diff --git a/msg/templates/uorb/microRTPS_client.cpp.template b/msg/templates/uorb/microRTPS_client.cpp.template
index 01bd53ae7a5..91c326e7a71 100644
--- a/msg/templates/uorb/microRTPS_client.cpp.template
+++ b/msg/templates/uorb/microRTPS_client.cpp.template
@@ -312,10 +312,11 @@ static int micrortps_start(int argc, char *argv[])
                 case @(message_id(topic)):
                 {
                     deserialize_@(topic)(&@(topic)_data, data_buffer, &microCDRReader);
-                    if (!@(topic)_pub)
+                    if (!@(topic)_pub) {
                         @(topic)_pub = orb_advertise(ORB_ID(@(topic)), &@(topic)_data);
-                    else
+                    } else {
                         orb_publish(ORB_ID(@(topic)), @(topic)_pub, &@(topic)_data);
+                    }
                     ++received;
                 }
                 break;
@@ -335,7 +336,7 @@ static int micrortps_start(int argc, char *argv[])
     }
 @[if send_topics]@
     _should_exit_task = true;
-    pthread_join(sender_thread, 0);
+    pthread_join(sender_thread, nullptr);
 @[end if]@
 
     struct timespec end;
diff --git a/msg/templates/urtps/microRTPS_transport.cxx b/msg/templates/urtps/microRTPS_transport.cxx
index 88b0131c3e5..357fe716b1f 100644
--- a/msg/templates/urtps/microRTPS_transport.cxx
+++ b/msg/templates/urtps/microRTPS_transport.cxx
@@ -298,8 +298,14 @@ int UART_node::init()
         flush = true;
         usleep(1000);
     }
-    if (flush) printf("flush\n");
-    else printf("no flush\n");
+    if (flush)
+    {
+        printf("flush\n");
+    }
+    else
+    {
+        printf("no flush\n");
+    }
 
     poll_fd[0].fd = uart_fd;
     poll_fd[0].events = POLLIN;
@@ -359,7 +365,9 @@ UDP_node::~UDP_node()
 int UDP_node::init()
 {
     if (0 > init_receiver(udp_port_recv) || 0 > init_sender(udp_port_send))
+    {
         return -1;
+    }
     return 0;
 }