diff --git a/scitos2_behavior_tree/include/scitos2_behavior_tree/action/emergency_stop_service.hpp b/scitos2_behavior_tree/include/scitos2_behavior_tree/action/emergency_stop_service.hpp
index 6c0f06e..2360704 100644
--- a/scitos2_behavior_tree/include/scitos2_behavior_tree/action/emergency_stop_service.hpp
+++ b/scitos2_behavior_tree/include/scitos2_behavior_tree/action/emergency_stop_service.hpp
@@ -27,7 +27,7 @@ namespace scitos2_behavior_tree
 using nav2_behavior_tree::BtServiceNode;
 
 /**
- * @brief A nav2_behavior_tree::BtServiceNode class that wraps scitos_msgs::srv::EmergencyStop
+ * @brief A nav2_behavior_tree::BtServiceNode class that wraps scitos2_msgs::srv::EmergencyStop
  */
 class EmergencyStopService : public BtServiceNode<scitos2_msgs::srv::EmergencyStop>
 {
diff --git a/scitos2_behavior_tree/include/scitos2_behavior_tree/action/reset_motor_stop_service.hpp b/scitos2_behavior_tree/include/scitos2_behavior_tree/action/reset_motor_stop_service.hpp
index b233c9f..fc91e8d 100644
--- a/scitos2_behavior_tree/include/scitos2_behavior_tree/action/reset_motor_stop_service.hpp
+++ b/scitos2_behavior_tree/include/scitos2_behavior_tree/action/reset_motor_stop_service.hpp
@@ -27,7 +27,7 @@ namespace scitos2_behavior_tree
 using nav2_behavior_tree::BtServiceNode;
 
 /**
- * @brief A nav2_behavior_tree::BtServiceNode class that wraps scitos_msgs::srv::ResetMotorStop
+ * @brief A nav2_behavior_tree::BtServiceNode class that wraps scitos2_msgs::srv::ResetMotorStop
  */
 class ResetMotorStopService : public BtServiceNode<scitos2_msgs::srv::ResetMotorStop>
 {
diff --git a/scitos2_behavior_tree/include/scitos2_behavior_tree/condition/is_bumper_activated_condition.hpp b/scitos2_behavior_tree/include/scitos2_behavior_tree/condition/is_bumper_activated_condition.hpp
index 72da024..41798d3 100644
--- a/scitos2_behavior_tree/include/scitos2_behavior_tree/condition/is_bumper_activated_condition.hpp
+++ b/scitos2_behavior_tree/include/scitos2_behavior_tree/condition/is_bumper_activated_condition.hpp
@@ -40,8 +40,7 @@ class IsBumperActivatedCondition : public BT::ConditionNode
    * @param conf BT node configuration
    */
   IsBumperActivatedCondition(
-    const std::string & condition_name,
-    const BT::NodeConfiguration & conf);
+    const std::string & condition_name, const BT::NodeConfiguration & conf);
 
   IsBumperActivatedCondition() = delete;
 
@@ -58,8 +57,7 @@ class IsBumperActivatedCondition : public BT::ConditionNode
   static BT::PortsList providedPorts()
   {
     return {
-      BT::InputPort<std::string>(
-        "bumper_topic", std::string("/bumper"), "Bumper topic")
+      BT::InputPort<std::string>("bumper_topic", std::string("/bumper"), "Bumper topic")
     };
   }