diff --git a/rclcpp/src/rclcpp/detail/resolve_parameter_overrides.cpp b/rclcpp/src/rclcpp/detail/resolve_parameter_overrides.cpp
index 15f567f7c5..a62121b37f 100644
--- a/rclcpp/src/rclcpp/detail/resolve_parameter_overrides.cpp
+++ b/rclcpp/src/rclcpp/detail/resolve_parameter_overrides.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "./resolve_parameter_overrides.hpp"
+#include "resolve_parameter_overrides.hpp"
 
 #include <string>
 #include <map>
diff --git a/rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp b/rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp
index 849815fed5..bb477690be 100644
--- a/rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp
+++ b/rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp
@@ -72,8 +72,9 @@ MultiThreadedExecutor::get_number_of_threads()
 }
 
 void
-MultiThreadedExecutor::run(size_t)
+MultiThreadedExecutor::run(size_t this_thread_number)
 {
+  (void)this_thread_number;
   while (rclcpp::ok(this->context_) && spinning.load()) {
     rclcpp::AnyExecutable any_exec;
     {
diff --git a/rclcpp/src/rclcpp/signal_handler.cpp b/rclcpp/src/rclcpp/signal_handler.cpp
index 55ef988786..35ceb56781 100644
--- a/rclcpp/src/rclcpp/signal_handler.cpp
+++ b/rclcpp/src/rclcpp/signal_handler.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "./signal_handler.hpp"
+#include "signal_handler.hpp"
 
 #include <atomic>
 #include <csignal>
diff --git a/rclcpp/test/rclcpp/test_intra_process_manager.cpp b/rclcpp/test/rclcpp/test_intra_process_manager.cpp
index 59437aa560..15eed99c9e 100644
--- a/rclcpp/test/rclcpp/test_intra_process_manager.cpp
+++ b/rclcpp/test/rclcpp/test_intra_process_manager.cpp
@@ -301,7 +301,7 @@ class SubscriptionIntraProcess : public SubscriptionIntraProcessBuffer<
 #define SubscriptionIntraProcessBase mock::SubscriptionIntraProcessBase
 #define SubscriptionIntraProcessBuffer mock::SubscriptionIntraProcessBuffer
 #define SubscriptionIntraProcess mock::SubscriptionIntraProcess
-#include "../src/rclcpp/intra_process_manager.cpp"
+#include "../src/rclcpp/intra_process_manager.cpp"  // NOLINT
 #undef Publisher
 #undef PublisherBase
 #undef IntraProcessBuffer
diff --git a/rclcpp_action/include/rclcpp_action/client.hpp b/rclcpp_action/include/rclcpp_action/client.hpp
index ed590247d9..a4ba5726e1 100644
--- a/rclcpp_action/include/rclcpp_action/client.hpp
+++ b/rclcpp_action/include/rclcpp_action/client.hpp
@@ -15,18 +15,6 @@
 #ifndef RCLCPP_ACTION__CLIENT_HPP_
 #define RCLCPP_ACTION__CLIENT_HPP_
 
-#include <rclcpp/exceptions.hpp>
-#include <rclcpp/macros.hpp>
-#include <rclcpp/node_interfaces/node_base_interface.hpp>
-#include <rclcpp/node_interfaces/node_logging_interface.hpp>
-#include <rclcpp/node_interfaces/node_graph_interface.hpp>
-#include <rclcpp/logger.hpp>
-#include <rclcpp/time.hpp>
-#include <rclcpp/waitable.hpp>
-
-#include <rosidl_runtime_c/action_type_support_struct.h>
-#include <rosidl_typesupport_cpp/action_type_support.hpp>
-
 #include <algorithm>
 #include <chrono>
 #include <functional>
@@ -37,6 +25,18 @@
 #include <string>
 #include <utility>
 
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_logging_interface.hpp"
+#include "rclcpp/node_interfaces/node_graph_interface.hpp"
+#include "rclcpp/logger.hpp"
+#include "rclcpp/time.hpp"
+#include "rclcpp/waitable.hpp"
+
+#include "rosidl_runtime_c/action_type_support_struct.h"
+#include "rosidl_typesupport_cpp/action_type_support.hpp"
+
 #include "rclcpp_action/client_goal_handle.hpp"
 #include "rclcpp_action/exceptions.hpp"
 #include "rclcpp_action/types.hpp"
diff --git a/rclcpp_action/include/rclcpp_action/client_goal_handle.hpp b/rclcpp_action/include/rclcpp_action/client_goal_handle.hpp
index e2861e3e79..4989a71bbc 100644
--- a/rclcpp_action/include/rclcpp_action/client_goal_handle.hpp
+++ b/rclcpp_action/include/rclcpp_action/client_goal_handle.hpp
@@ -15,17 +15,17 @@
 #ifndef RCLCPP_ACTION__CLIENT_GOAL_HANDLE_HPP_
 #define RCLCPP_ACTION__CLIENT_GOAL_HANDLE_HPP_
 
