diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp
index 585ea34a9120d..635f57299f798 100644
--- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp
+++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp
@@ -287,8 +287,10 @@ void AutowareStatePanel::onClickVelocityLimit()
 
 void AutowareStatePanel::onClickAutowareEngage()
 {
-  auto req = std::make_shared<tier4_external_api_msgs::srv::Engage::Request>();
-  req->engage = current_engage_ ? false : true;
+  using tier4_external_api_msgs::srv::Engage;
+
+  auto req = std::make_shared<Engage::Request>();
+  req->engage = !current_engage_;
 
   RCLCPP_INFO(raw_node_->get_logger(), "client request");
 
@@ -297,30 +299,27 @@ void AutowareStatePanel::onClickAutowareEngage()
     return;
   }
 
-  client_engage_->async_send_request(
-    req, [this](rclcpp::Client<tier4_external_api_msgs::srv::Engage>::SharedFuture result) {
-      RCLCPP_INFO(
-        raw_node_->get_logger(), "Status: %d, %s", result.get()->status.code,
-        result.get()->status.message.c_str());
-    });
+  client_engage_->async_send_request(req, [this](rclcpp::Client<Engage>::SharedFuture result) {
+    RCLCPP_INFO(
+      raw_node_->get_logger(), "Status: %d, %s", result.get()->status.code,
+      result.get()->status.message.c_str());
+  });
 }
 
 void AutowareStatePanel::onClickEmergencyButton()
 {
-  auto request = std::make_shared<tier4_external_api_msgs::srv::SetEmergency::Request>();
-  if (current_emergency_) {
-    request->emergency = false;
-  } else {
-    request->emergency = true;
-  }
+  using tier4_external_api_msgs::msg::ResponseStatus;
+  using tier4_external_api_msgs::srv::SetEmergency;
+
+  auto request = std::make_shared<SetEmergency::Request>();
+  request->emergency = !current_emergency_;
+
   RCLCPP_INFO(raw_node_->get_logger(), request->emergency ? "Set Emergency" : "Clear Emergency");
 
   client_emergency_stop_->async_send_request(
-    request,
-    [this]([[maybe_unused]] rclcpp::Client<tier4_external_api_msgs::srv::SetEmergency>::SharedFuture
-             result) {
-      auto response = result.get();
-      if (response->status.code == tier4_external_api_msgs::msg::ResponseStatus::SUCCESS) {
+    request, [this](rclcpp::Client<SetEmergency>::SharedFuture result) {
+      const auto & response = result.get();
+      if (response->status.code == ResponseStatus::SUCCESS) {
         RCLCPP_INFO(raw_node_->get_logger(), "service succeeded");
       } else {
         RCLCPP_WARN(
diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp
index 1833d75e422ae..8c889b7280ceb 100644
--- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp
+++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp
@@ -44,7 +44,7 @@ class AutowareStatePanel : public rviz_common::Panel
   explicit AutowareStatePanel(QWidget * parent = nullptr);
   void onInitialize() override;
 
-public Q_SLOTS:
+public Q_SLOTS:  // NOLINT for Qt
   void onClickAutowareEngage();
   void onClickVelocityLimit();
   void onClickGateMode();
@@ -89,8 +89,8 @@ public Q_SLOTS:
   QSpinBox * pub_velocity_limit_input_;
   QPushButton * emergency_button_ptr_;
 
-  bool current_engage_;
-  bool current_emergency_;
+  bool current_engage_{false};
+  bool current_emergency_{false};
 };
 
 }  // namespace rviz_plugins