diff --git a/mil_common/axros b/mil_common/axros
index a86842c93..55395aa65 160000
--- a/mil_common/axros
+++ b/mil_common/axros
@@ -1 +1 @@
-Subproject commit a86842c93370a62c0dad3fba0e6ef250137edf21
+Subproject commit 55395aa65b612ea5d57bc675a15ea0446f6be51a
diff --git a/mil_common/perception/point_cloud_object_detection_and_recognition/include/point_cloud_object_detection_and_recognition/pcodar_controller.hpp b/mil_common/perception/point_cloud_object_detection_and_recognition/include/point_cloud_object_detection_and_recognition/pcodar_controller.hpp
index 626bf073e..7d8f9cd78 100644
--- a/mil_common/perception/point_cloud_object_detection_and_recognition/include/point_cloud_object_detection_and_recognition/pcodar_controller.hpp
+++ b/mil_common/perception/point_cloud_object_detection_and_recognition/include/point_cloud_object_detection_and_recognition/pcodar_controller.hpp
@@ -6,8 +6,8 @@
 #include <mil_msgs/ObjectDBQuery.h>
 #include <nav_msgs/Odometry.h>
 #include <ros/ros.h>
-#include <std_msgs/Float32.h>
 #include <sensor_msgs/PointCloud2.h>
+#include <std_msgs/Float32.h>
 #include <std_srvs/Trigger.h>
 #include <tf2/convert.h>
 #include <tf2_eigen/tf2_eigen.h>
diff --git a/mil_common/perception/point_cloud_object_detection_and_recognition/src/object_associator.cpp b/mil_common/perception/point_cloud_object_detection_and_recognition/src/object_associator.cpp
index f210b7dd8..f1d25a9eb 100644
--- a/mil_common/perception/point_cloud_object_detection_and_recognition/src/object_associator.cpp
+++ b/mil_common/perception/point_cloud_object_detection_and_recognition/src/object_associator.cpp
@@ -2,13 +2,12 @@
 #include <pcl/registration/correspondence_estimation.h>
 #include <pcl/registration/correspondence_rejection_trimmed.h>
 #include <pcl/search/octree.h>
+#include <ros/ros.h>
+#include <tf/transform_listener.h>
 
 #include <point_cloud_object_detection_and_recognition/object_associator.hpp>
 #include <unordered_set>
 
-#include <ros/ros.h>
-#include <tf/transform_listener.h>
-
 namespace pcodar
 {
 void Associator::associate(ObjectMap& prev_objects, point_cloud const& pc, clusters_t clusters, bool moving_back)
@@ -16,9 +15,10 @@ void Associator::associate(ObjectMap& prev_objects, point_cloud const& pc, clust
   // Tracks which clusters have been seen
   std::unordered_set<uint> seen;
 
-  // Establish Area of Interest (AOI) that new points are not allowed to be published while Navigator is moving backwards
-  Eigen::Vector3f min_aoi(0.0f, -5.0f, -0.5f); // Min bounds (x, y, z)
-  Eigen::Vector3f max_aoi(10.0f, 5.0f, 0.5f); // Max bounds (x, y, z)
+  // Establish Area of Interest (AOI) that new points are not allowed to be published while Navigator is moving
+  // backwards
+  Eigen::Vector3f min_aoi(0.0f, -5.0f, -0.5f);  // Min bounds (x, y, z)
+  Eigen::Vector3f max_aoi(10.0f, 5.0f, 0.5f);   // Max bounds (x, y, z)
 
   // Iterate through each new cluster, finding which persistent cluster(s) it matches
   for (cluster_t const& cluster : clusters)
@@ -48,7 +48,7 @@ void Associator::associate(ObjectMap& prev_objects, point_cloud const& pc, clust
     }
 
     // If Navigator is moving back, new objects outside of the AOI are invalid
-    if(moving_back)
+    if (moving_back)
     {
       // Compute the centroid of the cluster
       Eigen::Vector4f centroid;
@@ -76,9 +76,9 @@ void Associator::associate(ObjectMap& prev_objects, point_cloud const& pc, clust
         // Check if the centroid is outside the AOI
         bool outside_aoi = (centroid[0] < min_aoi[0] || centroid[0] > max_aoi[0] ||  // X bounds
                             centroid[1] < min_aoi[1] || centroid[1] > max_aoi[1] ||  // Y bounds
-                            centroid[2] < min_aoi[2] || centroid[2] > max_aoi[2]);   // Z bounds          
+                            centroid[2] < min_aoi[2] || centroid[2] > max_aoi[2]);   // Z bounds
 
-        if(!outside_aoi) 
+        if (!outside_aoi)
         {
           std::cout << centroid[0] << ", " << centroid[1] << ", " << centroid[2] << "\n";
           continue;
@@ -102,11 +102,11 @@ void Associator::associate(ObjectMap& prev_objects, point_cloud const& pc, clust
           }
         }
       }
-      catch (tf::TransformException &ex)
+      catch (tf::TransformException& ex)
       {
-          ROS_ERROR("%s", ex.what());
-          ros::Duration(1.0).sleep();
-          continue;  // Skip this iteration if the transform fails
+        ROS_ERROR("%s", ex.what());
+        ros::Duration(1.0).sleep();
+        continue;  // Skip this iteration if the transform fails
       }
     }
     else
diff --git a/mil_common/perception/point_cloud_object_detection_and_recognition/src/pcodar_controller.cpp b/mil_common/perception/point_cloud_object_detection_and_recognition/src/pcodar_controller.cpp
index 28738eb67..bc45a1319 100644
--- a/mil_common/perception/point_cloud_object_detection_and_recognition/src/pcodar_controller.cpp
+++ b/mil_common/perception/point_cloud_object_detection_and_recognition/src/pcodar_controller.cpp
@@ -143,7 +143,7 @@ void Node::ConfigCallback(Config const& config, uint32_t level)
 void Node::initialize()
 {
   NodeBase::initialize();
-  // Subscribe to odom 
+  // Subscribe to odom
   fl_sub = nh_.subscribe("/wamv/thrusters/FL_thrust_cmd", 1, &Node::thrust_fl_cb, this);
   fr_sub = nh_.subscribe("/wamv/thrusters/FR_thrust_cmd", 1, &Node::thrust_fr_cb, this);