diff --git a/.markdownlint.yaml b/.markdownlint.yaml
index dbd5b9703d834..df1f518dc0d48 100644
--- a/.markdownlint.yaml
+++ b/.markdownlint.yaml
@@ -1,3 +1,4 @@
+# See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules.
 default: true
 MD013: false
 MD024:
@@ -5,3 +6,4 @@ MD024:
 MD033: false
 MD041: false
 MD046: false
+MD049: false
diff --git a/.prettierrc.yaml b/.prettierrc.yaml
index 48b0552e3fe47..e29bf32762769 100644
--- a/.prettierrc.yaml
+++ b/.prettierrc.yaml
@@ -1,2 +1,20 @@
 printWidth: 100
 tabWidth: 2
+overrides:
+  - files: package.xml
+    options:
+      printWidth: 1000
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore
+
+  - files: "*.launch.xml"
+    options:
+      printWidth: 200
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore
+
+  - files: "*.xacro"
+    options:
+      printWidth: 200
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore
diff --git a/CPPLINT.cfg b/CPPLINT.cfg
index 1e2521f0b6442..ba6bdf08c10ca 100644
--- a/CPPLINT.cfg
+++ b/CPPLINT.cfg
@@ -11,3 +11,4 @@ filter=-whitespace/parens         # we allow closing parenthesis to be on the ne
 filter=-whitespace/semicolon      # we allow the developer to decide about whitespace after a semicolon
 filter=-build/header_guard        # we automatically fix the names of header guards using pre-commit
 filter=-build/include_order       # we use the custom include order
+filter=-build/include_subdir      # we allow the style of "foo.hpp"
diff --git a/common/goal_distance_calculator/package.xml b/common/goal_distance_calculator/package.xml
index d191ffd3945c9..66a911d8e9786 100644
--- a/common/goal_distance_calculator/package.xml
+++ b/common/goal_distance_calculator/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
   <name>goal_distance_calculator</name>
   <version>0.0.0</version>
-  <description>The goal_distance_calculator package </description>
+  <description>The goal_distance_calculator package</description>
   <maintainer email="ttatcoder@outlook.jp">Taiki Tanaka</maintainer>
   <license>Apache License 2.0</license>
 
diff --git a/common/path_distance_calculator/package.xml b/common/path_distance_calculator/package.xml
index c69f961f271ef..e85c8ccd93850 100644
--- a/common/path_distance_calculator/package.xml
+++ b/common/path_distance_calculator/package.xml
@@ -1,7 +1,6 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-
   <name>path_distance_calculator</name>
   <version>0.0.0</version>
   <description>The path_distance_calculator package</description>
@@ -20,5 +19,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-
 </package>
diff --git a/common/polar_grid/package.xml b/common/polar_grid/package.xml
index c11858c4dcc98..ea5b9dd9986e9 100644
--- a/common/polar_grid/package.xml
+++ b/common/polar_grid/package.xml
@@ -24,5 +24,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>
diff --git a/common/tier4_api_utils/package.xml b/common/tier4_api_utils/package.xml
index 4141904db9945..ba307d694a56c 100644
--- a/common/tier4_api_utils/package.xml
+++ b/common/tier4_api_utils/package.xml
@@ -1,7 +1,6 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-
   <name>tier4_api_utils</name>
   <version>0.0.0</version>
   <description>The tier4_api_utils package</description>
@@ -24,5 +23,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-
 </package>
diff --git a/common/tier4_datetime_rviz_plugin/package.xml b/common/tier4_datetime_rviz_plugin/package.xml
index 853b22b49be10..bb6b72797290b 100644
--- a/common/tier4_datetime_rviz_plugin/package.xml
+++ b/common/tier4_datetime_rviz_plugin/package.xml
@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <package format="2">
-
   <name>tier4_datetime_rviz_plugin</name>
   <version>0.0.0</version>
   <description>The tier4_datetime_rviz_plugin package</description>
@@ -22,5 +21,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>
diff --git a/common/tier4_localization_rviz_plugin/package.xml b/common/tier4_localization_rviz_plugin/package.xml
index 7d054c46c5083..a48dfb3ac3d73 100644
--- a/common/tier4_localization_rviz_plugin/package.xml
+++ b/common/tier4_localization_rviz_plugin/package.xml
@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <package format="3">
-
   <name>tier4_localization_rviz_plugin</name>
   <version>0.1.0</version>
   <description>The tier4_localization_rviz_plugin package</description>
@@ -25,5 +24,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>
diff --git a/common/tier4_planning_rviz_plugin/package.xml b/common/tier4_planning_rviz_plugin/package.xml
index 9d47827548843..3a937abeb5eb4 100644
--- a/common/tier4_planning_rviz_plugin/package.xml
+++ b/common/tier4_planning_rviz_plugin/package.xml
@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <package format="3">
-
   <name>tier4_planning_rviz_plugin</name>
   <version>0.1.0</version>
   <description>The tier4_planning_rviz_plugin package</description>
@@ -28,5 +27,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>
diff --git a/common/tier4_simulated_clock_rviz_plugin/package.xml b/common/tier4_simulated_clock_rviz_plugin/package.xml
index 4835e2b4bc3bb..25f701a6ce56f 100644
--- a/common/tier4_simulated_clock_rviz_plugin/package.xml
+++ b/common/tier4_simulated_clock_rviz_plugin/package.xml
@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <package format="2">
-
   <name>tier4_simulated_clock_rviz_plugin</name>
   <version>0.0.1</version>
   <description>Rviz plugin to publish and control the /clock topic</description>
@@ -23,5 +22,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>
diff --git a/common/tier4_state_rviz_plugin/package.xml b/common/tier4_state_rviz_plugin/package.xml
index e949c0c6a6148..2d33d6f1aaa7d 100644
--- a/common/tier4_state_rviz_plugin/package.xml
+++ b/common/tier4_state_rviz_plugin/package.xml
@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <package format="2">
-
   <name>tier4_state_rviz_plugin</name>
   <version>0.0.0</version>
   <description>The autoware state rviz plugin package</description>
@@ -26,5 +25,4 @@
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
-
 </package>
diff --git a/control/shift_decider/package.xml b/control/shift_decider/package.xml
index a6640725a1597..1c7e2b1913944 100644
--- a/control/shift_decider/package.xml
+++ b/control/shift_decider/package.xml
@@ -21,5 +21,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-
 </package>
diff --git a/launch/tier4_vehicle_launch/package.xml b/launch/tier4_vehicle_launch/package.xml
index bc2ef43e0a6bd..b0a3ea6a21485 100644
--- a/launch/tier4_vehicle_launch/package.xml
+++ b/launch/tier4_vehicle_launch/package.xml
@@ -7,7 +7,6 @@
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache License 2.0</license>
 
