diff --git a/ign_ros2_control/src/ign_system.cpp b/ign_ros2_control/src/ign_system.cpp
index 2bf409bc..b0b275c8 100644
--- a/ign_ros2_control/src/ign_system.cpp
+++ b/ign_ros2_control/src/ign_system.cpp
@@ -244,9 +244,10 @@ bool IgnitionSystem::initSim(
 
       RCLCPP_INFO_STREAM(
         this->nh_->get_logger(),
-        "Joint '" << this->dataPtr->joints_[mimic_joint.joint_index].name << "'is mimicking joint '" <<
-          this->dataPtr->joints_[mimic_joint.mimicked_joint_index].name << "' with multiplier: " <<
-          mimic_joint.multiplier);
+        "Joint '" << this->dataPtr->joints_[mimic_joint.joint_index].name <<
+        "'is mimicking joint '" <<
+        this->dataPtr->joints_[mimic_joint.mimicked_joint_index].name << "' with multiplier: " <<
+        mimic_joint.multiplier);
 
       this->dataPtr->mimic_joints_.push_back(mimic_joint);
       suffix = "_mimic";
@@ -510,7 +511,6 @@ IgnitionSystem::perform_command_mode_switch(
   const std::vector<std::string> & stop_interfaces)
 {
   for (unsigned int j = 0; j < this->dataPtr->joints_.size(); j++) {
-
     for (const std::string & interface_name : stop_interfaces) {
       // Clear joint control method bits corresponding to stop interfaces
       if (interface_name == (this->dataPtr->joints_[j].name + "/" +
@@ -631,7 +631,6 @@ hardware_interface::return_type IgnitionSystem::write(
     }
 
     if (this->dataPtr->joints_[i].joint_control_method & POSITION) {
-
       // Get error in position
       double error = this->dataPtr->joints_[i].joint_position_cmd -
         this->dataPtr->joints_[i].joint_position;
@@ -660,7 +659,8 @@ hardware_interface::return_type IgnitionSystem::write(
       {
         this->dataPtr->ecm->CreateComponent(
           this->dataPtr->joints_[i].sim_joint,
-          ignition::gazebo::components::JointForceCmd({this->dataPtr->joints_[i].joint_effort_cmd}));
+          ignition::gazebo::components::JointForceCmd(
+                  {this->dataPtr->joints_[i].joint_effort_cmd}));
       } else {
         const auto jointEffortCmd =
           this->dataPtr->ecm->Component<ignition::gazebo::components::JointForceCmd>(