diff --git a/hello_wolf/sensor_range_bearing.h b/hello_wolf/sensor_range_bearing.h
index fbecdc8a0fbb1558ffa92687a9f220cada49c3dd..b7788c27ffb4a06cdbc440ec091553d5b216440a 100644
--- a/hello_wolf/sensor_range_bearing.h
+++ b/hello_wolf/sensor_range_bearing.h
@@ -26,13 +26,13 @@ struct IntrinsicsRangeBearing : public IntrinsicsBase
     IntrinsicsRangeBearing(std::string _unique_name, const ParamsServer& _server):
         IntrinsicsBase(_unique_name, _server)
     {
-        noise_range_metres_std = _server.getParam<Scalar>(_unique_name + "/noise_range_metres_std");
-        noise_bearing_degrees_std = _server.getParam<Scalar>(_unique_name + "/noise_bearing_degrees_std");
+        noise_range_metres_std      = _server.getParam<Scalar>(_unique_name + "/noise_range_metres_std");
+        noise_bearing_degrees_std   = _server.getParam<Scalar>(_unique_name + "/noise_bearing_degrees_std");
     }
     std::string print()
     {
-        return "" + IntrinsicsBase::print()
-        + "noise_range_metres_std: " + std::to_string(noise_range_metres_std) + "\n"
+        return "" + IntrinsicsBase::print()                                         + "\n"
+        + "noise_range_metres_std: "    + std::to_string(noise_range_metres_std)    + "\n"
         + "noise_bearing_degrees_std: " + std::to_string(noise_bearing_degrees_std) + "\n";
     }
 };
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index e605ab90439fb98b1500f5945dad9e4cb05a8a28..c97dc86acf543d15d53fe71737e00ccd3283e428 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -227,9 +227,9 @@ struct ProcessorParamsBase : public ParamsBase
     std::string print()
     {
         return ParamsBase::print() + "\n"
-                + "voting_active: " + std::to_string(voting_active) + "\n"
+                + "voting_active: "     + std::to_string(voting_active)     + "\n"
                 + "voting_aux_active: " + std::to_string(voting_aux_active) + "\n"
-                + "time_tolerance: " + std::to_string(time_tolerance) + "\n";
+                + "time_tolerance: "    + std::to_string(time_tolerance)    + "\n";
     }
 };
 
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 6a5fb31c68922e9dee7cf7274e61fe8e4d95899d..cd1d7972d274dc6bafafa3227af7b27c11f76ebd 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -42,7 +42,7 @@ struct ProcessorParamsMotion : public ProcessorParamsBase
         }
         std::string print()
         {
-          return "\n" + ProcessorParamsBase::print()
+          return "\n" + ProcessorParamsBase::print() + "\n"
             + "max_time_span: "     + std::to_string(max_time_span)     + "\n"
             + "max_buff_length: "   + std::to_string(max_buff_length)   + "\n"
             + "dist_traveled: "     + std::to_string(dist_traveled)     + "\n"
diff --git a/include/core/processor/processor_odom_2D.h b/include/core/processor/processor_odom_2D.h
index a7091f62a47ac14fe14e7ccec3228a99b2d9d4c3..a55b2e1c0b8610ccc17da17878b9936d64cfc407 100644
--- a/include/core/processor/processor_odom_2D.h
+++ b/include/core/processor/processor_odom_2D.h
@@ -32,8 +32,8 @@ struct ProcessorParamsOdom2D : public ProcessorParamsMotion
 
         std::string print()
         {
-            return "\n" + ProcessorParamsMotion::print()
-            + "cov_det: " + std::to_string(cov_det) + "\n";
+            return "\n" + ProcessorParamsMotion::print()    + "\n"
+            + "cov_det: "   + std::to_string(cov_det)       + "\n";
         }
 };
 
