diff --git a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
index d95175853689f..3248b955d1a6a 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
@@ -24,13 +24,13 @@
 #include "behavior_path_planner/scene_module/pull_over/pull_over_module.hpp"
 #include "behavior_path_planner/scene_module/side_shift/side_shift_module.hpp"
 #include "behavior_path_planner/turn_signal_decider.hpp"
+#include "planning_manager/msg/planning_data.hpp"
 #include "planning_manager/srv/behavior_path_planner_plan.hpp"
 #include "planning_manager/srv/behavior_path_planner_validate.hpp"
 
 #include <route_handler/route_handler.hpp>
 #include <tier4_autoware_utils/ros/self_pose_listener.hpp>
 
-#include "planning_manager/msg/planning_data.hpp"
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_auto_planning_msgs/msg/had_map_route.hpp>
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
index 1c6e3de5fa976..7667e70c945a3 100644
--- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
+++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -622,7 +622,8 @@ void BehaviorPathPlannerNode::setPlanningData([[maybe_unused]] const PlanningDat
 
   planner_data_->route_handler->setMap(planning_data.had_map_bin);
   planner_data_->self_odometry = std::make_shared<Odometry>(planning_data.ego_odom);
-  planner_data_->dynamic_object = std::make_shared<PredictedObjects>(planning_data.predicted_objects);
+  planner_data_->dynamic_object =
+    std::make_shared<PredictedObjects>(planning_data.predicted_objects);
 
   // external approval
   planner_data_->approval.is_approved.data = planning_data.external_approval.approval;
@@ -637,7 +638,8 @@ void BehaviorPathPlannerNode::setPlanningData([[maybe_unused]] const PlanningDat
       return "NONE";
     }
   };
-  planner_data_->approval.is_force_approved.module_name = getModuleName(planning_data.force_approval.module);
+  planner_data_->approval.is_force_approved.module_name =
+    getModuleName(planning_data.force_approval.module);
   planner_data_->approval.is_force_approved.stamp = planning_data.header.stamp;
 }
 
diff --git a/planning/behavior_velocity_planner/include/behavior_velocity_planner/node.hpp b/planning/behavior_velocity_planner/include/behavior_velocity_planner/node.hpp
index 84c7c383bff2b..7f659000bc358 100644
--- a/planning/behavior_velocity_planner/include/behavior_velocity_planner/node.hpp
+++ b/planning/behavior_velocity_planner/include/behavior_velocity_planner/node.hpp
@@ -17,12 +17,12 @@
 
 #include "behavior_velocity_planner/planner_data.hpp"
 #include "behavior_velocity_planner/planner_manager.hpp"
+#include "planning_manager/msg/planning_data.hpp"
 #include "planning_manager/srv/behavior_velocity_planner_plan.hpp"
 #include "planning_manager/srv/behavior_velocity_planner_validate.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
-#include "planning_manager/msg/planning_data.hpp"
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_auto_planning_msgs/msg/path.hpp>
@@ -100,8 +100,10 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node
   rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticStatus>::SharedPtr stop_reason_diag_pub_;
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr debug_viz_pub_;
 
-  rclcpp::Service<planning_manager::srv::BehaviorVelocityPlannerPlan>::SharedPtr srv_planning_manager_plan_;
-  rclcpp::Service<planning_manager::srv::BehaviorVelocityPlannerValidate>::SharedPtr srv_planning_manager_validate_;
+  rclcpp::Service<planning_manager::srv::BehaviorVelocityPlannerPlan>::SharedPtr
+    srv_planning_manager_plan_;
+  rclcpp::Service<planning_manager::srv::BehaviorVelocityPlannerValidate>::SharedPtr
+    srv_planning_manager_validate_;
 
   void publishDebugMarker(const autoware_auto_planning_msgs::msg::Path & path);
 
