From 401f6e520b9d7e8edd061b62b6f15aa3c138c5a2 Mon Sep 17 00:00:00 2001
From: Jacob Perron <jacob@openrobotics.org>
Date: Wed, 12 Jan 2022 14:27:34 -0800
Subject: [PATCH] Fix cpplint errors (#497)

* Fix include order for cpplint

Relates to https://github.com/ament/ament_lint/pull/324

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Replace C-style cast with static_cast

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
---
 tf2_bullet/include/tf2_bullet/tf2_bullet.hpp  | 14 +++----
 tf2_bullet/test/test_tf2_bullet.cpp           | 10 ++---
 tf2_eigen/include/tf2_eigen/tf2_eigen.hpp     | 19 +++++----
 tf2_eigen/test/tf2_eigen-test.cpp             | 32 ++++++++-------
 .../include/tf2_eigen_kdl/tf2_eigen_kdl.hpp   |  4 +-
 .../tf2_geometry_msgs/tf2_geometry_msgs.hpp   | 41 ++++++++++---------
 .../test/test_tf2_geometry_msgs.cpp           | 14 +++----
 .../include/tf2_ros/async_buffer_interface.h  | 12 +++---
 tf2_ros/include/tf2_ros/buffer.h              | 22 +++++-----
 tf2_ros/include/tf2_ros/buffer_client.h       | 16 ++++----
 tf2_ros/include/tf2_ros/buffer_interface.h    | 20 ++++-----
 tf2_ros/include/tf2_ros/buffer_server.h       | 20 ++++-----
 .../include/tf2_ros/create_timer_interface.h  | 11 +++--
 tf2_ros/include/tf2_ros/create_timer_ros.h    | 12 +++---
 tf2_ros/include/tf2_ros/message_filter.h      | 22 +++++-----
 .../tf2_ros/static_transform_broadcaster.h    | 14 +++----
 .../static_transform_broadcaster_node.hpp     |  8 ++--
 .../include/tf2_ros/transform_broadcaster.h   | 13 +++---
 tf2_ros/include/tf2_ros/transform_listener.h  | 17 ++++----
 tf2_ros/src/buffer_client.cpp                 |  6 +--
 tf2_ros/src/buffer_server_main.cpp            | 10 ++---
 tf2_ros/src/create_timer_ros.cpp              | 11 ++---
 tf2_ros/src/static_transform_broadcaster.cpp  | 10 ++---
 .../static_transform_broadcaster_program.cpp  | 13 +++---
 tf2_ros/src/tf2_echo.cpp                      | 10 ++---
 tf2_ros/src/tf2_monitor.cpp                   | 16 ++++----
 tf2_ros/src/transform_broadcaster.cpp         |  8 ++--
 tf2_ros/test/listener_unittest.cpp            | 15 +++----
 tf2_ros/test/message_filter_test.cpp          | 30 +++++++-------
 tf2_ros/test/node_wrapper.hpp                 |  6 +--
 tf2_ros/test/test_buffer.cpp                  | 15 +++----
 tf2_ros/test/test_buffer_client.cpp           | 18 ++++----
 tf2_ros/test/test_buffer_server.cpp           | 19 ++++-----
 tf2_ros/test/time_reset_test.cpp              | 19 +++++----
 .../tf2_sensor_msgs/tf2_sensor_msgs.hpp       | 18 ++++----
 tf2_sensor_msgs/test/test_tf2_sensor_msgs.cpp | 18 ++++----
 36 files changed, 285 insertions(+), 278 deletions(-)

diff --git a/tf2_bullet/include/tf2_bullet/tf2_bullet.hpp b/tf2_bullet/include/tf2_bullet/tf2_bullet.hpp
index 0f1408d88..061e076f6 100644
--- a/tf2_bullet/include/tf2_bullet/tf2_bullet.hpp
+++ b/tf2_bullet/include/tf2_bullet/tf2_bullet.hpp
@@ -31,15 +31,15 @@
 #ifndef TF2_BULLET__TF2_BULLET_HPP_
 #define TF2_BULLET__TF2_BULLET_HPP_
 
-#include <tf2/convert.h>
-#include <LinearMath/btQuaternion.h>
-#include <LinearMath/btScalar.h>
-#include <LinearMath/btTransform.h>
-#include <geometry_msgs/msg/point_stamped.hpp>
-#include <tf2_ros/buffer_interface.h>
-
 #include <iostream>
 
+#include "tf2/convert.h"
+#include "LinearMath/btQuaternion.h"
+#include "LinearMath/btScalar.h"
+#include "LinearMath/btTransform.h"
+#include "geometry_msgs/msg/point_stamped.hpp"
+#include "tf2_ros/buffer_interface.h"
+
 #if (BT_BULLET_VERSION <= 282)
 // Suppress compilation warning on older versions of Bullet.
 // TODO(mjcarroll): Remove this when all platforms have the fix upstream.
diff --git a/tf2_bullet/test/test_tf2_bullet.cpp b/tf2_bullet/test/test_tf2_bullet.cpp
index 998f8f2fb..9678d8b2a 100644
--- a/tf2_bullet/test/test_tf2_bullet.cpp
+++ b/tf2_bullet/test/test_tf2_bullet.cpp
@@ -28,12 +28,10 @@
 
 /** \author Wim Meeussen */
 
-
-#include <tf2_bullet/tf2_bullet.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <gtest/gtest.h>
-#include <tf2/convert.h>
-
+#include "tf2_bullet/tf2_bullet.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "gtest/gtest.h"
+#include "tf2/convert.h"
 
