diff --git a/mmros/include/mmros/node/camera_lidar_node.hpp b/mmros/include/mmros/node/camera_lidar_node.hpp
index 5a6c24c..a16ab34 100644
--- a/mmros/include/mmros/node/camera_lidar_node.hpp
+++ b/mmros/include/mmros/node/camera_lidar_node.hpp
@@ -43,6 +43,7 @@ class CameraLidarNode : public rclcpp::Node
    */
   CameraLidarNode(const std::string & name, const rclcpp::NodeOptions & options);
 
+protected:
   /**
    * @brief Connects the node to the pointcloud and image topics.
    *
@@ -51,11 +52,10 @@ class CameraLidarNode : public rclcpp::Node
    * @param image_callback Callback function for image messages.
    * @param use_raw Whether to use raw image data.
    */
-  void onConnect(
+  void on_connect(
     const PointCloudCallback & pointcloud_callback, const std::vector<std::string> & image_topics,
     const ImageCallback & image_callback, bool use_raw);
 
-protected:
   rclcpp::TimerBase::SharedPtr connection_timer_;  //!< Topic connection timer.
 
 private:
@@ -65,7 +65,7 @@ class CameraLidarNode : public rclcpp::Node
    * @param callback Callback function to be called when a new pointcloud is received.
    * @return True if the connection was successful, false otherwise.
    */
-  bool onConnectLidar(const PointCloudCallback & pointcloud_callback);
+  bool on_connect_lidar(const PointCloudCallback & pointcloud_callback);
 
   /**
    * @brief Connect to a single image topic.
@@ -76,7 +76,7 @@ class CameraLidarNode : public rclcpp::Node
    * @param use_raw Whether to use raw images or not.
    * @return True if the connection was successful, false otherwise.
    */
-  bool onConnectForSingleCamera(
+  bool on_connect_for_single_camera(
     size_t camera_id, const std::string & image_topic, const ImageCallback & image_callback,
     bool use_raw);
 
diff --git a/mmros/include/mmros/node/detection2d_node.hpp b/mmros/include/mmros/node/detection2d_node.hpp
index 5fa1485..9b7505d 100644
--- a/mmros/include/mmros/node/detection2d_node.hpp
+++ b/mmros/include/mmros/node/detection2d_node.hpp
@@ -38,14 +38,14 @@ class Detection2dNode : public SingleCameraNode
    */
   explicit Detection2dNode(const rclcpp::NodeOptions & options);
 
+private:
   /**
    * @brief Main callback for input image.
    *
    * @param msg Input image message.
    */
-  virtual void onImage(sensor_msgs::msg::Image::ConstSharedPtr msg);
+  void callback(sensor_msgs::msg::Image::ConstSharedPtr msg);
 
-private:
   std::unique_ptr<detector::Detector2D> detector_;                 //!< TensorRT detector.
   rclcpp::Publisher<mmros_msgs::msg::BoxArray2d>::SharedPtr pub_;  //!< Output publisher.
 };
diff --git a/mmros/include/mmros/node/instance_segmentation2d_node.hpp b/mmros/include/mmros/node/instance_segmentation2d_node.hpp
index cb05f36..29b369b 100644
--- a/mmros/include/mmros/node/instance_segmentation2d_node.hpp
+++ b/mmros/include/mmros/node/instance_segmentation2d_node.hpp
@@ -35,14 +35,14 @@ class InstanceSegmentation2dNode : public SingleCameraNode
    */
   explicit InstanceSegmentation2dNode(const rclcpp::NodeOptions & options);
 
+private:
   /**
    * @brief Main callback for input image.
    *
    * @param msg Input image message.
    */
-  virtual void onImage(sensor_msgs::msg::Image::ConstSharedPtr msg);
+  void callback(sensor_msgs::msg::Image::ConstSharedPtr msg);
 
-private:
   std::unique_ptr<detector::InstanceSegmenter2D> detector_;  //!< TensorRT detector.
   rclcpp::Publisher<mmros_msgs::msg::InstanceSegmentArray2d>::SharedPtr
     pub_segment_;  //!< Output segment publisher.
diff --git a/mmros/include/mmros/node/lidar_node.hpp b/mmros/include/mmros/node/lidar_node.hpp
index ccbc668..ab016f3 100644
--- a/mmros/include/mmros/node/lidar_node.hpp
+++ b/mmros/include/mmros/node/lidar_node.hpp
@@ -40,14 +40,14 @@ class LidarNode : public rclcpp::Node
    */
   LidarNode(const std::string & name, const rclcpp::NodeOptions & options);
 
+protected:
   /**
    * @brief Check node connection and start subscribing.
    *
    * @param callback Callback function.
    */
-  void onConnect(const Callback & callback);
+  void on_connect(const Callback & callback);
 
-protected:
   rclcpp::TimerBase::SharedPtr connection_timer_;  //!< Topic connection timer.
 
 private:
diff --git a/mmros/include/mmros/node/multi_camera_node.hpp b/mmros/include/mmros/node/multi_camera_node.hpp
index 9553d45..c4f5283 100644
--- a/mmros/include/mmros/node/multi_camera_node.hpp
+++ b/mmros/include/mmros/node/multi_camera_node.hpp
@@ -42,6 +42,7 @@ class MultiCameraNode : public rclcpp::Node
    */
   MultiCameraNode(const std::string & name, const rclcpp::NodeOptions & options);
 
+protected:
   /**
    * @brief Connect to multiple image topics.
    *
@@ -49,10 +50,9 @@ class MultiCameraNode : public rclcpp::Node
    * @param callback Callback function to be called when a new image is received.
    * @param use_raw Whether to use raw images or not.
    */
-  void onConnect(
+  void on_connect(
     const std::vector<std::string> & image_topics, const Callback & callback, bool use_raw);
 
-protected:
   rclcpp::TimerBase::SharedPtr connection_timer_;  //!< Topic connection timer.
 
 private:
@@ -65,7 +65,7 @@ class MultiCameraNode : public rclcpp::Node
    * @param use_raw Whether to use raw images or not.
    * @return True if the connection was successful, false otherwise.
    */
-  bool onConnectForSingleCamera(
+  bool on_connect_for_single_camera(
     size_t camera_id, const std::string & image_topic, const Callback & callback, bool use_raw);
 
   std::vector<image_transport::Subscriber> subscriptions_;  //!< Subscribers for each camera topic.
diff --git a/mmros/include/mmros/node/panoptic_segmentation2d_node.hpp b/mmros/include/mmros/node/panoptic_segmentation2d_node.hpp
index 93c8d50..93e7202 100644
--- a/mmros/include/mmros/node/panoptic_segmentation2d_node.hpp
+++ b/mmros/include/mmros/node/panoptic_segmentation2d_node.hpp
@@ -40,14 +40,14 @@ class PanopticSegmentation2dNode : public SingleCameraNode
    */
   explicit PanopticSegmentation2dNode(const rclcpp::NodeOptions & options);
 
+private:
   /**
    * @brief Main callback for input image.
    *
    * @param msg Input image message.
    */
-  virtual void onImage(const sensor_msgs::msg::Image::ConstSharedPtr msg);
+  void callback(sensor_msgs::msg::Image::ConstSharedPtr msg);
 
-private:
   std::unique_ptr<detector::PanopticSegmenter2D> detector_;            //!< TensorRT detector.
   rclcpp::Publisher<mmros_msgs::msg::BoxArray2d>::SharedPtr pub_box_;  //!< Output box publisher.
   rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr pub_mask_;     //!< Output mask publisher.
diff --git a/mmros/include/mmros/node/semantic_segmentation2d_node.hpp b/mmros/include/mmros/node/semantic_segmentation2d_node.hpp
index 22cb98f..83b1e06 100644
--- a/mmros/include/mmros/node/semantic_segmentation2d_node.hpp
+++ b/mmros/include/mmros/node/semantic_segmentation2d_node.hpp
@@ -37,14 +37,14 @@ class SemanticSegmentation2dNode : public SingleCameraNode
    */
   explicit SemanticSegmentation2dNode(const rclcpp::NodeOptions & options);
 
