diff --git a/nebula_examples/CMakeLists.txt b/nebula_examples/CMakeLists.txt
index aee322eaa..5072a5f76 100644
--- a/nebula_examples/CMakeLists.txt
+++ b/nebula_examples/CMakeLists.txt
@@ -2,13 +2,13 @@ cmake_minimum_required(VERSION 3.5)
 project(nebula_examples)
 
 # Default to C++17
-if (NOT CMAKE_CXX_STANDARD)
+if(NOT CMAKE_CXX_STANDARD)
     set(CMAKE_CXX_STANDARD 17)
-endif ()
+endif()
 
-if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Wpedantic -Wunused-function)
-endif ()
+endif()
 
 find_package(ament_cmake_auto REQUIRED)
 find_package(PCL REQUIRED COMPONENTS common)
@@ -31,31 +31,31 @@ include_directories(
 # Offline Lib
 ament_auto_add_library(hesai_ros_offline_extract_pcd SHARED
         ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_ros_offline_extract_pcd.cpp
-        )
+)
 target_link_libraries(hesai_ros_offline_extract_pcd ${PCL_LIBRARIES})
 ament_auto_add_executable(hesai_ros_offline_extract_pcd_node
         ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_ros_offline_extract_pcd_main.cpp
-        )
+)
 # Extraction for TEST Lib
 ament_auto_add_library(hesai_ros_offline_extract_bag_pcd SHARED
         ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
-        )
+)
 target_link_libraries(hesai_ros_offline_extract_bag_pcd ${PCL_LIBRARIES})
 ament_auto_add_executable(hesai_ros_offline_extract_bag_pcd_node
         ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_ros_offline_extract_bag_pcd_main.cpp
-        )
+)
 
 ## Velodyne
 # Extraction for TEST Lib
 ament_auto_add_library(velodyne_ros_offline_extract_bag_pcd SHARED
         ${CMAKE_CURRENT_SOURCE_DIR}/src/velodyne/velodyne_ros_offline_extract_bag_pcd.cpp
-        )
+)
 target_link_libraries(velodyne_ros_offline_extract_bag_pcd ${PCL_LIBRARIES})
 ament_auto_add_executable(velodyne_ros_offline_extract_bag_pcd_node
         ${CMAKE_CURRENT_SOURCE_DIR}/src/velodyne/velodyne_ros_offline_extract_bag_pcd_main.cpp
-        )
+)
 
-if (BUILD_TESTING)
+if(BUILD_TESTING)
     find_package(ament_lint_auto REQUIRED)
     ament_lint_auto_find_test_dependencies()
 endif()
diff --git a/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp b/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp
index 7a4b48307..a7681323c 100644
--- a/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp
+++ b/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp
@@ -1,3 +1,17 @@
+// Copyright 2023 Map IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #ifndef NEBULA_HesaiRosOfflineExtractBag_H
 #define NEBULA_HesaiRosOfflineExtractBag_H
 
@@ -14,6 +28,9 @@
 #include "pandar_msgs/msg/pandar_packet.hpp"
 #include "pandar_msgs/msg/pandar_scan.hpp"
 
+#include <memory>
+#include <string>
+
 namespace nebula
 {
 namespace ros
diff --git a/nebula_examples/include/hesai/hesai_ros_offline_extract_pcd.hpp b/nebula_examples/include/hesai/hesai_ros_offline_extract_pcd.hpp
index 596bed2c6..711502e6a 100644
--- a/nebula_examples/include/hesai/hesai_ros_offline_extract_pcd.hpp
+++ b/nebula_examples/include/hesai/hesai_ros_offline_extract_pcd.hpp
@@ -1,3 +1,17 @@
+// Copyright 2023 Map IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #ifndef NEBULA_HesaiRosOfflineExtractSample_H
 #define NEBULA_HesaiRosOfflineExtractSample_H
 
@@ -14,6 +28,9 @@
 #include "pandar_msgs/msg/pandar_packet.hpp"
 #include "pandar_msgs/msg/pandar_scan.hpp"
 
