diff --git a/ur_moveit_config/launch/ur_moveit.launch.py b/ur_moveit_config/launch/ur_moveit.launch.py
index 6b67fe9e6..e0652b88a 100644
--- a/ur_moveit_config/launch/ur_moveit.launch.py
+++ b/ur_moveit_config/launch/ur_moveit.launch.py
@@ -297,8 +297,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "description_package",
             default_value="ur_description",
-            description="Description package with robot URDF/XACRO files. Usually the argument \
-        is not set, it enables use of a custom description.",
+            description="Description package with robot URDF/XACRO files. Usually the argument "
+            "is not set, it enables use of a custom description.",
         )
     )
     declared_arguments.append(
@@ -312,8 +312,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "moveit_config_package",
             default_value="ur_moveit_config",
-            description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \
-        is not set, it enables use of a custom moveit config.",
+            description="MoveIt config package with robot SRDF/XACRO files. Usually the argument "
+            "is not set, it enables use of a custom moveit config.",
         )
     )
     declared_arguments.append(
@@ -341,9 +341,9 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "prefix",
             default_value='""',
-            description="Prefix of the joint names, useful for \
-        multi-robot setup. If changed than also joint names in the controllers' configuration \
-        have to be updated.",
+            description="Prefix of the joint names, useful for "
+            "multi-robot setup. If changed than also joint names in the controllers' configuration "
+            "have to be updated.",
         )
     )
     declared_arguments.append(
diff --git a/ur_robot_driver/launch/ur10.launch.py b/ur_robot_driver/launch/ur10.launch.py
index e838f7ce9..28710f631 100644
--- a/ur_robot_driver/launch/ur10.launch.py
+++ b/ur_robot_driver/launch/ur10.launch.py
@@ -55,8 +55,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "fake_sensor_commands",
             default_value="false",
-            description="Enable fake command interfaces for sensors used for simple simulations. \
-            Used only if 'use_fake_hardware' parameter is true.",
+            description="Enable fake command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_fake_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
diff --git a/ur_robot_driver/launch/ur10e.launch.py b/ur_robot_driver/launch/ur10e.launch.py
index f0142749c..09daf55c1 100644
--- a/ur_robot_driver/launch/ur10e.launch.py
+++ b/ur_robot_driver/launch/ur10e.launch.py
@@ -55,8 +55,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "fake_sensor_commands",
             default_value="false",
-            description="Enable fake command interfaces for sensors used for simple simulations. \
-            Used only if 'use_fake_hardware' parameter is true.",
+            description="Enable fake command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_fake_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
diff --git a/ur_robot_driver/launch/ur16e.launch.py b/ur_robot_driver/launch/ur16e.launch.py
index d27c8bf37..208c97e4a 100644
--- a/ur_robot_driver/launch/ur16e.launch.py
+++ b/ur_robot_driver/launch/ur16e.launch.py
@@ -55,8 +55,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "fake_sensor_commands",
             default_value="false",
-            description="Enable fake command interfaces for sensors used for simple simulations. \
-            Used only if 'use_fake_hardware' parameter is true.",
+            description="Enable fake command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_fake_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
diff --git a/ur_robot_driver/launch/ur20.launch.py b/ur_robot_driver/launch/ur20.launch.py
index 833fd46ee..32e4c3677 100644
--- a/ur_robot_driver/launch/ur20.launch.py
+++ b/ur_robot_driver/launch/ur20.launch.py
@@ -55,8 +55,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "fake_sensor_commands",
             default_value="false",
-            description="Enable fake command interfaces for sensors used for simple simulations. \
-            Used only if 'use_fake_hardware' parameter is true.",
+            description="Enable fake command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_fake_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
diff --git a/ur_robot_driver/launch/ur3.launch.py b/ur_robot_driver/launch/ur3.launch.py
index 7add62462..6a28969b6 100644
--- a/ur_robot_driver/launch/ur3.launch.py
+++ b/ur_robot_driver/launch/ur3.launch.py
@@ -55,8 +55,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "fake_sensor_commands",
             default_value="false",
-            description="Enable fake command interfaces for sensors used for simple simulations. \
-            Used only if 'use_fake_hardware' parameter is true.",
+            description="Enable fake command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_fake_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
diff --git a/ur_robot_driver/launch/ur30.launch.py b/ur_robot_driver/launch/ur30.launch.py
index 7556c85b9..04b0d1e10 100644
--- a/ur_robot_driver/launch/ur30.launch.py
+++ b/ur_robot_driver/launch/ur30.launch.py
@@ -55,8 +55,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "fake_sensor_commands",
             default_value="false",
-            description="Enable fake command interfaces for sensors used for simple simulations. \
-            Used only if 'use_fake_hardware' parameter is true.",
+            description="Enable fake command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_fake_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
diff --git a/ur_robot_driver/launch/ur3e.launch.py b/ur_robot_driver/launch/ur3e.launch.py
index e9745d5c1..10d2eefd8 100644
--- a/ur_robot_driver/launch/ur3e.launch.py
+++ b/ur_robot_driver/launch/ur3e.launch.py
@@ -55,8 +55,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "fake_sensor_commands",
             default_value="false",
-            description="Enable fake command interfaces for sensors used for simple simulations. \
-            Used only if 'use_fake_hardware' parameter is true.",
+            description="Enable fake command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_fake_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
diff --git a/ur_robot_driver/launch/ur5.launch.py b/ur_robot_driver/launch/ur5.launch.py
index 14bb98c0b..fdda097e0 100644
--- a/ur_robot_driver/launch/ur5.launch.py
+++ b/ur_robot_driver/launch/ur5.launch.py
@@ -55,8 +55,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "fake_sensor_commands",
             default_value="false",
