diff --git a/ci-templates/syntax-check.yml b/ci-templates/syntax-check.yml
index b0608b02bc0e367a7c3c20c55f2bf8a84f006586..6b5e30ba3ee3a7d99d3d4c156b1e2933f6b640fc 100644
--- a/ci-templates/syntax-check.yml
+++ b/ci-templates/syntax-check.yml
@@ -11,13 +11,13 @@ clang_format:
       alias: docker
   before_script:
     - apk add --update bash coreutils tar wget
-    - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .ci_config -b legacy
+    - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .ci_config
     - wget https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/${GITLAB_TEMPLATES_BRANCH}/clang-format -O .clang-format
   script: .ci_config/gitlab.sh
   variables:
-    ROS_DISTRO: kinetic
+    ROS_DISTRO: noetic
     CLANG_FORMAT_CHECK: file
-    CLANG_FORMAT_VERSION: "3.8"
+    CLANG_FORMAT_VERSION: 10
   when: always
 
 ##########################################################
diff --git a/clang-format b/clang-format
index ebcd8ad9c7a85c5f0ac781a0992bc23f17702f4d..cd1c017447dac8bc75d06037d488da9395de157a 100644
--- a/clang-format
+++ b/clang-format
@@ -1,5 +1,5 @@
 ---
-# Format file from: https://github.com/davetcoleman/roscpp_code_format (bfa4ea78b4ac856da07458c8824bf5eb327ea693)
+# Format file from: https://github.com/PickNikRobotics/roscpp_code_format (75a84b075d648828b7aa64094699e5ab5cc7adb7)
 BasedOnStyle: Google
 AccessModifierOffset: -2
 ConstructorInitializerIndentWidth: 2
@@ -9,9 +9,8 @@ AllowAllParametersOfDeclarationOnNextLine: false
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: None
-AllowShortLoopsOnASingleLine: false
 AlwaysBreakTemplateDeclarations: true
-AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakBeforeMultilineStrings: true
 BreakBeforeBinaryOperators: false
 BreakBeforeTernaryOperators: false
 BreakConstructorInitializersBeforeComma: true