diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 00000000..30945be8
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,20 @@
+# See https://pre-commit.com for more information
+# See https://pre-commit.com/hooks.html for more hooks
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v3.2.0
+    hooks:
+    -   id: check-yaml
+    -   id: check-added-large-files
+-   repo: https://github.com/psf/black
+    rev: 22.10.0
+    hooks:
+    -   id: black
+- repo: local
+  hooks:
+  -     id: clang-format
+        name: clang-format
+        entry: bash -c 'FILES=`find -type f -regex ".*\.\(cpp\|hpp\|h\|c\)$"`;  clang-format-14 --Werror $FILES -style=llvm -i'
+        language: system
+        types: [c]
+        pass_filenames: false
\ No newline at end of file
diff --git a/mirte_control/ros_control_boilerplate/rrbot_control/include/rrbot_control/rrbot_hw_interface.h b/mirte_control/ros_control_boilerplate/rrbot_control/include/rrbot_control/rrbot_hw_interface.h
index 54bd8c16..b85fd231 100644
--- a/mirte_control/ros_control_boilerplate/rrbot_control/include/rrbot_control/rrbot_hw_interface.h
+++ b/mirte_control/ros_control_boilerplate/rrbot_control/include/rrbot_control/rrbot_hw_interface.h
@@ -40,11 +40,11 @@
 #ifndef RRBOT_CONTROL__RRBOT_HW_INTERFACE_H
 #define RRBOT_CONTROL__RRBOT_HW_INTERFACE_H
 
-#include <ros_control_boilerplate/generic_hw_interface.h>
 #include <boost/format.hpp>
 #include <chrono>
 #include <future>
 #include <mutex>
+#include <ros_control_boilerplate/generic_hw_interface.h>
 #include <thread>
 
 namespace rrbot_control {
diff --git a/mirte_control/ros_control_boilerplate/rrbot_control/src/rrbot_hw_interface.cpp b/mirte_control/ros_control_boilerplate/rrbot_control/src/rrbot_hw_interface.cpp
index ddfa37f3..de13e5f8 100644
--- a/mirte_control/ros_control_boilerplate/rrbot_control/src/rrbot_hw_interface.cpp
+++ b/mirte_control/ros_control_boilerplate/rrbot_control/src/rrbot_hw_interface.cpp
@@ -38,11 +38,11 @@
 */
 
 #include "ros/ros.h"
+#include <chrono>
 #include <iostream>
 #include <mirte_msgs/ServoPosition.h>
 #include <mirte_msgs/SetServoAngle.h>
 #include <rrbot_control/rrbot_hw_interface.h>
-#include <chrono>
 
 namespace rrbot_control {
 
@@ -104,23 +104,23 @@ RRBotHWInterface::RRBotHWInterface(ros::NodeHandle &nh, urdf::Model *urdf_model)
 
 void RRBotHWInterface::connectServices() {
   ROS_INFO_NAMED("rrbot_hw_interface", "Connecting to the services...");
-  
+
   ros::service::waitForService("/mirte/set_servoRot_servo_angle", -1);
   ros::service::waitForService("/mirte/set_servoShoulder_servo_angle", -1);
   ros::service::waitForService("/mirte/set_servoElbow_servo_angle", -1);
   ros::service::waitForService("/mirte/set_servoWrist_servo_angle", -1);
   { // Only mutex when actually writing to class vars.
     const std::lock_guard<std::mutex> lock(this->service_clients_mutex);
-  client0 = nh_.serviceClient<mirte_msgs::SetServoAngle>(
-      "/mirte/set_servoRot_servo_angle", true);
-  client1 = nh_.serviceClient<mirte_msgs::SetServoAngle>(
-      "/mirte/set_servoShoulder_servo_angle", true);
-  client2 = nh_.serviceClient<mirte_msgs::SetServoAngle>(
-      "/mirte/set_servoElbow_servo_angle", true);
-  client3 = nh_.serviceClient<mirte_msgs::SetServoAngle>(
-      "/mirte/set_servoWrist_servo_angle", true);
+    client0 = nh_.serviceClient<mirte_msgs::SetServoAngle>(
+        "/mirte/set_servoRot_servo_angle", true);
+    client1 = nh_.serviceClient<mirte_msgs::SetServoAngle>(
+        "/mirte/set_servoShoulder_servo_angle", true);
+    client2 = nh_.serviceClient<mirte_msgs::SetServoAngle>(
+        "/mirte/set_servoElbow_servo_angle", true);
+    client3 = nh_.serviceClient<mirte_msgs::SetServoAngle>(
+        "/mirte/set_servoWrist_servo_angle", true);
   }
-      ROS_INFO_NAMED("rrbot_hw_interface", "Connected to the services");
+  ROS_INFO_NAMED("rrbot_hw_interface", "Connected to the services");
 }
 
 void RRBotHWInterface::read(ros::Duration &elapsed_time) {
diff --git a/mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py b/mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py
index 2d1bc5ae..5379d3ca 100755
--- a/mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py
+++ b/mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py
@@ -296,7 +296,7 @@ async def receive_data(self, data):
         self.range.min_range = 0.02
         self.range.max_range = 1.5
         self.range.header = self.get_header()
-        self.range.range = data[2] / 100.0 # convert from cm to m
+        self.range.range = data[2] / 100.0  # convert from cm to m
         self.pub.publish(self.range)
 
     def publish_data(self, event=None):
diff --git a/mirte_telemetrix/scripts/modules/MPU9250.py b/mirte_telemetrix/scripts/modules/MPU9250.py
index 420f7f8a..e6ff29c1 100644
--- a/mirte_telemetrix/scripts/modules/MPU9250.py
+++ b/mirte_telemetrix/scripts/modules/MPU9250.py
@@ -62,9 +62,10 @@ def pub(self):
         y_index = 0
         z_index = 2
         lin_acc = Vector3(
-            x=self.acceleration[x_index] * 9.81, #positive forward, Imu is positioned differently
-            y=-self.acceleration[y_index] * 9.81, #positive left
-            z=-self.acceleration[z_index] * 9.81, # up is positive
+            x=self.acceleration[x_index]
+            * 9.81,  # positive forward, Imu is positioned differently
+            y=-self.acceleration[y_index] * 9.81,  # positive left
+            z=-self.acceleration[z_index] * 9.81,  # up is positive
         )
 
         # this is probably okay. Only real usefull value is z.
@@ -74,7 +75,9 @@ def pub(self):
             z=self.gyroscope[z_index] * math.pi / 180.0,
         )
         orie = Quaternion(
-            x=self.magnetometer[x_index], y=self.magnetometer[y_index], z=self.magnetometer[z_index]
+            x=self.magnetometer[x_index],
+            y=self.magnetometer[y_index],
+            z=self.magnetometer[z_index],
         )
         # lin_acc.x =
         self.last_message = Imu(