 TEST(TfBullet, ConvertVector)
 {
diff --git a/tf2_eigen/include/tf2_eigen/tf2_eigen.hpp b/tf2_eigen/include/tf2_eigen/tf2_eigen.hpp
index aaf85fc85..061c57aaa 100644
--- a/tf2_eigen/include/tf2_eigen/tf2_eigen.hpp
+++ b/tf2_eigen/include/tf2_eigen/tf2_eigen.hpp
@@ -29,17 +29,18 @@
 #ifndef TF2_EIGEN__TF2_EIGEN_HPP_
 #define TF2_EIGEN__TF2_EIGEN_HPP_
 
-#include <tf2/convert.h>
-#include <tf2_ros/buffer_interface.h>
 #include <Eigen/Geometry>
-#include <geometry_msgs/msg/point_stamped.hpp>
-#include <geometry_msgs/msg/pose_stamped.hpp>
-#include <geometry_msgs/msg/quaternion_stamped.hpp>
-#include <geometry_msgs/msg/twist.hpp>
-#include <geometry_msgs/msg/point.hpp>
-#include <geometry_msgs/msg/quaternion.hpp>
-#include <tf2_ros/buffer.h>
 
+#include "geometry_msgs/msg/point.hpp"
+#include "geometry_msgs/msg/point_stamped.hpp"
+#include "geometry_msgs/msg/pose_stamped.hpp"
+#include "geometry_msgs/msg/quaternion.hpp"
+#include "geometry_msgs/msg/quaternion_stamped.hpp"
+#include "geometry_msgs/msg/twist.hpp"
+
+#include "tf2/convert.h"
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/buffer_interface.h"
 
 namespace tf2
 {
diff --git a/tf2_eigen/test/tf2_eigen-test.cpp b/tf2_eigen/test/tf2_eigen-test.cpp
index aa9de709d..b438227b6 100644
--- a/tf2_eigen/test/tf2_eigen-test.cpp
+++ b/tf2_eigen/test/tf2_eigen-test.cpp
@@ -34,24 +34,26 @@
 #endif
 #endif
 
-#include <gtest/gtest.h>
-#include <geometry_msgs/msg/point.hpp>
-#include <geometry_msgs/msg/point_stamped.hpp>
-#include <geometry_msgs/msg/pose.hpp>
-#include <geometry_msgs/msg/pose_stamped.hpp>
-#include <geometry_msgs/msg/transform_stamped.hpp>
-#include <rclcpp/clock.hpp>
-#include <tf2/convert.h>
-#include <tf2/transform_datatypes.h>
-#include <tf2_eigen/tf2_eigen.hpp>
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
-
-#include <Eigen/Geometry>
-
 #include <cmath>
 #include <memory>
 
+#include <Eigen/Geometry>  // NOLINT
+
+#include "gtest/gtest.h"
+
+#include "geometry_msgs/msg/point.hpp"
+#include "geometry_msgs/msg/point_stamped.hpp"
+#include "geometry_msgs/msg/pose.hpp"
+#include "geometry_msgs/msg/pose_stamped.hpp"
+#include "geometry_msgs/msg/transform_stamped.hpp"
+#include "rclcpp/clock.hpp"
+
+#include "tf2/convert.h"
+#include "tf2/transform_datatypes.h"
+#include "tf2_eigen/tf2_eigen.hpp"
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/transform_listener.h"
+
 TEST(TfEigen, ConvertVector3dStamped)
 {
   const tf2::Stamped<Eigen::Vector3d> v(Eigen::Vector3d(1, 2, 3), tf2::TimePoint(
diff --git a/tf2_eigen_kdl/include/tf2_eigen_kdl/tf2_eigen_kdl.hpp b/tf2_eigen_kdl/include/tf2_eigen_kdl/tf2_eigen_kdl.hpp
index 8154c385e..46b23263e 100644
--- a/tf2_eigen_kdl/include/tf2_eigen_kdl/tf2_eigen_kdl.hpp
+++ b/tf2_eigen_kdl/include/tf2_eigen_kdl/tf2_eigen_kdl.hpp
@@ -40,9 +40,9 @@
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
-#include <kdl/frames.hpp>
+#include "kdl/frames.hpp"
 
-#include <tf2/impl/convert.h>
+#include "tf2/impl/convert.h"
 
 #include "tf2_eigen_kdl/visibility_control.h"
 
diff --git a/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp b/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp
index b2482e635..2f0913599 100644
--- a/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp
+++ b/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp
@@ -32,29 +32,30 @@
 #ifndef TF2_GEOMETRY_MSGS__TF2_GEOMETRY_MSGS_HPP_
 #define TF2_GEOMETRY_MSGS__TF2_GEOMETRY_MSGS_HPP_
 
-#include <tf2/convert.h>
-#include <tf2/LinearMath/Quaternion.h>
-#include <tf2/LinearMath/Transform.h>
-#include <tf2/LinearMath/Vector3.h>
-#include <tf2_ros/buffer_interface.h>
-#include <geometry_msgs/msg/point_stamped.hpp>
-#include <geometry_msgs/msg/quaternion_stamped.hpp>
-#include <geometry_msgs/msg/transform.hpp>
-#include <geometry_msgs/msg/transform_stamped.hpp>
-#include <geometry_msgs/msg/vector3.hpp>
-#include <geometry_msgs/msg/vector3_stamped.hpp>
-#include <geometry_msgs/msg/pose.hpp>
-#include <geometry_msgs/msg/point.hpp>
-#include <geometry_msgs/msg/pose_stamped.hpp>
-#include <geometry_msgs/msg/pose_with_covariance.hpp>
-#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
-#include <geometry_msgs/msg/wrench.hpp>
-#include <geometry_msgs/msg/wrench_stamped.hpp>
-#include <kdl/frames.hpp>
-
 #include <array>
 #include <string>
 