-#include <rcl_action/action_client.h>
-
-#include <action_msgs/msg/goal_status.hpp>
-#include <rclcpp/macros.hpp>
-#include <rclcpp/time.hpp>
-
 #include <functional>
 #include <future>
 #include <memory>
 #include <mutex>
 
+#include "rcl_action/action_client.h"
+
+#include "action_msgs/msg/goal_status.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/time.hpp"
+
 #include "rclcpp_action/exceptions.hpp"
 #include "rclcpp_action/types.hpp"
 #include "rclcpp_action/visibility_control.hpp"
diff --git a/rclcpp_action/include/rclcpp_action/create_client.hpp b/rclcpp_action/include/rclcpp_action/create_client.hpp
index 8538a8205e..f594bca78d 100644
--- a/rclcpp_action/include/rclcpp_action/create_client.hpp
+++ b/rclcpp_action/include/rclcpp_action/create_client.hpp
@@ -15,11 +15,11 @@
 #ifndef RCLCPP_ACTION__CREATE_CLIENT_HPP_
 #define RCLCPP_ACTION__CREATE_CLIENT_HPP_
 
-#include <rclcpp/node.hpp>
-
 #include <memory>
 #include <string>
 
+#include "rclcpp/node.hpp"
+
 #include "rclcpp_action/client.hpp"
 #include "rclcpp_action/visibility_control.hpp"
 
diff --git a/rclcpp_action/include/rclcpp_action/create_server.hpp b/rclcpp_action/include/rclcpp_action/create_server.hpp
index 9116fc05ee..3aa0e4dea7 100644
--- a/rclcpp_action/include/rclcpp_action/create_server.hpp
+++ b/rclcpp_action/include/rclcpp_action/create_server.hpp
@@ -15,17 +15,17 @@
 #ifndef RCLCPP_ACTION__CREATE_SERVER_HPP_
 #define RCLCPP_ACTION__CREATE_SERVER_HPP_
 
-#include <rcl_action/action_server.h>
-
-#include <rclcpp/node.hpp>
-#include <rclcpp/node_interfaces/node_base_interface.hpp>
-#include <rclcpp/node_interfaces/node_clock_interface.hpp>
-#include <rclcpp/node_interfaces/node_logging_interface.hpp>
-#include <rclcpp/node_interfaces/node_waitables_interface.hpp>
-
 #include <memory>
 #include <string>
 
+#include "rcl_action/action_server.h"
+
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_clock_interface.hpp"
+#include "rclcpp/node_interfaces/node_logging_interface.hpp"
+#include "rclcpp/node_interfaces/node_waitables_interface.hpp"
+
 #include "rclcpp_action/server.hpp"
 #include "rclcpp_action/visibility_control.hpp"
 
diff --git a/rclcpp_action/include/rclcpp_action/server.hpp b/rclcpp_action/include/rclcpp_action/server.hpp
index 63c99d51e0..2f79bee041 100644
--- a/rclcpp_action/include/rclcpp_action/server.hpp
+++ b/rclcpp_action/include/rclcpp_action/server.hpp
@@ -15,14 +15,6 @@
 #ifndef RCLCPP_ACTION__SERVER_HPP_
 #define RCLCPP_ACTION__SERVER_HPP_
 
-#include <rcl_action/action_server.h>
-#include <rosidl_runtime_c/action_type_support_struct.h>
-#include <rosidl_typesupport_cpp/action_type_support.hpp>
-#include <rclcpp/node_interfaces/node_base_interface.hpp>
-#include <rclcpp/node_interfaces/node_clock_interface.hpp>
-#include <rclcpp/node_interfaces/node_logging_interface.hpp>
-#include <rclcpp/waitable.hpp>
-
 #include <functional>
 #include <memory>
 #include <mutex>
@@ -30,6 +22,14 @@
 #include <unordered_map>
 #include <utility>
 
