diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index ff6514f..405f4d7 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -22,9 +22,11 @@ repos:
       - id: check-docstring-first
       - id: check-merge-conflict
       - id: check-symlinks
+      - id: check-xml
       - id: debug-statements
       - id: end-of-file-fixer
       - id: mixed-line-ending
+      - id: trailing-whitespace
       - id: fix-byte-order-marker
   - repo: https://github.com/psf/black
     rev: 24.10.0
@@ -36,3 +38,8 @@ repos:
       - id: codespell
         args: ['--write-changes']
         exclude: CHANGELOG.rst
+  # XML Lint
+  - repo: https://github.com/comkieffer/xml-linter-hook.git
+    rev: 1.0.0
+    hooks:
+      - id: xmllint
diff --git a/README.md b/README.md
index 249e51e..3e1fcf1 100644
--- a/README.md
+++ b/README.md
@@ -46,7 +46,7 @@ This plugin can be started from your URDF or world.sdf file.
     <render_engine>ogre2</render_engine>
   </plugin>
 </gazebo>
-```  
+```
 
 you can also refer to the the [example.urdf.xacro](./urdf/example_d415_gazebo.urdf.xacro) included.
 
diff --git a/urdf/_d405.gazebo.xacro b/urdf/_d405.gazebo.xacro
index 89e95cc..61ab823 100644
--- a/urdf/_d405.gazebo.xacro
+++ b/urdf/_d405.gazebo.xacro
@@ -25,7 +25,7 @@ For example:
     Assumptions:
     Simulated RGB and Depth sensors are in the same location as the RGB sensor of the physical camera.
     Simulated RGB and Depth sensors and have the same FOV as the RGB physical sensor.
-    Note physical hardware publishes pointcloud in `camera_depth_optical_frame` where this sensor will use
+    Note: physical hardware publishes pointcloud in `camera_depth_optical_frame` where this sensor will use
     the referenced camera color_frame. -->
     <xacro:property name="realsense_h_fov" value="${69 * pi/180}" />
     <xacro:property name="realsense_v_fov" value="${42 * pi/180}" />
diff --git a/urdf/_d415.gazebo.xacro b/urdf/_d415.gazebo.xacro
index 7726b48..83e6651 100644
--- a/urdf/_d415.gazebo.xacro
+++ b/urdf/_d415.gazebo.xacro
@@ -25,7 +25,7 @@ For example:
     Assumptions:
     Simulated RGB and Depth sensors are in the same location as the RGB sensor of the physical camera.
     Simulated RGB and Depth sensors and have the same FOV as the RGB physical sensor.
-    Note physical hardware publishes pointcloud in `camera_depth_optical_frame` where this sensor will use
+    Note: physical hardware publishes pointcloud in `camera_depth_optical_frame` where this sensor will use
     the referenced camera color_frame. -->
     <xacro:property name="realsense_h_fov" value="${69 * pi/180}" />
     <xacro:property name="realsense_v_fov" value="${42 * pi/180}" />
diff --git a/urdf/_d435.gazebo.xacro b/urdf/_d435.gazebo.xacro
index 5b8918c..0a5af00 100644
--- a/urdf/_d435.gazebo.xacro
+++ b/urdf/_d435.gazebo.xacro
@@ -21,11 +21,11 @@ For example:
   image_width:=1280
   image_height:=720">
 
-    <!-- Realsense D435 RGB properties 
+    <!-- Realsense D435 RGB properties
     Assumptions:
     Simulated RGB and Depth sensors are in the same location as the RGB sensor of the physical camera.
     Simulated RGB and Depth sensors and have the same FOV as the RGB physical sensor.
-    Note physical hardware publishes pointcloud in `camera_depth_optical_frame` where this sensor will use
+    Note: physical hardware publishes pointcloud in `camera_depth_optical_frame` where this sensor will use
     the referenced camera color_frame. -->
     <xacro:property name="realsense_h_fov" value="${87 * pi/180}" />
     <xacro:property name="realsense_v_fov" value="${58 * pi/180}" />