+#include "geometry_msgs/msg/point_stamped.hpp"
+#include "geometry_msgs/msg/quaternion_stamped.hpp"
+#include "geometry_msgs/msg/transform.hpp"
+#include "geometry_msgs/msg/transform_stamped.hpp"
+#include "geometry_msgs/msg/vector3.hpp"
+#include "geometry_msgs/msg/vector3_stamped.hpp"
+#include "geometry_msgs/msg/pose.hpp"
+#include "geometry_msgs/msg/point.hpp"
+#include "geometry_msgs/msg/pose_stamped.hpp"
+#include "geometry_msgs/msg/pose_with_covariance.hpp"
+#include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"
+#include "geometry_msgs/msg/wrench.hpp"
+#include "geometry_msgs/msg/wrench_stamped.hpp"
+#include "kdl/frames.hpp"
+
+#include "tf2/convert.h"
+#include "tf2/LinearMath/Quaternion.h"
+#include "tf2/LinearMath/Transform.h"
+#include "tf2/LinearMath/Vector3.h"
+#include "tf2_ros/buffer_interface.h"
+
 namespace tf2
 {
 
diff --git a/tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp b/tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp
index 4829d76da..f2f87707d 100644
--- a/tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp
+++ b/tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp
@@ -35,17 +35,17 @@
 #endif
 #endif
 
-#include <rclcpp/clock.hpp>
-#include <tf2_ros/transform_listener.h>
-#include <gtest/gtest.h>
-#include <tf2_ros/buffer.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-
-// To get M_PI, especially on Windows.
 #include <cmath>
 #include <memory>
 #include <string>
 
+#include "gtest/gtest.h"
+
+#include "rclcpp/clock.hpp"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/transform_listener.h"
+
 std::unique_ptr<tf2_ros::Buffer> tf_buffer = nullptr;
 static const double EPS = 1e-3;
 
diff --git a/tf2_ros/include/tf2_ros/async_buffer_interface.h b/tf2_ros/include/tf2_ros/async_buffer_interface.h
index 20ce56d18..bc6e91641 100644
--- a/tf2_ros/include/tf2_ros/async_buffer_interface.h
+++ b/tf2_ros/include/tf2_ros/async_buffer_interface.h
@@ -30,16 +30,16 @@
 #ifndef TF2_ROS__ASYNC_BUFFER_INTERFACE_H_
 #define TF2_ROS__ASYNC_BUFFER_INTERFACE_H_
 
-#include <tf2_ros/visibility_control.h>
-#include <tf2/time.h>
-#include <tf2/transform_datatypes.h>
-
-#include <geometry_msgs/msg/transform_stamped.hpp>
-
 #include <functional>
 #include <future>
 #include <string>
 
+#include "tf2_ros/visibility_control.h"
+#include "tf2/time.h"
+#include "tf2/transform_datatypes.h"
+
+#include "geometry_msgs/msg/transform_stamped.hpp"
+
 namespace tf2_ros
 {
 
diff --git a/tf2_ros/include/tf2_ros/buffer.h b/tf2_ros/include/tf2_ros/buffer.h
index be06f2813..f1086c068 100644
--- a/tf2_ros/include/tf2_ros/buffer.h
+++ b/tf2_ros/include/tf2_ros/buffer.h
@@ -32,23 +32,23 @@
 #ifndef TF2_ROS__BUFFER_H_
 #define TF2_ROS__BUFFER_H_
 
-#include <tf2_ros/async_buffer_interface.h>
-#include <tf2_ros/buffer_interface.h>
-#include <tf2_ros/create_timer_interface.h>
-#include <tf2_ros/visibility_control.h>
-#include <tf2/buffer_core.h>
-#include <tf2/time.h>
-
-#include <geometry_msgs/msg/transform_stamped.hpp>
-#include <tf2_msgs/srv/frame_graph.hpp>
-#include <rclcpp/rclcpp.hpp>
-
 #include <future>
 #include <memory>
 #include <mutex>
 #include <string>
 #include <unordered_map>
 
+#include "tf2_ros/async_buffer_interface.h"
+#include "tf2_ros/buffer_interface.h"
+#include "tf2_ros/create_timer_interface.h"
+#include "tf2_ros/visibility_control.h"
+#include "tf2/buffer_core.h"
+#include "tf2/time.h"
+
+#include "geometry_msgs/msg/transform_stamped.hpp"
+#include "tf2_msgs/srv/frame_graph.hpp"
+#include "rclcpp/rclcpp.hpp"
+
 namespace tf2_ros
 {
 
diff --git a/tf2_ros/include/tf2_ros/buffer_client.h b/tf2_ros/include/tf2_ros/buffer_client.h
index ceb21a9eb..ba2818115 100644
--- a/tf2_ros/include/tf2_ros/buffer_client.h
+++ b/tf2_ros/include/tf2_ros/buffer_client.h
@@ -38,17 +38,17 @@
 #ifndef TF2_ROS__BUFFER_CLIENT_H_
 #define TF2_ROS__BUFFER_CLIENT_H_
 
-#include <tf2_ros/buffer_interface.h>
-#include <tf2_ros/visibility_control.h>
-#include <tf2/time.h>
-
-#include <geometry_msgs/msg/transform_stamped.hpp>
-#include <rclcpp_action/rclcpp_action.hpp>
-#include <tf2_msgs/action/lookup_transform.hpp>
-
 #include <stdexcept>
 #include <string>
 
