diff --git a/src/main.rs b/src/main.rs
index d8c4782..675841f 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,8 +1,8 @@
-use byteorder::{LittleEndian, BigEndian, ByteOrder};
+use byteorder::{BigEndian, ByteOrder, LittleEndian};
 use futures::{executor::LocalPool, future, stream::StreamExt, task::LocalSpawnExt};
 use itertools::Itertools;
 use r2r;
-use r2r::sensor_msgs::msg::{PointField, PointCloud2};
+use r2r::sensor_msgs::msg::{PointCloud2, PointField};
 use std::f32::consts::PI;
 use std::ops::{Add, Sub};
 use std::time::{Duration, Instant};
@@ -13,7 +13,8 @@ trait Downsample {
 
 impl Downsample for PointCloud2 {
     fn downsample(self) -> Self {
-        let data: Vec<u8> = self.data
+        let data: Vec<u8> = self
+            .data
             .chunks_exact(self.point_step as usize)
             .map(|chunk| PointF32::from_bytes(chunk))
             .filter(|point| point.is_valid())
@@ -22,8 +23,9 @@ impl Downsample for PointCloud2 {
                 let v1: VectorF32 = last.vec_to(current);
                 let v2: VectorF32 = current.vec_to(next);
 
-                let angle_deg: f32 = (v1.dot(&v2).abs() / (v1.abs() * v2.abs())).acos() * 180f32 / PI;
-                
+                let angle_deg: f32 =
+                    (v1.dot(&v2).abs() / (v1.abs() * v2.abs())).acos() * 180f32 / PI;
+
                 angle_deg > 30f32
             })
             .flat_map(|(_, point, _)| point.to_bytes_vec())
@@ -34,10 +36,30 @@ impl Downsample for PointCloud2 {
             height: 1,
             width: data.len() as u32 / 16,
             fields: vec![
-                PointField { name: "x".to_string(), offset: 0, datatype: 7, count: 1 },
-                PointField { name: "y".to_string(), offset: 4, datatype: 7, count: 1 },
-                PointField { name: "z".to_string(), offset: 8, datatype: 7, count: 1 },
-                PointField { name: "intensity".to_string(), offset: 12, datatype: 7, count: 1 },
+                PointField {
+                    name: "x".to_string(),
+                    offset: 0,
+                    datatype: 7,
+                    count: 1,
+                },
+                PointField {
+                    name: "y".to_string(),
+                    offset: 4,
+                    datatype: 7,
+                    count: 1,
+                },
+                PointField {
+                    name: "z".to_string(),
+                    offset: 8,
+                    datatype: 7,
+                    count: 1,
+                },
+                PointField {
+                    name: "intensity".to_string(),
+                    offset: 12,
+                    datatype: 7,
+                    count: 1,
+                },
             ],
             is_bigendian: false,
             point_step: 16,
@@ -58,7 +80,7 @@ struct VectorF32 {
 #[derive(Debug, Clone, Copy)]
 struct PointF32 {
     position: VectorF32,
-    intensity: f32, 
+    intensity: f32,
 }
 
 impl PointF32 {
@@ -110,7 +132,7 @@ impl Add for VectorF32 {
 
     fn add(self, rhs: Self) -> Self::Output {
         Self::Output {
-            x: self.x + rhs.x, 
+            x: self.x + rhs.x,
             y: self.y + rhs.y,
             z: self.z + rhs.z,
         }
@@ -122,41 +144,44 @@ impl Sub for VectorF32 {
 
     fn sub(self, rhs: Self) -> Self::Output {
         Self::Output {
-            x: self.x - rhs.x, 
+            x: self.x - rhs.x,
             y: self.y - rhs.y,
             z: self.z - rhs.z,
         }
     }
 }
 
-
 fn main() {
     let ctx = r2r::Context::create().unwrap();
     let mut node = r2r::Node::create(ctx, "pointcloud_downsampling_node", "").unwrap();
-    let subscriber = node.subscribe::<PointCloud2>("/velodyne_points", r2r::QosProfile::default()).unwrap();
-    let publisher = node.create_publisher::<PointCloud2>("/filtered_points", r2r::QosProfile::default()).unwrap();
-
+    let subscriber = node
+        .subscribe::<PointCloud2>("/velodyne_points", r2r::QosProfile::default())
+        .unwrap();
+    let publisher = node
+        .create_publisher::<PointCloud2>("/filtered_points", r2r::QosProfile::default())
+        .unwrap();
 
     // Set up a simple task executor.
     let mut pool = LocalPool::new();
     let spawner = pool.spawner();
 
-    spawner.spawn_local(async move {
-        subscriber
-            .for_each(|msg| {
+    spawner
+        .spawn_local(async move {
+            subscriber
+                .for_each(|msg| {
+                    let start = Instant::now();
+                    let downsampled = msg.downsample();
+                    println!("Duration: {} ms", start.elapsed().as_millis());
+                    publisher.publish(&downsampled);
 
-                let start = Instant::now();
-                let downsampled = msg.downsample();
-                println!("Duration: {} ms", start.elapsed().as_millis());
-                publisher.publish(&downsampled);
-
-                future::ready(())
-            })
-            .await
-    }).unwrap();
+                    future::ready(())
+                })
+                .await
+        })
+        .unwrap();
 
     loop {
         node.spin_once(Duration::from_millis(10));
         pool.run_until_stalled();
     }
-}
\ No newline at end of file
+}