diff --git a/.clang-format b/.clang-format
index f9f782a..5e0792e 100644
--- a/.clang-format
+++ b/.clang-format
@@ -24,4 +24,4 @@ BraceWrapping:
   AfterNamespace: true
   AfterStruct: true
   AfterUnion: true
-  BeforeCatch: true
\ No newline at end of file
+  BeforeCatch: true
diff --git a/.docker/Dockerfile b/.docker/Dockerfile
index 48af9e6..2a6ae6e 100644
--- a/.docker/Dockerfile
+++ b/.docker/Dockerfile
@@ -132,4 +132,4 @@ RUN sudo apt-get update \
 # Env vars for the nvidia-container-runtime.
 ENV NVIDIA_VISIBLE_DEVICES all
 ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
-ENV QT_X11_NO_MITSHM 1
\ No newline at end of file
+ENV QT_X11_NO_MITSHM 1
diff --git a/.github/workflows/format.yml b/.github/workflows/format.yml
index d0acb74..b22d8bd 100644
--- a/.github/workflows/format.yml
+++ b/.github/workflows/format.yml
@@ -20,6 +20,9 @@ jobs:
         with:
           python-version: "3.10"
 
+      - name: Install clang-format-14
+        run: sudo apt-get install clang-format-14
+
       - name: Run pre-commit
         uses: pre-commit/action@v3.0.0
         id: precommit
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index e947031..3d7d5be 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -16,25 +16,15 @@ repos:
       - id: codespell
         args: ["--write-changes"]
 
-  - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v15.0.6
-    hooks:
-      - id: clang-format
-  
   - repo: local
     hooks:
-      - id: ament_lint_cmake
-        name: ament_lint_cmake
-        entry: ament_lint_cmake
-        language: system
-        files: CMakeLists\.txt$
-
-  - repo: local
-    hooks:
-      - id: ament_copyright
-        name: ament_copyright
-        entry: ament_copyright
+      - id: clang-format
+        name: clang-format
+        description: Format files with ClangFormat.
+        entry: clang-format-14
         language: system
+        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
+        args: ['-fallback-style=Google', '-i']
 
   - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v4.4.0
diff --git a/.ruff.toml b/.ruff.toml
index 44d1327..fef8156 100644
--- a/.ruff.toml
+++ b/.ruff.toml
@@ -1 +1 @@
-target-version = "py310"
\ No newline at end of file
+target-version = "py310"
diff --git a/ros2.repos b/ros2.repos
index af046ec..e40c57b 100644
--- a/ros2.repos
+++ b/ros2.repos
@@ -1,7 +1,7 @@
 # Add external repositories that your project depends on here. For example,
 # repositories:
-# 
+#
 #   ros_gz:
 #     type: git
 #     url: https://github.com/gazebosim/ros_gz
-#     version: ros2
\ No newline at end of file
+#     version: ros2
diff --git a/template_pkg/package.xml b/template_pkg/package.xml
index 5b6d9d3..9a5f11d 100644
--- a/template_pkg/package.xml
+++ b/template_pkg/package.xml
@@ -25,4 +25,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
\ No newline at end of file
+</package>