+#include <memory>
+#include <string>
+
 namespace nebula
 {
 namespace ros
diff --git a/nebula_examples/include/velodyne/velodyne_ros_offline_extract_bag_pcd.hpp b/nebula_examples/include/velodyne/velodyne_ros_offline_extract_bag_pcd.hpp
index 96c4863c7..7818a050d 100644
--- a/nebula_examples/include/velodyne/velodyne_ros_offline_extract_bag_pcd.hpp
+++ b/nebula_examples/include/velodyne/velodyne_ros_offline_extract_bag_pcd.hpp
@@ -1,3 +1,17 @@
+// Copyright 2023 Map IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #ifndef NEBULA_VelodyneRosOfflineExtractBag_H
 #define NEBULA_VelodyneRosOfflineExtractBag_H
 
@@ -26,6 +40,9 @@
 
 #include <regex>
 
+#include <memory>
+#include <string>
+
 namespace nebula
 {
 namespace ros
diff --git a/nebula_examples/package.xml b/nebula_examples/package.xml
index ab6d61eb7..6f1163279 100644
--- a/nebula_examples/package.xml
+++ b/nebula_examples/package.xml
@@ -28,6 +28,9 @@
   <depend>velodyne_msgs</depend>
   <depend>yaml-cpp</depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp b/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
index a01fd560d..9c1266347 100644
--- a/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
+++ b/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
@@ -1,3 +1,17 @@
+// Copyright 2023 Map IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #include "hesai/hesai_ros_offline_extract_bag_pcd.hpp"
 
 #include "rclcpp/serialization.hpp"
@@ -78,7 +92,7 @@ Status HesaiRosOfflineExtractBag::InitializeDriver(
   return driver_ptr_->GetStatus();
 }
 
-Status HesaiRosOfflineExtractBag::GetStatus() { return wrapper_status_; }
+Status HesaiRosOfflineExtractBag::GetStatus() {return wrapper_status_;}
 
 Status HesaiRosOfflineExtractBag::GetParameters(
   drivers::HesaiSensorConfiguration & sensor_configuration,
@@ -105,7 +119,7 @@ Status HesaiRosOfflineExtractBag::GetParameters(
     sensor_configuration.return_mode =
       //      nebula::drivers::ReturnModeFromString(this->get_parameter("return_mode").as_string());
       nebula::drivers::ReturnModeFromStringHesai(
-        this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
+      this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -290,7 +304,7 @@ Status HesaiRosOfflineExtractBag::ReadBag()
   bool needs_open = true;
   storage_options.uri = bag_path;
   storage_options.storage_id = storage_id;
-  converter_options.output_serialization_format = format;  //"cdr";
+  converter_options.output_serialization_format = format;  // "cdr";
   {
     rosbag2_cpp::Reader reader(std::make_unique<rosbag2_cpp::readers::SequentialReader>());
     // reader.open(rosbag_directory.string());
@@ -329,7 +343,7 @@ Status HesaiRosOfflineExtractBag::ReadBag()
           writer_->open(storage_options_w, converter_options_w);
           writer_->create_topic(
             {bag_message->topic_name, "pandar_msgs/msg/PandarScan", rmw_get_serialization_format(),
-             ""});
+              ""});
           needs_open = false;
         }
         writer_->write(bag_message);
diff --git a/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd_main.cpp b/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd_main.cpp
index c6ced79de..f0eed5055 100644
--- a/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd_main.cpp
+++ b/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd_main.cpp
@@ -1,3 +1,17 @@
+// Copyright 2023 Map IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #include "hesai/hesai_ros_offline_extract_bag_pcd.hpp"
 
 #include <rclcpp/rclcpp.hpp>
diff --git a/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp b/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp
index 769d6ad79..a57d9b96e 100644
--- a/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp
+++ b/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp
@@ -1,3 +1,17 @@
+// Copyright 2023 Map IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #include "hesai/hesai_ros_offline_extract_pcd.hpp"
 
 #include "rclcpp/serialization.hpp"
@@ -7,9 +21,8 @@
 #include "rosbag2_cpp/reader.hpp"
 #include "rosbag2_cpp/readers/sequential_reader.hpp"
 #include "rosbag2_storage/storage_options.hpp"
-//#include <boost/filesystem/path.hpp>
-//#include <boost/filesystem/operations.hpp>
-#include "rcpputils/filesystem_helper.hpp"
+// #include <boost/filesystem/path.hpp>
+// #include <boost/filesystem/operations.hpp>
 
 #include <regex>
 
@@ -79,7 +92,7 @@ Status HesaiRosOfflineExtractSample::InitializeDriver(
   return driver_ptr_->GetStatus();
 }
 
