diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/collision_checker.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/collision_checker.hpp
index 1a4b37dedd1481f3be7446bb97470686f479e414..39b236fa47f72e371fea212258447b578c22a76f 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/collision_checker.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/collision_checker.hpp
@@ -46,7 +46,7 @@ public:
     std::shared_ptr<FootprintSubscriber> footprint_sub,
     tf2_ros::Buffer & tf_buffer,
     std::string name = "collision_checker");
-  
+
   ~CollisionChecker();
 
   double scorePose(
@@ -70,7 +70,7 @@ protected:
   rclcpp::Node::SharedPtr node_;
   std::string name_;
   std::shared_ptr<CostmapSubscriber> costmap_sub_;
-  std::shared_ptr<FootprintSubscriber> footprint_sub_;  
+  std::shared_ptr<FootprintSubscriber> footprint_sub_;
 };
 }  // namespace nav2_costmap_2d
 
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp
index cd14eb099433f5bbbf4ac4113da8d6794ed588d9..592561bfe1328ab8f994d2d5c99bc3a0e11ee7fb 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp
@@ -133,7 +133,7 @@ private:
   rclcpp_lifecycle::LifecyclePublisher<nav2_msgs::msg::Costmap>::SharedPtr costmap_raw_pub_;
 
   nav_msgs::msg::OccupancyGrid grid_;
-  nav2_msgs::msg::Costmap costmap_raw_;  
+  nav2_msgs::msg::Costmap costmap_raw_;
   // Translate from 0-255 values in costmap to -1 to 100 values in message.
   static char * cost_translation_table_;
 };
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_subscriber.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_subscriber.hpp
index a9686fb4f27b1007f8288dd1e64adbee60716f68..77203c5934fef9a03c1dca2cc2658aaeb5c213c1 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_subscriber.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_subscriber.hpp
@@ -32,7 +32,7 @@ public:
     std::string & topic_name);
   ~CostmapSubscriber() {}
 
-Costmap2D * getCostmap();
+  Costmap2D * getCostmap();
 
 protected:
   void toCostmap2D();
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/footprint_subscriber.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/footprint_subscriber.hpp
index 25dbdf24a06a6d6bd7230add115d7f983d428601..e4f6e2bc97dd32a45123d4c2792f3792902fcdad 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/footprint_subscriber.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/footprint_subscriber.hpp
@@ -31,7 +31,7 @@ public:
     std::string & topic_name);
   ~FootprintSubscriber() {}
 
-bool getFootprint(std::vector<geometry_msgs::msg::Point> & footprint);
+  bool getFootprint(std::vector<geometry_msgs::msg::Point> & footprint);
 
 protected:
   void footprint_callback(const geometry_msgs::msg::PolygonStamped::SharedPtr msg);
diff --git a/nav2_costmap_2d/src/collision_checker.cpp b/nav2_costmap_2d/src/collision_checker.cpp
index 0cef719932741cb8362bb531990920a006b6fb96..2566d3e45a790ca505b711d9ddd305a5fd1c639f 100644
--- a/nav2_costmap_2d/src/collision_checker.cpp
+++ b/nav2_costmap_2d/src/collision_checker.cpp
@@ -40,7 +40,7 @@ CollisionChecker::CollisionChecker(
 CollisionChecker::~CollisionChecker() {}
 
 bool CollisionChecker::isCollisionFree(
-const geometry_msgs::msg::Pose2D & pose)
+  const geometry_msgs::msg::Pose2D & pose)
 {
   try {
     if (scorePose(pose) < 0) {
@@ -57,7 +57,7 @@ const geometry_msgs::msg::Pose2D & pose)
 }
 
 double CollisionChecker::scorePose(
-const geometry_msgs::msg::Pose2D & pose)
+  const geometry_msgs::msg::Pose2D & pose)
 {
   Costmap2D * costmap_;
   try {
@@ -107,13 +107,13 @@ const geometry_msgs::msg::Pose2D & pose)
   // we also need to connect the first point in the footprint to the last point
   // get the cell coord of the last point
   if (!costmap_->worldToMap(footprint.back().x, footprint.back().y, x0, y0)) {
-      RCLCPP_DEBUG(node_->get_logger(), "Map Cell: [%d, %d]", x0, y0);
+    RCLCPP_DEBUG(node_->get_logger(), "Map Cell: [%d, %d]", x0, y0);
     throw IllegalPoseException(name_, "Footprint Goes Off Grid.");
   }
 
