diff --git a/control/velocity_controller/src/velocity_controller_core.cpp b/control/velocity_controller/src/velocity_controller_core.cpp
index 53260f69bbc51..19e4d04d22baa 100644
--- a/control/velocity_controller/src/velocity_controller_core.cpp
+++ b/control/velocity_controller/src/velocity_controller_core.cpp
@@ -183,7 +183,7 @@ void VelocityController::blockUntilVehiclePositionAvailable(const tf2::Duration
   {
     RCLCPP_INFO(
       get_logger(), "waiting %d ms for %s->%s transform to become available",
-      std::chrono::duration_cast<std::chrono::seconds>(duration).count(), input, output);
+      std::chrono::duration_cast<std::chrono::milliseconds>(duration).count(), input, output);
     rclcpp::sleep_for(duration);
   }
   RCLCPP_INFO(get_logger(), "transform available");
diff --git a/localization/pose_twist_fusion_filter/ekf_localizer/src/ekf_localizer.cpp b/localization/pose_twist_fusion_filter/ekf_localizer/src/ekf_localizer.cpp
index f2eef6e5634ba..7fadff0ebbddd 100644
--- a/localization/pose_twist_fusion_filter/ekf_localizer/src/ekf_localizer.cpp
+++ b/localization/pose_twist_fusion_filter/ekf_localizer/src/ekf_localizer.cpp
@@ -84,7 +84,7 @@ EKFLocalizer::EKFLocalizer(const std::string & node_name, const rclcpp::NodeOpti
 
   /* initialize ros system */
   auto timer_control_callback = std::bind(&EKFLocalizer::timerCallback, this);
-  auto period_control = std::chrono::duration_cast<std::chrono::seconds>(
+  auto period_control = std::chrono::duration_cast<std::chrono::nanoseconds>(
     std::chrono::duration<double>(ekf_dt_));
   timer_control_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_control_callback)>>(
     this->get_clock(), period_control, std::move(timer_control_callback),
@@ -92,7 +92,7 @@ EKFLocalizer::EKFLocalizer(const std::string & node_name, const rclcpp::NodeOpti
   this->get_node_timers_interface()->add_timer(timer_control_, nullptr);
 
   auto timer_tf_callback = std::bind(&EKFLocalizer::timerTFCallback, this);
-  auto period_tf = std::chrono::duration_cast<std::chrono::seconds>(
+  auto period_tf = std::chrono::duration_cast<std::chrono::nanoseconds>(
     std::chrono::duration<double>(1.0 / tf_rate_));
   timer_tf_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_tf_callback)>>(
     this->get_clock(), period_tf, std::move(timer_tf_callback),
diff --git a/planning/scenario_planning/common/motion_velocity_optimizer/CMakeLists.txt b/planning/scenario_planning/common/motion_velocity_optimizer/CMakeLists.txt
index 28378138aef57..c0b2ff8f92c1e 100644
--- a/planning/scenario_planning/common/motion_velocity_optimizer/CMakeLists.txt
+++ b/planning/scenario_planning/common/motion_velocity_optimizer/CMakeLists.txt
@@ -39,6 +39,10 @@ ament_auto_add_executable(motion_velocity_optimizer
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
+  # ignore python
+  set(ament_cmake_flake8_FOUND TRUE)
+  set(ament_cmake_pyflake_FOUND TRUE)
+
   ament_lint_auto_find_test_dependencies()
 endif()
 
diff --git a/planning/scenario_planning/common/motion_velocity_optimizer/src/motion_velocity_optimizer.cpp b/planning/scenario_planning/common/motion_velocity_optimizer/src/motion_velocity_optimizer.cpp
index f98acb1e72644..d99ae38ddc2c5 100644
--- a/planning/scenario_planning/common/motion_velocity_optimizer/src/motion_velocity_optimizer.cpp
+++ b/planning/scenario_planning/common/motion_velocity_optimizer/src/motion_velocity_optimizer.cpp
@@ -133,7 +133,7 @@ MotionVelocityOptimizer::MotionVelocityOptimizer()
   {
     external_velocity_limit_update_rate_ = get_parameter("over_a_weight").as_double();
     auto timer_callback = std::bind(&MotionVelocityOptimizer::timerCallback, this);
-    auto period = std::chrono::duration_cast<std::chrono::seconds>(
+    auto period = std::chrono::duration_cast<std::chrono::nanoseconds>(
       std::chrono::duration<double>(1.0 / external_velocity_limit_update_rate_));
     timer_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback)>>(
       get_clock(), period, std::move(timer_callback), get_node_base_interface()->get_context());
@@ -742,7 +742,8 @@ void MotionVelocityOptimizer::blockUntilVehiclePositionAvailable(const tf2::Dura
   {
     RCLCPP_INFO(
       get_logger(), "waiting %d ms for %s->%s transform to become available",
-      std::chrono::duration_cast<std::chrono::seconds>(duration).count(), input, output);
+      std::chrono::duration_cast<std::chrono::milliseconds>(duration).count(),
+      input, output);
     rclcpp::sleep_for(duration);
   }
   RCLCPP_INFO(get_logger(), "transform available");
diff --git a/planning/scenario_planning/lane_driving/behavior_planning/lane_change_planner/src/lane_changer.cpp b/planning/scenario_planning/lane_driving/behavior_planning/lane_change_planner/src/lane_changer.cpp
index 5630b4f2d2332..9a6fe49f545cc 100644
--- a/planning/scenario_planning/lane_driving/behavior_planning/lane_change_planner/src/lane_changer.cpp
+++ b/planning/scenario_planning/lane_driving/behavior_planning/lane_change_planner/src/lane_changer.cpp
@@ -172,13 +172,15 @@ void LaneChanger::run()
 {
   // wait until mandatory data is ready
   if (!route_handler_ptr_->isHandlerReady()) {
-    RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 5.0, "waiting for route to be ready");
+    RCLCPP_WARN_THROTTLE(
+      get_logger(), *get_clock(), 5000 /* ms */,
+      "waiting for route to be ready");
     return;
   }
   if (!data_manager_ptr_->isDataReady()) {
     RCLCPP_WARN_THROTTLE(
       get_logger(),
-      *get_clock(), 5.0, "waiting for vehicle pose, vehicle_velocity, and obstacles");
+      *get_clock(), 5000 /* ms */, "waiting for vehicle pose, vehicle_velocity, and obstacles");
     return;
   }