+#include "rcl_action/action_server.h"
+#include "rosidl_runtime_c/action_type_support_struct.h"
+#include "rosidl_typesupport_cpp/action_type_support.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_clock_interface.hpp"
+#include "rclcpp/node_interfaces/node_logging_interface.hpp"
+#include "rclcpp/waitable.hpp"
+
 #include "rclcpp_action/visibility_control.hpp"
 #include "rclcpp_action/server_goal_handle.hpp"
 #include "rclcpp_action/types.hpp"
diff --git a/rclcpp_action/include/rclcpp_action/server_goal_handle.hpp b/rclcpp_action/include/rclcpp_action/server_goal_handle.hpp
index d41b32eb4f..857ca7332a 100644
--- a/rclcpp_action/include/rclcpp_action/server_goal_handle.hpp
+++ b/rclcpp_action/include/rclcpp_action/server_goal_handle.hpp
@@ -15,15 +15,15 @@
 #ifndef RCLCPP_ACTION__SERVER_GOAL_HANDLE_HPP_
 #define RCLCPP_ACTION__SERVER_GOAL_HANDLE_HPP_
 
-#include <rcl_action/types.h>
-#include <rcl_action/goal_handle.h>
-
-#include <action_msgs/msg/goal_status.hpp>
-
 #include <functional>
 #include <memory>
 #include <mutex>
 
+#include "rcl_action/types.h"
+#include "rcl_action/goal_handle.h"
+
+#include "action_msgs/msg/goal_status.hpp"
+
 #include "rclcpp_action/visibility_control.hpp"
 #include "rclcpp_action/types.hpp"
 
diff --git a/rclcpp_action/include/rclcpp_action/types.hpp b/rclcpp_action/include/rclcpp_action/types.hpp
index addf4a8307..09717b16ea 100644
--- a/rclcpp_action/include/rclcpp_action/types.hpp
+++ b/rclcpp_action/include/rclcpp_action/types.hpp
@@ -15,15 +15,15 @@
 #ifndef RCLCPP_ACTION__TYPES_HPP_
 #define RCLCPP_ACTION__TYPES_HPP_
 
-#include <rcl_action/types.h>
-
-#include <action_msgs/msg/goal_status.hpp>
-#include <action_msgs/msg/goal_info.hpp>
-
 #include <climits>
 #include <functional>
 #include <string>
 
+#include "rcl_action/types.h"
+
+#include "action_msgs/msg/goal_status.hpp"
+#include "action_msgs/msg/goal_info.hpp"
+
 #include "rclcpp_action/visibility_control.hpp"
 
 namespace rclcpp_action
diff --git a/rclcpp_action/src/client.cpp b/rclcpp_action/src/client.cpp
index 2f39a50e52..cedab99e92 100644
--- a/rclcpp_action/src/client.cpp
+++ b/rclcpp_action/src/client.cpp
@@ -12,11 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <rcl_action/action_client.h>
-#include <rcl_action/wait.h>
-#include <rclcpp/node_interfaces/node_base_interface.hpp>
-#include <rclcpp/node_interfaces/node_logging_interface.hpp>
-
 #include <algorithm>
 #include <map>
 #include <memory>
@@ -25,6 +20,11 @@
 #include <tuple>
 #include <utility>
 
+#include "rcl_action/action_client.h"
+#include "rcl_action/wait.h"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_logging_interface.hpp"
+
 #include "rclcpp_action/client.hpp"
 #include "rclcpp_action/exceptions.hpp"
 
diff --git a/rclcpp_action/src/server.cpp b/rclcpp_action/src/server.cpp
index e4765e9461..5ec88281da 100644
--- a/rclcpp_action/src/server.cpp
+++ b/rclcpp_action/src/server.cpp
@@ -12,16 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <rcl_action/action_server.h>
-#include <rcl_action/wait.h>
-
-#include <rcpputils/scope_exit.hpp>
-
-#include <action_msgs/msg/goal_status_array.hpp>
-#include <action_msgs/srv/cancel_goal.hpp>
-#include <rclcpp/exceptions.hpp>
-#include <rclcpp_action/server.hpp>
-
 #include <memory>
 #include <mutex>
 #include <string>
@@ -30,6 +20,16 @@
 #include <utility>
 #include <vector>
 
+#include "rcl_action/action_server.h"
+#include "rcl_action/wait.h"
+
+#include "rcpputils/scope_exit.hpp"
+
+#include "action_msgs/msg/goal_status_array.hpp"
+#include "action_msgs/srv/cancel_goal.hpp"
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp_action/server.hpp"
+
 using rclcpp_action::ServerBase;
 using rclcpp_action::GoalUUID;
 
diff --git a/rclcpp_action/src/server_goal_handle.cpp b/rclcpp_action/src/server_goal_handle.cpp
index f0709e19cb..7df0ebf0e1 100644
--- a/rclcpp_action/src/server_goal_handle.cpp
+++ b/rclcpp_action/src/server_goal_handle.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <rcl_action/action_server.h>
-#include <rcl_action/goal_handle.h>
+#include <memory>
 
