diff --git a/common/component_interface_specs/package.xml b/common/component_interface_specs/package.xml
index c8ca0dd0627e5..fdaf816d03736 100644
--- a/common/component_interface_specs/package.xml
+++ b/common/component_interface_specs/package.xml
@@ -15,8 +15,8 @@
   <depend>autoware_auto_perception_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
-  <depend>autoware_planning_msgs</depend>
   <depend>autoware_map_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>rcl</depend>
   <depend>rclcpp</depend>
diff --git a/map/autoware_dynamic_lanelet_provider/CMakeLists.txt b/map/autoware_dynamic_lanelet_provider/CMakeLists.txt
index 44761379aee73..aa25a9e2430d5 100644
--- a/map/autoware_dynamic_lanelet_provider/CMakeLists.txt
+++ b/map/autoware_dynamic_lanelet_provider/CMakeLists.txt
@@ -16,4 +16,4 @@ rclcpp_components_register_node(dynamic_lanelet_provider_node
 ament_auto_package(INSTALL_TO_SHARE
         launch
         config
-)
\ No newline at end of file
+)
diff --git a/map/autoware_dynamic_lanelet_provider/config/dynamic_lanelet_provider.param.yaml b/map/autoware_dynamic_lanelet_provider/config/dynamic_lanelet_provider.param.yaml
index 36d82b6737030..d1becd22634e2 100644
--- a/map/autoware_dynamic_lanelet_provider/config/dynamic_lanelet_provider.param.yaml
+++ b/map/autoware_dynamic_lanelet_provider/config/dynamic_lanelet_provider.param.yaml
@@ -2,4 +2,4 @@
   ros__parameters:
     dynamic_map_loading_grid_size: 50.0         # [m]
     dynamic_map_loading_update_distance: 100.0  # [m]
-    dynamic_map_loading_map_radius: 150.0       # [m]
\ No newline at end of file
+    dynamic_map_loading_map_radius: 150.0       # [m]
diff --git a/map/autoware_dynamic_lanelet_provider/include/autoware/dynamic_lanelet_provider/dynamic_lanelet_provider.hpp b/map/autoware_dynamic_lanelet_provider/include/autoware/dynamic_lanelet_provider/dynamic_lanelet_provider.hpp
index 5f97f4c966010..87dd8ebad22f8 100644
--- a/map/autoware_dynamic_lanelet_provider/include/autoware/dynamic_lanelet_provider/dynamic_lanelet_provider.hpp
+++ b/map/autoware_dynamic_lanelet_provider/include/autoware/dynamic_lanelet_provider/dynamic_lanelet_provider.hpp
@@ -1,7 +1,7 @@
 
 
-#ifndef AUTOWARE_DYNAMIC_LANELET_PROVIDER_HPP
-#define AUTOWARE_DYNAMIC_LANELET_PROVIDER_HPP
+#ifndef AUTOWARE__DYNAMIC_LANELET_PROVIDER__DYNAMIC_LANELET_PROVIDER_HPP_
+#define AUTOWARE__DYNAMIC_LANELET_PROVIDER__DYNAMIC_LANELET_PROVIDER_HPP_
 
 #include <component_interface_specs/map.hpp>
 #include <component_interface_utils/rclcpp.hpp>
@@ -74,4 +74,4 @@ class DynamicLaneletProviderNode : public rclcpp::Node
 }  // namespace dynamic_lanelet_provider
 }  // namespace autoware
 
-#endif  // AUTOWARE_DYNAMIC_LANELET_PROVIDER_HPP
+#endif  // AUTOWARE__DYNAMIC_LANELET_PROVIDER__DYNAMIC_LANELET_PROVIDER_HPP_
diff --git a/map/autoware_dynamic_lanelet_provider/launch/dynamic_lanelet_provider.launch.xml b/map/autoware_dynamic_lanelet_provider/launch/dynamic_lanelet_provider.launch.xml
index 02d326071997d..ea8cd938a245b 100644
--- a/map/autoware_dynamic_lanelet_provider/launch/dynamic_lanelet_provider.launch.xml
+++ b/map/autoware_dynamic_lanelet_provider/launch/dynamic_lanelet_provider.launch.xml
@@ -1,8 +1,7 @@
 <launch>
-    <arg name="dynamic_lanelet_provider_param_path" default="$(find-pkg-share autoware_dynamic_lanelet_provider)/config/dynamic_lanelet_provider.param.yaml"/>
+  <arg name="dynamic_lanelet_provider_param_path" default="$(find-pkg-share autoware_dynamic_lanelet_provider)/config/dynamic_lanelet_provider.param.yaml"/>
 
