diff --git a/README.md b/README.md
index c9f6c8f9..8461c378 100644
--- a/README.md
+++ b/README.md
@@ -35,7 +35,10 @@ See [the Doxygen documentation](http://docs.ros.org/melodic/api/trackjoint/html/
 
 ## Formatting
 
-Use `clang_this_directory_google`
+Use the clang format file in the root directory.
+
+    cd $CATKIN_WS/src/trackjoint
+    clang_this_directory_custom 10
 
 ## Hints for Tuning
 
diff --git a/include/trackjoint/error_codes.h b/include/trackjoint/error_codes.h
index f5156a06..1c468f9c 100644
--- a/include/trackjoint/error_codes.h
+++ b/include/trackjoint/error_codes.h
@@ -37,6 +37,7 @@ enum ErrorCodeEnum
 /**
  * \brief Use this map to look up human-readable strings for each error code
  */
+// clang-format off
 const std::unordered_map<uint, std::string> ERROR_CODE_MAP(
     { { NO_ERROR, "No error, trajectory generation was successful" },
       { DESIRED_DURATION_TOO_SHORT, "Desired duration is too short, cannot have less than one timestep in a "
@@ -50,4 +51,5 @@ const std::unordered_map<uint, std::string> ERROR_CODE_MAP(
       { FAILURE_TO_GENERATE_SINGLE_WAYPOINT, "Failed to generate even a single new waypoint" },
       { LESS_THAN_TEN_TIMESTEPS_FOR_STREAMING_MODE, "In streaming mode, desired duration should be at least 10 "
                                                     "timesteps" } });
+// clang-format on
 }  // end namespace trackjoint
diff --git a/include/trackjoint/trajectory_generator.h b/include/trackjoint/trajectory_generator.h
index 4e4dc14a..8018e212 100644
--- a/include/trackjoint/trajectory_generator.h
+++ b/include/trackjoint/trajectory_generator.h
@@ -77,8 +77,8 @@ class TrajectoryGenerator
    * input goal_joint_states vector of the target kinematic states for each degree of freedom
    * input limits vector of kinematic limits for each degree of freedom
    * input nominal_timestep the user-requested time between waypoints
-   * returna TrackJoint status code
-  */
+   * return a TrackJoint status code
+   */
   ErrorCodeEnum inputChecking(const std::vector<KinematicState>& current_joint_states,
                               const std::vector<KinematicState>& goal_joint_states, const std::vector<Limits>& limits,
                               double nominal_timestep);
@@ -87,7 +87,7 @@ class TrajectoryGenerator
   /** \brief Ensure limits are obeyed before outputting.
    *
    * input trajectory the calculated trajectories for n joints
-  */
+   */
   void clipVectorsForOutput(std::vector<JointTrajectory>* trajectory);
 
   /** \brief upsample if num. waypoints would be short. Helps with accuracy. */
@@ -100,7 +100,7 @@ class TrajectoryGenerator
    * input velocity_vector a vector of velocities
    * input acceleration_vector a vector of accelerations
    * input jerk_vector a vector of jerks
-  */
+   */
   void downSample(Eigen::VectorXd* time_vector, Eigen::VectorXd* position_vector, Eigen::VectorXd* velocity_vector,
                   Eigen::VectorXd* acceleration_vector, Eigen::VectorXd* jerk_vector);
 
@@ -108,7 +108,7 @@ class TrajectoryGenerator
    *
    * input output_trajectories the calculated trajectories for n joints
    * returna TrackJoint status code
-  */
+   */
   ErrorCodeEnum synchronizeTrajComponents(std::vector<JointTrajectory>* output_trajectories);
 
   // TODO(andyz): set this back to a small number when done testing
diff --git a/include/trackjoint/utilities.h b/include/trackjoint/utilities.h
index 0357c42e..dd7dfaac 100644
--- a/include/trackjoint/utilities.h
+++ b/include/trackjoint/utilities.h
@@ -35,7 +35,7 @@ Eigen::VectorXd DiscreteDifferentiation(const Eigen::VectorXd& input_vector, dou
  * input joint the index of a joint
  * input output_trajectories the calculated trajectories for n joints
  * input desired_duration the user-requested duration of the trajectory
-*/
+ */
 void PrintJointTrajectory(const std::size_t joint, const std::vector<JointTrajectory>& output_trajectories,
                           const double desired_duration);
 
diff --git a/test/trajectory_generation_test.cpp b/test/trajectory_generation_test.cpp
index 5bde2e57..120cefcf 100644
--- a/test/trajectory_generation_test.cpp
+++ b/test/trajectory_generation_test.cpp
@@ -535,13 +535,12 @@ TEST_F(TrajectoryGenerationTest, OscillatingUR5TrackJointCase)
   std::vector<std::vector<double>> moveit_times_from_start;
 
   // Reading MoveIt experimental data from .txt files
-  moveit_des_positions = loadWaypointsFromFile(REF_PATH + "/test/data/30_percent_speed_oscillation/moveit_des_pos.txt");
-  moveit_des_velocities =
-      loadWaypointsFromFile(REF_PATH + "/test/data/30_percent_speed_oscillation/moveit_des_vel.txt");
-  moveit_des_accelerations =
-      loadWaypointsFromFile(REF_PATH + "/test/data/30_percent_speed_oscillation/moveit_des_acc.txt");
-  moveit_times_from_start =
-      loadWaypointsFromFile(REF_PATH + "/test/data/30_percent_speed_oscillation/moveit_time_from_start.txt");
+  moveit_des_velocities = loadWaypointsFromFile(REF_PATH + "/test/data/30_percent_speed_oscillation/"
+                                                           "moveit_des_vel.txt");
+  moveit_des_accelerations = loadWaypointsFromFile(REF_PATH + "/test/data/30_percent_speed_oscillation/"
+                                                              "moveit_des_acc.txt");
+  moveit_times_from_start = loadWaypointsFromFile(REF_PATH + "/test/data/30_percent_speed_oscillation/"
+                                                             "moveit_time_from_start.txt");
 
   // For each MoveIt waypoint
   for (std::size_t point = 0; point < moveit_times_from_start.size() - 1; ++point)