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evan-palmerevan-palmer
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Port topic_monitor
1 parent 8809128 commit 8d74914

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‎.devcontainer/Dockerfile‎

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ARG ROS_DISTRO=rolling
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FROM ros:$ROS_DISTRO-ros-base AS desktop
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ENV DEBIAN_FRONTEND=noninteractive
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WORKDIR /root/ws_ros
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ENV PROJECT_NAME=topic_monitor
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COPY . src/$PROJECT_NAME
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# Install apt packages
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RUN apt-get -q update \
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&& apt-get -q -y upgrade \
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&& apt-get -q install --no-install-recommends -y \
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git \
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sudo \
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clang \
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python3-pip \
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python3-dev \
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python3-venv \
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apt-utils \
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software-properties-common \
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&& apt-get autoremove -y \
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&& apt-get clean -y \
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&& rm -rf /var/lib/apt/lists/*
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# Configure the ubuntu non-root user
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ARG USERNAME=ubuntu
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ARG USER_UID=1000
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ARG USER_GID=$USER_UID
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RUN echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
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&& chmod 0440 /etc/sudoers.d/$USERNAME \
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&& usermod -a -G dialout $USERNAME \
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&& echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc
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# Switch to the ubuntu user
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USER $USERNAME
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ENV USER=$USERNAME
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ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
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WORKDIR $USER_WORKSPACE
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COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
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# Create a new virtual environment for Python
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ENV VIRTUAL_ENV=$USER_WORKSPACE/.venv/$PROJECT_NAME
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RUN python3 -m venv --system-site-packages $VIRTUAL_ENV \
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&& echo "source ${VIRTUAL_ENV}/bin/activate" >> /home/$USERNAME/.bashrc \
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&& touch .venv/COLCON_IGNORE \
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&& echo "\n# Ensure colcon is run in the venv\nalias colcon='python3 -m colcon'" >> /home/$USERNAME/.bashrc
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ENV PATH="$VIRTUAL_ENV/bin:$PATH"
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# Install all ROS dependencies
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# RUN vcs import src < src/$PROJECT_NAME/ros2.repos
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WORKDIR $USER_WORKSPACE
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RUN sudo apt-get -q update \
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&& sudo apt-get -q -y upgrade \
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&& rosdep update \
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&& rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --skip-keys nlohmann_json \
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&& sudo apt-get autoremove -y \
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&& sudo apt-get clean -y \
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&& sudo rm -rf /var/lib/apt/lists/*
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RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
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&& colcon build \
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&& echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
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&& echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
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# Install debugging/linting C++ packages
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RUN sudo apt-get -q update \
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&& sudo apt-get -q -y upgrade \
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&& sudo apt-get install -y \
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clang-format-18 \
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clang-tidy \
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clang-tools \
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&& sudo apt-get autoremove -y \
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&& sudo apt-get clean -y \
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&& sudo rm -rf /var/lib/apt/lists/*
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WORKDIR $USER_WORKSPACE

‎.devcontainer/devcontainer.json‎

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{
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"name": "ROS 2 Dev Container",
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"dockerFile": "Dockerfile",
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"context": "..",
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"workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/ws_ros/src/topic_monitor,type=bind",
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"workspaceFolder": "/home/ubuntu/ws_ros/src/topic_monitor",
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"remoteUser": "ubuntu",
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"runArgs": [
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"--network=host",
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"--cap-add=SYS_PTRACE",
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"--security-opt=seccomp:unconfined",
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"--security-opt=apparmor:unconfined",
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"--volume=/dev:/dev",
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"--privileged"
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],
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"customizations": {
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"vscode": {
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"extensions": [
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"ms-azuretools.vscode-docker",
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"ms-python.python",
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"njpwerner.autodocstring",
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"ms-vscode.cpptools",
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"redhat.vscode-xml",
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"redhat.vscode-yaml",
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"DavidAnson.vscode-markdownlint",
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"esbenp.prettier-vscode",
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"xaver.clang-format",
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"charliermarsh.ruff",
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"ms-vscode.cmake-tools"
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]
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}
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}
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}

‎.github/ISSUE_TEMPLATE/bug-report.yml‎

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name: Bug Report
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description: Report a bug.
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title: "[BUG]: <Please write a descriptive title after the '[BUG]: ' prefix>"
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labels: [bug, needs triage]
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body:
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- type: markdown
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attributes:
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value: >
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Thank you for taking the time to file a bug report! Before creating a new
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issue, please make sure to take a few minutes to check the issue tracker
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for existing issues about the bug.
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- type: textarea
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attributes:
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label: "Issue Description"
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description: >
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Please provide a clear and concise description of what the bug is.
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validations:
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required: true
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- type: textarea
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attributes:
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label: "Steps to Reproduce"
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description: >
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Please provide the steps that should be taken to reproduce the bug.
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validations:
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required: true
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- type: textarea
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attributes:
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label: "Expected Behavior"
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description: >
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Please describe or show an example of the expected behavior.
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validations:
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required: true
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- type: textarea
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attributes:
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label: "Error Message"
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description: >
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Please include the full error message, if any.
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placeholder: >
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<< Full traceback starting from `Traceback: ...` >>
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render: bash
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- type: textarea
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attributes:
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label: "Runtime Environment"
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description: >
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Please provide a description of the environment in which the error
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occurred.
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placeholder: >
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Raspberry Pi 4 running Ubuntu 22.04 natively.
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validations:
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required: true
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- type: textarea
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attributes:
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label: "Additional Context"
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description: >
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Please provide any additional context needed to understand the bug.

