diff --git a/include/web_video_server/h264_streamer.hpp b/include/web_video_server/h264_streamer.hpp
index b86b8f4..1404612 100644
--- a/include/web_video_server/h264_streamer.hpp
+++ b/include/web_video_server/h264_streamer.hpp
@@ -27,10 +27,12 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#ifndef H264_STREAMERS_H_
-#define H264_STREAMERS_H_
+#ifndef WEB_VIDEO_SERVER__H264_STREAMER_HPP_
+#define WEB_VIDEO_SERVER__H264_STREAMER_HPP_
 
-#include <image_transport/image_transport.hpp>
+#include <string>
+
+#include "image_transport/image_transport.hpp"
 #include "web_video_server/libav_streamer.hpp"
 #include "async_web_server_cpp/http_request.hpp"
 #include "async_web_server_cpp/http_connection.hpp"
@@ -62,6 +64,6 @@ class H264StreamerType : public LibavStreamerType
     rclcpp::Node::SharedPtr node);
 };
 
-}
+}  // namespace web_video_server
 
-#endif
+#endif  // WEB_VIDEO_SERVER__H264_STREAMER_HPP_
diff --git a/include/web_video_server/image_streamer.hpp b/include/web_video_server/image_streamer.hpp
index 4961b05..6fab819 100644
--- a/include/web_video_server/image_streamer.hpp
+++ b/include/web_video_server/image_streamer.hpp
@@ -28,13 +28,16 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#ifndef IMAGE_STREAMER_H_
-#define IMAGE_STREAMER_H_
+#ifndef WEB_VIDEO_SERVER__IMAGE_STREAMER_HPP_
+#define WEB_VIDEO_SERVER__IMAGE_STREAMER_HPP_
+
+#include <string>
 
-#include <rclcpp/rclcpp.hpp>
-#include <image_transport/image_transport.hpp>
-#include <image_transport/transport_hints.hpp>
 #include <opencv2/opencv.hpp>
+
+#include "rclcpp/rclcpp.hpp"
+#include "image_transport/image_transport.hpp"
+#include "image_transport/transport_hints.hpp"
 #include "web_video_server/utils.hpp"
 #include "async_web_server_cpp/http_server.hpp"
 #include "async_web_server_cpp/http_request.hpp"
@@ -124,6 +127,6 @@ class ImageStreamerType
   virtual std::string create_viewer(const async_web_server_cpp::HttpRequest & request) = 0;
 };
 
-}
+}  // namespace web_video_server
 
-#endif
+#endif  // WEB_VIDEO_SERVER__IMAGE_STREAMER_HPP_
diff --git a/include/web_video_server/jpeg_streamers.hpp b/include/web_video_server/jpeg_streamers.hpp
index 9aace76..5f7cb10 100644
--- a/include/web_video_server/jpeg_streamers.hpp
+++ b/include/web_video_server/jpeg_streamers.hpp
@@ -28,10 +28,12 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#ifndef JPEG_STREAMERS_H_
-#define JPEG_STREAMERS_H_
+#ifndef WEB_VIDEO_SERVER__JPEG_STREAMERS_HPP_
+#define WEB_VIDEO_SERVER__JPEG_STREAMERS_HPP_
 
-#include <image_transport/image_transport.hpp>
+#include <string>
+
+#include "image_transport/image_transport.hpp"
 #include "web_video_server/image_streamer.hpp"
 #include "async_web_server_cpp/http_request.hpp"
 #include "async_web_server_cpp/http_connection.hpp"
@@ -82,6 +84,6 @@ class JpegSnapshotStreamer : public ImageTransportImageStreamer
   int quality_;
 };
 