diff --git a/planning/behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/package.xml
index 5b2be6574fb54..dfc474299b802 100644
--- a/planning/behavior_velocity_planner/package.xml
+++ b/planning/behavior_velocity_planner/package.xml
@@ -15,7 +15,6 @@
   <depend>autoware_auto_perception_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
   <depend>diagnostic_msgs</depend>
-  <depend>planning_manager</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
   <depend>grid_map_ros</depend>
@@ -26,6 +25,7 @@
   <depend>nav_msgs</depend>
   <depend>nlohmann-json-dev</depend>
   <depend>pcl_conversions</depend>
+  <depend>planning_manager</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
diff --git a/planning/behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/src/node.cpp
index 8a96f9f52a058..f2bfcf1abf716 100644
--- a/planning/behavior_velocity_planner/src/node.cpp
+++ b/planning/behavior_velocity_planner/src/node.cpp
@@ -159,9 +159,10 @@ BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode(const rclcpp::NodeOptio
   srv_planning_manager_plan_ = create_service<planning_manager::srv::BehaviorVelocityPlannerPlan>(
     "~/srv/planning_manager/plan",
     std::bind(&BehaviorVelocityPlannerNode::onPlanService, this, _1, _2));
-  srv_planning_manager_validate_ = create_service<planning_manager::srv::BehaviorVelocityPlannerValidate>(
-    "~/srv/planning_manager/validate",
-    std::bind(&BehaviorVelocityPlannerNode::onValidateService, this, _1, _2));
+  srv_planning_manager_validate_ =
+    create_service<planning_manager::srv::BehaviorVelocityPlannerValidate>(
+      "~/srv/planning_manager/validate",
+      std::bind(&BehaviorVelocityPlannerNode::onValidateService, this, _1, _2));
 }
 
 bool BehaviorVelocityPlannerNode::isDataReady()
@@ -379,7 +380,8 @@ void BehaviorVelocityPlannerNode::onValidateService(
   response->result.data = true;
 }
 
-void BehaviorVelocityPlannerNode::setPlanningData([[maybe_unused]] const planning_manager::msg::PlanningData planning_data)
+void BehaviorVelocityPlannerNode::setPlanningData(
+  [[maybe_unused]] const planning_manager::msg::PlanningData planning_data)
 {
 }
 
diff --git a/planning/planning_manager/include/planning_manager/planning_manager_node.hpp b/planning/planning_manager/include/planning_manager/planning_manager_node.hpp
index 73e4aa49b2892..886c3f3afe61d 100644
--- a/planning/planning_manager/include/planning_manager/planning_manager_node.hpp
+++ b/planning/planning_manager/include/planning_manager/planning_manager_node.hpp
@@ -26,7 +26,6 @@
 #include "autoware_auto_planning_msgs/msg/path_with_lane_id.hpp"
 #include "autoware_auto_planning_msgs/msg/planning_data.hpp"
 #include "autoware_auto_planning_msgs/msg/trajectory.hpp"
-
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 #include <nav_msgs/msg/odometry.hpp>
@@ -36,21 +35,21 @@
 namespace planning_manager
 {
 using autoware_auto_planning_msgs::msg::HADMapRoute;
-using autoware_auto_planning_msgs::msg::PathWithLaneId;
 using autoware_auto_planning_msgs::msg::Path;
+using autoware_auto_planning_msgs::msg::PathWithLaneId;
 using autoware_auto_planning_msgs::msg::Trajectory;
+using planning_manager::msg::PlanningData;
 using planning_manager::srv::BehaviorPathPlannerPlan;
 using planning_manager::srv::BehaviorPathPlannerValidate;
 using planning_manager::srv::BehaviorVelocityPlannerPlan;
 using planning_manager::srv::BehaviorVelocityPlannerValidate;
-using planning_manager::msg::PlanningData;
 
 // MEMO(murooka) beahvior path
-using tier4_planning_msgs::msg::Approval;
 using autoware_auto_mapping_msgs::msg::HADMapBin;
 using autoware_auto_perception_msgs::msg::PredictedObjects;
 using autoware_auto_planning_msgs::msg::HADMapRoute;
 using nav_msgs::msg::Odometry;
+using tier4_planning_msgs::msg::Approval;
 using tier4_planning_msgs::msg::PathChangeModule;
 
 class PlanningManagerNode : public rclcpp::Node
@@ -87,12 +86,9 @@ class PlanningManagerNode : public rclcpp::Node
   rclcpp::CallbackGroup::SharedPtr callback_group_services_;
 
