diff --git a/.github/issue_template.md b/.github/issue_template.md
new file mode 100644
index 0000000..4af8023
--- /dev/null
+++ b/.github/issue_template.md
@@ -0,0 +1,16 @@
+---
+
+name: "Issue template"
+about: "Minimal information about an issue"
+title: ""
+ref: "devel"
+
+---
+
+## Description
+
+
+<!--- ## Screenshots (if appropriate): -->
+
+## References
+<!--- Create a list of references, (in a bullet style) -->
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
new file mode 100644
index 0000000..f73645b
--- /dev/null
+++ b/.github/pull_request_template.md
@@ -0,0 +1,27 @@
+<!--- Provide a general summary of your changes in the Title above -->
+## Description
+
+
+## Motivation and context
+<!--- Why is this change required? What problem does it solve? -->
+<!--- If it fixes an open issue, please link to the issue here. -->
+
+
+<!--- ## Screenshots (if appropriate): -->
+
+## How has this been tested?
+<!--- Please describe in detail how you tested your changes. -->
+<!--- Include details of your testing environment, and the tests you ran to -->
+<!--- see how your change affects other areas of the code, etc. -->
+
+
+## Checklist
+<!--- Go over all the following points, and put an `x` in all the boxes that apply. -->
+<!--- If you're unsure about any of these, don't hesitate to ask. We're here to help! -->
+- [ ] All TODOs in the code have been resolved or linked to a proper issue.
+- [ ] Code has been (auto)formatted.
+- [ ] Documentation (e.g., README, CHANGELOG, Wiki) has been updated.
+- [ ] All automated checks have passed.
+
+---
+Clickup task: [hash](link)
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
new file mode 100644
index 0000000..08f7311
--- /dev/null
+++ b/.github/workflows/pre-commit.yaml
@@ -0,0 +1,11 @@
+---
+name: Pre-Commit
+
+on:
+  push:
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: humble
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 0000000..515d61e
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,33 @@
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-xml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: pretty-format-json
+      - id: trailing-whitespace
+      - id: check-yaml
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.6
+    hooks:
+      - id: codespell
+        args: [-L, hande, -w]
+
+  - repo: https://github.com/tier4/pre-commit-hooks-ros
+    rev: v0.10.0
+    hooks:
+      - id: prettier-xacro
+      - id: prettier-package-xml
+      - id: ros-include-guard
+      - id: sort-package-xml
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 70b1c98..73b06c0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,4 +9,4 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
-ament_package()
\ No newline at end of file
+ament_package()
diff --git a/README.md b/README.md
index 48d6561..76fb2d2 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,7 @@
 # robotiq_hande_description
 
+[![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit)
+
 This package contains meshes and URDF description of [Robotiq Hand-E gripper](https://robotiq.com/products/hand-e-adaptive-robot-gripper) dedicated for Universal Robots e-series.
 
 - The gripper comes with coupler model (but without flange).
@@ -7,8 +9,8 @@ This package contains meshes and URDF description of [Robotiq Hand-E gripper](ht
 - Package has been developed and tested in ROS 2 Humble.
 
 
-> [!IMPORTANT]  
-> The fingers' joints can be set from **0 to 25 mm** (which correspondes to the maximal grasp with from **0 to 50 mm**).
+> [!IMPORTANT]
+> The fingers' joints can be set from **0 to 25 mm** (which corresponds to the maximal grasp with from **0 to 50 mm**).
 
 ![hande_model](docs/hande_rviz.gif)
 
@@ -27,7 +29,7 @@ In your URDF (Xacro) file include the Hand-E definition. Provide a parent link (
 An example usage can be find in the [urdf/hande_preview.urdf.xacro](./urdf/robotiq_hande_gripper.urdf.xacro) file.
 
