diff --git a/perception/lidar_centerpoint/README.md b/perception/lidar_centerpoint/README.md
index 6ac6ef4f8d9ba..0c48f8abe54e0 100644
--- a/perception/lidar_centerpoint/README.md
+++ b/perception/lidar_centerpoint/README.md
@@ -29,6 +29,7 @@ We trained the models using <https://github.com/open-mmlab/mmdetection3d>.
 ## Parameters
 
 ### Core Parameters
+
 {{ json_to_markdown("perception/lidar_centerpoint/schema/centerpoint_ml_package.schema.json") }}
 {{ json_to_markdown("perception/lidar_centerpoint/schema/centerpoint_sigma_ml_package.schema.json") }}
 {{ json_to_markdown("perception/lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json") }}
diff --git a/perception/lidar_centerpoint/schema/centerpoint_sigma_ml_package.schema.json b/perception/lidar_centerpoint/schema/centerpoint_sigma_ml_package.schema.json
index e4bdfbf849a02..a404657fd2397 100644
--- a/perception/lidar_centerpoint/schema/centerpoint_sigma_ml_package.schema.json
+++ b/perception/lidar_centerpoint/schema/centerpoint_sigma_ml_package.schema.json
@@ -1,99 +1,98 @@
 {
-    "$schema": "http://json-schema.org/draft-07/schema#",
-    "title": "Parameters for Centerpoint Sigma ML model",
-    "type": "object",
-    "definitions": {
-      "centerpoint_sigma_ml_package": {
-        "type": "object",
-        "properties": {
-          "model_params": {
-            "type": "object",
-            "description": "Parameters for model configuration.",
-            "properties": {
-              "class_names": {
-                "type": "array",
-                "description": "An array of class names will be predicted.",
-                "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"],
-                "items": {
-                  "type": "string"
-                },
-                "uniqueItems": true
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Centerpoint Sigma ML model",
+  "type": "object",
+  "definitions": {
+    "centerpoint_sigma_ml_package": {
+      "type": "object",
+      "properties": {
+        "model_params": {
+          "type": "object",
+          "description": "Parameters for model configuration.",
+          "properties": {
+            "class_names": {
+              "type": "array",
+              "description": "An array of class names will be predicted.",
+              "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"],
+              "items": {
+                "type": "string"
               },
-              "point_feature_size": {
-                "type": "integer",
-                "description": "A number of channels of point feature layer.",
-                "default": 4
-              },
-              "max_voxel_size": {
-                "type": "integer",
-                "description": "A maximum size of voxel grid.",
-                "default": 40000
-              },
-              "point_cloud_range": {
-                "type": "array",
-                "description": "An array of distance ranges of each class, this must have same length with `class_names`.",
-                "default": [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0],
-                "items": {
-                  "type": "number"
-                }
-              },
-              "voxel_size": {
-                "type": "array",
-                "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.",
-                "default": [0.32, 0.32, 10.0],
-                "items": {
-                  "type": "number"
-                }
-              },
-              "downsample_factor": {
-                "type": "integer",
-                "description": "A scale factor of downsampling points.",
-                "default": 1,
-                "minimum": 1
-              },
-              "encoder_in_feature_size": {
-                "type": "integer",
-                "description": "A size of encoder input feature channels.",
-                "default": 9
-              },
-              "has_variance": {
-                "type": "boolean",
-                "description": "Flag indicating if the model includes variance estimation.",
-                "default": false
-              },
-              "has_twist": {
-                "type": "boolean",
-                "description": "Flag indicating if the model includes twist estimation.",
-                "default": false
+              "uniqueItems": true
+            },
+            "point_feature_size": {
+              "type": "integer",
+              "description": "A number of channels of point feature layer.",
+              "default": 4
+            },
+            "max_voxel_size": {
+              "type": "integer",
+              "description": "A maximum size of voxel grid.",
+              "default": 40000
+            },
+            "point_cloud_range": {
+              "type": "array",
+              "description": "An array of distance ranges of each class, this must have same length with `class_names`.",