+private:
   /**
    * @brief Main callback for input image.
    *
    * @param msg Input image message.
    */
-  virtual void onImage(const sensor_msgs::msg::Image::ConstSharedPtr msg);
+  void callback(sensor_msgs::msg::Image::ConstSharedPtr msg);
 
-private:
   std::unique_ptr<detector::SemanticSegmenter2D> detector_;    //!< TensorRT detector.
   rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr pub_;  //!< Output publisher.
 };
diff --git a/mmros/include/mmros/node/single_camera_node.hpp b/mmros/include/mmros/node/single_camera_node.hpp
index 5b73d46..ffee6d9 100644
--- a/mmros/include/mmros/node/single_camera_node.hpp
+++ b/mmros/include/mmros/node/single_camera_node.hpp
@@ -40,15 +40,15 @@ class SingleCameraNode : public rclcpp::Node
    */
   SingleCameraNode(const std::string & name, const rclcpp::NodeOptions & options);
 
+protected:
   /**
    * @brief Check node connection and start subscribing.
    *
    * @param callback Callback function.
    * @param use_raw Indicates whether to use raw image.
    */
-  void onConnect(const Callback & callback, bool use_raw);
+  void on_connect(const Callback & callback, bool use_raw);
 
-protected:
   rclcpp::TimerBase::SharedPtr connection_timer_;  //!< Topic connection timer.
 
 private:
diff --git a/mmros/include/mmros/node/utility.hpp b/mmros/include/mmros/node/utility.hpp
index 4f851b7..1fabbc1 100644
--- a/mmros/include/mmros/node/utility.hpp
+++ b/mmros/include/mmros/node/utility.hpp
@@ -30,7 +30,7 @@ namespace mmros::node
  * @return std::optional<rclcpp::QoS> The QoS profile of the topic, or std::nullopt if the topic is
  * not published.
  */
-inline std::optional<rclcpp::QoS> getTopicQos(const rclcpp::Node * node, const std::string & topic)
+inline std::optional<rclcpp::QoS> to_topic_qos(const rclcpp::Node * node, const std::string & topic)
 {
   const auto publisher_info = node->get_publishers_info_by_topic(topic);
   return publisher_info.size() != 1 ? std::nullopt
@@ -44,7 +44,7 @@ inline std::optional<rclcpp::QoS> getTopicQos(const rclcpp::Node * node, const s
  * @param query The topic name to resolve.
  * @return std::string The resolved topic name.
  */
-inline std::string resolveTopicName(rclcpp::Node * node, const std::string & query)
+inline std::string resolve_topic_name(rclcpp::Node * node, const std::string & query)
 {
   return node->get_node_topics_interface()->resolve_topic_name(query);
 }
diff --git a/mmros/src/node/camera_lidar_node.cpp b/mmros/src/node/camera_lidar_node.cpp
index 00e0de8..8f42b39 100644
--- a/mmros/src/node/camera_lidar_node.cpp
+++ b/mmros/src/node/camera_lidar_node.cpp
@@ -34,18 +34,18 @@ CameraLidarNode::CameraLidarNode(const std::string & name, const rclcpp::NodeOpt
   google::InstallFailureSignalHandler();
 }
 
-void CameraLidarNode::onConnect(
+void CameraLidarNode::on_connect(
   const PointCloudCallback & pointcloud_callback, const std::vector<std::string> & image_topics,
   const ImageCallback & image_callback, bool use_raw)
 {
   image_subscriptions_.clear();
 
   bool success =
-    onConnectLidar(pointcloud_callback) &&
+    on_connect_lidar(pointcloud_callback) &&
     std::all_of(image_topics.begin(), image_topics.end(), [&](const auto & image_topic) {
       auto camera_id = std::distance(
         image_topics.begin(), std::find(image_topics.begin(), image_topics.end(), image_topic));
-      return onConnectForSingleCamera(camera_id, image_topic, image_callback, use_raw);
+      return on_connect_for_single_camera(camera_id, image_topic, image_callback, use_raw);
     });
 
   if (success && connection_timer_) {
@@ -55,11 +55,11 @@ void CameraLidarNode::onConnect(
   }
 }
 