   // get the cell coord of the first point
   if (!costmap_->worldToMap(footprint.front().x, footprint.front().y, x1, y1)) {
-      RCLCPP_DEBUG(node_->get_logger(), "Map Cell: [%d, %d]", x1, y1);
+    RCLCPP_DEBUG(node_->get_logger(), "Map Cell: [%d, %d]", x1, y1);
     throw IllegalPoseException(name_, "Footprint Goes Off Grid.");
   }
 
@@ -193,7 +193,7 @@ void CollisionChecker::unorientFootprint(
   std::vector<geometry_msgs::msg::Point> & reset_footprint)
 {
   geometry_msgs::msg::PoseStamped current_pose;
-   if (!getRobotPose(current_pose)) {
+  if (!getRobotPose(current_pose)) {
     throw CollisionCheckerException("Robot pose unavailable.");
   }
 
@@ -207,4 +207,3 @@ void CollisionChecker::unorientFootprint(
 }
 
 }  // namespace nav2_costmap_2d
-
diff --git a/nav2_costmap_2d/src/costmap_subscriber.cpp b/nav2_costmap_2d/src/costmap_subscriber.cpp
index c4bed17c2ff59120cc09ea2c3f4f2aee0e1f6620..f03bf8434db1254ca122088dc42932b85ea16ba1 100644
--- a/nav2_costmap_2d/src/costmap_subscriber.cpp
+++ b/nav2_costmap_2d/src/costmap_subscriber.cpp
@@ -43,16 +43,16 @@ void CostmapSubscriber::toCostmap2D()
 {
   if (!costmap_received_) {
     costmap_ = new Costmap2D(
-    msg_->metadata.size_x, msg_->metadata.size_y,
-    msg_->metadata.resolution, msg_->metadata.origin.position.x,
-    msg_->metadata.origin.position.y);
+      msg_->metadata.size_x, msg_->metadata.size_y,
+      msg_->metadata.resolution, msg_->metadata.origin.position.x,
+      msg_->metadata.origin.position.y);
   } else if (costmap_->getSizeInCellsX() != msg_->metadata.size_x ||
     costmap_->getSizeInCellsY() != msg_->metadata.size_y ||
     costmap_->getResolution() != msg_->metadata.resolution ||
     costmap_->getOriginX() != msg_->metadata.origin.position.x ||
     costmap_->getOriginY() != msg_->metadata.origin.position.y)
   {
-    // Update the size of the costmap 
+    // Update the size of the costmap
     costmap_->resizeMap(msg_->metadata.size_x, msg_->metadata.size_y,
       msg_->metadata.resolution,
       msg_->metadata.origin.position.x,
@@ -61,7 +61,7 @@ void CostmapSubscriber::toCostmap2D()
 
   unsigned char * master_array = costmap_->getCharMap();
   unsigned int index = 0;
-  for (unsigned int i = 0; i <  msg_->metadata.size_x; ++i) {
+  for (unsigned int i = 0; i < msg_->metadata.size_x; ++i) {
     for (unsigned int j = 0; j < msg_->metadata.size_y; ++j) {
       master_array[index] = msg_->data[index];
       ++index;
@@ -79,4 +79,3 @@ void CostmapSubscriber::costmap_callback(const nav2_msgs::msg::Costmap::SharedPt
 }
 
 }  // namespace nav2_costmap_2d
-
diff --git a/nav2_costmap_2d/src/footprint_subscriber.cpp b/nav2_costmap_2d/src/footprint_subscriber.cpp
index aca500b881220979a33b6aac1e0c8962ce791148..3f75cec12b09640b88899a2efa8f56de8fa6ccc3 100644
--- a/nav2_costmap_2d/src/footprint_subscriber.cpp
+++ b/nav2_costmap_2d/src/footprint_subscriber.cpp
@@ -50,4 +50,3 @@ FootprintSubscriber::footprint_callback(const geometry_msgs::msg::PolygonStamped
 }
 
