workflow_dispatch:
-        inputs:
-            target_branch:
-                description: Target branch for the release.
-                required: true
-            version:
-                description: New version (used for tag).
-                required: true
-            date:
-                description: Date stamp of the image to be used in the compose files.
-                required: true
-            release_name:
-                description: Name of the release to be created. Version in the first place is recommended (e.g. `2.0.0-alpha`).
-                required: true
-            automatic_mode:
-                type: boolean
-                default: false
-                description: Automatically merge PR and create release.
-            prerelease:
-                type: boolean
-                default: false
-                description: Mark the release as a prerelease.
+  workflow_dispatch:
+    inputs:
+      target_branch:
+        description: Target branch for the release.
+        required: true
+      version:
+        description: New version (used for tag).
+        required: true
+      date:
+        description: Date stamp of the image to be used in the compose files.
+        required: true
+      release_name:
+        description: Name of the release to be created. Version in the first place is recommended (e.g.
+          `2.0.0-alpha`).
+        required: true
+      automatic_mode:
+        type: boolean
+        default: false
+        description: Automatically merge PR and create release.
+      prerelease:
+        type: boolean
+        default: false
+        description: Mark the release as a prerelease.
 
 jobs:
-    release:
-        name: Release repository
-        runs-on: ubuntu-22.04
-        env:
-            GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-            RELEASE_BRANCH: release-${{ github.event.inputs.version }}
-            DOCKER_IMAGE_TAG: humble-${{ github.event.inputs.version }}-${{ github.event.inputs.date }}-stable
-            MAIN_BRANCH: ros2
-        steps:
-            - name: Checkout
-              uses: actions/checkout@v4
-              with:
-                  ref: ${{ github.event.inputs.target_branch }}
+  release:
+    name: Release repository
+    runs-on: ubuntu-22.04
+    env:
+      GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      RELEASE_BRANCH: release-${{ github.event.inputs.version }}
+      DOCKER_IMAGE_TAG: humble-${{ github.event.inputs.version }}-${{ github.event.inputs.date }}-stable
+      MAIN_BRANCH: ros2
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.inputs.target_branch }}
 
-            - name: Update docker image version
-              uses: mikefarah/yq@v4.43.1
-              with:
-                  cmd: |
-                      yq -i '.services.panther_ros.image = "husarion/panther:${{ env.DOCKER_IMAGE_TAG }}" | (... | select(tag == "!!merge")) tag = ""' demo/compose.minimal-setup.yaml
-                      yq -i '.services.panther_gazebo.image = "husarion/panther-gazebo:${{ env.DOCKER_IMAGE_TAG }}" | (... | select(tag == "!!merge")) tag = ""' demo/compose.simulation.yaml
+      - name: Update docker image version
+        uses: mikefarah/yq@v4.43.1
+        with:
+          cmd: |
+            yq -i '.services.panther_ros.image = "husarion/panther:${{ env.DOCKER_IMAGE_TAG }}" | (... | select(tag == "!!merge")) tag = ""' demo/compose.minimal-setup.yaml
+            yq -i '.services.panther_gazebo.image = "husarion/panther-gazebo:${{ env.DOCKER_IMAGE_TAG }}" | (... | select(tag == "!!merge")) tag = ""' demo/compose.simulation.yaml
 
-            - name: Commit changes to release branch
-              uses: EndBug/add-and-commit@v9
-              with:
-                  message: Update docker image version
-                  author_name: action-bot
-                  author_email: action-bot@action-bot.com
-                  new_branch: ${{ env.RELEASE_BRANCH }}
+      - name: Commit changes to release branch
+        uses: EndBug/add-and-commit@v9
+        with:
+          message: Update docker image version
+          author_name: action-bot
+          author_email: action-bot@action-bot.com
+          new_branch: ${{ env.RELEASE_BRANCH }}
 
-            - name: Create pull request
-              run: |
-                  gh pr create \
-                  --base ${{ github.event.inputs.target_branch }} \
-                  --head $RELEASE_BRANCH \
-                  --title "Release ${{ github.event.inputs.version }}" \
-                  --body "This PR incorporates tag(s) update in docker compose files."
+      - name: Create pull request
+        run: |
+          gh pr create \
+          --base ${{ github.event.inputs.target_branch }} \
+          --head $RELEASE_BRANCH \
+          --title "Release ${{ github.event.inputs.version }}" \
+          --body "This PR incorporates tag(s) update in docker compose files."
 