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index 4da4460be9b3e7241826202baee721c2479a55a5..dc59acee329e3dbe09ba03e25cb1c385347bf8ff 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -24,13 +24,14 @@ struct ProcessorParamsTracker : public ProcessorParamsBase
     ProcessorParamsTracker(std::string _unique_name, const wolf::ParamsServer & _server):
         ProcessorParamsBase(_unique_name, _server)
     {
-        min_features_for_keyframe = _server.getParam<unsigned int>(_unique_name + "/min_features_for_keyframe");
-        max_new_features = _server.getParam<int>(_unique_name + "/max_new_features");
+        min_features_for_keyframe   = _server.getParam<unsigned int>(_unique_name   + "/min_features_for_keyframe");
+        max_new_features            = _server.getParam<int>(_unique_name            + "/max_new_features");
     }
     std::string print()
     {
-        return ProcessorParamsBase::print() + "\n" + "min_features_for_keyframe: " + std::to_string(min_features_for_keyframe) + "\n"
-                + "max_new_features: " + std::to_string(max_new_features) + "\n";
+        return ProcessorParamsBase::print()                                                 + "\n"
+                + "min_features_for_keyframe: " + std::to_string(min_features_for_keyframe) + "\n"
+                + "max_new_features: "          + std::to_string(max_new_features)          + "\n";
     }
 
 };
diff --git a/include/core/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h
index 29866c85fc494c4a47e378ebf9726ddd0b8949a0..a36356ed87a3c793a4a8464e4b2a43c16e65043c 100644
--- a/include/core/sensor/sensor_diff_drive.h
+++ b/include/core/sensor/sensor_diff_drive.h
@@ -37,7 +37,7 @@ struct IntrinsicsDiffDrive : public IntrinsicsBase
         }
         std::string print()
         {
-            return "\n" + IntrinsicsBase::print()
+            return "\n" + IntrinsicsBase::print()                                           + "\n"
             + "radius_left: "                   + std::to_string(radius_left)               + "\n"
             + "radius_right: "                  + std::to_string(radius_right)              + "\n"
             + "wheel_separation: "              + std::to_string(wheel_separation)          + "\n"
diff --git a/include/core/sensor/sensor_odom_2D.h b/include/core/sensor/sensor_odom_2D.h
index 614e715e5e5449d1afaa3cad7904c4e4276a1a44..83b776add9b4bba4c1994f047d06dedd3e8e5c1f 100644
--- a/include/core/sensor/sensor_odom_2D.h
+++ b/include/core/sensor/sensor_odom_2D.h
@@ -27,8 +27,9 @@ struct IntrinsicsOdom2D : public IntrinsicsBase
     }
     std::string print()
     {
-        return "\n" + IntrinsicsBase::print() + "k_disp_to_disp: " + std::to_string(k_disp_to_disp) + "\n"
-                + "k_rot_to_rot: " + std::to_string(k_rot_to_rot) + "\n";
+        return "\n" + IntrinsicsBase::print()                               + "\n"
+                + "k_disp_to_disp: "    + std::to_string(k_disp_to_disp)    + "\n"
+                + "k_rot_to_rot: "      + std::to_string(k_rot_to_rot)      + "\n";
     }
 };
 
diff --git a/include/core/sensor/sensor_odom_3D.h b/include/core/sensor/sensor_odom_3D.h
index c41ffe72548d33b477d03074a7b4674b958c8b08..1a727d613d8564c02d02f16abcf63410c96289b2 100644
--- a/include/core/sensor/sensor_odom_3D.h
+++ b/include/core/sensor/sensor_odom_3D.h
@@ -38,12 +38,12 @@ struct IntrinsicsOdom3D : public IntrinsicsBase
     }
     std::string print()
     {
-      return "\n" + IntrinsicsBase::print()
-        + "k_disp_to_disp: " + std::to_string(k_disp_to_disp) + "\n"
-        + "k_disp_to_rot: "  + std::to_string(k_disp_to_rot)  + "\n"
-        + "k_rot_to_rot: "   + std::to_string(k_rot_to_rot)   + "\n"
-        + "min_disp_var: "   + std::to_string(min_disp_var)   + "\n"
-        + "min_rot_var: "    + std::to_string(min_rot_var)    + "\n";
+      return "\n" + IntrinsicsBase::print()                      + "\n"
+        + "k_disp_to_disp: "    + std::to_string(k_disp_to_disp) + "\n"
+        + "k_disp_to_rot: "     + std::to_string(k_disp_to_rot)  + "\n"
+        + "k_rot_to_rot: "      + std::to_string(k_rot_to_rot)   + "\n"
+        + "min_disp_var: "      + std::to_string(min_disp_var)   + "\n"
+        + "min_rot_var: "       + std::to_string(min_rot_var)    + "\n";
     }
         virtual ~IntrinsicsOdom3D() = default;
 };