 > [!NOTE]
-> The TF frame of the end tip of the gripper is called `${prefix}hande_end`, where `${prefix}` evaluates as the second macro paramater.
+> The TF frame of the end tip of the gripper is called `${prefix}hande_end`, where `${prefix}` evaluates as the second macro parameter.
 
 
 ## Preview
@@ -43,6 +45,6 @@ ros2 launch robotiq_hande_description display.launch.py
 ```
 
 ## Credits
-- The orignal files of the gripper model were taken from the [Robotiq website](https://robotiq.com/products/hand-e-adaptive-robot-gripper).
+- The original files of the gripper model were taken from the [Robotiq website](https://robotiq.com/products/hand-e-adaptive-robot-gripper).
 - The URDF files are based on work of @cambel [repository](https://github.com/cambel/robotiq.git).
-- Preview in Rviz is based on [ROS 2 URDF Tutorial](https://github.com/ros/urdf_tutorial/tree/ros2/).
\ No newline at end of file
+- Preview in Rviz is based on [ROS 2 URDF Tutorial](https://github.com/ros/urdf_tutorial/tree/ros2/).
diff --git a/launch/display.launch.py b/launch/display.launch.py
index 05e295e..cae0ffa 100644
--- a/launch/display.launch.py
+++ b/launch/display.launch.py
@@ -21,4 +21,4 @@ def generate_launch_description():
             'jsp_gui': run_joint_state_publisher_gui}.items()
     ))
 
-    return ld
\ No newline at end of file
+    return ld
diff --git a/urdf/materials.xacro b/urdf/materials.xacro
index f9432e1..c9d24cf 100644
--- a/urdf/materials.xacro
+++ b/urdf/materials.xacro
@@ -1,6 +1,5 @@
-<?xml version="1.0" ?>
+<?xml version="1.0"?>
 <robot name="xacro_properties" xmlns:xacro="http://ros.org/wiki/xacro">
-
   <material name="Grey">
     <color rgba="0.5 0.5 0.5 1.0"/>
   </material>
@@ -8,5 +7,4 @@
   <material name="DarkGrey">
     <color rgba="0.04 0.04 0.04 1.0"/>
   </material>
-  
-</robot>
\ No newline at end of file
+</robot>
diff --git a/urdf/robotiq_hande_gripper.urdf.xacro b/urdf/robotiq_hande_gripper.urdf.xacro
index c5ec3ac..20ec7df 100644
--- a/urdf/robotiq_hande_gripper.urdf.xacro
+++ b/urdf/robotiq_hande_gripper.urdf.xacro
@@ -1,10 +1,7 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro"
-       name="robotiq_hande_gripper" >
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="robotiq_hande_gripper">
+  <xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.xacro"/>
 
-  <xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.xacro" />
-
-  <link name="tool0" />
-  <xacro:robotiq_hande_gripper parent="tool0" prefix="" />
-  
+  <link name="tool0"/>
+  <xacro:robotiq_hande_gripper parent="tool0" prefix=""/>
 </robot>
diff --git a/urdf/robotiq_hande_gripper.xacro b/urdf/robotiq_hande_gripper.xacro
index b1af3f2..8d0f1ca 100644
--- a/urdf/robotiq_hande_gripper.xacro
+++ b/urdf/robotiq_hande_gripper.xacro
@@ -1,32 +1,26 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-
   <!--
     Based on the URDF file by Cristian C Beltran-Hernandez
-  -->  
+  -->
 
-  <xacro:include filename="$(find robotiq_hande_description)/urdf/materials.xacro" />
+  <xacro:include filename="$(find robotiq_hande_description)/urdf/materials.xacro"/>
 
   <xacro:macro name="robotiq_hande_gripper" params="prefix parent">
-
     <!-- Robotiq Coupler -->
     <!--  + Height added by the coupler: 13.9mm -->
     <!--  + Reference frame: at the middle (6.95mm) -->
 