 }  // namespace nav2_costmap_2d
-
diff --git a/nav2_costmap_2d/test/integration/test_collision_checker.cpp b/nav2_costmap_2d/test/integration/test_collision_checker.cpp
index 79eaa2db27dcdc4a8e4cd1f77b4f2864bfd03f9b..4689e691ee822692868b8f70806f406350a28a28 100644
--- a/nav2_costmap_2d/test/integration/test_collision_checker.cpp
+++ b/nav2_costmap_2d/test/integration/test_collision_checker.cpp
@@ -72,24 +72,23 @@ public:
 
     costmap_pub_ = std::make_unique<nav2_costmap_2d::Costmap2DPublisher>(node_,
         layers_.getCostmap(), global_frame_, "costmap", true);
-    
+
     publish();
   }
 
   ~TestCollisionChecker() {}
 
-  bool testPose(double x,double y, double theta)
+  bool testPose(double x, double y, double theta)
   {
     geometry_msgs::msg::Pose2D pose;
     pose.x = x;
     pose.y = y;
     pose.theta = theta;
 
-    setPose(x,y,theta);
+    setPose(x, y, theta);
     costmap_received_ = false;
 
-    while(!costmap_received_)
-    {
+    while (!costmap_received_) {
       rclcpp::spin_some(node_);
     }
 
@@ -129,19 +128,19 @@ protected:
 
   void publish()
   {
-    auto timer_callback = [this]() -> void 
-    {
-      try {
-        costmap_sub_->getCostmap();
-        costmap_received_ = true;
-      } catch (const std::runtime_error & e) {
-        costmap_received_ = false;
-      }
+    auto timer_callback = [this]() -> void
+      {
+        try {
+          costmap_sub_->getCostmap();
+          costmap_received_ = true;
+        } catch (const std::runtime_error & e) {
+          costmap_received_ = false;
+        }
         publishFootprint();
         publishCostmap();
-    };
+      };
 
-    timer_ = node_->create_wall_timer(0.1s, timer_callback);     
+    timer_ = node_->create_wall_timer(0.1s, timer_callback);
   }
 
   void publishFootprint()
@@ -180,7 +179,7 @@ public:
 
     node_ = rclcpp::Node::make_shared(
       "test_collision_checker", nav2_util::get_node_options_default());
-    
+
     tf_buffer_ = std::make_shared<tf2_ros::Buffer>(node_->get_clock());
     tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
 
@@ -189,7 +188,8 @@ public:
     costmap_sub_ = std::make_shared<nav2_costmap_2d::CostmapSubscriber>(node_, costmap_topic);
     footprint_sub_ = std::make_shared<nav2_costmap_2d::FootprintSubscriber>(node_, footprint_topic);
 
-    collision_checker_ = std::make_unique<TestCollisionChecker>(node_, costmap_sub_, footprint_sub_, *tf_buffer_);
+    collision_checker_ = std::make_unique<TestCollisionChecker>(node_, costmap_sub_, footprint_sub_,
+        *tf_buffer_);
   }
 
   ~TestNode() {}
diff --git a/nav2_dwb_controller/dwb_critics/CMakeLists.txt b/nav2_dwb_controller/dwb_critics/CMakeLists.txt
index 353b9941c953cd134fcd3038f12dd24d89cd2481..c7187363581ba73970b4aa1e927de45a48286df7 100644
--- a/nav2_dwb_controller/dwb_critics/CMakeLists.txt
+++ b/nav2_dwb_controller/dwb_critics/CMakeLists.txt
@@ -71,14 +71,10 @@ if(BUILD_TESTING)
   # the following line skips the linter which checks for copyrights
   set(ament_cmake_copyright_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
-  find_package(ament_cmake_pytest REQUIRED)
-  find_package(ament_cmake_gtest REQUIRED)
 endif()
 
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
-
-
 ament_export_dependencies(
   ${dependencies}
 )