+              "default": [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0],
+              "items": {
+                "type": "number"
+              }
+            },
+            "voxel_size": {
+              "type": "array",
+              "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.",
+              "default": [0.32, 0.32, 10.0],
+              "items": {
+                "type": "number"
               }
             },
-            "required": [
-              "class_names",
-              "point_feature_size",
-              "max_voxel_size",
-              "point_cloud_range",
-              "voxel_size",
-              "downsample_factor",
-              "encoder_in_feature_size",
-              "has_variance",
-              "has_twist"
-            ]
-          }
-        },
-        "required": ["model_params"]
-      }
-    },
-    "properties": {
-      "/**": {
-        "type": "object",
-        "properties": {
-          "ros__parameters": {
-            "$ref": "#/definitions/centerpoint_sigma_ml_package"
-          }
-        },
-        "required": ["ros__parameters"]
-      }
-    },
-    "required": ["/**"]
-  }
-  
\ No newline at end of file
+            "downsample_factor": {
+              "type": "integer",
+              "description": "A scale factor of downsampling points.",
+              "default": 1,
+              "minimum": 1
+            },
+            "encoder_in_feature_size": {
+              "type": "integer",
+              "description": "A size of encoder input feature channels.",
+              "default": 9
+            },
+            "has_variance": {
+              "type": "boolean",
+              "description": "Flag indicating if the model includes variance estimation.",
+              "default": false
+            },
+            "has_twist": {
+              "type": "boolean",
+              "description": "Flag indicating if the model includes twist estimation.",
+              "default": false
+            }
+          },
+          "required": [
+            "class_names",
+            "point_feature_size",
+            "max_voxel_size",
+            "point_cloud_range",
+            "voxel_size",
+            "downsample_factor",
+            "encoder_in_feature_size",
+            "has_variance",
+            "has_twist"
+          ]
+        }
+      },
+      "required": ["model_params"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/centerpoint_sigma_ml_package"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}
diff --git a/perception/lidar_centerpoint/schema/centerpoint_tiny.schema.json b/perception/lidar_centerpoint/schema/centerpoint_tiny.schema.json
index 31ff5c29dd1ea..7c20676e802c1 100644
--- a/perception/lidar_centerpoint/schema/centerpoint_tiny.schema.json
+++ b/perception/lidar_centerpoint/schema/centerpoint_tiny.schema.json
@@ -1,146 +1,142 @@
 {
-    "$schema": "http://json-schema.org/draft-07/schema#",
-    "title": "Parameters for Lidar Centerpoint Tiny Node",
-    "type": "object",
-    "definitions": {
-      "centerpoint_tiny": {
-        "type": "object",
-        "properties": {
-          "encoder_onnx_path": {
-            "type": "string",
-            "description": "Path to VoxelFeatureEncoder ONNX file.",
-            "default": ""
-          },
-          "encoder_engine_path": {
-            "type": "string",
-            "description": "Path to VoxelFeatureEncoder TensorRT Engine file.",
-            "default": ""
-          },
-          "head_onnx_path": {
-            "type": "string",
-            "description": "Path to DetectionHead ONNX file.",
-            "default": ""
-          },
-          "head_engine_path": {
-            "type": "string",
-            "description": "Path to DetectionHead TensorRT Engine file.",
-            "default": ""
-          },
-          "trt_precision": {
-            "type": "string",
-            "description": "TensorRT inference precision.",
-            "default": "fp16",
-            "enum": ["fp32", "fp16"]
-          },
-          "post_process_params": {
-            "type": "object",
-            "properties": {
-              "score_threshold": {
-                "type": "number",
-                "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored.",
-                "default": 0.35,
-                "minimum": 0.0,
-                "maximum": 1.0
-              },
-              "yaw_norm_thresholds": {
-                "type": "array",
-                "description": "An array of distance threshold values of norm of yaw [rad].",
-                "default": [0.3, 0.3, 0.3, 0.3, 0.0],
-                "items": {
-                  "type": "number",
-                  "minimum": 0.0,
-                  "maximum": 1.0
-                }
-              },
-              "circle_nms_dist_threshold": {
-                "type": "number",
-                "description": "The distance threshold for circle NMS.",
-                "default": 0.5,
-                "minimum": 0.0,
