diff --git a/.github/workflows/clang_format.yml b/.github/workflows/clang_format.yml
index fed4bb6d..1b9ed2f9 100644
--- a/.github/workflows/clang_format.yml
+++ b/.github/workflows/clang_format.yml
@@ -13,7 +13,7 @@ on:
 jobs:
   clang_format:
     name: Clang-Format
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
     steps:
       - uses: actions/checkout@v1
 
diff --git a/noether_gui/include/noether_gui/widgets/tool_path_modifiers/linear_approach_modifier_widget.h b/noether_gui/include/noether_gui/widgets/tool_path_modifiers/linear_approach_modifier_widget.h
index 78adec6c..1d1cf52a 100644
--- a/noether_gui/include/noether_gui/widgets/tool_path_modifiers/linear_approach_modifier_widget.h
+++ b/noether_gui/include/noether_gui/widgets/tool_path_modifiers/linear_approach_modifier_widget.h
@@ -7,7 +7,7 @@ namespace Ui
 {
 class Vector3dEditor;
 class LinearApproachModifier;
-}
+}  // namespace Ui
 
 namespace noether
 {
diff --git a/noether_gui/src/widgets/tool_path_modifiers/linear_approach_modifier_widget.cpp b/noether_gui/src/widgets/tool_path_modifiers/linear_approach_modifier_widget.cpp
index a2f301f7..4507edf3 100644
--- a/noether_gui/src/widgets/tool_path_modifiers/linear_approach_modifier_widget.cpp
+++ b/noether_gui/src/widgets/tool_path_modifiers/linear_approach_modifier_widget.cpp
@@ -73,7 +73,7 @@ void LinearApproachToolPathModifierWidget::configure(const YAML::Node& config)
 
 void LinearApproachToolPathModifierWidget::save(YAML::Node& config) const
 {
-  if(ui_->combo_box_menu->currentIndex() == 0)
+  if (ui_->combo_box_menu->currentIndex() == 0)
   {
     config[AXIS_KEY] = ui_->combo_box_axis->currentIndex();
     config[OFFSET_KEY] = ui_->double_spin_box_offset->value();
diff --git a/noether_tpp/src/tool_path_modifiers/linear_approach_modifier.cpp b/noether_tpp/src/tool_path_modifiers/linear_approach_modifier.cpp
index 69864317..e1d2c9ae 100644
--- a/noether_tpp/src/tool_path_modifiers/linear_approach_modifier.cpp
+++ b/noether_tpp/src/tool_path_modifiers/linear_approach_modifier.cpp
@@ -39,12 +39,12 @@ ToolPaths LinearApproachModifier::modify(ToolPaths tool_paths) const
       for (int i = 0; i < n_points_; i++)
       {
         Eigen::Isometry3d pt;
-        pt = offset_point * Eigen::Translation3d(-(offset_/(n_points_)*i));
+        pt = offset_point * Eigen::Translation3d(-(offset_ / (n_points_)*i));
         pt.linear() = segment.front().linear();
         new_segment.push_back(pt);
       }
 
-    segment.insert(segment.begin(), new_segment.begin(), new_segment.end());
+      segment.insert(segment.begin(), new_segment.begin(), new_segment.end());
     }
   }
 
diff --git a/noether_tpp/src/tool_path_planners/raster/plane_slicer_raster_planner.cpp b/noether_tpp/src/tool_path_planners/raster/plane_slicer_raster_planner.cpp
index 3d5e4e79..f2647803 100644
--- a/noether_tpp/src/tool_path_planners/raster/plane_slicer_raster_planner.cpp
+++ b/noether_tpp/src/tool_path_planners/raster/plane_slicer_raster_planner.cpp
@@ -448,9 +448,9 @@ ToolPaths PlaneSlicerRasterPlanner::planImpl(const pcl::PolygonMesh& mesh) const
   }
 
   // Use principal component analysis (PCA) to determine the principal axes of the mesh
-  Eigen::Vector3d mesh_normal; // Unit vector along shortest mesh PCA direction
-  Eigen::Matrix3d pca_vecs;  // Principal axes, scaled to the size of the mesh in each direction
-  Eigen::Vector3d centroid;  // Mesh centroid
+  Eigen::Vector3d mesh_normal;  // Unit vector along shortest mesh PCA direction
+  Eigen::Matrix3d pca_vecs;     // Principal axes, scaled to the size of the mesh in each direction
+  Eigen::Vector3d centroid;     // Mesh centroid
   {
     // Use Original PCL point cloud
     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());