-    <node pkg="autoware_dynamic_lanelet_provider" exec="dynamic_lanelet_provider_node" name="dynamic_lanelet_provider_node">
-        <param from="$(var dynamic_lanelet_provider_param_path)"/>
-    </node>
-
-</launch>
\ No newline at end of file
+  <node pkg="autoware_dynamic_lanelet_provider" exec="dynamic_lanelet_provider_node" name="dynamic_lanelet_provider_node">
+    <param from="$(var dynamic_lanelet_provider_param_path)"/>
+  </node>
+</launch>
diff --git a/map/autoware_dynamic_lanelet_provider/package.xml b/map/autoware_dynamic_lanelet_provider/package.xml
index 210918dbefd1e..5af857213dce4 100644
--- a/map/autoware_dynamic_lanelet_provider/package.xml
+++ b/map/autoware_dynamic_lanelet_provider/package.xml
@@ -10,10 +10,10 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>component_interface_specs</depend>
-  <depend>component_interface_utils</depend>
   <depend>autoware_auto_mapping_msgs</depend>
   <depend>autoware_map_msgs</depend>
+  <depend>component_interface_specs</depend>
+  <depend>component_interface_utils</depend>
   <depend>geography_utils</depend>
 
   <export>
diff --git a/map/autoware_dynamic_lanelet_provider/src/dynamic_lanelet_provider.cpp b/map/autoware_dynamic_lanelet_provider/src/dynamic_lanelet_provider.cpp
index 3ffe9e05c19f3..4f1ac10aa518d 100644
--- a/map/autoware_dynamic_lanelet_provider/src/dynamic_lanelet_provider.cpp
+++ b/map/autoware_dynamic_lanelet_provider/src/dynamic_lanelet_provider.cpp
@@ -144,7 +144,8 @@ void DynamicLaneletProviderNode::updateMap(const geometry_msgs::msg::Point & pos
   }
 
   auto request = std::make_shared<autoware_map_msgs::srv::GetDifferentialLanelet2Map::Request>();
-  request->vector_map_file_ids.insert(request->vector_map_file_ids.end(), cache_ids.begin(), cache_ids.end());
+  request->vector_map_file_ids.insert(
+    request->vector_map_file_ids.end(), cache_ids.begin(), cache_ids.end());
 
   while (!map_loader_client_->wait_for_service(std::chrono::seconds(1)) && rclcpp::ok()) {
     RCLCPP_INFO(get_logger(), "Waiting for lanelet loader service");
@@ -196,4 +197,4 @@ bool DynamicLaneletProviderNode::should_update_map() const
 }  // namespace autoware
 
 #include <rclcpp_components/rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(autoware::dynamic_lanelet_provider::DynamicLaneletProviderNode)
\ No newline at end of file
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::dynamic_lanelet_provider::DynamicLaneletProviderNode)
diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_differential_loader_module.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_differential_loader_module.cpp
index 1ac0c366c7989..5e2b14bda0364 100644
--- a/map/map_loader/src/lanelet2_map_loader/lanelet2_differential_loader_module.cpp
+++ b/map/map_loader/src/lanelet2_map_loader/lanelet2_differential_loader_module.cpp
@@ -136,7 +136,6 @@ Lanelet2DifferentialLoaderModule::getLaneletMapMetaDataMsg() const
     tile_msg.origin_lat = file.second.origin_lat;
     tile_msg.origin_lon = file.second.origin_lon;
 
-
     metadata.metadata_list.push_back(tile_msg);
   }
   metadata.header.frame_id = "map";
diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
index d606a46a63371..90bdc51f7459e 100644
--- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
+++ b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
@@ -82,7 +82,7 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options
 
   declare_parameter<std::string>("lanelet2_map_path");
   declare_parameter<double>("center_line_resolution");
-  
+
   if (declare_parameter<bool>("enabled_dynamic_lanelet_loading")) {
     std::vector<std::string> lanelet2_paths_or_directory =
       declare_parameter<std::vector<std::string>>("lanelet2_map_folder_path");