diff --git a/include/ur_modern_driver/bin_parser.h b/include/ur_modern_driver/bin_parser.h
index 16378a0..e5692f5 100644
--- a/include/ur_modern_driver/bin_parser.h
+++ b/include/ur_modern_driver/bin_parser.h
@@ -136,7 +136,7 @@ public:
   }
 
   template <typename T, size_t N>
-  void parse(std::array<T, N> &array)
+  void parse(std::array<T, N>& array)
   {
     for (size_t i = 0; i < N; i++)
     {
diff --git a/include/ur_modern_driver/test/utils.h b/include/ur_modern_driver/test/utils.h
index edbb531..83b6684 100644
--- a/include/ur_modern_driver/test/utils.h
+++ b/include/ur_modern_driver/test/utils.h
@@ -1,8 +1,7 @@
 #pragma once
 
-#define ASSERT_DOUBLE_ARRAY_EQ(fn, name)                                                                                   \
+#define ASSERT_DOUBLE_ARRAY_EQ(fn, name)                                                                               \
   for (auto const& v : name)                                                                                           \
   {                                                                                                                    \
-    ASSERT_EQ(fn, v) << #name " failed parsing";                                                        \
+    ASSERT_EQ(fn, v) << #name " failed parsing";                                                                       \
   }
-
diff --git a/tests/ur/robot_mode.cpp b/tests/ur/robot_mode.cpp
index 170e0cd..a13fcb8 100644
--- a/tests/ur/robot_mode.cpp
+++ b/tests/ur/robot_mode.cpp
@@ -1,10 +1,10 @@
-#include <gtest/gtest.h>
 #include "ur_modern_driver/ur/robot_mode.h"
+#include <gtest/gtest.h>
 #include "ur_modern_driver/bin_parser.h"
 #include "ur_modern_driver/log.h"
-#include "ur_modern_driver/types.h"
-#include "ur_modern_driver/test/utils.h"
 #include "ur_modern_driver/test/random_data.h"
+#include "ur_modern_driver/test/utils.h"
+#include "ur_modern_driver/types.h"
 
 TEST(RobotModeData_V1_X, testRandomDataParsing)
 {
@@ -27,7 +27,6 @@ TEST(RobotModeData_V1_X, testRandomDataParsing)
   ASSERT_TRUE(bp.empty()) << "Did not consume all data";
 }
 
-
 TEST(RobotModeData_V3_0__1, testRandomDataParsing)
 {
   RandomDataTest rdt(33);
@@ -51,7 +50,6 @@ TEST(RobotModeData_V3_0__1, testRandomDataParsing)
   ASSERT_TRUE(bp.empty()) << "Did not consume all data";
 }
 
-
 TEST(RobotModeData_V3_2, testRandomDataParsing)
 {
   RandomDataTest rdt(41);
@@ -76,8 +74,6 @@ TEST(RobotModeData_V3_2, testRandomDataParsing)
   ASSERT_TRUE(bp.empty()) << "Did not consume all data";
 }
 
-
-
 TEST(RobotModeData_V1_X, testTooSmallBuffer)
 {
   RandomDataTest rdt(10);
@@ -86,7 +82,6 @@ TEST(RobotModeData_V1_X, testTooSmallBuffer)
   EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
 }
 
-
 TEST(RobotModeData_V3_0__1, testTooSmallBuffer)
 {
   RandomDataTest rdt(10);
@@ -95,7 +90,6 @@ TEST(RobotModeData_V3_0__1, testTooSmallBuffer)
   EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
 }
 
-
 TEST(RobotModeData_V3_2, testTooSmallBuffer)
 {
   RandomDataTest rdt(10);
diff --git a/tests/ur/rt_state.cpp b/tests/ur/rt_state.cpp
index c24c72a..5c7920e 100644
--- a/tests/ur/rt_state.cpp
+++ b/tests/ur/rt_state.cpp
@@ -1,10 +1,10 @@
-#include <gtest/gtest.h>
 #include "ur_modern_driver/ur/rt_state.h"
+#include <gtest/gtest.h>
 #include "ur_modern_driver/bin_parser.h"
 #include "ur_modern_driver/log.h"
-#include "ur_modern_driver/types.h"
-#include "ur_modern_driver/test/utils.h"
 #include "ur_modern_driver/test/random_data.h"
+#include "ur_modern_driver/test/utils.h"
+#include "ur_modern_driver/types.h"
 
 TEST(RTState_V1_6__7, testRandomDataParsing)
 {