-            - name: Merge pull request
-              if: ${{ fromJSON(github.event.inputs.automatic_mode) == true }}
-              run: |
-                  gh pr merge $RELEASE_BRANCH \
-                  --merge --delete-branch
+      - name: Merge pull request
+        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true }}
+        run: |
+          gh pr merge $RELEASE_BRANCH \
+          --merge --delete-branch
 
-            - name: Checkout to main
-              if: ${{ github.event.inputs.target_branch != env.MAIN_BRANCH && fromJSON(github.event.inputs.automatic_mode) == true }}
-              uses: actions/checkout@v4
-              with:
-                  ref: ${{ env.MAIN_BRANCH }}
+      - name: Checkout to main
+        if: ${{ github.event.inputs.target_branch != env.MAIN_BRANCH && fromJSON(github.event.inputs.automatic_mode)
+          == true }}
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ env.MAIN_BRANCH }}
 
-            - name: Create pull request to main
-              if: ${{ github.event.inputs.target_branch != env.MAIN_BRANCH && fromJSON(github.event.inputs.automatic_mode) == true }}
-              run: |
-                  gh pr create \
-                  --base ${{ env.MAIN_BRANCH }} \
-                  --head ${{ github.event.inputs.target_branch }} \
-                  --title "Release ${{ steps.create_release_candidate.outputs.version}} to ${{ env.MAIN_BRANCH }}" \
-                  --body "This PR incorporates tag(s) update in docker compose files."
+      - name: Create pull request to main
+        if: ${{ github.event.inputs.target_branch != env.MAIN_BRANCH && fromJSON(github.event.inputs.automatic_mode)
+          == true }}
+        run: |
+          gh pr create \
+          --base ${{ env.MAIN_BRANCH }} \
+          --head ${{ github.event.inputs.target_branch }} \
+          --title "Release ${{ steps.create_release_candidate.outputs.version}} to ${{ env.MAIN_BRANCH }}" \
+          --body "This PR incorporates tag(s) update in docker compose files."
 
-            - name: Merge pull request to main
-              if: ${{ github.event.inputs.target_branch != env.MAIN_BRANCH && fromJSON(github.event.inputs.automatic_mode) == true }}
-              run: |
-                  gh pr merge ${{ github.event.inputs.target_branch }} \
-                  --merge --delete-branch
+      - name: Merge pull request to main
+        if: ${{ github.event.inputs.target_branch != env.MAIN_BRANCH && fromJSON(github.event.inputs.automatic_mode)
+          == true }}
+        run: |
+          gh pr merge ${{ github.event.inputs.target_branch }} \
+          --merge --delete-branch
 
-            - name: Create prerelease
-              if: ${{ fromJSON(github.event.inputs.automatic_mode) == true && fromJSON(github.event.inputs.prerelease) == true}}
-              run: |
-                  gh release create ${{ github.event.inputs.version }} \
-                  --target ${{ env.MAIN_BRANCH }} \
-                  --title ${{ github.event.inputs.release_name }} \
-                  --generate-notes \
-                  --prerelease
+      - name: Create prerelease
+        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true && fromJSON(github.event.inputs.prerelease)
+          == true}}
+        run: |
+          gh release create ${{ github.event.inputs.version }} \
+          --target ${{ env.MAIN_BRANCH }} \
+          --title ${{ github.event.inputs.release_name }} \
+          --generate-notes \
+          --prerelease
 
-            - name: Create release
-              if: ${{ fromJSON(github.event.inputs.automatic_mode) == true && fromJSON(github.event.inputs.prerelease) == false}}
-              run: |
-                  gh release create ${{ github.event.inputs.version }} \
-                  --target ${{ env.MAIN_BRANCH }} \
-                  --title ${{ github.event.inputs.release_name }} \
-                  --generate-notes
+      - name: Create release
+        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true && fromJSON(github.event.inputs.prerelease)
+          == false}}
+        run: |
+          gh release create ${{ github.event.inputs.version }} \
+          --target ${{ env.MAIN_BRANCH }} \
+          --title ${{ github.event.inputs.release_name }} \
+          --generate-notes
diff --git a/.github/workflows/ros-docker-image.yaml b/.github/workflows/ros-docker-image.yaml
index 08cdcda..2d5b4cd 100644
--- a/.github/workflows/ros-docker-image.yaml
+++ b/.github/workflows/ros-docker-image.yaml
@@ -2,66 +2,63 @@
 name: Build/Publish ROS Docker Image
 
