diff --git a/perception/multi_object_tracker/schema/data_association_matrix.schema.json b/perception/multi_object_tracker/schema/data_association_matrix.schema.json
index 4c9e97164bf20..daf9d9f957b7c 100644
--- a/perception/multi_object_tracker/schema/data_association_matrix.schema.json
+++ b/perception/multi_object_tracker/schema/data_association_matrix.schema.json
@@ -1,75 +1,74 @@
 {
-    "$schema": "http://json-schema.org/draft-07/schema#",
-    "title": "Parameters for Data Association Matrix",
-    "type": "object",
-    "definitions": {
-      "data_association_matrix": {
-        "type": "object",
-        "properties": {
-          "can_assign_matrix": {
-            "type": "array",
-            "description": "Assignment table for data association.",
-            "items": {
-              "type": "integer"
-            }
-          },
-          "max_dist_matrix": {
-            "type": "array",
-            "description": "Maximum distance table for data association.",
-            "items": {
-              "type": "number"
-            }
-          },
-          "max_area_matrix": {
-            "type": "array",
-            "description": "Maximum area table for data association.",
-            "items": {
-              "type": "number"
-            }
-          },
-          "min_area_matrix": {
-            "type": "array",
-            "description": "Minimum area table for data association.",
-            "items": {
-              "type": "number"
-            }
-          },
-          "max_rad_matrix": {
-            "type": "array",
-            "description": "Maximum angle table for data association.",
-            "items": {
-              "type": "number"
-            }
-          },
-          "min_iou_matrix": {
-            "type": "array",
-            "description": "A matrix that represents the minimum Intersection over Union (IoU) limit allowed for assignment.",
-            "items": {
-              "type": "number"
-            }
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Data Association Matrix",
+  "type": "object",
+  "definitions": {
+    "data_association_matrix": {
+      "type": "object",
+      "properties": {
+        "can_assign_matrix": {
+          "type": "array",
+          "description": "Assignment table for data association.",
+          "items": {
+            "type": "integer"
           }
         },
-        "required": [
-          "can_assign_matrix",
-          "max_dist_matrix",
-          "max_area_matrix",
-          "min_area_matrix",
-          "max_rad_matrix",
-          "min_iou_matrix"
-        ]
-      }
-    },
-    "properties": {
-      "/**": {
-        "type": "object",
-        "properties": {
-          "ros__parameters": {
-            "$ref": "#/definitions/data_association_matrix"
+        "max_dist_matrix": {
+          "type": "array",
+          "description": "Maximum distance table for data association.",
+          "items": {
+            "type": "number"
           }
         },
-        "required": ["ros__parameters"]
-      }
-    },
-    "required": ["/**"]
-  }
-  
\ No newline at end of file
+        "max_area_matrix": {
+          "type": "array",
+          "description": "Maximum area table for data association.",
+          "items": {
+            "type": "number"
+          }
+        },
+        "min_area_matrix": {
+          "type": "array",
+          "description": "Minimum area table for data association.",
+          "items": {
+            "type": "number"
+          }
+        },
+        "max_rad_matrix": {
+          "type": "array",
+          "description": "Maximum angle table for data association.",
+          "items": {
+            "type": "number"
+          }
+        },
+        "min_iou_matrix": {
+          "type": "array",
+          "description": "A matrix that represents the minimum Intersection over Union (IoU) limit allowed for assignment.",
+          "items": {
+            "type": "number"
+          }
+        }
+      },
+      "required": [
+        "can_assign_matrix",
+        "max_dist_matrix",
+        "max_area_matrix",
+        "min_area_matrix",
+        "max_rad_matrix",
+        "min_iou_matrix"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/data_association_matrix"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}
diff --git a/perception/multi_object_tracker/schema/multi_object_tracker_node.schema.json b/perception/multi_object_tracker/schema/multi_object_tracker_node.schema.json
index 1a262e6078a80..a40eb12d99b38 100644
--- a/perception/multi_object_tracker/schema/multi_object_tracker_node.schema.json
+++ b/perception/multi_object_tracker/schema/multi_object_tracker_node.schema.json
@@ -1,117 +1,116 @@
 {
-    "$schema": "http://json-schema.org/draft-07/schema#",
-    "title": "Parameters for Multi Object Tracker Node",
-    "type": "object",
-    "definitions": {
-      "multi_object_tracker_node": {
-        "type": "object",
-        "properties": {
-          "car_tracker": {
-            "type": "string",
-            "description": "Tracker model for car class.",
-            "default": "multi_vehicle_tracker"
-          },
-          "truck_tracker": {
-            "type": "string",
-            "description": "Tracker model for truck class.",
-            "default": "multi_vehicle_tracker"
-          },
-          "bus_tracker": {
-            "type": "string",
-            "description": "Tracker model for bus class.",