-}
+}  // namespace web_video_server
 
-#endif
+#endif  // WEB_VIDEO_SERVER__JPEG_STREAMERS_HPP_
diff --git a/include/web_video_server/libav_streamer.hpp b/include/web_video_server/libav_streamer.hpp
index d901ada..b157d2f 100644
--- a/include/web_video_server/libav_streamer.hpp
+++ b/include/web_video_server/libav_streamer.hpp
@@ -28,13 +28,8 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#ifndef LIBAV_STREAMERS_H_
-#define LIBAV_STREAMERS_H_
-
-#include <image_transport/image_transport.hpp>
-#include "web_video_server/image_streamer.hpp"
-#include "async_web_server_cpp/http_request.hpp"
-#include "async_web_server_cpp/http_connection.hpp"
+#ifndef WEB_VIDEO_SERVER__LIBAV_STREAMER_HPP_
+#define WEB_VIDEO_SERVER__LIBAV_STREAMER_HPP_
 
 extern "C"
 {
@@ -48,6 +43,13 @@ extern "C"
 #include <libavutil/imgutils.h>
 }
 
+#include <string>
+
+#include "image_transport/image_transport.hpp"
+#include "web_video_server/image_streamer.hpp"
+#include "async_web_server_cpp/http_request.hpp"
+#include "async_web_server_cpp/http_connection.hpp"
+
 namespace web_video_server
 {
 
@@ -110,6 +112,6 @@ class LibavStreamerType : public ImageStreamerType
   const std::string content_type_;
 };
 
-}
+}  // namespace web_video_server
 
-#endif
+#endif  // WEB_VIDEO_SERVER__LIBAV_STREAMER_HPP_
diff --git a/include/web_video_server/multipart_stream.hpp b/include/web_video_server/multipart_stream.hpp
index 5a6bee0..419c473 100644
--- a/include/web_video_server/multipart_stream.hpp
+++ b/include/web_video_server/multipart_stream.hpp
@@ -28,13 +28,16 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#ifndef MULTIPART_STREAM_H_
-#define MULTIPART_STREAM_H_
-
-#include <rclcpp/rclcpp.hpp>
-#include <async_web_server_cpp/http_connection.hpp>
+#ifndef WEB_VIDEO_SERVER__MULTIPART_STREAM_HPP_
+#define WEB_VIDEO_SERVER__MULTIPART_STREAM_HPP_
 
 #include <queue>
+#include <memory>
+#include <vector>
+#include <string>
+
+#include "rclcpp/rclcpp.hpp"
+#include "async_web_server_cpp/http_connection.hpp"
 
 namespace web_video_server
 {
@@ -75,6 +78,6 @@ class MultipartStream
   std::queue<PendingFooter> pending_footers_;
 };
 
-}
+}  // namespace web_video_server
 
-#endif
+#endif  // WEB_VIDEO_SERVER__MULTIPART_STREAM_HPP_
diff --git a/include/web_video_server/png_streamers.hpp b/include/web_video_server/png_streamers.hpp
index a7fd0e0..1c38cd4 100644
--- a/include/web_video_server/png_streamers.hpp
+++ b/include/web_video_server/png_streamers.hpp
@@ -27,10 +27,12 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#ifndef PNG_STREAMERS_H_
-#define PNG_STREAMERS_H_
+#ifndef WEB_VIDEO_SERVER__PNG_STREAMERS_HPP_
+#define WEB_VIDEO_SERVER__PNG_STREAMERS_HPP_
 
-#include <image_transport/image_transport.hpp>
+#include <string>
+
+#include "image_transport/image_transport.hpp"
 #include "web_video_server/image_streamer.hpp"
 #include "async_web_server_cpp/http_request.hpp"
 #include "async_web_server_cpp/http_connection.hpp"
@@ -83,6 +85,6 @@ class PngSnapshotStreamer : public ImageTransportImageStreamer
   int quality_;
 };
 
