diff --git a/ackermann_cmd_mux/launch/reconfigure.launch b/ackermann_cmd_mux/launch/reconfigure.launch
index 7920a97..8e66e74 100644
--- a/ackermann_cmd_mux/launch/reconfigure.launch
+++ b/ackermann_cmd_mux/launch/reconfigure.launch
@@ -5,4 +5,4 @@
   <node name="$(anon dynparam)" pkg="dynamic_reconfigure" type="dynparam" args="set_from_parameters nodelet_manager">
     <param name="yaml_cfg_file" type="string" value="$(find ackermann_cmd_mux)/param/reconfigure.yaml" />
   </node>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/ackermann_cmd_mux/launch/standalone.launch b/ackermann_cmd_mux/launch/standalone.launch
index 35e36da..5fbeca2 100644
--- a/ackermann_cmd_mux/launch/standalone.launch
+++ b/ackermann_cmd_mux/launch/standalone.launch
@@ -1,6 +1,6 @@
 <!--
   Example standalone launcher for the ackermann command multiplexer.
-  
+
   For best results you would usually load this into the core control system
   to avoid latency for reactive controllers. However for other apps, running
   it standalone with a similar configuration will also work.
@@ -8,13 +8,13 @@
 <launch>
   <arg name="nodelet_manager_name"  default="nodelet_manager"/>
   <arg name="config_file"           default="$(find ackermann_cmd_mux)/param/example.yaml"/>
-  
+
   <!-- nodelet manager -->
   <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager_name)" args="manager"/>
-  
+
   <!-- ackermann command mulitplexer -->
   <include file="$(find ackermann_cmd_mux)/launch/ackermann_cmd_mux.launch">
     <arg name="nodelet_manager_name"  value="$(arg nodelet_manager_name)"/>
     <arg name="config_file"           value="$(arg config_file)"/>
   </include>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/ackermann_cmd_mux/param/example.yaml b/ackermann_cmd_mux/param/example.yaml
index b1f3f37..5cf7df3 100644
--- a/ackermann_cmd_mux/param/example.yaml
+++ b/ackermann_cmd_mux/param/example.yaml
@@ -9,7 +9,7 @@
 #   name:           Source name
 #   topic:          The topic that provides ackermann_cmd messages
 #   timeout:        Time in seconds without incoming messages to consider this topic inactive
-#   priority:       Priority: an UNIQUE unsigned integer from 0 (lowest) to MAX_INT 
+#   priority:       Priority: an UNIQUE unsigned integer from 0 (lowest) to MAX_INT
 #   short_desc:     Short description (optional)
 
 subscribers:
@@ -39,4 +39,4 @@ subscribers:
     topic:       "input/keyop"
     timeout:     0.1
     priority:    7
-publisher:       "output/ackermann_cmd"
\ No newline at end of file
+publisher:       "output/ackermann_cmd"
diff --git a/ackermann_cmd_mux/src/throttle_interpolator.py b/ackermann_cmd_mux/src/throttle_interpolator.py
index 0548801..6f3a442 100755
--- a/ackermann_cmd_mux/src/throttle_interpolator.py
+++ b/ackermann_cmd_mux/src/throttle_interpolator.py
@@ -32,14 +32,14 @@ def __init__(self):
         # Variables
         self.last_rpm = 0
         self.desired_rpm = self.last_rpm
-        
+
         self.last_servo = rospy.get_param('/vesc/steering_angle_to_servo_offset')
         self.desired_servo_position = self.last_servo
 
         # Create topic subscribers and publishers
         self.rpm_output = rospy.Publisher(self.rpm_output_topic, Float64,queue_size=1)
         self.servo_output = rospy.Publisher(self.servo_output_topic, Float64,queue_size=1)
-        
+
         rospy.Subscriber(self.rpm_input_topic, Float64, self._process_throttle_command)
         rospy.Subscriber(self.servo_input_topic, Float64, self._process_servo_command)
 
@@ -48,7 +48,7 @@ def __init__(self):
 
         self.max_delta_rpm = abs(self.speed_to_erpm_gain * self.max_acceleration / self.throttle_smoother_rate)
         rospy.Timer(rospy.Duration(1.0/self.max_delta_rpm), self._publish_throttle_command)
-        
+
         # run the node
         self._run()
 
@@ -60,10 +60,10 @@ def _publish_throttle_command(self, evt):
         desired_delta = self.desired_rpm-self.last_rpm
         clipped_delta = max(min(desired_delta, self.max_delta_rpm), -self.max_delta_rpm)
         smoothed_rpm = self.last_rpm + clipped_delta
-        self.last_rpm = smoothed_rpm         
+        self.last_rpm = smoothed_rpm
         # print self.desired_rpm, smoothed_rpm
         self.rpm_output.publish(Float64(smoothed_rpm))
-            
+
     def _process_throttle_command(self,msg):
         input_rpm = msg.data
         # Do some sanity clipping
@@ -74,7 +74,7 @@ def _publish_servo_command(self, evt):
         desired_delta = self.desired_servo_position-self.last_servo
         clipped_delta = max(min(desired_delta, self.max_delta_servo), -self.max_delta_servo)
         smoothed_servo = self.last_servo + clipped_delta
-        self.last_servo = smoothed_servo         
+        self.last_servo = smoothed_servo
         self.servo_output.publish(Float64(smoothed_servo))
 
     def _process_servo_command(self,msg):
@@ -84,7 +84,7 @@ def _process_servo_command(self,msg):
         # set the target servo position
         self.desired_servo_position = input_servo
 
-# Boilerplate node spin up. 
+# Boilerplate node spin up.
 if __name__ == '__main__':
     try:
         rospy.init_node('Throttle_Interpolator')