+#include "tf2_ros/buffer_interface.h"
+#include "tf2_ros/visibility_control.h"
+#include "tf2/time.h"
+
+#include "geometry_msgs/msg/transform_stamped.hpp"
+#include "rclcpp_action/rclcpp_action.hpp"
+#include "tf2_msgs/action/lookup_transform.hpp"
+
 namespace tf2_ros
 {
 /**
diff --git a/tf2_ros/include/tf2_ros/buffer_interface.h b/tf2_ros/include/tf2_ros/buffer_interface.h
index 80a038886..381fa585d 100644
--- a/tf2_ros/include/tf2_ros/buffer_interface.h
+++ b/tf2_ros/include/tf2_ros/buffer_interface.h
@@ -32,21 +32,21 @@
 #ifndef TF2_ROS__BUFFER_INTERFACE_H_
 #define TF2_ROS__BUFFER_INTERFACE_H_
 
-#include <tf2_ros/visibility_control.h>
-#include <tf2/transform_datatypes.h>
-#include <tf2/exceptions.h>
-#include <tf2/convert.h>
-
-#include <builtin_interfaces/msg/duration.hpp>
-#include <builtin_interfaces/msg/time.hpp>
-#include <geometry_msgs/msg/transform_stamped.hpp>
-#include <rclcpp/rclcpp.hpp>
-
 #include <chrono>
 #include <functional>
 #include <future>
 #include <string>
 
+#include "tf2_ros/visibility_control.h"
+#include "tf2/transform_datatypes.h"
+#include "tf2/exceptions.h"
+#include "tf2/convert.h"
+
+#include "builtin_interfaces/msg/duration.hpp"
+#include "builtin_interfaces/msg/time.hpp"
+#include "geometry_msgs/msg/transform_stamped.hpp"
+#include "rclcpp/rclcpp.hpp"
+
 namespace tf2_ros
 {
 using TransformStampedFuture = std::shared_future<geometry_msgs::msg::TransformStamped>;
diff --git a/tf2_ros/include/tf2_ros/buffer_server.h b/tf2_ros/include/tf2_ros/buffer_server.h
index 756116053..14466691f 100644
--- a/tf2_ros/include/tf2_ros/buffer_server.h
+++ b/tf2_ros/include/tf2_ros/buffer_server.h
@@ -38,22 +38,22 @@
 #ifndef TF2_ROS__BUFFER_SERVER_H_
 #define TF2_ROS__BUFFER_SERVER_H_
 
-#include <tf2/time.h>
-#include <tf2/buffer_core_interface.h>
-#include <tf2_ros/visibility_control.h>
-
-#include <geometry_msgs/msg/transform_stamped.hpp>
-#include <rclcpp/create_timer.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_action/rclcpp_action.hpp>
-#include <tf2_msgs/action/lookup_transform.hpp>
-
 #include <functional>
 #include <list>
 #include <memory>
 #include <mutex>
 #include <string>
 
+#include "tf2/time.h"
+#include "tf2/buffer_core_interface.h"
+#include "tf2_ros/visibility_control.h"
+
+#include "geometry_msgs/msg/transform_stamped.hpp"
+#include "rclcpp/create_timer.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_action/rclcpp_action.hpp"
+#include "tf2_msgs/action/lookup_transform.hpp"
+
 namespace tf2_ros
 {
 /** \brief Action server for the action-based implementation of tf2::BufferCoreInterface.
diff --git a/tf2_ros/include/tf2_ros/create_timer_interface.h b/tf2_ros/include/tf2_ros/create_timer_interface.h
index 4592706a3..0d8d6fef5 100644
--- a/tf2_ros/include/tf2_ros/create_timer_interface.h
+++ b/tf2_ros/include/tf2_ros/create_timer_interface.h
@@ -30,17 +30,16 @@
 #ifndef TF2_ROS__CREATE_TIMER_INTERFACE_H_
 #define TF2_ROS__CREATE_TIMER_INTERFACE_H_
 
-#include <tf2/time.h>
-
-#include <tf2_ros/visibility_control.h>
-
-#include <rclcpp/rclcpp.hpp>
-
 #include <functional>
 #include <memory>
 #include <stdexcept>
 #include <string>
 
+#include "tf2/time.h"
+
+#include "tf2_ros/visibility_control.h"
+
+#include "rclcpp/rclcpp.hpp"
 
 namespace tf2_ros
 {
diff --git a/tf2_ros/include/tf2_ros/create_timer_ros.h b/tf2_ros/include/tf2_ros/create_timer_ros.h
index b79cd6648..0590ce30c 100644
--- a/tf2_ros/include/tf2_ros/create_timer_ros.h
+++ b/tf2_ros/include/tf2_ros/create_timer_ros.h
@@ -30,15 +30,15 @@
 #ifndef TF2_ROS__CREATE_TIMER_ROS_H_
 #define TF2_ROS__CREATE_TIMER_ROS_H_
 
-#include <tf2_ros/create_timer_interface.h>
-#include <tf2_ros/visibility_control.h>
-#include <tf2/time.h>
-
-#include <rclcpp/rclcpp.hpp>
-
 #include <mutex>
 #include <unordered_map>
 
+#include "tf2_ros/create_timer_interface.h"
+#include "tf2_ros/visibility_control.h"
+#include "tf2/time.h"
+
+#include "rclcpp/rclcpp.hpp"
+
 namespace tf2_ros
 {
 
diff --git a/tf2_ros/include/tf2_ros/message_filter.h b/tf2_ros/include/tf2_ros/message_filter.h
index cb6184308..9267b1f10 100644
--- a/tf2_ros/include/tf2_ros/message_filter.h
+++ b/tf2_ros/include/tf2_ros/message_filter.h
@@ -32,17 +32,6 @@
 #ifndef TF2_ROS__MESSAGE_FILTER_H_
 #define TF2_ROS__MESSAGE_FILTER_H_
 