-                "maximum": 1.0
-              },
-              "iou_nms_target_class_names": {
-                "type": "array",
-                "description": "An array of class names to be target in NMS.",
-                "default": ["CAR"],
-                "items": {
-                  "type": "string"
-                },
-                "uniqueItems": true
-              },
-              "iou_nms_search_distance_2d": {
-                "type": "number",
-                "description": "A maximum distance value to search the nearest objects.",
-                "default": 10.0,
-                "minimum": 0.0
-              },
-              "iou_nms_threshold": {
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Lidar Centerpoint Tiny Node",
+  "type": "object",
+  "definitions": {
+    "centerpoint_tiny": {
+      "type": "object",
+      "properties": {
+        "encoder_onnx_path": {
+          "type": "string",
+          "description": "Path to VoxelFeatureEncoder ONNX file.",
+          "default": ""
+        },
+        "encoder_engine_path": {
+          "type": "string",
+          "description": "Path to VoxelFeatureEncoder TensorRT Engine file.",
+          "default": ""
+        },
+        "head_onnx_path": {
+          "type": "string",
+          "description": "Path to DetectionHead ONNX file.",
+          "default": ""
+        },
+        "head_engine_path": {
+          "type": "string",
+          "description": "Path to DetectionHead TensorRT Engine file.",
+          "default": ""
+        },
+        "trt_precision": {
+          "type": "string",
+          "description": "TensorRT inference precision.",
+          "default": "fp16",
+          "enum": ["fp32", "fp16"]
+        },
+        "post_process_params": {
+          "type": "object",
+          "properties": {
+            "score_threshold": {
+              "type": "number",
+              "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored.",
+              "default": 0.35,
+              "minimum": 0.0,
+              "maximum": 1.0
+            },
+            "yaw_norm_thresholds": {
+              "type": "array",
+              "description": "An array of distance threshold values of norm of yaw [rad].",
+              "default": [0.3, 0.3, 0.3, 0.3, 0.0],
+              "items": {
                 "type": "number",
-                "description": "A threshold value of NMS using IoU score.",
-                "default": 0.1,
                 "minimum": 0.0,
                 "maximum": 1.0
-              },
-              "has_twist": {
-                "type": "boolean",
-                "description": "Indicates whether the model outputs twist value.",
-                "default": false
               }
             },
-            "required": [
-              "score_threshold",
-              "yaw_norm_thresholds",
-              "circle_nms_dist_threshold",
-              "iou_nms_target_class_names",
-              "iou_nms_search_distance_2d",
-              "iou_nms_threshold",
-              "has_twist"
-            ]
-          },
-          "densification_params": {
-            "type": "object",
-            "description": "Parameters for pointcloud densification.",
-            "properties": {
-              "world_frame_id": {
-                "type": "string",
-                "description": "A name of frame id where world coordinates system is defined with respect to.",
-                "default": "map"
+            "circle_nms_dist_threshold": {
+              "type": "number",
+              "description": "The distance threshold for circle NMS.",
+              "default": 0.5,
+              "minimum": 0.0,
+              "maximum": 1.0
+            },
+            "iou_nms_target_class_names": {
+              "type": "array",
+              "description": "An array of class names to be target in NMS.",
+              "default": ["CAR"],
+              "items": {
+                "type": "string"
               },
-              "num_past_frames": {
-                "type": "integer",
-                "description": "A number of past frames to be considered as same input frame.",
-                "default": 1,
-                "minimum": 0
-              }
+              "uniqueItems": true
             },
-            "required": [
-              "world_frame_id",
-              "num_past_frames"
-            ]
-          }
-        },
-        "required": [
-          "encoder_onnx_path",
-          "encoder_engine_path",
-          "head_onnx_path",
-          "head_engine_path",
-          "trt_precision",
-          "post_process_params",
-          "densification_params"
-        ]
-      }
-    },
-    "properties": {
-      "/**": {
-        "type": "object",
-        "properties": {
-          "ros__parameters": {
-            "$ref": "#/definitions/centerpoint_tiny"
-          }
+            "iou_nms_search_distance_2d": {
+              "type": "number",
