diff --git a/velodyne_pointcloud/include/velodyne_pointcloud/convert.h b/velodyne_pointcloud/include/velodyne_pointcloud/convert.h
index dccf323b6..a6a8d1e97 100644
--- a/velodyne_pointcloud/include/velodyne_pointcloud/convert.h
+++ b/velodyne_pointcloud/include/velodyne_pointcloud/convert.h
@@ -40,6 +40,8 @@
 #define VELODYNE_POINTCLOUD_CONVERT_H
 
 #include <string>
+#include <utility>
+#include <map>
 
 #include <ros/ros.h>
 #include <diagnostic_updater/diagnostic_updater.h>
@@ -76,14 +78,16 @@ class Convert
 
     bool container_configured_ = false;
 
-    enum Container{
+    enum Container
+    {
       PointCloudXYZIR,
       PointCloudXYZIRT,
       OrganizedPointCloudXYZIR,
       OrganizedPointCloudXYZIRT
     };
 
-    std::map<std::string, Container> container_names_{
+    std::map<std::string, Container> container_names_
+    {
       {"PointCloudXYZIR", Container::PointCloudXYZIR},
       {"PointCloudXYZIRT", Container::PointCloudXYZIRT},
       {"OrganizedPointCloudXYZIR", Container::OrganizedPointCloudXYZIR},
@@ -91,7 +95,8 @@ class Convert
     };
 
     const std::pair<std::string, uint8_t> default_container_ = {"PointCloudXYZIR", PointCloudXYZIR};
-    const std::pair<std::string, uint8_t> default_organized_container_ = {"OrganizedPointCloudXYZIR", OrganizedPointCloudXYZIR};
+    const std::pair<std::string, uint8_t> default_organized_container_ =
+        {"OrganizedPointCloudXYZIR", OrganizedPointCloudXYZIR};
 
     boost::shared_ptr<velodyne_rawdata::DataContainerBase> getContainer(uint8_t container_id);
 
diff --git a/velodyne_pointcloud/include/velodyne_pointcloud/point_types.h b/velodyne_pointcloud/include/velodyne_pointcloud/point_types.h
index 62a8fee61..613be32fd 100644
--- a/velodyne_pointcloud/include/velodyne_pointcloud/point_types.h
+++ b/velodyne_pointcloud/include/velodyne_pointcloud/point_types.h
@@ -16,25 +16,26 @@
  *  @author Piyush Khandelwal
  */
 
-#ifndef __VELODYNE_POINTCLOUD_POINT_TYPES_H
-#define __VELODYNE_POINTCLOUD_POINT_TYPES_H
+#ifndef VELODYNE_POINTCLOUD_POINT_TYPES_H
+#define VELODYNE_POINTCLOUD_POINT_TYPES_H
 
 #include <pcl/point_types.h>
 
 namespace velodyne_pointcloud
 {
-  /** Euclidean Velodyne coordinate, including intensity and ring number. */
-  struct PointXYZIR
-  {
-    float x;                         ///< x coord
-    float y;                         ///< y coord
-    float z;                         ///< z coord
-    float intensity;                 ///< laser intensity reading
-    uint16_t ring;                   ///< laser ring number
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW     // ensure proper alignment
-  } EIGEN_ALIGN16;
+/** Euclidean Velodyne coordinate, including intensity and ring number. */
+struct PointXYZIR
+{
+  float x;                         ///< x coord
+  float y;                         ///< y coord
+  float z;                         ///< z coord
+  float intensity;                 ///< laser intensity reading
+  uint16_t ring;                   ///< laser ring number
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW  // ensure proper alignment
+}
+EIGEN_ALIGN16;
 
-}; // namespace velodyne_pointcloud
+};  // namespace velodyne_pointcloud
 
 
 POINT_CLOUD_REGISTER_POINT_STRUCT(velodyne_pointcloud::PointXYZIR,
@@ -44,5 +45,4 @@ POINT_CLOUD_REGISTER_POINT_STRUCT(velodyne_pointcloud::PointXYZIR,
                                   (float, intensity, intensity)
                                   (uint16_t, ring, ring))
 
-#endif // __VELODYNE_POINTCLOUD_POINT_TYPES_H
-
+#endif  // VELODYNE_POINTCLOUD_POINT_TYPES_H
diff --git a/velodyne_pointcloud/include/velodyne_pointcloud/transform.h b/velodyne_pointcloud/include/velodyne_pointcloud/transform.h
index 92c17ea3a..5a7ec4a59 100644
--- a/velodyne_pointcloud/include/velodyne_pointcloud/transform.h
+++ b/velodyne_pointcloud/include/velodyne_pointcloud/transform.h
@@ -41,6 +41,9 @@
 #define VELODYNE_POINTCLOUD_TRANSFORM_H
 
 #include <string>
+#include <utility>
+#include <map>
+
 #include <ros/ros.h>
 #include "tf/message_filter.h"
 #include "message_filters/subscriber.h"
@@ -85,22 +88,25 @@ class Transform
 
   bool container_configured_ = false;
 
-  enum Container{
+  enum Container
+  {
     PointCloudXYZIR,
     PointCloudXYZIRT,
     OrganizedPointCloudXYZIR,
     OrganizedPointCloudXYZIRT
   };
 
-  std::map<std::string, Container> container_names_{
-      {"PointCloudXYZIR", Container::PointCloudXYZIR},
-      {"PointCloudXYZIRT", Container::PointCloudXYZIRT},
-      {"OrganizedPointCloudXYZIR", Container::OrganizedPointCloudXYZIR},
-      {"OrganizedPointCloudXYZIRT", Container::OrganizedPointCloudXYZIRT}
+  std::map<std::string, Container> container_names_
+  {
+    {"PointCloudXYZIR", Container::PointCloudXYZIR},
+    {"PointCloudXYZIRT", Container::PointCloudXYZIRT},
+    {"OrganizedPointCloudXYZIR", Container::OrganizedPointCloudXYZIR},
+    {"OrganizedPointCloudXYZIRT", Container::OrganizedPointCloudXYZIRT}
   };
 
   const std::pair<std::string, uint8_t> default_container_ = {"PointCloudXYZIR", PointCloudXYZIR};
-  const std::pair<std::string, uint8_t> default_organized_container_ = {"OrganizedPointCloudXYZIR", OrganizedPointCloudXYZIR};
+  const std::pair<std::string, uint8_t> default_organized_container_ =
+      {"OrganizedPointCloudXYZIR", OrganizedPointCloudXYZIR};
 
   boost::shared_ptr<velodyne_rawdata::DataContainerBase> getContainer(uint8_t container_id);