 on:
-    workflow_dispatch:
-        inputs:
-            build_type:
-                description: Is it a "development" or a "stable" release?
-                required: true
-                default: development
-                type: choice
-                options:
-                    - development
-                    - stable
-            target_distro:
-                description:
-                    In case of "stable" release specify the ROS distro of the existing docker image (eg.
-                    humble)
-                type: string
-                default: humble
-            target_release:
-                description:
-                    In case of "stable" release specify the version of the existing docker image (eg.
-                    1.0.12)
-                type: string
-                default: 0.0.0
-            target_date:
-                description:
-                    In case of "stable" release specify the date of the existing docker image in format
-                    YYYYMMDD (eg. 20220124)
-                type: string
-                default: "20131206"
+  workflow_dispatch:
+    inputs:
+      build_type:
+        description: Is it a "development" or a "stable" release?
+        required: true
+        default: development
+        type: choice
+        options:
+          - development
+          - stable
+      target_distro:
+        description: In case of "stable" release specify the ROS distro of the existing docker image (eg.
+          humble)
+        type: string
+        default: humble
+      target_release:
+        description: In case of "stable" release specify the version of the existing docker image (eg.
+          1.0.12)
+        type: string
+        default: 0.0.0
+      target_date:
+        description: In case of "stable" release specify the date of the existing docker image in format
+          YYYYMMDD (eg. 20220124)
+        type: string
+        default: '20131206'
 
 jobs:
-    build:
-        runs-on: ubuntu-22.04
-        strategy:
-            fail-fast: false
-            matrix:
-                include:
-                    - dockerfile: Dockerfile.hardware
-                      platforms: linux/arm64
-                      ros_distro: humble
-                    - dockerfile: Dockerfile.simulation
-                      repo_name: panther-gazebo
-                      platforms: linux/amd64
-                      ros_distro: humble
+  build:
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - dockerfile: Dockerfile.hardware
+            platforms: linux/arm64
+            ros_distro: humble
+          - dockerfile: Dockerfile.simulation
+            repo_name: panther-gazebo
+            platforms: linux/amd64
+            ros_distro: humble
 
-        steps:
-            - name: Checkout
-              uses: actions/checkout@v2
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
 
-            - name: Build Docker Image
-              uses: husarion-ci/ros-docker-img-action@v0.5
-              with:
-                  dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
-                  dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
-                  main_branch_name: ros2
-                  dockerfile: ${{ matrix.dockerfile }}
-                  repo_name: ${{ matrix.repo_name }}
-                  build_type: ${{ inputs.build_type }}
-                  ros_distro: ${{ matrix.ros_distro }}
-                  platforms: ${{ matrix.platforms }}
+      - name: Build Docker Image
+        uses: husarion-ci/ros-docker-img-action@v0.5
+        with:
+          dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
+          dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
+          main_branch_name: ros2
+          dockerfile: ${{ matrix.dockerfile }}
+          repo_name: ${{ matrix.repo_name }}
+          build_type: ${{ inputs.build_type }}
+          ros_distro: ${{ matrix.ros_distro }}
+          platforms: ${{ matrix.platforms }}
                   # variables important only for stable release
-                  target_distro: ${{ inputs.target_distro }}
-                  target_release: ${{ inputs.target_release }}
-                  target_date: ${{ inputs.target_date }}
+          target_distro: ${{ inputs.target_distro }}
+          target_release: ${{ inputs.target_release }}
+          target_date: ${{ inputs.target_date }}
diff --git a/demo/compose.minimal-setup.yaml b/demo/compose.minimal-setup.yaml
index 821b68f..49a779f 100644
--- a/demo/compose.minimal-setup.yaml
+++ b/demo/compose.minimal-setup.yaml
@@ -40,4 +40,3 @@ services:
     stop_signal: SIGINT
     command: >
       bash -c "ros2 launch joy2twist gamepad_controller.launch.py joy2twist_params_file:=$(ros2 pkg prefix joy2twist)/share/joy2twist/config/joy2twist_panther.yaml namespace:=panther"
-
diff --git a/demo/compose.simulation.yaml b/demo/compose.simulation.yaml
index 9d01439..c2fc715 100644
--- a/demo/compose.simulation.yaml
+++ b/demo/compose.simulation.yaml
@@ -20,4 +20,3 @@ services:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
     command: >
       ros2 launch panther_gazebo simulation.launch.py
-