-bool CameraLidarNode::onConnectLidar(const PointCloudCallback & pointcloud_callback)
+bool CameraLidarNode::on_connect_lidar(const PointCloudCallback & pointcloud_callback)
 {
-  const auto pointcloud_topic = resolveTopicName(this, "~/input/pointcloud");
+  const auto pointcloud_topic = resolve_topic_name(this, "~/input/pointcloud");
 
-  const auto pointcloud_qos = getTopicQos(this, pointcloud_topic);
+  const auto pointcloud_qos = to_topic_qos(this, pointcloud_topic);
   if (pointcloud_qos) {
     pointcloud_subscription_ = create_subscription<sensor_msgs::msg::PointCloud2>(
       pointcloud_topic, *pointcloud_qos, pointcloud_callback);
@@ -71,11 +71,11 @@ bool CameraLidarNode::onConnectLidar(const PointCloudCallback & pointcloud_callb
   }
 }
 
-bool CameraLidarNode::onConnectForSingleCamera(
+bool CameraLidarNode::on_connect_for_single_camera(
   size_t camera_id, const std::string & image_topic, const ImageCallback & image_callback,
   bool use_raw)
 {
-  const auto image_qos = getTopicQos(this, use_raw ? image_topic : image_topic + "/compressed");
+  const auto image_qos = to_topic_qos(this, use_raw ? image_topic : image_topic + "/compressed");
   if (image_qos) {
     rclcpp::SubscriptionOptions options;
     options.callback_group = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
diff --git a/mmros/src/node/detection2d_node.cpp b/mmros/src/node/detection2d_node.cpp
index 1b72dd6..cc4cba7 100644
--- a/mmros/src/node/detection2d_node.cpp
+++ b/mmros/src/node/detection2d_node.cpp
@@ -59,11 +59,11 @@ Detection2dNode::Detection2dNode(const rclcpp::NodeOptions & options)
 
   {
     using std::chrono_literals::operator""ms;
-    using std::placeholders::_1;
 
     bool use_raw = declare_parameter<bool>("use_raw");
     connection_timer_ = rclcpp::create_timer(this, get_clock(), 100ms, [this, use_raw]() {
-      this->onConnect(std::bind(&Detection2dNode::onImage, this, _1), use_raw);
+      this->on_connect(
+        [this](sensor_msgs::msg::Image::ConstSharedPtr msg) { this->callback(msg); }, use_raw);
     });
 
     pub_ = create_publisher<mmros_msgs::msg::BoxArray2d>("~/output/boxes", 1);
@@ -75,7 +75,7 @@ Detection2dNode::Detection2dNode(const rclcpp::NodeOptions & options)
   }
 }
 
-void Detection2dNode::onImage(sensor_msgs::msg::Image::ConstSharedPtr msg)
+void Detection2dNode::callback(sensor_msgs::msg::Image::ConstSharedPtr msg)
 {
   cv_bridge::CvImagePtr in_image_ptr;
   try {
diff --git a/mmros/src/node/instance_segmentation2d_node.cpp b/mmros/src/node/instance_segmentation2d_node.cpp
index 408b2b3..ee6a007 100644
--- a/mmros/src/node/instance_segmentation2d_node.cpp
+++ b/mmros/src/node/instance_segmentation2d_node.cpp
@@ -60,11 +60,11 @@ InstanceSegmentation2dNode::InstanceSegmentation2dNode(const rclcpp::NodeOptions
 
