diff --git a/nav2_pure_pursuit_controller/include/nav2_pure_pursuit_controller/pure_pursuit_controller.hpp b/nav2_pure_pursuit_controller/include/nav2_pure_pursuit_controller/pure_pursuit_controller.hpp
index e1e8b0e..d7a0212 100644
--- a/nav2_pure_pursuit_controller/include/nav2_pure_pursuit_controller/pure_pursuit_controller.hpp
+++ b/nav2_pure_pursuit_controller/include/nav2_pure_pursuit_controller/pure_pursuit_controller.hpp
@@ -27,19 +27,19 @@ class PurePursuitController : public nav2_core::Controller
   ~PurePursuitController() override = default;
 
   void configure(
-    const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
-    std::string name, const std::shared_ptr<tf2_ros::Buffer> & tf,
-    const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> & costmap_ros) override;
+  const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
+  std::string name, const std::shared_ptr<tf2_ros::Buffer> tf,
+  const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
 
 
   void cleanup() override;
   void activate() override;
   void deactivate() override;
   void setSpeedLimit(const double & speed_limit, const bool & percentage) override;
-
+  
   geometry_msgs::msg::TwistStamped computeVelocityCommands(
     const geometry_msgs::msg::PoseStamped & pose,
-    const geometry_msgs::msg::Twist & velocity
+    const geometry_msgs::msg::Twist & velocity,
     nav2_core::GoalChecker * goal_checker) override;
 
   void setPlan(const nav_msgs::msg::Path & path) override;
diff --git a/nav2_pure_pursuit_controller/src/pure_pursuit_controller.cpp b/nav2_pure_pursuit_controller/src/pure_pursuit_controller.cpp
index 744bcb5..b40f1e6 100644
--- a/nav2_pure_pursuit_controller/src/pure_pursuit_controller.cpp
+++ b/nav2_pure_pursuit_controller/src/pure_pursuit_controller.cpp
@@ -255,7 +255,7 @@ bool PurePursuitController::transformPose(
   const rclcpp::Duration & transform_tolerance
 ) const
 {
-  // Implementation taken as is fron nav_2d_utils in nav2_dwb_controller
+  // Implementation taken as is from nav_2d_utils in nav2_dwb_controller
 
   if (in_pose.header.frame_id == frame) {
     out_pose = in_pose;