-
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/localization/ekf_localizer/package.xml b/localization/ekf_localizer/package.xml
index e4a380039ff02..0f27207fdc08d 100644
--- a/localization/ekf_localizer/package.xml
+++ b/localization/ekf_localizer/package.xml
@@ -29,5 +29,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-
 </package>
diff --git a/map/util/lanelet2_map_preprocessor/package.xml b/map/util/lanelet2_map_preprocessor/package.xml
index e71adaea8bc73..7ec500da53ebb 100644
--- a/map/util/lanelet2_map_preprocessor/package.xml
+++ b/map/util/lanelet2_map_preprocessor/package.xml
@@ -9,25 +9,21 @@
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
   <maintainer email="mitsudome-r@todo.todo">mitsudome-r</maintainer>
 
-
   <!-- One license tag required, multiple allowed, one license per tag -->
   <!-- Commonly used license strings: -->
   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
   <license>Apache License 2.0</license>
 
-
   <!-- Url tags are optional, but multiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <!-- Example: -->
   <!-- <url type="website">http://wiki.ros.org/lanelet2_map_preprocessor</url> -->
 
-
   <!-- Author tags are optional, multiple are allowed, one per tag -->
   <!-- Authors do not have to be maintainers, but could be -->
   <!-- Example: -->
   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
 
-
   <!-- The *depend tags are used to specify dependencies -->
   <!-- Dependencies can be catkin packages or system dependencies -->
   <!-- Examples: -->
@@ -59,10 +55,8 @@
   <exec_depend>pcl_ros</exec_depend>
   <exec_depend>roscpp</exec_depend>
 
-
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->
-
   </export>
 </package>
diff --git a/perception/tensorrt_yolo/package.xml b/perception/tensorrt_yolo/package.xml
index ff47dff04d845..9e393a56f1eef 100755
--- a/perception/tensorrt_yolo/package.xml
+++ b/perception/tensorrt_yolo/package.xml
@@ -24,5 +24,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-
 </package>
diff --git a/perception/traffic_light_ssd_fine_detector/package.xml b/perception/traffic_light_ssd_fine_detector/package.xml
index 223dbf0b0f8c1..cf37f7f9baa8f 100644
--- a/perception/traffic_light_ssd_fine_detector/package.xml
+++ b/perception/traffic_light_ssd_fine_detector/package.xml
@@ -10,7 +10,6 @@
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
   <maintainer email="daisuke.nishimatsu@tier4.jp">Daisuke Nishimatsu</maintainer>
 
-
   <!-- One license tag required, multiple allowed, one license per tag -->
   <!-- Commonly used license strings: -->
   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
diff --git a/planning/obstacle_stop_planner/package.xml b/planning/obstacle_stop_planner/package.xml
index 45100bec069f6..a665fd8fcfe9c 100644
--- a/planning/obstacle_stop_planner/package.xml
+++ b/planning/obstacle_stop_planner/package.xml
@@ -37,5 +37,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-
 </package>
diff --git a/planning/planning_error_monitor/package.xml b/planning/planning_error_monitor/package.xml
index 8bef053fc095d..e35554a392d7e 100644
--- a/planning/planning_error_monitor/package.xml
+++ b/planning/planning_error_monitor/package.xml
@@ -2,7 +2,7 @@
 <package format="3">
   <name>planning_error_monitor</name>
   <version>0.1.0</version>
-  <description>ros node for monitoring planning error </description>
+  <description>ros node for monitoring planning error</description>
 
   <maintainer email="yutaka.shimizu@tier4.jp">Yutaka Shimizu</maintainer>
 
diff --git a/sensing/image_transport_decompressor/package.xml b/sensing/image_transport_decompressor/package.xml
index c6238d4fd7ae6..9f131490dea3f 100644
--- a/sensing/image_transport_decompressor/package.xml
+++ b/sensing/image_transport_decompressor/package.xml
@@ -24,6 +24,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-
-
 </package>