diff --git a/.prettierrc.yaml b/.prettierrc.yaml
index 48b0552e..e29bf327 100644
--- a/.prettierrc.yaml
+++ b/.prettierrc.yaml
@@ -1,2 +1,20 @@
 printWidth: 100
 tabWidth: 2
+overrides:
+  - files: package.xml
+    options:
+      printWidth: 1000
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore
+
+  - files: "*.launch.xml"
+    options:
+      printWidth: 200
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore
+
+  - files: "*.xacro"
+    options:
+      printWidth: 200
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore