diff --git a/perception/scene_to_image_projector/CMakeLists.txt b/perception/scene_to_image_projector/CMakeLists.txt
index 7dcbcba9b8bf3..44e271e472b98 100644
--- a/perception/scene_to_image_projector/CMakeLists.txt
+++ b/perception/scene_to_image_projector/CMakeLists.txt
@@ -33,4 +33,3 @@ rclcpp_components_register_node(scene_to_image_projector
 ament_auto_package(INSTALL_TO_SHARE
         launch
         )
-
diff --git a/perception/scene_to_image_projector/README.md b/perception/scene_to_image_projector/README.md
index f17363a9293b7..446de6b020f74 100644
--- a/perception/scene_to_image_projector/README.md
+++ b/perception/scene_to_image_projector/README.md
@@ -1,4 +1,3 @@
 # scene_to_image_projector
 
 ## Purpose
-
diff --git a/perception/scene_to_image_projector/launch/scene_to_image_projector.launch.xml b/perception/scene_to_image_projector/launch/scene_to_image_projector.launch.xml
index 2dd62b9162ebc..b1874f1cb9a51 100644
--- a/perception/scene_to_image_projector/launch/scene_to_image_projector.launch.xml
+++ b/perception/scene_to_image_projector/launch/scene_to_image_projector.launch.xml
@@ -1,17 +1,17 @@
 <launch>
-    <arg name="input/image" default="/perception/object_recognition/detection/image_rect_front"/>
-    <arg name="input/camera_info" default="/lucid_vision/camera_1/camera_info"/>
-    <arg name="input/objects" default="/perception/object_recognition/detection/objects"/>
-    <arg name="objects_type" default="detected" description="must be tracked or detected"/>
-    <arg name="use_trajectory" default="false" description=""/>
-    <arg name="use_road_boundaries" default="false" description=""/>
+  <arg name="input/image" default="/perception/object_recognition/detection/image_rect_front"/>
+  <arg name="input/camera_info" default="/lucid_vision/camera_1/camera_info"/>
+  <arg name="input/objects" default="/perception/object_recognition/detection/objects"/>
+  <arg name="objects_type" default="detected" description="must be tracked or detected"/>
+  <arg name="use_trajectory" default="false" description=""/>
+  <arg name="use_road_boundaries" default="false" description=""/>
 
-    <node pkg="scene_to_image_projector" exec="scene_to_image_projector_node" name="scene_to_image_projector">
-        <remap from="~/input/image" to="$(var input/image)"/>
-        <remap from="~/input/camera_info" to="$(var input/camera_info)"/>
-        <remap from="~/input/objects" to="$(var input/objects)"/>
-        <param name="objects_type" value="$(var objects_type)"/>
-        <param name="use_trajectory" value="$(var use_trajectory)"/>
-        <param name="use_road_boundaries" value="$(var use_road_boundaries)"/>
-    </node>
+  <node pkg="scene_to_image_projector" exec="scene_to_image_projector_node" name="scene_to_image_projector">
+    <remap from="~/input/image" to="$(var input/image)"/>
+    <remap from="~/input/camera_info" to="$(var input/camera_info)"/>
+    <remap from="~/input/objects" to="$(var input/objects)"/>
+    <param name="objects_type" value="$(var objects_type)"/>
+    <param name="use_trajectory" value="$(var use_trajectory)"/>
+    <param name="use_road_boundaries" value="$(var use_road_boundaries)"/>
+  </node>
 </launch>
diff --git a/perception/scene_to_image_projector/package.xml b/perception/scene_to_image_projector/package.xml
index a6d96efa03296..f5dbc526f42f1 100644
--- a/perception/scene_to_image_projector/package.xml
+++ b/perception/scene_to_image_projector/package.xml
@@ -17,12 +17,12 @@
   <depend>image_transport</depend>
   <depend>libboost-filesystem-dev</depend>
   <depend>message_filters</depend>
+  <depend>perception_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>perception_utils</depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/perception/scene_to_image_projector/src/node.cpp b/perception/scene_to_image_projector/src/node.cpp
index 60531d0b82764..f277860a0586e 100644
--- a/perception/scene_to_image_projector/src/node.cpp
+++ b/perception/scene_to_image_projector/src/node.cpp
@@ -61,7 +61,7 @@ SceneToImageProjectorNode::SceneToImageProjectorNode(const rclcpp::NodeOptions &
 
   auto objects_type = declare_parameter<std::string>("objects_type", "tracked");
   auto use_trajectories = declare_parameter<bool>("use_trajectory", false);
-//  auto sub_road_boundaries = declare_parameter<bool>("sub_road_boundaries", false);
+  //  auto sub_road_boundaries = declare_parameter<bool>("sub_road_boundaries", false);
 
   image_sub_.subscribe(this, "~/input/image", "raw", rmw_qos_profile_sensor_data);
   camera_info_sub_.subscribe(this, "~/input/camera_info", rmw_qos_profile_sensor_data);
@@ -273,4 +273,4 @@ void SceneToImageProjectorNode::TrajectoryCallback(
 
 #include <rclcpp_components/register_node_macro.hpp>
 
-RCLCPP_COMPONENTS_REGISTER_NODE(scene_to_image_projector::SceneToImageProjectorNode)
\ No newline at end of file
+RCLCPP_COMPONENTS_REGISTER_NODE(scene_to_image_projector::SceneToImageProjectorNode)