-}
+}  // namespace web_video_server
 
-#endif
+#endif  // WEB_VIDEO_SERVER__PNG_STREAMERS_HPP_
diff --git a/include/web_video_server/ros_compressed_streamer.hpp b/include/web_video_server/ros_compressed_streamer.hpp
index cef746d..df306ac 100644
--- a/include/web_video_server/ros_compressed_streamer.hpp
+++ b/include/web_video_server/ros_compressed_streamer.hpp
@@ -28,10 +28,12 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#ifndef ROS_COMPRESSED_STREAMERS_H_
-#define ROS_COMPRESSED_STREAMERS_H_
+#ifndef WEB_VIDEO_SERVER__ROS_COMPRESSED_STREAMER_HPP_
+#define WEB_VIDEO_SERVER__ROS_COMPRESSED_STREAMER_HPP_
 
-#include <sensor_msgs/msg/compressed_image.hpp>
+#include <string>
+
+#include "sensor_msgs/msg/compressed_image.hpp"
 #include "web_video_server/image_streamer.hpp"
 #include "async_web_server_cpp/http_request.hpp"
 #include "async_web_server_cpp/http_connection.hpp"
@@ -76,6 +78,6 @@ class RosCompressedStreamerType : public ImageStreamerType
   std::string create_viewer(const async_web_server_cpp::HttpRequest & request);
 };
 
-}
+}  // namespace web_video_server
 
-#endif
+#endif  // WEB_VIDEO_SERVER__ROS_COMPRESSED_STREAMER_HPP_
diff --git a/include/web_video_server/vp8_streamer.hpp b/include/web_video_server/vp8_streamer.hpp
index 59a8b56..d271804 100644
--- a/include/web_video_server/vp8_streamer.hpp
+++ b/include/web_video_server/vp8_streamer.hpp
@@ -28,10 +28,12 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#ifndef VP8_STREAMERS_H_
-#define VP8_STREAMERS_H_
+#ifndef WEB_VIDEO_SERVER__VP8_STREAMER_HPP_
+#define WEB_VIDEO_SERVER__VP8_STREAMER_HPP_
 
-#include <image_transport/image_transport.hpp>
+#include <string>
+
+#include "image_transport/image_transport.hpp"
 #include "web_video_server/libav_streamer.hpp"
 #include "async_web_server_cpp/http_request.hpp"
 #include "async_web_server_cpp/http_connection.hpp"
@@ -65,6 +67,6 @@ class Vp8StreamerType : public LibavStreamerType
     rclcpp::Node::SharedPtr node);
 };
 
-}
+}  // namespace web_video_server
 
-#endif
+#endif  // WEB_VIDEO_SERVER__VP8_STREAMER_HPP_
diff --git a/include/web_video_server/vp9_streamer.hpp b/include/web_video_server/vp9_streamer.hpp
index c81193d..9642eda 100644
--- a/include/web_video_server/vp9_streamer.hpp
+++ b/include/web_video_server/vp9_streamer.hpp
@@ -27,10 +27,10 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#ifndef VP9_STREAMERS_H_
-#define VP9_STREAMERS_H_
+#ifndef WEB_VIDEO_SERVER__VP9_STREAMER_HPP_
+#define WEB_VIDEO_SERVER__VP9_STREAMER_HPP_
 
-#include <image_transport/image_transport.hpp>
+#include "image_transport/image_transport.hpp"
 #include "web_video_server/libav_streamer.hpp"
 #include "async_web_server_cpp/http_request.hpp"
 #include "async_web_server_cpp/http_connection.hpp"
@@ -61,6 +61,6 @@ class Vp9StreamerType : public LibavStreamerType
     rclcpp::Node::SharedPtr node);
 };
 
-}
+}  // namespace web_video_server
 
-#endif
+#endif  // WEB_VIDEO_SERVER__VP9_STREAMER_HPP_
diff --git a/include/web_video_server/web_video_server.hpp b/include/web_video_server/web_video_server.hpp
index 079576b..db7d893 100644
--- a/include/web_video_server/web_video_server.hpp
+++ b/include/web_video_server/web_video_server.hpp
@@ -28,18 +28,20 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#ifndef WEB_VIDEO_SERVER_H_
-#define WEB_VIDEO_SERVER_H_
+#ifndef WEB_VIDEO_SERVER__WEB_VIDEO_SERVER_HPP_
+#define WEB_VIDEO_SERVER__WEB_VIDEO_SERVER_HPP_
 