‎.github/ISSUE_TEMPLATE/config.yml‎

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blank_issues_enabled: false

‎.github/ISSUE_TEMPLATE/documentation.yml‎

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name: Documentation Improvement
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description: Report an issue related to the project documentation.
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title: "[DOC]: <Please write a descriptive title after the '[DOC]: ' prefix>"
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labels: [documentation, needs triage]
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body:
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- type: markdown
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attributes:
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value: >
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Thank you for taking the time to report a documentation issue! Before creating
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a new issue, please make sure to take a few minutes to check the issue
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tracker for existing issues similar to that being reported.
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- type: dropdown
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attributes:
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label: Documentation Change Type
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description: Please indicate what type of documentation issue you are reporting.
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options:
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- Adding new documentation to the project
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- Changing existing project documentation
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- Removing existing project documentation
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validations:
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required: true
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- type: textarea
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attributes:
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label: Documentation Location
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description: >
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Please provide the location of the documentation that should be modified.
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- type: textarea
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attributes:
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label: Documentation Problem
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description: >
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Please provide a description of how the documentation needs to be improved.
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validations:
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required: true
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- type: textarea
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attributes:
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label: Suggested Change
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description: >
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Please provide a description of the proposed change and why the proposed change
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improves the upon the existing documentation.
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validations:
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required: true

‎.github/ISSUE_TEMPLATE/feature-request.yml‎

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name: Feature Request
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description: Suggest a new idea for the project.
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title: "[FEATURE]: <Please write a descriptive title after the '[FEATURE]: ' prefix>"
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labels: [enhancement, needs triage]
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body:
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- type: markdown
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attributes:
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value: >
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Thank you for taking the time to request a new feature! Before creating
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a new issue, please make sure to take a few minutes to check the issue
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tracker for existing issues similar to the proposed feature.
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- type: dropdown
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attributes:
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label: Feature Type
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description: Please indicate what type of feature request you would like to propose.
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options:
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- Adding new functionality to the project
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- Changing existing functionality in the project
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- Removing existing functionality in the project
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validations:
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required: true
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- type: textarea
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attributes:
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label: "Problem Description"
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description: >
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Please provide a clear and concise description of what problem
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the feature would solve.
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validations:
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required: true
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- type: textarea
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attributes:
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label: "Feature Description"
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description: >
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Please provide a description of the proposed feature, using pseudocode
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if relevant.
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validations:
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required: true
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- type: textarea
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attributes:
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label: "Alternative Solutions"
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description: >
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Please provide a description of any alternative solutions or features
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that would satisfy the feature request.
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validations:
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required: true
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- type: textarea
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attributes:
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label: "Additional Context"
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description: >
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Please provide any additional context (e.g., relevant GitHub issues,
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code examples, or references) needed to understand the feature request.

‎.github/PULL_REQUEST_TEMPLATE.md‎

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## Changes Made
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Please provide a description of all changes made in this PR and why the changes
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are needed.
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## Associated Issues
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Please provide a list of all open issues that this PR will close or contribute
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toward closing.
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- Fixes # (issue)
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## Testing
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Please provide a clear and concise description of the testing performed.

‎.github/dependabot.yml‎

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version: 2
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updates:
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- package-ecosystem: github-actions
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directory: "/"
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schedule:
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interval: "weekly"

‎.github/workflows/format.yml‎

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name: Formatting (pre-commit)
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on:
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pull_request:
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push:
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branches:
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- main
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workflow_dispatch:
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jobs:
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pre-commit:
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name: Format
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runs-on: ubuntu-latest
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steps:
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- name: Checkout repository
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uses: actions/checkout@v4
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- name: Setup Python
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uses: actions/setup-python@v5
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with:
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python-version: "3.12"
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- name: Install clang-format-18
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run: sudo apt-get install clang-format-18
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- name: Run pre-commit
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uses: pre-commit/action@v3.0.1
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id: precommit
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- name: Upload pre-commit changes
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if: failure() && steps.precommit.outcome == 'failure'
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uses: rhaschke/upload-git-patch-action@main
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with:
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name: pre-commit

‎.gitignore‎

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# ROS 2
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build
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install
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log
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# virtualenv
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.venv

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