     <joint name="robotiq_coupler_joint" type="fixed">
-      <origin xyz="0 0 0.00695" rpy="0 0 ${-pi/2.0}" />
+      <origin xyz="0 0 0.00695" rpy="0 0 ${-pi/2.0}"/>
       <parent link="${parent}"/>
       <child link="${prefix}robotiq_coupler"/>
     </joint>
 
     <link name="${prefix}robotiq_coupler">
       <inertial>
-        <mass value="0.168" />
-        <inertia 
-          ixx="6.17674E-05" ixy="0.0" ixz="0.0" 
-          iyy="6.17674E-05" iyz="0.0" 
-          izz="1.18125E-04"
-        />
+        <mass value="0.168"/>
+        <inertia ixx="6.17674E-05" ixy="0.0" ixz="0.0" iyy="6.17674E-05" iyz="0.0" izz="1.18125E-04"/>
       </inertial>
 
       <collision>
@@ -37,13 +31,12 @@
 
       <visual>
         <geometry>
-          <mesh filename="package://robotiq_hande_description/meshes/coupler.dae" />
+          <mesh filename="package://robotiq_hande_description/meshes/coupler.dae"/>
         </geometry>
-        <material name="DarkGrey" />
+        <material name="DarkGrey"/>
       </visual>
     </link>
 
-
     <joint name="${prefix}robotiq_hande_base_joint" type="fixed">
       <origin rpy="0 0 0" xyz="0 0 0.055"/>
       <parent link="${prefix}robotiq_coupler"/>
@@ -53,11 +46,7 @@
     <link name="${prefix}hande_link">
       <inertial>
         <mass value="0.86387"/>
-        <inertia 
-          ixx="0.001" ixy="0.0" ixz="0.0" 
-          iyy="0.001" iyz="0.0" 
-          izz="0.0006"
-        />  
+        <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.0006"/>
       </inertial>
 
       <collision>
@@ -75,7 +64,6 @@
       </visual>
     </link>
 
-
     <joint name="${prefix}hande_left_finger_joint" type="prismatic">
       <origin rpy="0 0 0" xyz="0 -0.025 0.0345"/>
       <parent link="${prefix}hande_link"/>
@@ -88,11 +76,7 @@
       <inertial>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <mass value="0.03804"/>
-        <inertia
-          ixx="1E-9" ixy="0.0" ixz="0.0" 
-          iyy="1E-9" iyz="0.0" 
-          izz="1E-9"
-        />
+        <inertia ixx="1E-9" ixy="0.0" ixz="0.0" iyy="1E-9" iyz="0.0" izz="1E-9"/>
       </inertial>
 
       <collision>
@@ -111,7 +95,6 @@
       </visual>
     </link>
 
-
     <joint name="${prefix}hande_right_finger_joint" type="prismatic">
       <origin rpy="0 0 0" xyz="0 0.025 0.0345"/>
       <parent link="${prefix}hande_link"/>
@@ -125,11 +108,7 @@
       <inertial>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <mass value="0.03804"/>
-        <inertia
-          ixx="1E-9" ixy="0.0" ixz="0.0" 
-          iyy="1E-9" iyz="0.0" 
-          izz="1E-9"
-        />
+        <inertia ixx="1E-9" ixy="0.0" ixz="0.0" iyy="1E-9" iyz="0.0" izz="1E-9"/>
       </inertial>
 
       <collision>
@@ -144,18 +123,16 @@
         <geometry>
           <mesh filename="package://robotiq_hande_description/meshes/finger.dae" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="Grey" />
+        <material name="Grey"/>
       </visual>
     </link>
 
-
     <joint name="${prefix}robotiq_hande_end_joint" type="fixed">
       <origin rpy="0 0 0" xyz="0 0 0.095"/>
       <parent link="${prefix}hande_link"/>
       <child link="${prefix}hande_end"/>
     </joint>
 
-    <link name="${prefix}hande_end" />
-
+    <link name="${prefix}hande_end"/>
   </xacro:macro>
 </robot>