-#include <rclcpp/rclcpp.hpp>
+#include <map>
+#include <string>
+#include <vector>
 
 #ifdef CV_BRIDGE_USES_OLD_HEADERS
-#include <cv_bridge/cv_bridge.h>
+#include "cv_bridge/cv_bridge.h"
 #else
-#include <cv_bridge/cv_bridge.hpp>
+#include "cv_bridge/cv_bridge.hpp"
 #endif
 
-#include <vector>
+#include "rclcpp/rclcpp.hpp"
 #include "web_video_server/image_streamer.hpp"
 #include "async_web_server_cpp/http_server.hpp"
 #include "async_web_server_cpp/http_request.hpp"
@@ -59,7 +61,7 @@ class WebVideoServer
    * @brief  Constructor
    * @return
    */
-  WebVideoServer(rclcpp::Node::SharedPtr & node);
+  explicit WebVideoServer(rclcpp::Node::SharedPtr & node);
 
   /**
    * @brief  Destructor - Cleans up
@@ -121,6 +123,6 @@ class WebVideoServer
   boost::mutex subscriber_mutex_;
 };
 
-}
+}  // namespace web_video_server
 
-#endif
+#endif  // WEB_VIDEO_SERVER__WEB_VIDEO_SERVER_HPP_
diff --git a/src/h264_streamer.cpp b/src/h264_streamer.cpp
index 6de456e..6e195de 100644
--- a/src/h264_streamer.cpp
+++ b/src/h264_streamer.cpp
@@ -77,4 +77,4 @@ boost::shared_ptr<ImageStreamer> H264StreamerType::create_streamer(
   return boost::shared_ptr<ImageStreamer>(new H264Streamer(request, connection, node));
 }
 
-}
+}  // namespace web_video_server
diff --git a/src/image_streamer.cpp b/src/image_streamer.cpp
index 8dae324..952394d 100644
--- a/src/image_streamer.cpp
+++ b/src/image_streamer.cpp
@@ -118,7 +118,8 @@ void ImageTransportImageStreamer::restreamFrame(double max_age)
   try {
     if (last_frame + rclcpp::Duration::from_seconds(max_age) < node_->now() ) {
       boost::mutex::scoped_lock lock(send_mutex_);
-      sendImage(output_size_image, node_->now() ); // don't update last_frame, it may remain an old value.
+      // don't update last_frame, it may remain an old value.
+      sendImage(output_size_image, node_->now());
     }
   } catch (boost::system::system_error & e) {
     // happens when client disconnects
@@ -183,7 +184,7 @@ void ImageTransportImageStreamer::imageCallback(const sensor_msgs::msg::Image::C
       cv::flip(img, img, true);
     }
 
-    boost::mutex::scoped_lock lock(send_mutex_); // protects output_size_image
+    boost::mutex::scoped_lock lock(send_mutex_);  // protects output_size_image
     if (output_width_ != input_width || output_height_ != input_height) {
       cv::Mat img_resized;
       cv::Size new_size(output_width_, output_height_);
@@ -228,4 +229,4 @@ void ImageTransportImageStreamer::imageCallback(const sensor_msgs::msg::Image::C
   }
 }
 