-#include <rclcpp_action/server_goal_handle.hpp>
-#include <rclcpp/exceptions.hpp>
+#include "rcl_action/action_server.h"
+#include "rcl_action/goal_handle.h"
 
-#include <memory>
+#include "rclcpp_action/server_goal_handle.hpp"
+#include "rclcpp/exceptions.hpp"
 
 namespace rclcpp_action
 {
diff --git a/rclcpp_action/test/test_client.cpp b/rclcpp_action/test/test_client.cpp
index b911e3d71b..b99aa236bd 100644
--- a/rclcpp_action/test/test_client.cpp
+++ b/rclcpp_action/test/test_client.cpp
@@ -12,27 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <gtest/gtest.h>
-
-#include <rcl/allocator.h>
-#include <rcl/time.h>
-#include <rcl/types.h>
-
-#include <rcl_action/names.h>
-#include <rcl_action/default_qos.h>
-#include <rcl_action/wait.h>
-
-#include <rclcpp/clock.hpp>
-#include <rclcpp/exceptions.hpp>
-#include <rclcpp/executors.hpp>
-#include <rclcpp/node.hpp>
-#include <rclcpp/publisher.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp/service.hpp>
-#include <rclcpp/time.hpp>
-
-#include <test_msgs/action/fibonacci.hpp>
-
 #include <future>
 #include <map>
 #include <memory>
@@ -41,13 +20,34 @@
 #include <thread>
 #include <chrono>
 
+#include "gtest/gtest.h"
+
+#include "rcl/allocator.h"
+#include "rcl/time.h"
+#include "rcl/types.h"
+
+#include "rcl_action/names.h"
+#include "rcl_action/default_qos.h"
+#include "rcl_action/wait.h"
+
+#include "rclcpp/clock.hpp"
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/service.hpp"
+#include "rclcpp/time.hpp"
+
+#include "test_msgs/action/fibonacci.hpp"
+
 #include "rclcpp_action/exceptions.hpp"
 #include "rclcpp_action/create_client.hpp"
 #include "rclcpp_action/client.hpp"
 #include "rclcpp_action/qos.hpp"
 #include "rclcpp_action/types.hpp"
 
-#include "./mocking_utils/patch.hpp"
+#include "mocking_utils/patch.hpp"
 
 using namespace std::chrono_literals;
 
diff --git a/rclcpp_action/test/test_server.cpp b/rclcpp_action/test/test_server.cpp
index 25b38db34c..8687f90fbe 100644
--- a/rclcpp_action/test/test_server.cpp
+++ b/rclcpp_action/test/test_server.cpp
@@ -12,22 +12,22 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <rclcpp/exceptions.hpp>
-#include <rclcpp/node.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rcpputils/scope_exit.hpp>
-#include <test_msgs/action/fibonacci.hpp>
-
-#include <gtest/gtest.h>
-
 #include <memory>
 #include <vector>
 
+#include "gtest/gtest.h"
+
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rcpputils/scope_exit.hpp"
+#include "test_msgs/action/fibonacci.hpp"
+
 #include "rcl_action/action_server.h"
 #include "rcl_action/wait.h"
 #include "rclcpp_action/create_server.hpp"
 #include "rclcpp_action/server.hpp"
-#include "./mocking_utils/patch.hpp"
+#include "mocking_utils/patch.hpp"
 
 using Fibonacci = test_msgs::action::Fibonacci;
 using CancelResponse = typename Fibonacci::Impl::CancelGoalService::Response;
diff --git a/rclcpp_action/test/test_server_goal_handle.cpp b/rclcpp_action/test/test_server_goal_handle.cpp
index cd56ba4a8f..eb392c8bf7 100644
--- a/rclcpp_action/test/test_server_goal_handle.cpp
+++ b/rclcpp_action/test/test_server_goal_handle.cpp
@@ -12,19 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <rclcpp/exceptions.hpp>
-#include <rclcpp/node.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <test_msgs/action/fibonacci.hpp>
-
-#include <gtest/gtest.h>
-
 #include <memory>
 #include <vector>
 
+#include "gtest/gtest.h"
+
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "test_msgs/action/fibonacci.hpp"
+
 #include "action_msgs/msg/goal_info.h"
 #include "rclcpp_action/server_goal_handle.hpp"
-#include "./mocking_utils/patch.hpp"
+#include "mocking_utils/patch.hpp"
 
 class FibonacciServerGoalHandle
   : public rclcpp_action::ServerGoalHandle<test_msgs::action::Fibonacci>