-#include <message_filters/connection.h>
-#include <message_filters/message_traits.h>
-#include <message_filters/simple_filter.h>
-#include <tf2/buffer_core_interface.h>
-#include <tf2/time.h>
-#include <tf2_ros/async_buffer_interface.h>
-#include <tf2_ros/buffer.h>
-
-#include <builtin_interfaces/msg/time.hpp>
-#include <rclcpp/rclcpp.hpp>
-
 #include <algorithm>
 #include <chrono>
 #include <functional>
@@ -56,6 +45,17 @@
 #include <type_traits>
 #include <vector>
 
+#include "message_filters/connection.h"
+#include "message_filters/message_traits.h"
+#include "message_filters/simple_filter.h"
+#include "tf2/buffer_core_interface.h"
+#include "tf2/time.h"
+#include "tf2_ros/async_buffer_interface.h"
+#include "tf2_ros/buffer.h"
+
+#include "builtin_interfaces/msg/time.hpp"
+#include "rclcpp/rclcpp.hpp"
+
 #define TF2_ROS_MESSAGEFILTER_DEBUG(fmt, ...) \
   RCUTILS_LOG_DEBUG_NAMED( \
     "tf2_ros_message_filter", \
diff --git a/tf2_ros/include/tf2_ros/static_transform_broadcaster.h b/tf2_ros/include/tf2_ros/static_transform_broadcaster.h
index 558ab55a2..db2cc2f69 100644
--- a/tf2_ros/include/tf2_ros/static_transform_broadcaster.h
+++ b/tf2_ros/include/tf2_ros/static_transform_broadcaster.h
@@ -33,16 +33,16 @@
 #ifndef TF2_ROS__STATIC_TRANSFORM_BROADCASTER_H_
 #define TF2_ROS__STATIC_TRANSFORM_BROADCASTER_H_
 
-#include <tf2_ros/visibility_control.h>
-
-#include <rclcpp/rclcpp.hpp>
-#include <geometry_msgs/msg/transform_stamped.hpp>
-#include <tf2_msgs/msg/tf_message.hpp>
-#include <tf2_ros/qos.hpp>
-
 #include <memory>
 #include <vector>
 
+#include "tf2_ros/visibility_control.h"
+
+#include "rclcpp/rclcpp.hpp"
+#include "geometry_msgs/msg/transform_stamped.hpp"
+#include "tf2_msgs/msg/tf_message.hpp"
+#include "tf2_ros/qos.hpp"
+
 namespace tf2_ros
 {
 
diff --git a/tf2_ros/include/tf2_ros/static_transform_broadcaster_node.hpp b/tf2_ros/include/tf2_ros/static_transform_broadcaster_node.hpp
index de382a6aa..070d7de6b 100644
--- a/tf2_ros/include/tf2_ros/static_transform_broadcaster_node.hpp
+++ b/tf2_ros/include/tf2_ros/static_transform_broadcaster_node.hpp
@@ -30,12 +30,12 @@
 #ifndef TF2_ROS__STATIC_TRANSFORM_BROADCASTER_NODE_HPP_
 #define TF2_ROS__STATIC_TRANSFORM_BROADCASTER_NODE_HPP_
 
-#include <tf2_ros/static_transform_broadcaster.h>
-#include <tf2_ros/static_transform_broadcaster_visibility_control.h>
+#include <memory>
 
-#include <rclcpp/rclcpp.hpp>
+#include "tf2_ros/static_transform_broadcaster.h"
+#include "tf2_ros/static_transform_broadcaster_visibility_control.h"
 
-#include <memory>
+#include "rclcpp/rclcpp.hpp"
 
 namespace tf2_ros
 {
diff --git a/tf2_ros/include/tf2_ros/transform_broadcaster.h b/tf2_ros/include/tf2_ros/transform_broadcaster.h
index 6d59c4132..b84af48e0 100644
--- a/tf2_ros/include/tf2_ros/transform_broadcaster.h
+++ b/tf2_ros/include/tf2_ros/transform_broadcaster.h
@@ -33,16 +33,15 @@
 #ifndef TF2_ROS__TRANSFORM_BROADCASTER_H_
 #define TF2_ROS__TRANSFORM_BROADCASTER_H_
 
-#include <tf2_ros/visibility_control.h>
-
-#include <rclcpp/rclcpp.hpp>
-#include <geometry_msgs/msg/transform_stamped.hpp>
-#include <tf2_msgs/msg/tf_message.hpp>
-#include <tf2_ros/qos.hpp>
-
 #include <memory>
 #include <vector>
 
+#include "tf2_ros/visibility_control.h"
+
+#include "rclcpp/rclcpp.hpp"
+#include "geometry_msgs/msg/transform_stamped.hpp"
+#include "tf2_msgs/msg/tf_message.hpp"
+#include "tf2_ros/qos.hpp"
 
 namespace tf2_ros
 {
diff --git a/tf2_ros/include/tf2_ros/transform_listener.h b/tf2_ros/include/tf2_ros/transform_listener.h
index 6ff1e9359..01620a8f4 100644
--- a/tf2_ros/include/tf2_ros/transform_listener.h
+++ b/tf2_ros/include/tf2_ros/transform_listener.h
@@ -32,20 +32,19 @@
 #ifndef TF2_ROS__TRANSFORM_LISTENER_H_
 #define TF2_ROS__TRANSFORM_LISTENER_H_
 