-}
+}  // namespace web_video_server
diff --git a/src/jpeg_streamers.cpp b/src/jpeg_streamers.cpp
index f2fcfe4..55c0f17 100644
--- a/src/jpeg_streamers.cpp
+++ b/src/jpeg_streamers.cpp
@@ -47,7 +47,7 @@ MjpegStreamer::MjpegStreamer(
 MjpegStreamer::~MjpegStreamer()
 {
   this->inactive_ = true;
-  boost::mutex::scoped_lock lock(send_mutex_); // protects sendImage.
+  boost::mutex::scoped_lock lock(send_mutex_);  // protects sendImage.
 }
 
 void MjpegStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & time)
@@ -91,7 +91,7 @@ JpegSnapshotStreamer::JpegSnapshotStreamer(
 JpegSnapshotStreamer::~JpegSnapshotStreamer()
 {
   this->inactive_ = true;
-  boost::mutex::scoped_lock lock(send_mutex_); // protects sendImage.
+  boost::mutex::scoped_lock lock(send_mutex_);  // protects sendImage.
 }
 
 void JpegSnapshotStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & time)
@@ -104,7 +104,7 @@ void JpegSnapshotStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & t
   cv::imencode(".jpeg", img, encoded_buffer, encode_params);
 
   char stamp[20];
-  sprintf(stamp, "%.06lf", time.seconds());
+  snprintf(stamp, sizeof(stamp), "%.06lf", time.seconds());
   async_web_server_cpp::HttpReply::builder(async_web_server_cpp::HttpReply::ok)
   .header("Connection", "close")
   .header("Server", "web_video_server")
@@ -121,4 +121,4 @@ void JpegSnapshotStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & t
   inactive_ = true;
 }
 
-}
+}  // namespace web_video_server
diff --git a/src/libav_streamer.cpp b/src/libav_streamer.cpp
index 697ca5d..978db8f 100644
--- a/src/libav_streamer.cpp
+++ b/src/libav_streamer.cpp
@@ -31,7 +31,7 @@
 #include "web_video_server/libav_streamer.hpp"
 #include "async_web_server_cpp/http_reply.hpp"
 
-/*https://stackoverflow.com/questions/46884682/error-in-building-opencv-with-ffmpeg*/
+// https://stackoverflow.com/questions/46884682/error-in-building-opencv-with-ffmpeg
 #define AV_CODEC_FLAG_GLOBAL_HEADER (1 << 22)
 #define CODEC_FLAG_GLOBAL_HEADER AV_CODEC_FLAG_GLOBAL_HEADER
 
@@ -84,7 +84,7 @@ static int dispatch_output_packet(void * opaque, uint8_t * buffer, int buffer_si
   std::vector<uint8_t> encoded_frame;
   encoded_frame.assign(buffer, buffer + buffer_size);
   connection->write_and_clear(encoded_frame);
-  return 0; // TODO: can this fail?
+  return 0;  // TODO: can this fail?
 }
 
 void LibavStreamer::initialize(const cv::Mat & img)
@@ -120,7 +120,7 @@ void LibavStreamer::initialize(const cv::Mat & img)
   format_context_->max_interleave_delta = 0;
 
   // Load codec
-  if (codec_name_.empty()) { // use default codec if none specified
+  if (codec_name_.empty()) {  // use default codec if none specified
     codec_ = avcodec_find_encoder(format_context_->oformat->video_codec);
   } else {
     codec_ = avcodec_find_encoder_by_name(codec_name_.c_str());
@@ -321,4 +321,4 @@ std::string LibavStreamerType::create_viewer(const async_web_server_cpp::HttpReq
   return ss.str();
 }
 
-}
+}  // namespace web_video_server
diff --git a/src/multipart_stream.cpp b/src/multipart_stream.cpp
index e8e46f4..86ccbfc 100644
--- a/src/multipart_stream.cpp
+++ b/src/multipart_stream.cpp
@@ -62,7 +62,7 @@ void MultipartStream::sendPartHeader(
   size_t payload_size)
 {
   char stamp[20];
-  sprintf(stamp, "%.06lf", time.seconds());
+  snprintf(stamp, sizeof(stamp), "%.06lf", time.seconds());
   std::shared_ptr<std::vector<async_web_server_cpp::HttpHeader>> headers(
     new std::vector<async_web_server_cpp::HttpHeader>());
   headers->push_back(async_web_server_cpp::HttpHeader("Content-type", type));
@@ -125,4 +125,4 @@ bool MultipartStream::isBusy()
   return !(max_queue_size_ == 0 || pending_footers_.size() < max_queue_size_);
 }
 
