diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 0965dba..67244e5 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -15,18 +15,18 @@ repos:
       - id: sort-simple-yaml
       - id: trailing-whitespace
 
-  # - repo: https://github.com/pocc/pre-commit-hooks
-  #   rev: master
-  #   hooks:
-  #     - id: clang-format
-  #       args: [--style=Google, -i]
-  #     # - id: clang-tidy
-  #     #   args: [--fix-errors]
-  #     - id: cppcheck
-  #     - id: cpplint
-  #     # - id: oclint
-  #     # - id: uncrustify
-  #     # - id: include-what-you-use
+  - repo: https://github.com/pocc/pre-commit-hooks
+    rev: master
+    hooks:
+      - id: cppcheck
+      # - id: cpplint
+      # - id: clang-format
+      #   args: [--style=Google, -i]
+      # - id: clang-tidy
+      #   args: [--fix-errors]
+      # - id: oclint
+      # - id: uncrustify
+      # - id: include-what-you-use
 
   - repo: https://github.com/astral-sh/ruff-pre-commit
     rev: "v0.1.6"
diff --git a/src/me5413_world/src/path_publisher_node.cpp b/src/me5413_world/src/path_publisher_node.cpp
index b355439..290ed7c 100644
--- a/src/me5413_world/src/path_publisher_node.cpp
+++ b/src/me5413_world/src/path_publisher_node.cpp
@@ -22,7 +22,7 @@ double LOCAL_PREV_WP_NUM;
 double LOCAL_NEXT_WP_NUM;
 bool PARAMS_UPDATED = false;
 
-void dynamicParamCallback(me5413_world::path_publisherConfig& config, uint32_t level)
+void dynamicParamCallback(const me5413_world::path_publisherConfig& config, uint32_t level)
 {
   // Common Params
   SPEED_TARGET = config.speed_target;
@@ -201,8 +201,6 @@ void PathPublisherNode::publishLocalPath(const geometry_msgs::Pose &robot_pose,
 
 int PathPublisherNode::closestWaypoint(const geometry_msgs::Pose &robot_pose, const nav_msgs::Path &path, const int id_start = 0)
 {
-  const double yaw_robot = getYawFromOrientation(robot_pose.orientation);
-
   double min_dist = DBL_MAX;
   int id_closest = id_start;
   for (int i = id_start; i < path.poses.size(); i++)
diff --git a/src/me5413_world/src/path_tracker_node.cpp b/src/me5413_world/src/path_tracker_node.cpp
index 9c20fdb..19ab019 100644
--- a/src/me5413_world/src/path_tracker_node.cpp
+++ b/src/me5413_world/src/path_tracker_node.cpp
@@ -19,7 +19,7 @@ double PID_Kp, PID_Ki, PID_Kd;
 double STANLEY_K;
 bool PARAMS_UPDATED;
 
-void dynamicParamCallback(me5413_world::path_trackerConfig& config, uint32_t level)
+void dynamicParamCallback(const me5413_world::path_trackerConfig& config, uint32_t level)
 {
   // Common Params
   SPEED_TARGET = config.speed_target;