-#include <tf2/buffer_core.h>
-#include <tf2/time.h>
-#include <tf2_ros/visibility_control.h>
-
-#include <tf2_msgs/msg/tf_message.hpp>
-#include <rclcpp/rclcpp.hpp>
-
-#include <tf2_ros/qos.hpp>
-
 #include <functional>
 #include <memory>
 #include <thread>
 #include <utility>
 
+#include "tf2/buffer_core.h"
+#include "tf2/time.h"
+#include "tf2_ros/visibility_control.h"
+
+#include "tf2_msgs/msg/tf_message.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+#include "tf2_ros/qos.hpp"
 
 namespace tf2_ros
 {
diff --git a/tf2_ros/src/buffer_client.cpp b/tf2_ros/src/buffer_client.cpp
index 2abc9b643..32702ab32 100644
--- a/tf2_ros/src/buffer_client.cpp
+++ b/tf2_ros/src/buffer_client.cpp
@@ -35,14 +35,14 @@
 * Author: Eitan Marder-Eppstein
 *********************************************************************/
 
-#include <tf2_ros/buffer_client.h>
-
-#include <geometry_msgs/msg/transform_stamped.hpp>
+#include "tf2_ros/buffer_client.h"
 
 #include <chrono>
 #include <future>
 #include <string>
 
+#include "geometry_msgs/msg/transform_stamped.hpp"
+
 namespace tf2_ros
 {
 geometry_msgs::msg::TransformStamped BufferClient::lookupTransform(
diff --git a/tf2_ros/src/buffer_server_main.cpp b/tf2_ros/src/buffer_server_main.cpp
index 7416a6c8c..7b931b08e 100644
--- a/tf2_ros/src/buffer_server_main.cpp
+++ b/tf2_ros/src/buffer_server_main.cpp
@@ -35,13 +35,13 @@
 * Author: Wim Meeussen
 *********************************************************************/
 
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/buffer_server.h>
-#include <tf2_ros/transform_listener.h>
+#include <memory>
 
-#include <rclcpp/rclcpp.hpp>
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/buffer_server.h"
+#include "tf2_ros/transform_listener.h"
 
-#include <memory>
+#include "rclcpp/rclcpp.hpp"
 
 int main(int argc, char ** argv)
 {
diff --git a/tf2_ros/src/create_timer_ros.cpp b/tf2_ros/src/create_timer_ros.cpp
index 7bf244865..652d82308 100644
--- a/tf2_ros/src/create_timer_ros.cpp
+++ b/tf2_ros/src/create_timer_ros.cpp
@@ -27,16 +27,17 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <tf2/time.h>
-#include <tf2_ros/create_timer_ros.h>
-
-#include <rclcpp/create_timer.hpp>
-#include <rclcpp/rclcpp.hpp>
+#include "tf2_ros/create_timer_ros.h"
 
 #include <functional>
 #include <mutex>
 #include <stdexcept>
 
+#include "tf2/time.h"
+
+#include "rclcpp/create_timer.hpp"
+#include "rclcpp/rclcpp.hpp"
+
 namespace tf2_ros
 {
 
diff --git a/tf2_ros/src/static_transform_broadcaster.cpp b/tf2_ros/src/static_transform_broadcaster.cpp
index cbbb009db..6ea8add20 100644
--- a/tf2_ros/src/static_transform_broadcaster.cpp
+++ b/tf2_ros/src/static_transform_broadcaster.cpp
@@ -30,14 +30,14 @@
 
 /** \author Tully Foote */
 
-#include <tf2_ros/static_transform_broadcaster.h>
-
-#include <geometry_msgs/msg/transform_stamped.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <tf2_msgs/msg/tf_message.hpp>
+#include "tf2_ros/static_transform_broadcaster.h"
 
 #include <vector>
 
+#include "geometry_msgs/msg/transform_stamped.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "tf2_msgs/msg/tf_message.hpp"
+
 namespace tf2_ros
 {
 
diff --git a/tf2_ros/src/static_transform_broadcaster_program.cpp b/tf2_ros/src/static_transform_broadcaster_program.cpp
index e3f523686..3d0dcddf5 100644
--- a/tf2_ros/src/static_transform_broadcaster_program.cpp
+++ b/tf2_ros/src/static_transform_broadcaster_program.cpp
@@ -27,12 +27,6 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <tf2/LinearMath/Quaternion.h>
-#include <tf2/LinearMath/Vector3.h>
-
-#include <rclcpp/rclcpp.hpp>
-#include <tf2_ros/static_transform_broadcaster_node.hpp>
-
 #include <cstdio>
 #include <functional>
 #include <memory>
@@ -41,6 +35,13 @@
 #include <unordered_map>
 #include <vector>
 
+#include "tf2_ros/static_transform_broadcaster_node.hpp"
+
+#include "tf2/LinearMath/Quaternion.h"
+#include "tf2/LinearMath/Vector3.h"
+
+#include "rclcpp/rclcpp.hpp"
+
 struct Option
 {
   explicit Option(bool has_arg)
diff --git a/tf2_ros/src/tf2_echo.cpp b/tf2_ros/src/tf2_echo.cpp
index 457424dee..39a5582de 100644
--- a/tf2_ros/src/tf2_echo.cpp
+++ b/tf2_ros/src/tf2_echo.cpp
@@ -28,11 +28,6 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
-
-#include <rclcpp/rclcpp.hpp>
-
 #include <cstdio>
 #include <cstring>
 #include <memory>
@@ -40,6 +35,11 @@
 #include <string>
 #include <vector>
 
