diff --git a/.cspell.json b/.cspell.json
index bd053c9..c5f30ee 100644
--- a/.cspell.json
+++ b/.cspell.json
@@ -67,6 +67,7 @@
     "urdf",
     "vcstool",
     "velodyne",
+    "voxel",
     "Wextra",
     "Wpedantic",
     "xacro",
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 8a89f61..36d87a6 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -55,7 +55,7 @@ repos:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.8.0-1
+    rev: v3.9.0-1
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
@@ -85,7 +85,7 @@ repos:
         exclude: .cu
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.29.1
+    rev: 0.29.2
     hooks:
       - id: check-metaschema
         files: ^.+/schema/.*schema\.json$
diff --git a/src/perception/velodyne_cloud_separator/include/velodyne_cloud_separator/point_types.hpp b/src/perception/velodyne_cloud_separator/include/velodyne_cloud_separator/point_xyzir.hpp
similarity index 85%
rename from src/perception/velodyne_cloud_separator/include/velodyne_cloud_separator/point_types.hpp
rename to src/perception/velodyne_cloud_separator/include/velodyne_cloud_separator/point_xyzir.hpp
index 5b73b47..033a30b 100644
--- a/src/perception/velodyne_cloud_separator/include/velodyne_cloud_separator/point_types.hpp
+++ b/src/perception/velodyne_cloud_separator/include/velodyne_cloud_separator/point_xyzir.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef VELODYNE_CLOUD_SEPARATOR__POINT_TYPES_HPP_
-#define VELODYNE_CLOUD_SEPARATOR__POINT_TYPES_HPP_
+#ifndef VELODYNE_CLOUD_SEPARATOR__POINT_XYZIR_HPP_
+#define VELODYNE_CLOUD_SEPARATOR__POINT_XYZIR_HPP_
 
 #include <pcl/point_types.h>
 
@@ -32,4 +32,4 @@ POINT_CLOUD_REGISTER_POINT_STRUCT(
   pcl::PointXYZIR,
   (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(uint16_t, ring, ring))
 
-#endif  // VELODYNE_CLOUD_SEPARATOR__POINT_TYPES_HPP_
+#endif  // VELODYNE_CLOUD_SEPARATOR__POINT_XYZIR_HPP_
diff --git a/src/perception/velodyne_cloud_separator/include/velodyne_cloud_separator/velodyne_cloud_separator.hpp b/src/perception/velodyne_cloud_separator/include/velodyne_cloud_separator/velodyne_cloud_separator.hpp
index 9bbc20c..0f112b6 100644
--- a/src/perception/velodyne_cloud_separator/include/velodyne_cloud_separator/velodyne_cloud_separator.hpp
+++ b/src/perception/velodyne_cloud_separator/include/velodyne_cloud_separator/velodyne_cloud_separator.hpp
@@ -15,7 +15,7 @@
 #ifndef VELODYNE_CLOUD_SEPARATOR__VELODYNE_CLOUD_SEPARATOR_HPP_
 #define VELODYNE_CLOUD_SEPARATOR__VELODYNE_CLOUD_SEPARATOR_HPP_
 
-#include "velodyne_cloud_separator/point_types.hpp"
+#include "velodyne_cloud_separator/point_xyzir.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <wheel_stuck_common_utils/ros/function_timer.hpp>