-            description="Enable fake command interfaces for sensors used for simple simulations. \
-            Used only if 'use_fake_hardware' parameter is true.",
+            description="Enable fake command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_fake_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
diff --git a/ur_robot_driver/launch/ur5e.launch.py b/ur_robot_driver/launch/ur5e.launch.py
index 0b5c6f856..f42e66c48 100644
--- a/ur_robot_driver/launch/ur5e.launch.py
+++ b/ur_robot_driver/launch/ur5e.launch.py
@@ -55,8 +55,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "fake_sensor_commands",
             default_value="false",
-            description="Enable fake command interfaces for sensors used for simple simulations. \
-            Used only if 'use_fake_hardware' parameter is true.",
+            description="Enable fake command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_fake_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py
index f7396a602..8f85553ec 100644
--- a/ur_robot_driver/launch/ur_control.launch.py
+++ b/ur_robot_driver/launch/ur_control.launch.py
@@ -40,7 +40,6 @@
 
 
 def launch_setup(context, *args, **kwargs):
-
     # Initialize Arguments
     ur_type = LaunchConfiguration("ur_type")
     robot_ip = LaunchConfiguration("robot_ip")
@@ -420,8 +419,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "runtime_config_package",
             default_value="ur_robot_driver",
-            description='Package with the controller\'s configuration in "config" folder. \
-        Usually the argument is not set, it enables use of a custom setup.',
+            description='Package with the controller\'s configuration in "config" folder. '
+            "Usually the argument is not set, it enables use of a custom setup.",
         )
     )
     declared_arguments.append(
@@ -435,8 +434,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "description_package",
             default_value="ur_description",
-            description="Description package with robot URDF/XACRO files. Usually the argument \
-        is not set, it enables use of a custom description.",
+            description="Description package with robot URDF/XACRO files. Usually the argument "
+            "is not set, it enables use of a custom description.",
         )
     )
     declared_arguments.append(
@@ -450,9 +449,9 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "tf_prefix",
             default_value="",
-            description="tf_prefix of the joint names, useful for \
-        multi-robot setup. If changed, also joint names in the controllers' configuration \
-        have to be updated.",
+            description="tf_prefix of the joint names, useful for "
+            "multi-robot setup. If changed, also joint names in the controllers' configuration "
+            "have to be updated.",
         )
     )
     declared_arguments.append(
@@ -466,8 +465,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "fake_sensor_commands",
             default_value="false",
-            description="Enable fake command interfaces for sensors used for simple simulations. \
-            Used only if 'use_fake_hardware' parameter is true.",
+            description="Enable fake command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_fake_hardware' parameter is true.",
         )
     )
     declared_arguments.append(
@@ -517,57 +516,57 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "tool_parity",
             default_value="0",
-            description="Parity configuration for serial communication. Only effective, if \
-            use_tool_communication is set to True.",
+            description="Parity configuration for serial communication. Only effective, if "
+            "use_tool_communication is set to True.",
         )
     )
     declared_arguments.append(
         DeclareLaunchArgument(
             "tool_baud_rate",
             default_value="115200",
-            description="Baud rate configuration for serial communication. Only effective, if \
-            use_tool_communication is set to True.",
+            description="Baud rate configuration for serial communication. Only effective, if "
+            "use_tool_communication is set to True.",
         )
     )
     declared_arguments.append(
         DeclareLaunchArgument(
             "tool_stop_bits",
             default_value="1",
-            description="Stop bits configuration for serial communication. Only effective, if \
-            use_tool_communication is set to True.",
+            description="Stop bits configuration for serial communication. Only effective, if "
+            "use_tool_communication is set to True.",
         )
     )
     declared_arguments.append(
         DeclareLaunchArgument(
             "tool_rx_idle_chars",
             default_value="1.5",
-            description="RX idle chars configuration for serial communication. Only effective, \
-            if use_tool_communication is set to True.",
+            description="RX idle chars configuration for serial communication. Only effective, "
+            "if use_tool_communication is set to True.",
         )
     )
     declared_arguments.append(
         DeclareLaunchArgument(
             "tool_tx_idle_chars",
             default_value="3.5",
-            description="TX idle chars configuration for serial communication. Only effective, \
-            if use_tool_communication is set to True.",
+            description="TX idle chars configuration for serial communication. Only effective, "
+            "if use_tool_communication is set to True.",
         )
     )
     declared_arguments.append(
         DeclareLaunchArgument(
             "tool_device_name",
             default_value="/tmp/ttyUR",
-            description="File descriptor that will be generated for the tool communication device. \
-            The user has be be allowed to write to this location. \
-            Only effective, if use_tool_communication is set to True.",
+            description="File descriptor that will be generated for the tool communication device. "
+            "The user has be be allowed to write to this location. "
+            "Only effective, if use_tool_communication is set to True.",
         )
     )
     declared_arguments.append(
         DeclareLaunchArgument(
             "tool_tcp_port",
             default_value="54321",
-            description="Remote port that will be used for bridging the tool's serial device. \
-            Only effective, if use_tool_communication is set to True.",
+            description="Remote port that will be used for bridging the tool's serial device. "
+            "Only effective, if use_tool_communication is set to True.",
         )
     )
     declared_arguments.append(