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/transform_listener.h"
+
+#include "rclcpp/rclcpp.hpp"
+
 #define _USE_MATH_DEFINES
 
 class echoListener
diff --git a/tf2_ros/src/tf2_monitor.cpp b/tf2_ros/src/tf2_monitor.cpp
index 03f7d3105..936527fac 100644
--- a/tf2_ros/src/tf2_monitor.cpp
+++ b/tf2_ros/src/tf2_monitor.cpp
@@ -30,13 +30,6 @@
 
 /** \author Wim Meeussen */
 
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
-
-#include <tf2_ros/qos.hpp>
-#include <tf2_msgs/msg/tf_message.hpp>
-#include <rclcpp/rclcpp.hpp>
-
 #include <algorithm>
 #include <map>
 #include <memory>
@@ -44,6 +37,13 @@
 #include <thread>
 #include <vector>
 
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/transform_listener.h"
+#include "tf2_ros/qos.hpp"
+
+#include "rclcpp/rclcpp.hpp"
+#include "tf2_msgs/msg/tf_message.hpp"
+
 class TFMonitor
 {
 public:
@@ -92,7 +92,7 @@ class TFMonitor
       }
     }
 
-    average_offset /= std::max((size_t) 1, message.transforms.size());
+    average_offset /= std::max(static_cast<size_t>(1), message.transforms.size());
 
     // create the authority log
     std::map<std::string, std::vector<double>>::iterator it2 = authority_map.find(authority);
diff --git a/tf2_ros/src/transform_broadcaster.cpp b/tf2_ros/src/transform_broadcaster.cpp
index e9a8c7ba2..ee37b558b 100644
--- a/tf2_ros/src/transform_broadcaster.cpp
+++ b/tf2_ros/src/transform_broadcaster.cpp
@@ -32,12 +32,12 @@
 
 #include "tf2_ros/transform_broadcaster.h"
 
-#include <geometry_msgs/msg/transform_stamped.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <tf2_msgs/msg/tf_message.hpp>
-
 #include <vector>
 
+#include "geometry_msgs/msg/transform_stamped.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "tf2_msgs/msg/tf_message.hpp"
+
 namespace tf2_ros
 {
 
diff --git a/tf2_ros/test/listener_unittest.cpp b/tf2_ros/test/listener_unittest.cpp
index d3440fa39..cea029764 100644
--- a/tf2_ros/test/listener_unittest.cpp
+++ b/tf2_ros/test/listener_unittest.cpp
@@ -27,18 +27,19 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <gtest/gtest.h>
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
-
-#include <rclcpp/rclcpp.hpp>
-#include <builtin_interfaces/msg/time.hpp>
-
 #include <chrono>
 #include <functional>
 #include <memory>
 #include <thread>
 
+#include "gtest/gtest.h"
+
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/transform_listener.h"
+
+#include "rclcpp/rclcpp.hpp"
+#include "builtin_interfaces/msg/time.hpp"
+
 TEST(tf2_ros_test_listener, transform_listener)
 {
   auto node = rclcpp::Node::make_shared("tf2_ros_test_listener_transform_listener");
diff --git a/tf2_ros/test/message_filter_test.cpp b/tf2_ros/test/message_filter_test.cpp
index 62e668a57..051656287 100644
--- a/tf2_ros/test/message_filter_test.cpp
+++ b/tf2_ros/test/message_filter_test.cpp
@@ -27,24 +27,26 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <gtest/gtest.h>
-#include <message_filters/subscriber.h>
-#include <message_filters/simple_filter.h>
-#include <message_filters/message_traits.h>
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/create_timer_ros.h>
-#include <tf2_ros/message_filter.h>
-#include <tf2_ros/static_transform_broadcaster.h>
-#include <tf2_ros/transform_listener.h>
-
-#include <rclcpp/rclcpp.hpp>
-#include <geometry_msgs/msg/point_stamped.hpp>
-#include <geometry_msgs/msg/transform_stamped.hpp>
-
 #include <memory>
 #include <string>
 #include <vector>
 
+#include "gtest/gtest.h"
+
+#include "message_filters/subscriber.h"
+#include "message_filters/simple_filter.h"
+#include "message_filters/message_traits.h"
+
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/create_timer_ros.h"
+#include "tf2_ros/message_filter.h"
+#include "tf2_ros/static_transform_broadcaster.h"
+#include "tf2_ros/transform_listener.h"
+
+#include "rclcpp/rclcpp.hpp"
+#include "geometry_msgs/msg/point_stamped.hpp"
+#include "geometry_msgs/msg/transform_stamped.hpp"
+
 uint8_t filter_callback_fired = 0;
 void filter_callback(const geometry_msgs::msg::PointStamped & msg)
 {
diff --git a/tf2_ros/test/node_wrapper.hpp b/tf2_ros/test/node_wrapper.hpp
index ff250264d..2534f99fe 100644
--- a/tf2_ros/test/node_wrapper.hpp
+++ b/tf2_ros/test/node_wrapper.hpp
@@ -30,12 +30,12 @@
 #ifndef NODE_WRAPPER_HPP_
 #define NODE_WRAPPER_HPP_
 
-#include <gtest/gtest.h>
-#include <rclcpp/rclcpp.hpp>
-
 #include <memory>
 #include <string>
 
+#include "gtest/gtest.h"
+#include "rclcpp/rclcpp.hpp"
+
 class NodeWrapper
 {
 public:
diff --git a/tf2_ros/test/test_buffer.cpp b/tf2_ros/test/test_buffer.cpp
index ca0543c2a..6b5588485 100644
--- a/tf2_ros/test/test_buffer.cpp
+++ b/tf2_ros/test/test_buffer.cpp
@@ -27,19 +27,20 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-
-#include <gtest/gtest.h>
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/create_timer_interface.h>
-#include <tf2_ros/transform_listener.h>
-#include <rclcpp/rclcpp.hpp>
-
 #include <chrono>
 #include <exception>
 #include <future>
 #include <memory>
 #include <unordered_map>
 