-            "default": "multi_vehicle_tracker"
-          },
-          "trailer_tracker": {
-            "type": "string",
-            "description": "Tracker model for trailer class.",
-            "default": "multi_vehicle_tracker"
-          },
-          "pedestrian_tracker": {
-            "type": "string",
-            "description": "Tracker model for pedestrian class.",
-            "default": "pedestrian_and_bicycle_tracker"
-          },
-          "bicycle_tracker": {
-            "type": "string",
-            "description": "Tracker model for bicycle class.",
-            "default": "pedestrian_and_bicycle_tracker"
-          },
-          "motorcycle_tracker": {
-            "type": "string",
-            "description": "Tracker model for motorcycle class.",
-            "default": "pedestrian_and_bicycle_tracker"
-          },
-          "publish_rate": {
-            "type": "number",
-            "description": "Timer frequency to output with delay compensation.",
-            "default": 10.0
-          },
-          "world_frame_id": {
-            "type": "string",
-            "description": "Object kinematics definition frame.",
-            "default": "map"
-          },
-          "enable_delay_compensation": {
-            "type": "boolean",
-            "description": "If True, tracker use timers to schedule publishers and use prediction step to extrapolate object state at desired timestamp.",
-            "default": false
-          },
-          "publish_processing_time": {
-            "type": "boolean",
-            "description": "Enable to publish debug message of process time information.",
-            "default": false
-          },
-          "publish_tentative_objects": {
-            "type": "boolean",
-            "description": "Enable to publish tentative tracked objects, which have lower confidence.",
-            "default": false
-          },
-          "publish_debug_markers": {
-            "type": "boolean",
-            "description": "Enable to publish debug markers, which indicates association of multi-inputs, existence probability of each detection.",
-            "default": false
-          },
-          "diagnostics_warn_delay": {
-            "type": "number",
-            "description": "Delay threshold for warning diagnostics in seconds.",
-            "default": 0.5
-          },
-          "diagnostics_error_delay": {
-            "type": "number",
-            "description": "Delay threshold for error diagnostics in seconds.",
-            "default": 1.0
-          }
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Multi Object Tracker Node",
+  "type": "object",
+  "definitions": {
+    "multi_object_tracker_node": {
+      "type": "object",
+      "properties": {
+        "car_tracker": {
+          "type": "string",
+          "description": "Tracker model for car class.",
+          "default": "multi_vehicle_tracker"
         },
-        "required": [
-          "car_tracker",
-          "truck_tracker",
-          "bus_tracker",
-          "trailer_tracker",
-          "pedestrian_tracker",
-          "bicycle_tracker",
-          "motorcycle_tracker",
-          "publish_rate",
-          "world_frame_id",
-          "enable_delay_compensation",
-          "publish_processing_time",
-          "publish_tentative_objects",
-          "publish_debug_markers",
-          "diagnostics_warn_delay",
-          "diagnostics_error_delay"
-        ]
-      }
-    },
-    "properties": {
-      "/**": {
-        "type": "object",
-        "properties": {
-          "ros__parameters": {
-            "$ref": "#/definitions/multi_object_tracker_node"
-          }
+        "truck_tracker": {
+          "type": "string",
+          "description": "Tracker model for truck class.",
+          "default": "multi_vehicle_tracker"
         },
-        "required": ["ros__parameters"]
-      }
-    },
-    "required": ["/**"]
-  }
-  
\ No newline at end of file
+        "bus_tracker": {
+          "type": "string",
+          "description": "Tracker model for bus class.",
+          "default": "multi_vehicle_tracker"
+        },
+        "trailer_tracker": {
+          "type": "string",
+          "description": "Tracker model for trailer class.",
+          "default": "multi_vehicle_tracker"
+        },
+        "pedestrian_tracker": {
+          "type": "string",
+          "description": "Tracker model for pedestrian class.",
+          "default": "pedestrian_and_bicycle_tracker"
+        },
+        "bicycle_tracker": {
+          "type": "string",
+          "description": "Tracker model for bicycle class.",
+          "default": "pedestrian_and_bicycle_tracker"
+        },
+        "motorcycle_tracker": {
+          "type": "string",
+          "description": "Tracker model for motorcycle class.",
+          "default": "pedestrian_and_bicycle_tracker"
+        },
+        "publish_rate": {
+          "type": "number",
+          "description": "Timer frequency to output with delay compensation.",
+          "default": 10.0
+        },
+        "world_frame_id": {
+          "type": "string",
+          "description": "Object kinematics definition frame.",
+          "default": "map"
+        },
+        "enable_delay_compensation": {
+          "type": "boolean",
+          "description": "If True, tracker use timers to schedule publishers and use prediction step to extrapolate object state at desired timestamp.",
+          "default": false
+        },