-}
+}  // namespace web_video_server
diff --git a/src/png_streamers.cpp b/src/png_streamers.cpp
index 72e6155..8c29183 100644
--- a/src/png_streamers.cpp
+++ b/src/png_streamers.cpp
@@ -52,7 +52,7 @@ PngStreamer::PngStreamer(
 PngStreamer::~PngStreamer()
 {
   this->inactive_ = true;
-  boost::mutex::scoped_lock lock(send_mutex_); // protects sendImage.
+  boost::mutex::scoped_lock lock(send_mutex_);  // protects sendImage.
 }
 
 cv::Mat PngStreamer::decodeImage(const sensor_msgs::msg::Image::ConstSharedPtr & msg)
@@ -107,7 +107,7 @@ PngSnapshotStreamer::PngSnapshotStreamer(
 PngSnapshotStreamer::~PngSnapshotStreamer()
 {
   this->inactive_ = true;
-  boost::mutex::scoped_lock lock(send_mutex_); // protects sendImage.
+  boost::mutex::scoped_lock lock(send_mutex_);  // protects sendImage.
 }
 
 cv::Mat PngSnapshotStreamer::decodeImage(const sensor_msgs::msg::Image::ConstSharedPtr & msg)
@@ -131,7 +131,7 @@ void PngSnapshotStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & ti
   cv::imencode(".png", img, encoded_buffer, encode_params);
 
   char stamp[20];
-  sprintf(stamp, "%.06lf", time.seconds());
+  snprintf(stamp, sizeof(stamp), "%.06lf", time.seconds());
   async_web_server_cpp::HttpReply::builder(async_web_server_cpp::HttpReply::ok)
   .header("Connection", "close")
   .header("Server", "web_video_server")
@@ -148,4 +148,4 @@ void PngSnapshotStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & ti
   inactive_ = true;
 }
 
-}
+}  // namespace web_video_server
diff --git a/src/ros_compressed_streamer.cpp b/src/ros_compressed_streamer.cpp
index d0a5938..e749932 100644
--- a/src/ros_compressed_streamer.cpp
+++ b/src/ros_compressed_streamer.cpp
@@ -45,7 +45,7 @@ RosCompressedStreamer::RosCompressedStreamer(
 RosCompressedStreamer::~RosCompressedStreamer()
 {
   this->inactive_ = true;
-  boost::mutex::scoped_lock lock(send_mutex_); // protects sendImage.
+  boost::mutex::scoped_lock lock(send_mutex_);  // protects sendImage.
 }
 
 void RosCompressedStreamer::start()
@@ -82,7 +82,7 @@ void RosCompressedStreamer::restreamFrame(double max_age)
 
   if (last_frame + rclcpp::Duration::from_seconds(max_age) < node_->now() ) {
     boost::mutex::scoped_lock lock(send_mutex_);
-    sendImage(last_msg, node_->now() ); // don't update last_frame, it may remain an old value.
+    sendImage(last_msg, node_->now() );  // don't update last_frame, it may remain an old value.
   }
 }
 
@@ -128,7 +128,7 @@ void RosCompressedStreamer::sendImage(
 void RosCompressedStreamer::imageCallback(
   const sensor_msgs::msg::CompressedImage::ConstSharedPtr msg)
 {
-  boost::mutex::scoped_lock lock(send_mutex_); // protects last_msg and last_frame
+  boost::mutex::scoped_lock lock(send_mutex_);  // protects last_msg and last_frame
   last_msg = msg;
   last_frame = rclcpp::Time(msg->header.stamp);
   sendImage(last_msg, last_frame);
@@ -153,5 +153,4 @@ std::string RosCompressedStreamerType::create_viewer(
   return ss.str();
 }
 
