diff --git a/.github/workflows/ros-docker-image.yaml b/.github/workflows/ros-docker-image.yaml
index f8fd7e0..53d3439 100644
--- a/.github/workflows/ros-docker-image.yaml
+++ b/.github/workflows/ros-docker-image.yaml
@@ -2,77 +2,80 @@
 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: ardent
-            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'
-    repository_dispatch:
-        types: [rebuild, ros-package-update]
-    pull_request:
-        types:
-            - closed
-            - opened
+  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: ardent
+      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'
+  repository_dispatch:
+    types: [rebuild, ros-package-update]
+  pull_request:
+    types:
+      - closed
+      - opened
 
 jobs:
-    build:
-        runs-on: ubuntu-22.04
-        strategy:
-            fail-fast: false
-            matrix:
+  build:
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+      matrix:
 
-                include:
-                    - dockerfile: Dockerfile.hardware
-                      repo_name: ''
-                      platforms: linux/amd64, linux/arm64
-                      ros_distro: humble
-                    - dockerfile: Dockerfile.gazebo
-                      repo_name: rosbot-gazebo
-                      platforms: linux/amd64
-                      ros_distro: humble
-                    - dockerfile: Dockerfile.hardware
-                      repo_name: ''
-                      platforms: linux/amd64, linux/arm64
-                      ros_distro: iron
+        include:
+          - dockerfile: Dockerfile.hardware
+            repo_name: ''
+            platforms: linux/amd64, linux/arm64
+            ros_distro: humble
+          - dockerfile: Dockerfile.gazebo
+            repo_name: rosbot-gazebo
+            platforms: linux/amd64
+            ros_distro: humble
+          - dockerfile: Dockerfile.hardware
+            repo_name: ''
+            platforms: linux/amd64, linux/arm64
+            ros_distro: iron
                     # - dockerfile: Dockerfile.gazebo
                     #   repo_name: rosbot-gazebo
                     #   platforms: linux/amd64
                     #   ros_distro: iron
 
-        steps:
+    steps:
 
-            - name: Checkout
-              uses: actions/checkout@v2
+      - name: Checkout
+        uses: actions/checkout@v2
 
-            - name: ${{ matrix.dockerfile }} | ${{ matrix.ros_distro }} | Build
-              uses: husarion-ci/ros-docker-img-action@v0.4
-              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: ${{ matrix.dockerfile }} | ${{ matrix.ros_distro }} | Build
+        uses: husarion-ci/ros-docker-img-action@v0.4
+        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/.github/workflows/vulcanexus-docker-image.yaml b/.github/workflows/vulcanexus-docker-image.yaml
index 4f64b52..f204b19 100644
--- a/.github/workflows/vulcanexus-docker-image.yaml
+++ b/.github/workflows/vulcanexus-docker-image.yaml
@@ -2,70 +2,73 @@
 name: Build/Publish Vulcanexus 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: ardent
-            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'
-    repository_dispatch:
-        types: [rebuild, ros-package-update]
-    pull_request:
-        types:
-            - closed
-            - opened
+  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: ardent
+      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'
+  repository_dispatch:
+    types: [rebuild, ros-package-update]
+  pull_request:
+    types:
+      - closed
+      - opened
 
 jobs:
-    build:
-        runs-on: ubuntu-22.04
-        strategy:
-            fail-fast: false
-            matrix:
+  build:
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+      matrix:
 
-                include:
-                    - dockerfile: Dockerfile.hardware
-                      repo_name: ''
-                      platforms: linux/amd64, linux/arm64
-                      ros_distro: humble
-                    - dockerfile: Dockerfile.gazebo
-                      repo_name: rosbot-gazebo
-                      platforms: linux/amd64
-                      ros_distro: humble
+        include:
+          - dockerfile: Dockerfile.hardware
+            repo_name: ''
+            platforms: linux/amd64, linux/arm64
+            ros_distro: humble
+          - dockerfile: Dockerfile.gazebo
+            repo_name: rosbot-gazebo
+            platforms: linux/amd64
+            ros_distro: humble
 
-        steps:
+    steps:
 
-            - name: Checkout
-              uses: actions/checkout@v2
+      - name: Checkout
+        uses: actions/checkout@v2
 
