diff --git a/src/remove_below_ground_filter.cpp b/src/remove_below_ground_filter.cpp
index 67cc6a0..e133f64 100644
--- a/src/remove_below_ground_filter.cpp
+++ b/src/remove_below_ground_filter.cpp
@@ -3,30 +3,29 @@
 namespace mrs_pcl_tools
 {
 
-  void RemoveBelowGroundFilter::initialize(ros::NodeHandle& nh, const std::shared_ptr<CommonHandlers_t> common_handlers)
-  {
-    keep_organized = common_handlers->param_loader->loadParamReusable<bool>("keep_organized", false);
-    common_handlers->param_loader->loadParam("ground_removal/plane_offset", plane_offset, 1.0);
-    const auto pfx = common_handlers->param_loader->getPrefix();
+void RemoveBelowGroundFilter::initialize(ros::NodeHandle& nh, const std::shared_ptr<CommonHandlers_t> common_handlers) {
+  common_handlers->param_loader->loadParamReusable<bool>("keep_organized", keep_organized, false);
+  common_handlers->param_loader->loadParam("ground_removal/plane_offset", plane_offset, 1.0);
+  const auto pfx = common_handlers->param_loader->getPrefix();
 
-    if (common_handlers->transformer == nullptr)
-    {
-      common_handlers->param_loader->setPrefix("");
-      const std::string uav_name = common_handlers->param_loader->loadParamReusable<std::string>("uav_name");
-      common_handlers->param_loader->setPrefix(pfx);
-      this->transformer = std::make_shared<mrs_lib::Transformer>("RemoveBelowGroundFilter");
-      this->transformer->setDefaultPrefix(uav_name);
-      this->transformer->setLookupTimeout(ros::Duration(0.3));
-      this->transformer->retryLookupNewest(true);
-    } else
-    {
-      this->transformer = common_handlers->transformer;
-    }
+  if (common_handlers->transformer == nullptr) {
+    common_handlers->param_loader->setPrefix("");
+    std::string uav_name;
+    common_handlers->param_loader->loadParamReusable<std::string>("uav_name", uav_name);
+    common_handlers->param_loader->setPrefix(pfx);
+    this->transformer = std::make_shared<mrs_lib::Transformer>("RemoveBelowGroundFilter");
+    this->transformer->setDefaultPrefix(uav_name);
+    this->transformer->setLookupTimeout(ros::Duration(0.3));
+    this->transformer->retryLookupNewest(true);
+  } else {
+    this->transformer = common_handlers->transformer;
+  }
 
-    m_ground_detector.initialize(nh, this->transformer, GroundplaneDetector::groundplane_detection_config_t(*common_handlers->param_loader, pfx+"ground_removal/"));
+  m_ground_detector.initialize(nh, this->transformer,
+                               GroundplaneDetector::groundplane_detection_config_t(*common_handlers->param_loader, pfx + "ground_removal/"));
 
-    initialized = true;
-  }
+  initialized = true;
+}
 
 }  // namespace mrs_pcl_tools