   {
     using std::chrono_literals::operator""ms;
-    using std::placeholders::_1;
 
     bool use_raw = declare_parameter<bool>("use_raw");
     connection_timer_ = create_timer(this, get_clock(), 100ms, [this, use_raw]() {
-      this->onConnect(std::bind(&InstanceSegmentation2dNode::onImage, this, _1), use_raw);
+      this->on_connect(
+        [this](sensor_msgs::msg::Image::ConstSharedPtr msg) { this->callback(msg); }, use_raw);
     });
 
     pub_segment_ =
@@ -77,7 +77,7 @@ InstanceSegmentation2dNode::InstanceSegmentation2dNode(const rclcpp::NodeOptions
   }
 }
 
-void InstanceSegmentation2dNode::onImage(sensor_msgs::msg::Image::ConstSharedPtr msg)
+void InstanceSegmentation2dNode::callback(sensor_msgs::msg::Image::ConstSharedPtr msg)
 {
   cv_bridge::CvImagePtr in_image_ptr;
   try {
diff --git a/mmros/src/node/lidar_node.cpp b/mmros/src/node/lidar_node.cpp
index 84b215d..c04ccc0 100644
--- a/mmros/src/node/lidar_node.cpp
+++ b/mmros/src/node/lidar_node.cpp
@@ -29,11 +29,11 @@ LidarNode::LidarNode(const std::string & name, const rclcpp::NodeOptions & optio
   google::InstallFailureSignalHandler();
 }
 
-void LidarNode::onConnect(const Callback & callback)
+void LidarNode::on_connect(const Callback & callback)
 {
-  const auto pointcloud_topic = resolveTopicName(this, "~/input/pointcloud");
+  const auto pointcloud_topic = resolve_topic_name(this, "~/input/pointcloud");
 
-  const auto pointcloud_qos = getTopicQos(this, pointcloud_topic);
+  const auto pointcloud_qos = to_topic_qos(this, pointcloud_topic);
   if (pointcloud_qos) {
     subscription_ = create_subscription<sensor_msgs::msg::PointCloud2>(
       pointcloud_topic, *pointcloud_qos, callback);
diff --git a/mmros/src/node/multi_camera_node.cpp b/mmros/src/node/multi_camera_node.cpp
index b10cdde..1e9ea1b 100644
--- a/mmros/src/node/multi_camera_node.cpp
+++ b/mmros/src/node/multi_camera_node.cpp
@@ -35,7 +35,7 @@ MultiCameraNode::MultiCameraNode(const std::string & name, const rclcpp::NodeOpt
   google::InstallFailureSignalHandler();
 }
 
-void MultiCameraNode::onConnect(
+void MultiCameraNode::on_connect(
   const std::vector<std::string> & image_topics, const Callback & callback, bool use_raw)
 {
   subscriptions_.clear();
@@ -44,7 +44,7 @@ void MultiCameraNode::onConnect(
     std::all_of(image_topics.begin(), image_topics.end(), [&](const auto & image_topic) {
       auto camera_id = std::distance(
         image_topics.begin(), std::find(image_topics.begin(), image_topics.end(), image_topic));
-      return onConnectForSingleCamera(camera_id, image_topic, callback, use_raw);
+      return on_connect_for_single_camera(camera_id, image_topic, callback, use_raw);
     });
 
   if (success && connection_timer_) {
@@ -53,10 +53,10 @@ void MultiCameraNode::onConnect(
   }
 }
 
-bool MultiCameraNode::onConnectForSingleCamera(
+bool MultiCameraNode::on_connect_for_single_camera(
   size_t camera_id, const std::string & image_topic, const Callback & callback, bool use_raw)
 {
-  const auto image_qos = getTopicQos(this, use_raw ? image_topic : image_topic + "/compressed");
+  const auto image_qos = to_topic_qos(this, use_raw ? image_topic : image_topic + "/compressed");
   if (image_qos) {
     rclcpp::SubscriptionOptions options;
     options.callback_group = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
diff --git a/mmros/src/node/panoptic_segmentation2d_node.cpp b/mmros/src/node/panoptic_segmentation2d_node.cpp
index e51941f..6c2e75a 100644
--- a/mmros/src/node/panoptic_segmentation2d_node.cpp
+++ b/mmros/src/node/panoptic_segmentation2d_node.cpp
@@ -55,11 +55,11 @@ PanopticSegmentation2dNode::PanopticSegmentation2dNode(const rclcpp::NodeOptions
 