+#include "gtest/gtest.h"
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/create_timer_interface.h"
+#include "tf2_ros/transform_listener.h"
+
 class MockCreateTimer final : public tf2_ros::CreateTimerInterface
 {
 public:
diff --git a/tf2_ros/test/test_buffer_client.cpp b/tf2_ros/test/test_buffer_client.cpp
index 82c3e5537..15fe95e4b 100644
--- a/tf2_ros/test/test_buffer_client.cpp
+++ b/tf2_ros/test/test_buffer_client.cpp
@@ -27,21 +27,21 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <gtest/gtest.h>
-
-#include <tf2_msgs/action/lookup_transform.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_action/rclcpp_action.hpp>
-
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/buffer_client.h>
-
 #include <chrono>
 #include <future>
 #include <memory>
 #include <string>
 #include <thread>
 
+#include "gtest/gtest.h"
+
+#include "tf2_msgs/action/lookup_transform.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_action/rclcpp_action.hpp"
+
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/buffer_client.h"
+
 static const char ACTION_NAME[] = "test_tf2_buffer_action";
 
 class MockBufferServer : public rclcpp::Node
diff --git a/tf2_ros/test/test_buffer_server.cpp b/tf2_ros/test/test_buffer_server.cpp
index 965aa33cb..77daae936 100644
--- a/tf2_ros/test/test_buffer_server.cpp
+++ b/tf2_ros/test/test_buffer_server.cpp
@@ -27,21 +27,20 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-
-#include <gtest/gtest.h>
-
-#include <tf2_msgs/action/lookup_transform.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_action/rclcpp_action.hpp>
-
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/buffer_server.h>
-
 #include <chrono>
 #include <future>
 #include <memory>
 #include <string>
 
+#include "gtest/gtest.h"
+
+#include "tf2_msgs/action/lookup_transform.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_action/rclcpp_action.hpp"
+
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/buffer_server.h"
+
 static const char ACTION_NAME[] = "test_tf2_buffer_action";
 
 class MockBufferClient : public rclcpp::Node
diff --git a/tf2_ros/test/time_reset_test.cpp b/tf2_ros/test/time_reset_test.cpp
index 799545451..44cbd249c 100644
--- a/tf2_ros/test/time_reset_test.cpp
+++ b/tf2_ros/test/time_reset_test.cpp
@@ -27,18 +27,19 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <gtest/gtest.h>
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_broadcaster.h>
-#include <tf2_ros/transform_listener.h>
-
-#include <builtin_interfaces/msg/time.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rosgraph_msgs/msg/clock.hpp>
-
 #include <chrono>
 #include <memory>
 
+#include "gtest/gtest.h"
+
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/transform_broadcaster.h"
+#include "tf2_ros/transform_listener.h"
+
+#include "builtin_interfaces/msg/time.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rosgraph_msgs/msg/clock.hpp"
+
 void spin_for_a_second(std::shared_ptr<rclcpp::Node> & node)
 {
   rclcpp::Rate r(10);
diff --git a/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.hpp b/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.hpp
index de64c4008..4fce65627 100644
--- a/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.hpp
+++ b/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.hpp
@@ -29,16 +29,18 @@
 #ifndef TF2_SENSOR_MSGS__TF2_SENSOR_MSGS_HPP_
 #define TF2_SENSOR_MSGS__TF2_SENSOR_MSGS_HPP_
 
-#include <tf2/convert.h>
-#include <tf2/time.h>
-#include <sensor_msgs/msg/point_cloud2.hpp>
-#include <sensor_msgs/point_cloud2_iterator.hpp>
-#include <Eigen/Eigen>
-#include <Eigen/Geometry>
-#include <tf2_ros/buffer_interface.h>
-
 #include <string>
 
+#include <Eigen/Eigen>  // NOLINT
+#include <Eigen/Geometry>  // NOLINT
+
+#include "tf2_ros/buffer_interface.h"
+
+#include "tf2/convert.h"
+#include "tf2/time.h"
+#include "sensor_msgs/msg/point_cloud2.hpp"
+#include "sensor_msgs/point_cloud2_iterator.hpp"
+
 namespace tf2
 {
 
diff --git a/tf2_sensor_msgs/test/test_tf2_sensor_msgs.cpp b/tf2_sensor_msgs/test/test_tf2_sensor_msgs.cpp
index e9adb6203..dd3985fdb 100644
--- a/tf2_sensor_msgs/test/test_tf2_sensor_msgs.cpp
+++ b/tf2_sensor_msgs/test/test_tf2_sensor_msgs.cpp
@@ -26,18 +26,18 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#include <gtest/gtest.h>
+#include <memory>
 
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
+#include "gtest/gtest.h"
 
-#include <builtin_interfaces/msg/time.hpp>
-#include <geometry_msgs/msg/pose_stamped.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <sensor_msgs/point_cloud2_iterator.hpp>
-#include <tf2_sensor_msgs/tf2_sensor_msgs.hpp>
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/transform_listener.h"
 
-#include <memory>
+#include "builtin_interfaces/msg/time.hpp"
+#include "geometry_msgs/msg/pose_stamped.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "sensor_msgs/point_cloud2_iterator.hpp"
+#include "tf2_sensor_msgs/tf2_sensor_msgs.hpp"
 
 std::unique_ptr<tf2_ros::Buffer> tf_buffer = nullptr;
 static const double EPS = 1e-3;