+              "description": "A maximum distance value to search the nearest objects.",
+              "default": 10.0,
+              "minimum": 0.0
+            },
+            "iou_nms_threshold": {
+              "type": "number",
+              "description": "A threshold value of NMS using IoU score.",
+              "default": 0.1,
+              "minimum": 0.0,
+              "maximum": 1.0
+            },
+            "has_twist": {
+              "type": "boolean",
+              "description": "Indicates whether the model outputs twist value.",
+              "default": false
+            }
+          },
+          "required": [
+            "score_threshold",
+            "yaw_norm_thresholds",
+            "circle_nms_dist_threshold",
+            "iou_nms_target_class_names",
+            "iou_nms_search_distance_2d",
+            "iou_nms_threshold",
+            "has_twist"
+          ]
         },
-        "required": ["ros__parameters"]
-      }
-    },
-    "required": ["/**"]
-  }
-  
\ No newline at end of file
+        "densification_params": {
+          "type": "object",
+          "description": "Parameters for pointcloud densification.",
+          "properties": {
+            "world_frame_id": {
+              "type": "string",
+              "description": "A name of frame id where world coordinates system is defined with respect to.",
+              "default": "map"
+            },
+            "num_past_frames": {
+              "type": "integer",
+              "description": "A number of past frames to be considered as same input frame.",
+              "default": 1,
+              "minimum": 0
+            }
+          },
+          "required": ["world_frame_id", "num_past_frames"]
+        }
+      },
+      "required": [
+        "encoder_onnx_path",
+        "encoder_engine_path",
+        "head_onnx_path",
+        "head_engine_path",
+        "trt_precision",
+        "post_process_params",
+        "densification_params"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/centerpoint_tiny"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}
diff --git a/perception/lidar_centerpoint/schema/detection_class_remapper.schema.json b/perception/lidar_centerpoint/schema/detection_class_remapper.schema.json
index a0e965950a893..ec1c63c30b386 100644
--- a/perception/lidar_centerpoint/schema/detection_class_remapper.schema.json
+++ b/perception/lidar_centerpoint/schema/detection_class_remapper.schema.json
@@ -1,47 +1,46 @@
 {
-    "$schema": "http://json-schema.org/draft-07/schema#",
-    "title": "Parameters for Detection Class Remapper Node",
-    "type": "object",
-    "definitions": {
-      "detection_class_remapper": {
-        "type": "object",
-        "properties": {
-          "allow_remapping_by_area_matrix": {
-            "type": "array",
-            "description": "Matrix defining how to remap original classes to new classes based on area.",
-            "items": {
-              "type": "integer"
-            }
-          },
-          "min_area_matrix": {
-            "type": "array",
-            "description": "Matrix defining the minimum area thresholds for each class.",
-            "items": {
-              "type": "number"
-            }
-          },
-          "max_area_matrix": {
-            "type": "array",
-            "description": "Matrix defining the maximum area thresholds for each class.",
-            "items": {
-              "type": "number"
-            }
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Detection Class Remapper Node",
+  "type": "object",
+  "definitions": {
+    "detection_class_remapper": {
+      "type": "object",
+      "properties": {
+        "allow_remapping_by_area_matrix": {
+          "type": "array",
+          "description": "Matrix defining how to remap original classes to new classes based on area.",
+          "items": {
+            "type": "integer"
           }
         },
-        "required": ["allow_remapping_by_area_matrix", "min_area_matrix", "max_area_matrix"]
-      }
-    },
-    "properties": {
-      "/**": {
-        "type": "object",
-        "properties": {
-          "ros__parameters": {
-            "$ref": "#/definitions/detection_class_remapper"
+        "min_area_matrix": {
+          "type": "array",
+          "description": "Matrix defining the minimum area thresholds for each class.",
+          "items": {
+            "type": "number"
           }
         },
-        "required": ["ros__parameters"]
-      }
-    },
-    "required": ["/**"]
-  }
-  
\ No newline at end of file
+        "max_area_matrix": {
+          "type": "array",
+          "description": "Matrix defining the maximum area thresholds for each class.",
+          "items": {
+            "type": "number"
+          }
+        }
+      },
+      "required": ["allow_remapping_by_area_matrix", "min_area_matrix", "max_area_matrix"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/detection_class_remapper"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}