-            - name: ${{ matrix.dockerfile }} | ${{ matrix.ros_distro }} | Build
-              uses: husarion-ci/ros-docker-img-action@v0.4
-              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 }}
-                  prefix: vulcanexus-
+      - name: ${{ matrix.dockerfile }} | ${{ matrix.ros_distro }} | Build
+        uses: husarion-ci/ros-docker-img-action@v0.4
+        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 }}
+          prefix: vulcanexus-
           # 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: ${{ inputs.target_date }}
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 20d9500..5a105ad 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,58 +1,55 @@
 ---
 repos:
-    - repo: https://github.com/pre-commit/pre-commit-hooks
-      rev: v4.5.0
-      hooks:
-          - id: check-merge-conflict
-          - id: trailing-whitespace
-          - id: end-of-file-fixer
-          - id: check-yaml
-          - id: check-xml
-          - id: check-added-large-files
-          - id: check-ast
-          - id: check-json
-          - id: name-tests-test
-            files: ^.*\/test\/.*$
-            args: [--pytest-test-first]
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: check-merge-conflict
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+      - id: check-yaml
+      - id: check-xml
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-json
+      - id: name-tests-test
+        files: ^.*\/test\/.*$
+        args: [--pytest-test-first]
 
-    - repo: https://github.com/codespell-project/codespell
-      rev: v2.2.6
-      hooks:
-          - id: codespell
-            name: codespell
-            description: Checks for common misspellings in text files.
-            entry: codespell  *
-            language: python
-            types: [text]
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.6
+    hooks:
+      - id: codespell
+        entry: codespell *
 
-    - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
-      rev: 0.2.3
-      hooks:
-          - id: yamlfmt
-            files: ^.github|./\.yaml
+  - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
+    rev: 0.2.3
+    hooks:
+      - id: yamlfmt
+        files: ^(?!.*compose).*$
+        args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
 
-    - repo: https://github.com/psf/black
-      rev: 23.11.0
-      hooks:
-        - id: black
-          args: ["--line-length=99"]
+  - repo: https://github.com/psf/black
+    rev: 23.12.0
+    hooks:
+      - id: black
+        args: [--line-length=99]
 
-    - repo: https://github.com/PyCQA/flake8
-      rev: 6.1.0
-      hooks:
-        - id: flake8
-          args: ["--ignore=E501,W503"] # ignore too long line and line break before binary operator,
+  - repo: https://github.com/PyCQA/flake8
+    rev: 6.1.0
+    hooks:
+      - id: flake8
+        args: ['--ignore=E501,W503']   # ignore too long line and line break before binary operator,
                                        # black checks it
 
       # Docs - RestructuredText hooks
-    - repo: https://github.com/PyCQA/doc8
-      rev: v1.1.1
-      hooks:
-        - id: doc8
-          args: ['--max-line-length=100', '--ignore=D001']
-          exclude: ^.*\/CHANGELOG\.rst/.*$
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.1
+    hooks:
+      - id: doc8
+        args: [--max-line-length=100, --ignore=D001]
+        exclude: ^.*\/CHANGELOG\.rst/.*$
 
-    - repo: https://github.com/pre-commit/mirrors-clang-format
-      rev: v17.0.4
-      hooks:
-        -   id: clang-format
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v17.0.6
+    hooks:
+      - id: clang-format
diff --git a/Dockerfile.gazebo b/Dockerfile.gazebo
index d281b69..02d62d2 100644
--- a/Dockerfile.gazebo
+++ b/Dockerfile.gazebo
@@ -24,7 +24,7 @@ RUN mkdir src && \
         install(TARGETS healthcheck_node DESTINATION lib/${PROJECT_NAME})' \
         /ros2_ws/src/healthcheck_pkg/CMakeLists.txt
 
-COPY healthcheck.cpp src/healthcheck_pkg/src/    
+COPY healthcheck.cpp src/healthcheck_pkg/src/
 
