diff --git a/CMakeLists.txt b/CMakeLists.txt
index d47ad6c..491217f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,6 +11,7 @@ install(
 )
 
 if(BUILD_TESTING)
+  set(ament_cmake_flake8_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/ament_flake8.ini")
   find_package(ament_cmake_pytest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
diff --git a/ament_flake8.ini b/ament_flake8.ini
new file mode 100644
index 0000000..9761898
--- /dev/null
+++ b/ament_flake8.ini
@@ -0,0 +1,6 @@
+[flake8]
+extend-ignore = B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I100,I202,Q000
+import-order-style = google
+max-line-length = 99
+show-source = true
+statistics = true
diff --git a/launch/gazebo.launch.py b/launch/gazebo.launch.py
index 2f30a76..165204e 100644
--- a/launch/gazebo.launch.py
+++ b/launch/gazebo.launch.py
@@ -24,8 +24,8 @@
 import os
 from pathlib import Path
 
-import yaml
 from ament_index_python.packages import get_package_prefix, get_package_share_directory
+from launch import LaunchDescription
 from launch.actions import (
     DeclareLaunchArgument,
     IncludeLaunchDescription,
@@ -40,8 +40,8 @@
 )
 from launch_ros.actions import Node
 from lucy_control_supervisor.controllers_spawn import controllers_to_spawn
+import yaml
 
-from launch import LaunchDescription
 
 
 def _gz_ros2_control_plugin_path():
@@ -199,24 +199,23 @@ def _camera_compressor(topic: str, compressed_topic: str) -> Node:
                 parameters=[{"use_sim_time": True}],
                 output="screen",
             )
-        else:
-            return Node(
-                package="image_transport",
-                executable="republish",
-                name="camera_compressor_" + safe,
-                remappings=[
-                    ("in", topic),
-                    ("out/compressed", compressed_topic),
-                ],
-                parameters=[
-                    {
-                        "use_sim_time": True,
-                        "in_transport": "raw",
-                        "out_transport": "compressed",
-                    }
-                ],
-                output="screen",
-            )
+        return Node(
+            package="image_transport",
+            executable="republish",
+            name="camera_compressor_" + safe,
+            remappings=[
+                ("in", topic),
+                ("out/compressed", compressed_topic),
+            ],
+            parameters=[
+                {
+                    "use_sim_time": True,
+                    "in_transport": "raw",
+                    "out_transport": "compressed",
+                }
+            ],
+            output="screen",
+        )
 
     camera_compressors = [
         _camera_compressor(topic, compressed_topic)
diff --git a/scripts/autocalibrate_joint_limits.py b/scripts/autocalibrate_joint_limits.py
index 1adad30..52adea4 100644
--- a/scripts/autocalibrate_joint_limits.py
+++ b/scripts/autocalibrate_joint_limits.py
@@ -191,7 +191,8 @@ def setup(self, p, body, name_to_idx, cid) -> None:
         self._idxs = [name_to_idx[n] for n in self._joint_names]
         print(
             f"[--view rviz] publishing /joint_states for {len(self._joint_names)} joints. "
-            "Make sure `ros2 launch inmoov_urdf joint_preview.launch.py jsp_gui:=false` is running."
+            "Make sure `ros2 launch inmoov_urdf joint_preview.launch.py "
+            "jsp_gui:=false` is running."
         )
 
     def step(self, p, body, name_to_idx, cid) -> None:
diff --git a/test/test_hardware_yaml.py b/test/test_hardware_yaml.py
index 934c3ea..1bd9059 100644
--- a/test/test_hardware_yaml.py
+++ b/test/test_hardware_yaml.py
@@ -87,7 +87,8 @@ def _active_yaml_path() -> Path:
     try:
         from ament_index_python.packages import get_package_share_directory
 
-        p = Path(get_package_share_directory("inmoov_urdf")) / "config" / "hardware" / "active.yaml"
+        share = get_package_share_directory("inmoov_urdf")
+        p = Path(share) / "config" / "hardware" / "active.yaml"
         if p.is_file():
             return p
     except Exception: