diff --git a/localization/gyro_odometer/src/gyro_odometer_core.cpp b/localization/gyro_odometer/src/gyro_odometer_core.cpp
index 81930841311cb..0ec479770740f 100644
--- a/localization/gyro_odometer/src/gyro_odometer_core.cpp
+++ b/localization/gyro_odometer/src/gyro_odometer_core.cpp
@@ -82,8 +82,7 @@ void GyroOdometerNode::callback_vehicle_twist(
   diagnostics_->clear();
   diagnostics_->add_key_value(
     "topic_time_stamp",
-    static_cast<rclcpp::Time>(vehicle_twist_msg_ptr->header.stamp).nanoseconds()
-  );
+    static_cast<rclcpp::Time>(vehicle_twist_msg_ptr->header.stamp).nanoseconds());
 
   vehicle_twist_arrived_ = true;
   latest_vehicle_twist_ros_time_ = vehicle_twist_msg_ptr->header.stamp;
diff --git a/localization/gyro_odometer/test/test_gyro_odometer_pubsub.cpp b/localization/gyro_odometer/test/test_gyro_odometer_pubsub.cpp
index f72499a28a947..fc331a638a1dd 100644
--- a/localization/gyro_odometer/test/test_gyro_odometer_pubsub.cpp
+++ b/localization/gyro_odometer/test/test_gyro_odometer_pubsub.cpp
@@ -50,12 +50,13 @@ class VelocityGenerator : public rclcpp::Node
 class GyroOdometerValidator : public rclcpp::Node
 {
 public:
-  GyroOdometerValidator() : Node("gyro_odometer_validator"),
-    twist_sub(create_subscription<TwistWithCovarianceStamped>("/twist_with_covariance", 1,
+  GyroOdometerValidator()
+  : Node("gyro_odometer_validator"),
+    twist_sub(create_subscription<TwistWithCovarianceStamped>(
+      "/twist_with_covariance", 1,
       [this](const TwistWithCovarianceStamped::ConstSharedPtr msg) {
         received_latest_twist_ptr = msg;
-      })
-    ),
+      })),
     received_latest_twist_ptr(nullptr)
   {
   }
@@ -110,10 +111,8 @@ TEST(GyroOdometer, TestGyroOdometerWithImuAndVelocity)
   expected_output_twist.twist.twist.angular.y = input_imu.angular_velocity.y;
   expected_output_twist.twist.twist.angular.z = input_imu.angular_velocity.z;
 
-  auto gyro_odometer_node =
-    std::make_shared<autoware::gyro_odometer::GyroOdometerNode>(
-      get_node_options_with_default_params()
-    );
+  auto gyro_odometer_node = std::make_shared<autoware::gyro_odometer::GyroOdometerNode>(
+    get_node_options_with_default_params());
   auto imu_generator = std::make_shared<ImuGenerator>();
   auto velocity_generator = std::make_shared<VelocityGenerator>();
   auto gyro_odometer_validator_node = std::make_shared<GyroOdometerValidator>();
@@ -140,10 +139,8 @@ TEST(GyroOdometer, TestGyroOdometerImuOnly)
 {
   Imu input_imu = generate_sample_imu();
 
-  auto gyro_odometer_node =
-    std::make_shared<autoware::gyro_odometer::GyroOdometerNode>(
-      get_node_options_with_default_params()
-    );
+  auto gyro_odometer_node = std::make_shared<autoware::gyro_odometer::GyroOdometerNode>(
+    get_node_options_with_default_params());
   auto imu_generator = std::make_shared<ImuGenerator>();
   auto gyro_odometer_validator_node = std::make_shared<GyroOdometerValidator>();