diff --git a/src/drone_status/drone_status/drone_status.py b/src/drone_status/drone_status/drone_status.py
index ab8046af..4e98f77e 100644
--- a/src/drone_status/drone_status/drone_status.py
+++ b/src/drone_status/drone_status/drone_status.py
@@ -12,24 +12,31 @@ CONTROL_MODE_ATTITUDE = 1
 CONTROL_MODE_VELOCITY = 2
 CONTROL_MODE_POSITION = 3
 
+
 class DroneStatus(Node):
     def __init__(self):
         super().__init__('drone_status')
-        #publish to drone/status topic
-        self.publisher = self.create_publisher(DroneStatus, '/drone/status', 10)
-        self.control_mode_subscriber = self.create_subscription(DroneControlMode, '/drone/control_mode', self.control_mode_callback, 10)
-        self.arm_status_subscriber = self.create_subscription(DroneArmStatus, '/drone/arm_status', self.arm_status_callback, 10)
-        self.route_status_subscriber = self.create_subscription(DroneRouteStatus, '/drone/route_status', self.route_status_callback, 10)
-        self.battery_status_subscriber = self.create_subscription(BatteryStatus, '/fmu/out/battery_status', self.battery_status_callback, 10)
-        self.cpu_load_subscriber = self.create_subscription(Cpuload, '/fmu/out/cpuload', self.cpu_load_callback, 10)
-        #publish every 0.5 seconds
+        # publish to drone/status topic
+        self.publisher = self.create_publisher(
+            DroneStatus, '/drone/status', 10)
+        self.control_mode_subscriber = self.create_subscription(
+            DroneControlMode, '/drone/control_mode', self.control_mode_callback, 10)
+        self.arm_status_subscriber = self.create_subscription(
+            DroneArmStatus, '/drone/arm_status', self.arm_status_callback, 10)
+        self.route_status_subscriber = self.create_subscription(
+            DroneRouteStatus, '/drone/route_status', self.route_status_callback, 10)
+        self.battery_status_subscriber = self.create_subscription(
+            BatteryStatus, '/fmu/out/battery_status', self.battery_status_callback, 10)
+        self.cpu_load_subscriber = self.create_subscription(
+            Cpuload, '/fmu/out/cpuload', self.cpu_load_callback, 10)
+        # publish every 0.5 seconds
         self.timer = self.create_timer(0.5, self.publish_status)
         self.armed = False
         self.control_mode = "attitude"
         self.battery_percentage = 100.0
         self.cpu_usage = 0.0
         self.route_setpoint = 0
-    
+
     def publish_status(self):
         msg = DroneStatus()
         msg.armed = self.armed
@@ -40,7 +47,7 @@ class DroneStatus(Node):
         self.publisher.publish(msg)
         self.get_logger().info('Publishing: "%s"' % msg.status)
 
-    def control_mode_callback(self,msg):
+    def control_mode_callback(self, msg):
         if msg.control_mode == CONTROL_MODE_ATTITUDE:
             self.control_mode = "attitude"
         elif msg.control_mode == CONTROL_MODE_VELOCITY:
@@ -50,14 +57,29 @@ class DroneStatus(Node):
         else:
             self.control_mode = "unknown"
 
-    def arm_status_callback(self,msg):
+    def arm_status_callback(self, msg):
         self.armed = msg.armed
-    
-    def route_status_callback(self,msg):
+
+    def route_status_callback(self, msg):
         self.route_setpoint = msg.current_setpoint_index
 
     def battery_status_callback(self, msg):
         self.battery_percentage = msg.remaining * 100.0
-    
+
     def cpu_load_callback(self, msg):
-        self.cpu_usage = msg.load
\ No newline at end of file
+        self.cpu_usage = msg.load
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    drone_status = DroneStatus()
+
+    rclpy.spin(drone_status)
+
+    drone_status.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()