-Status HesaiRosOfflineExtractSample::GetStatus() { return wrapper_status_; }
+Status HesaiRosOfflineExtractSample::GetStatus() {return wrapper_status_;}
 
 Status HesaiRosOfflineExtractSample::GetParameters(
   drivers::HesaiSensorConfiguration & sensor_configuration,
@@ -106,7 +119,7 @@ Status HesaiRosOfflineExtractSample::GetParameters(
     sensor_configuration.return_mode =
       //      nebula::drivers::ReturnModeFromString(this->get_parameter("return_mode").as_string());
       nebula::drivers::ReturnModeFromStringHesai(
-        this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
+      this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -259,7 +272,7 @@ Status HesaiRosOfflineExtractSample::ReadBag()
 
   storage_options.uri = bag_path;
   storage_options.storage_id = storage_id;
-  converter_options.output_serialization_format = format;  //"cdr";
+  converter_options.output_serialization_format = format;  // "cdr";
   {
     rosbag2_cpp::Reader reader(std::make_unique<rosbag2_cpp::readers::SequentialReader>());
     // reader.open(rosbag_directory.string());
diff --git a/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd_main.cpp b/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd_main.cpp
index 616519a65..b504605e6 100644
--- a/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd_main.cpp
+++ b/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd_main.cpp
@@ -1,3 +1,17 @@
+// Copyright 2023 Map IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #include "hesai/hesai_ros_offline_extract_pcd.hpp"
 
 #include <rclcpp/rclcpp.hpp>
diff --git a/nebula_examples/src/velodyne/velodyne_ros_offline_extract_bag_pcd.cpp b/nebula_examples/src/velodyne/velodyne_ros_offline_extract_bag_pcd.cpp
index 54e09e5a7..913898b7c 100644
--- a/nebula_examples/src/velodyne/velodyne_ros_offline_extract_bag_pcd.cpp
+++ b/nebula_examples/src/velodyne/velodyne_ros_offline_extract_bag_pcd.cpp
@@ -1,3 +1,17 @@
+// Copyright 2023 Map IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #include "velodyne/velodyne_ros_offline_extract_bag_pcd.hpp"
 
 namespace nebula
@@ -42,7 +56,7 @@ Status VelodyneRosOfflineExtractBag::InitializeDriver(
   return driver_ptr_->GetStatus();
 }
 
-Status VelodyneRosOfflineExtractBag::GetStatus() { return wrapper_status_; }
+Status VelodyneRosOfflineExtractBag::GetStatus() {return wrapper_status_;}
 
 Status VelodyneRosOfflineExtractBag::GetParameters(
   drivers::VelodyneSensorConfiguration & sensor_configuration,
@@ -300,7 +314,7 @@ Status VelodyneRosOfflineExtractBag::ReadBag()
   bool needs_open = true;
   storage_options.uri = bag_path;
   storage_options.storage_id = storage_id;
-  converter_options.output_serialization_format = format;  //"cdr";
+  converter_options.output_serialization_format = format;  // "cdr";
   {
     rosbag2_cpp::Reader reader(std::make_unique<rosbag2_cpp::readers::SequentialReader>());
     reader.open(storage_options, converter_options);
@@ -338,7 +352,7 @@ Status VelodyneRosOfflineExtractBag::ReadBag()
           writer_->open(storage_options_w, converter_options_w);
           writer_->create_topic(
             {bag_message->topic_name, "velodyne_msgs/msg/VelodyneScan",
-             rmw_get_serialization_format(), ""});
+              rmw_get_serialization_format(), ""});
           needs_open = false;
         }
         writer_->write(bag_message);
diff --git a/nebula_examples/src/velodyne/velodyne_ros_offline_extract_bag_pcd_main.cpp b/nebula_examples/src/velodyne/velodyne_ros_offline_extract_bag_pcd_main.cpp
index f8338ca03..bea1fc950 100644
--- a/nebula_examples/src/velodyne/velodyne_ros_offline_extract_bag_pcd_main.cpp
+++ b/nebula_examples/src/velodyne/velodyne_ros_offline_extract_bag_pcd_main.cpp
@@ -1,3 +1,17 @@
+// Copyright 2023 Map IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #include "velodyne/velodyne_ros_offline_extract_bag_pcd.hpp"
 
 #include <rclcpp/rclcpp.hpp>