   // clients
-  rclcpp::Client<BehaviorPathPlannerPlan>::SharedPtr
-    client_behavior_path_planner_plan_;
-  rclcpp::Client<BehaviorPathPlannerValidate>::SharedPtr
-    client_behavior_path_planner_validate_;
-  rclcpp::Client<BehaviorVelocityPlannerPlan>::SharedPtr
-    client_behavior_velocity_planner_plan_;
+  rclcpp::Client<BehaviorPathPlannerPlan>::SharedPtr client_behavior_path_planner_plan_;
+  rclcpp::Client<BehaviorPathPlannerValidate>::SharedPtr client_behavior_path_planner_validate_;
+  rclcpp::Client<BehaviorVelocityPlannerPlan>::SharedPtr client_behavior_velocity_planner_plan_;
   rclcpp::Client<BehaviorVelocityPlannerValidate>::SharedPtr
     client_behavior_velocity_planner_validate_;
 
diff --git a/planning/planning_manager/package.xml b/planning/planning_manager/package.xml
index 14e47f31cc8a5..bd32e1022eaee 100644
--- a/planning/planning_manager/package.xml
+++ b/planning/planning_manager/package.xml
@@ -14,11 +14,11 @@
 
   <depend>autoware_auto_perception_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
+  <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
-  <depend>nav_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/planning/planning_manager/src/planning_manager_node.cpp b/planning/planning_manager/src/planning_manager_node.cpp
index ae8f40b6e09f4..e439288d95159 100644
--- a/planning/planning_manager/src/planning_manager_node.cpp
+++ b/planning/planning_manager/src/planning_manager_node.cpp
@@ -73,11 +73,12 @@ PlanningManagerNode::PlanningManagerNode(const rclcpp::NodeOptions & node_option
     std::bind(&PlanningManagerNode::onMap, this, _1));
   odom_sub_ = create_subscription<nav_msgs::msg::Odometry>(
     "~/input/odometry", 1, std::bind(&PlanningManagerNode::onOdometry, this, _1));
-  predicted_objects_sub_ = create_subscription<autoware_auto_perception_msgs::msg::PredictedObjects>(
-    "~/input/predicted_objects", 1, std::bind(&PlanningManagerNode::onPredictedObjects, this, _1));
+  predicted_objects_sub_ =
+    create_subscription<autoware_auto_perception_msgs::msg::PredictedObjects>(
+      "~/input/predicted_objects", 1,
+      std::bind(&PlanningManagerNode::onPredictedObjects, this, _1));
   external_approval_sub_ = create_subscription<Approval>(
-    "~/input/external_approval", 1,
-    std::bind(&PlanningManagerNode::onExternalApproval, this, _1));
+    "~/input/external_approval", 1, std::bind(&PlanningManagerNode::onExternalApproval, this, _1));
   force_approval_sub_ = create_subscription<PathChangeModule>(
     "~/input/force_approval", 1, std::bind(&PlanningManagerNode::onForceApproval, this, _1));
 
@@ -256,10 +257,12 @@ void PlanningManagerNode::validateTrajectory([[maybe_unused]] const Trajectory &
       client_behavior_velocity_planner_validate_, behavior_velocity_request);
 }
 
-void PlanningManagerNode::publishTrajectory(const Trajectory & traj) {
+void PlanningManagerNode::publishTrajectory(const Trajectory & traj)
+{
   // TODO(murooka) use thread local for member variable?
   RCLCPP_INFO_EXPRESSION(get_logger(), is_showing_debug_info_, "start publishTrajectory");
-  traj_pub_->publish(traj); }
+  traj_pub_->publish(traj);
+}
 void PlanningManagerNode::publishDiagnostics() {}
 
 }  // namespace planning_manager