   {
     using std::chrono_literals::operator""ms;
-    using std::placeholders::_1;
 
     bool use_raw = declare_parameter<bool>("use_raw");
     connection_timer_ = rclcpp::create_timer(this, get_clock(), 100ms, [this, use_raw]() {
-      this->onConnect(std::bind(&PanopticSegmentation2dNode::onImage, this, _1), use_raw);
+      this->on_connect(
+        [this](sensor_msgs::msg::Image::ConstSharedPtr msg) { this->callback(msg); }, use_raw);
     });
 
     pub_box_ = create_publisher<mmros_msgs::msg::BoxArray2d>("~/output/boxes", 1);
@@ -72,7 +72,7 @@ PanopticSegmentation2dNode::PanopticSegmentation2dNode(const rclcpp::NodeOptions
   }
 }
 
-void PanopticSegmentation2dNode::onImage(const sensor_msgs::msg::Image::ConstSharedPtr msg)
+void PanopticSegmentation2dNode::callback(sensor_msgs::msg::Image::ConstSharedPtr msg)
 {
   cv_bridge::CvImagePtr in_image_ptr;
   try {
diff --git a/mmros/src/node/semantic_segmentation2d_node.cpp b/mmros/src/node/semantic_segmentation2d_node.cpp
index ba22e44..e124bdc 100644
--- a/mmros/src/node/semantic_segmentation2d_node.cpp
+++ b/mmros/src/node/semantic_segmentation2d_node.cpp
@@ -50,11 +50,11 @@ SemanticSegmentation2dNode::SemanticSegmentation2dNode(const rclcpp::NodeOptions
 
   {
     using std::chrono_literals::operator""ms;
-    using std::placeholders::_1;
 
     bool use_raw = declare_parameter<bool>("use_raw");
     connection_timer_ = rclcpp::create_timer(this, get_clock(), 100ms, [this, use_raw]() {
-      this->onConnect(std::bind(&SemanticSegmentation2dNode::onImage, this, _1), use_raw);
+      this->on_connect(
+        [this](sensor_msgs::msg::Image::ConstSharedPtr msg) { this->callback(msg); }, use_raw);
     });
 
     pub_ = create_publisher<sensor_msgs::msg::Image>("~/output/mask", 1);
@@ -66,7 +66,7 @@ SemanticSegmentation2dNode::SemanticSegmentation2dNode(const rclcpp::NodeOptions
   }
 }
 
-void SemanticSegmentation2dNode::onImage(const sensor_msgs::msg::Image::ConstSharedPtr msg)
+void SemanticSegmentation2dNode::callback(const sensor_msgs::msg::Image::ConstSharedPtr msg)
 {
   cv_bridge::CvImagePtr in_image_ptr;
   try {
diff --git a/mmros/src/node/single_camera_node.cpp b/mmros/src/node/single_camera_node.cpp
index 3cccb4e..cf41159 100644
--- a/mmros/src/node/single_camera_node.cpp
+++ b/mmros/src/node/single_camera_node.cpp
@@ -31,11 +31,11 @@ SingleCameraNode::SingleCameraNode(const std::string & name, const rclcpp::NodeO
   google::InstallFailureSignalHandler();
 }
 
-void SingleCameraNode::onConnect(const Callback & callback, bool use_raw)
+void SingleCameraNode::on_connect(const Callback & callback, bool use_raw)
 {
-  const auto image_topic = resolveTopicName(this, "~/input/image");
+  const auto image_topic = resolve_topic_name(this, "~/input/image");
 
-  const auto image_qos = getTopicQos(this, use_raw ? image_topic : image_topic + "/compressed");
+  const auto image_qos = to_topic_qos(this, use_raw ? image_topic : image_topic + "/compressed");
   if (image_qos) {
     subscription_ = image_transport::create_subscription(
       this, image_topic, callback, use_raw ? "raw" : "compressed",