diff --git a/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.cpp b/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.cpp
index 179770038..743721734 100644
--- a/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.cpp
+++ b/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.cpp
@@ -11,6 +11,7 @@
 
 #include <gtest/gtest.h>
 
+#include <cmath>
 #include <filesystem>
 #include <memory>
 #include <regex>
@@ -180,8 +181,10 @@ Status VelodyneRosDecoderTest::get_parameters(
   } else {
     double min_angle = fmod(fmod(view_direction + view_width / 2, 2 * M_PI) + 2 * M_PI, 2 * M_PI);
     double max_angle = fmod(fmod(view_direction - view_width / 2, 2 * M_PI) + 2 * M_PI, 2 * M_PI);
-    sensor_configuration.cloud_min_angle = 100 * (2 * M_PI - min_angle) * 180 / M_PI + 0.5;
-    sensor_configuration.cloud_max_angle = 100 * (2 * M_PI - max_angle) * 180 / M_PI + 0.5;
+    sensor_configuration.cloud_min_angle =
+      static_cast<int>(std::lround(100 * (2 * M_PI - min_angle) * 180 / M_PI));
+    sensor_configuration.cloud_max_angle =
+      static_cast<int>(std::lround(100 * (2 * M_PI - max_angle) * 180 / M_PI));
     if (sensor_configuration.cloud_min_angle == sensor_configuration.cloud_max_angle) {
       // avoid returning empty cloud if min_angle = max_angle
       sensor_configuration.cloud_min_angle = 0;
diff --git a/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp32.cpp b/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp32.cpp
index 39f7aecca..c354af54b 100644
--- a/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp32.cpp
+++ b/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp32.cpp
@@ -11,6 +11,7 @@
 
 #include <gtest/gtest.h>
 
+#include <cmath>
 #include <filesystem>
 #include <regex>
 #include <vector>
@@ -178,8 +179,10 @@ Status VelodyneRosDecoderTest::get_parameters(
   } else {
     double min_angle = fmod(fmod(view_direction + view_width / 2, 2 * M_PI) + 2 * M_PI, 2 * M_PI);
     double max_angle = fmod(fmod(view_direction - view_width / 2, 2 * M_PI) + 2 * M_PI, 2 * M_PI);
-    sensor_configuration.cloud_min_angle = 100 * (2 * M_PI - min_angle) * 180 / M_PI + 0.5;
-    sensor_configuration.cloud_max_angle = 100 * (2 * M_PI - max_angle) * 180 / M_PI + 0.5;
+    sensor_configuration.cloud_min_angle =
+      static_cast<int>(std::lround(100 * (2 * M_PI - min_angle) * 180 / M_PI));
+    sensor_configuration.cloud_max_angle =
+      static_cast<int>(std::lround(100 * (2 * M_PI - max_angle) * 180 / M_PI));
     if (sensor_configuration.cloud_min_angle == sensor_configuration.cloud_max_angle) {
       // avoid returning empty cloud if min_angle = max_angle
       sensor_configuration.cloud_min_angle = 0;
diff --git a/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp b/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp
index 71817ecee..4102757c8 100644
--- a/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp
+++ b/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp
@@ -14,6 +14,7 @@
 #include <gtest/gtest.h>
 #include <rcutils/time.h>
 
+#include <cmath>
 #include <filesystem>
 #include <memory>
 #include <regex>
@@ -183,8 +184,10 @@ Status VelodyneRosDecoderTest::get_parameters(
   } else {
     double min_angle = fmod(fmod(view_direction + view_width / 2, 2 * M_PI) + 2 * M_PI, 2 * M_PI);
     double max_angle = fmod(fmod(view_direction - view_width / 2, 2 * M_PI) + 2 * M_PI, 2 * M_PI);
-    sensor_configuration.cloud_min_angle = 100 * (2 * M_PI - min_angle) * 180 / M_PI + 0.5;
-    sensor_configuration.cloud_max_angle = 100 * (2 * M_PI - max_angle) * 180 / M_PI + 0.5;
+    sensor_configuration.cloud_min_angle =
+      static_cast<int>(std::lround(100 * (2 * M_PI - min_angle) * 180 / M_PI));
+    sensor_configuration.cloud_max_angle =
+      static_cast<int>(std::lround(100 * (2 * M_PI - max_angle) * 180 / M_PI));
     if (sensor_configuration.cloud_min_angle == sensor_configuration.cloud_max_angle) {
       // avoid returning empty cloud if min_angle = max_angle
       sensor_configuration.cloud_min_angle = 0;