+        "publish_processing_time": {
+          "type": "boolean",
+          "description": "Enable to publish debug message of process time information.",
+          "default": false
+        },
+        "publish_tentative_objects": {
+          "type": "boolean",
+          "description": "Enable to publish tentative tracked objects, which have lower confidence.",
+          "default": false
+        },
+        "publish_debug_markers": {
+          "type": "boolean",
+          "description": "Enable to publish debug markers, which indicates association of multi-inputs, existence probability of each detection.",
+          "default": false
+        },
+        "diagnostics_warn_delay": {
+          "type": "number",
+          "description": "Delay threshold for warning diagnostics in seconds.",
+          "default": 0.5
+        },
+        "diagnostics_error_delay": {
+          "type": "number",
+          "description": "Delay threshold for error diagnostics in seconds.",
+          "default": 1.0
+        }
+      },
+      "required": [
+        "car_tracker",
+        "truck_tracker",
+        "bus_tracker",
+        "trailer_tracker",
+        "pedestrian_tracker",
+        "bicycle_tracker",
+        "motorcycle_tracker",
+        "publish_rate",
+        "world_frame_id",
+        "enable_delay_compensation",
+        "publish_processing_time",
+        "publish_tentative_objects",
+        "publish_debug_markers",
+        "diagnostics_warn_delay",
+        "diagnostics_error_delay"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/multi_object_tracker_node"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}
diff --git a/perception/multi_object_tracker/schema/simulation_tracker.schema.json b/perception/multi_object_tracker/schema/simulation_tracker.schema.json
index a78b4d294d7ad..88a4cf41bad08 100644
--- a/perception/multi_object_tracker/schema/simulation_tracker.schema.json
+++ b/perception/multi_object_tracker/schema/simulation_tracker.schema.json
@@ -1,63 +1,62 @@
 {
-    "$schema": "http://json-schema.org/draft-07/schema#",
-    "title": "Parameters for Simulation Tracker Node",
-    "type": "object",
-    "definitions": {
-      "simulation_tracker_node": {
-        "type": "object",
-        "properties": {
-          "car_tracker": {
-            "type": "string",
-            "description": "Tracker model for car class.",
-            "default": "pass_through_tracker"
-          },
-          "truck_tracker": {
-            "type": "string",
-            "description": "Tracker model for truck class.",
-            "default": "pass_through_tracker"
-          },
-          "bus_tracker": {
-            "type": "string",
-            "description": "Tracker model for bus class.",
-            "default": "pass_through_tracker"
-          },
-          "pedestrian_tracker": {
-            "type": "string",
-            "description": "Tracker model for pedestrian class.",
-            "default": "pass_through_tracker"
-          },
-          "bicycle_tracker": {
-            "type": "string",
-            "description": "Tracker model for bicycle class.",
-            "default": "pass_through_tracker"
-          },
-          "motorcycle_tracker": {
-            "type": "string",
-            "description": "Tracker model for motorcycle class.",
-            "default": "pass_through_tracker"
-          }
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Simulation Tracker Node",
+  "type": "object",
+  "definitions": {
+    "simulation_tracker_node": {
+      "type": "object",
+      "properties": {
+        "car_tracker": {
+          "type": "string",
+          "description": "Tracker model for car class.",
+          "default": "pass_through_tracker"
         },
-        "required": [
-          "car_tracker",
-          "truck_tracker",
-          "bus_tracker",
-          "pedestrian_tracker",
-          "bicycle_tracker",
-          "motorcycle_tracker"
-        ]
-      }
-    },
-    "properties": {
-      "/**": {
-        "type": "object",
-        "properties": {
-          "ros__parameters": {
-            "$ref": "#/definitions/simulation_tracker_node"
-          }
+        "truck_tracker": {
+          "type": "string",
+          "description": "Tracker model for truck class.",
+          "default": "pass_through_tracker"
         },
-        "required": ["ros__parameters"]
-      }
-    },
-    "required": ["/**"]
-  }
-  
\ No newline at end of file
+        "bus_tracker": {
+          "type": "string",
+          "description": "Tracker model for bus class.",
+          "default": "pass_through_tracker"
+        },
+        "pedestrian_tracker": {
+          "type": "string",
+          "description": "Tracker model for pedestrian class.",
+          "default": "pass_through_tracker"
+        },
+        "bicycle_tracker": {
+          "type": "string",
+          "description": "Tracker model for bicycle class.",
+          "default": "pass_through_tracker"
+        },
+        "motorcycle_tracker": {
+          "type": "string",
+          "description": "Tracker model for motorcycle class.",
+          "default": "pass_through_tracker"
+        }
+      },
+      "required": [
+        "car_tracker",
+        "truck_tracker",
+        "bus_tracker",
+        "pedestrian_tracker",
+        "bicycle_tracker",
+        "motorcycle_tracker"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/simulation_tracker_node"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}