 RUN MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
     source /opt/$MYDISTRO/$ROS_DISTRO/setup.bash && \
diff --git a/README.md b/README.md
index 7202b4e..97ce8a5 100644
--- a/README.md
+++ b/README.md
@@ -20,9 +20,9 @@ services:
     environment:
       - ROS_DOMAIN_ID=30
     command: >
-      ros2 launch rosbot_bringup combined.launch.py 
+      ros2 launch rosbot_bringup combined.launch.py
         mecanum:=${MECANUM:-False}
-        serial_port:=$SERIAL_PORT 
+        serial_port:=$SERIAL_PORT
         serial_baudrate:=576000
         namespace:=robot1
 ```
diff --git a/demo/compose.gazebo.yaml b/demo/compose.gazebo.yaml
index 8e67483..f450ea7 100644
--- a/demo/compose.gazebo.yaml
+++ b/demo/compose.gazebo.yaml
@@ -1,5 +1,5 @@
 # Quick Start
-# 
+#
 # 1. run `xhost +local:docker && docker compose -f compose.gazebo.yaml up` on the laptop
 # 2. open a shell inside a docker container `docker compose -f compose.gazebo.yaml exec -it rosbot bash`
 # 2. run `ros2 run teleop_twist_keyboard teleop_twist_keyboard` inside the container
diff --git a/demo/compose.yaml b/demo/compose.yaml
index 860f4ee..666f3f3 100644
--- a/demo/compose.yaml
+++ b/demo/compose.yaml
@@ -1,7 +1,7 @@
 # Quick Start
-# 
+#
 # 1. run `docker compose up` on the robot
-# 2. run `ROS_DOMAIN_ID=10 ros2 run teleop_twist_keyboard teleop_twist_keyboard` in the robot termianl
+# 2. run `ROS_DOMAIN_ID=10 ros2 run teleop_twist_keyboard teleop_twist_keyboard` in the robot terminal
 
 services:
 
diff --git a/demo/namespace/compose.yaml b/demo/namespace/compose.yaml
index cd43ed2..4cc0ba4 100644
--- a/demo/namespace/compose.yaml
+++ b/demo/namespace/compose.yaml
@@ -1,5 +1,5 @@
 # Quick Start
-# 
+#
 # 1. run `docker compose up` on the robot
 # 2. On the second host in LAN you will see only single ros2 topic:
 #   $ ros2 topic list
@@ -26,9 +26,9 @@ services:
       - ROS_DOMAIN_ID=30
       - ROS_NAMESPACE=robot1 # For healthckeck node
     command: >
-      ros2 launch rosbot_bringup combined.launch.py 
+      ros2 launch rosbot_bringup combined.launch.py
         mecanum:=${MECANUM:-False}
-        serial_port:=$SERIAL_PORT 
+        serial_port:=$SERIAL_PORT
         serial_baudrate:=576000
         namespace:=robot1
 
diff --git a/demo/namespace/filter.yaml b/demo/namespace/filter.yaml
index a6da4ee..7b798cb 100644
--- a/demo/namespace/filter.yaml
+++ b/demo/namespace/filter.yaml
@@ -1,5 +1,6 @@
+---
 allowlist:
-  - name: "rt/robot1/cmd_vel"
-    type: "geometry_msgs::msg::dds_::Twist_"
+  - name: rt/robot1/cmd_vel
+    type: geometry_msgs::msg::dds_::Twist_
 blocklist: []
-builtin-topics: []
\ No newline at end of file
+builtin-topics: []
diff --git a/healthcheck.cpp b/healthcheck.cpp
index 8218c90..ead3df9 100644
--- a/healthcheck.cpp
+++ b/healthcheck.cpp
@@ -34,9 +34,9 @@ void healthy_check() {
 
 int main(int argc, char *argv[]) {
   rclcpp::init(argc, argv);
-  
+
   std::string topic = "odometry/filtered";
-  if(const char* ns = std::getenv("ROS_NAMESPACE")) {
+  if (const char *ns = std::getenv("ROS_NAMESPACE")) {
     topic = std::string(ns) + "/" + topic;
   }
 
diff --git a/sync_with_rosbot.sh b/sync_with_rosbot.sh
index f4a2738..17e3d2a 100755
--- a/sync_with_rosbot.sh
+++ b/sync_with_rosbot.sh
@@ -3,8 +3,8 @@
 # If your ROSbot's IP addr is 10.5.10.64 execute:
 # ./sync_with_rosbot.sh 10.5.10.64
 
-sshpass -p "husarion" rsync -vRr --delete ./ husarion@$1:/home/husarion/${PWD##*/} 
+sshpass -p "husarion" rsync -vRr --delete ./ husarion@$1:/home/husarion/${PWD##*/}
 
-while inotifywait -r -e modify,create,delete,move ./ ; do 
-    sshpass -p "husarion" rsync -vRr --delete ./ husarion@$1:/home/husarion/${PWD##*/} 
-done
\ No newline at end of file
+while inotifywait -r -e modify,create,delete,move ./ ; do
+    sshpass -p "husarion" rsync -vRr --delete ./ husarion@$1:/home/husarion/${PWD##*/}
+done