-
-}
+}  // namespace web_video_server
diff --git a/src/vp8_streamer.cpp b/src/vp8_streamer.cpp
index 0a9ad52..1ff224c 100644
--- a/src/vp8_streamer.cpp
+++ b/src/vp8_streamer.cpp
@@ -63,7 +63,7 @@ void Vp8Streamer::initializeEncoder()
   // Buffering settings
   int bufsize = 10;
   codec_context_->rc_buffer_size = bufsize;
-  codec_context_->rc_initial_buffer_occupancy = bufsize; //bitrate/3;
+  codec_context_->rc_initial_buffer_occupancy = bufsize;  // bitrate/3;
   av_opt_set_int(codec_context_->priv_data, "bufsize", bufsize, 0);
   av_opt_set_int(codec_context_->priv_data, "buf-initial", bufsize, 0);
   av_opt_set_int(codec_context_->priv_data, "buf-optimal", bufsize, 0);
@@ -83,4 +83,4 @@ boost::shared_ptr<ImageStreamer> Vp8StreamerType::create_streamer(
   return boost::shared_ptr<ImageStreamer>(new Vp8Streamer(request, connection, node));
 }
 
-}
+}  // namespace web_video_server
diff --git a/src/vp9_streamer.cpp b/src/vp9_streamer.cpp
index 7949a10..36d5e59 100644
--- a/src/vp9_streamer.cpp
+++ b/src/vp9_streamer.cpp
@@ -44,7 +44,6 @@ Vp9Streamer::~Vp9Streamer()
 
 void Vp9Streamer::initializeEncoder()
 {
-
   // codec options set up to provide somehow reasonable performance in cost of poor quality
   // should be updated as soon as VP9 encoding matures
   av_opt_set_int(codec_context_->priv_data, "pass", 1, 0);
@@ -66,4 +65,4 @@ boost::shared_ptr<ImageStreamer> Vp9StreamerType::create_streamer(
   return boost::shared_ptr<ImageStreamer>(new Vp9Streamer(request, connection, node));
 }
 
-}
+}  // namespace web_video_server
diff --git a/src/web_video_server.cpp b/src/web_video_server.cpp
index 06b9dce..6133b6e 100644
--- a/src/web_video_server.cpp
+++ b/src/web_video_server.cpp
@@ -28,15 +28,17 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
+#include "web_video_server/web_video_server.hpp"
+
+#include <chrono>
+#include <vector>
+
 #include <boost/foreach.hpp>
 #include <boost/lexical_cast.hpp>
 #include <boost/algorithm/string/predicate.hpp>
-#include <chrono>
-#include <vector>
-#include <sensor_msgs/image_encodings.hpp>
 #include <opencv2/opencv.hpp>
 
-#include "web_video_server/web_video_server.hpp"
+#include "sensor_msgs/image_encodings.hpp"
 #include "web_video_server/ros_compressed_streamer.hpp"
 #include "web_video_server/jpeg_streamers.hpp"
 #include "web_video_server/png_streamers.hpp"
@@ -46,7 +48,7 @@
 #include "async_web_server_cpp/http_reply.hpp"
 
 using namespace std::chrono_literals;
-using namespace boost::placeholders;
+using namespace boost::placeholders;  // NOLINT
 
 namespace web_video_server
 {
@@ -246,7 +248,6 @@ bool WebVideoServer::handle_stream_viewer(
     std::string topic = request.get_query_param_value_or_default("topic", "");
     // Fallback for topics without corresponding compressed topics
     if (type == std::string("ros_compressed")) {
-
       std::string compressed_topic_name = topic + "/compressed";
       auto tnat = node_->get_topic_names_and_types();
       bool did_find_compressed_topic = false;
@@ -385,7 +386,7 @@ bool WebVideoServer::handle_list_streams(
   return true;
 }
 
-}
+}  // namespace web_video_server
 
 int main(int argc, char ** argv)
 {