init codebase

.clang-format

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+---
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false

.clang-tidy

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+---
+Checks:          '-*,
+                  performance-*,
+                  -performance-unnecessary-value-param,
+                  llvm-namespace-comment,
+                  modernize-redundant-void-arg,
+                  modernize-use-nullptr,
+                  modernize-use-default,
+                  modernize-use-override,
+                  modernize-loop-convert,
+                  modernize-make-shared,
+                  modernize-make-unique,
+                  misc-unused-parameters,
+                  readability-named-parameter,
+                  readability-redundant-smartptr-get,
+                  readability-redundant-string-cstr,
+                  readability-simplify-boolean-expr,
+                  readability-container-size-empty,
+                  readability-identifier-naming,
+                  '
+HeaderFilterRegex: ''
+AnalyzeTemporaryDtors: false
+CheckOptions:
+  - key:             llvm-namespace-comment.ShortNamespaceLines
+    value:           '10'
+  - key:             llvm-namespace-comment.SpacesBeforeComments
+    value:           '2'
+  - key:             misc-unused-parameters.StrictMode
+    value:           '1'
+  - key:             readability-braces-around-statements.ShortStatementLines
+    value:           '2'
+  # type names
+  - key:             readability-identifier-naming.ClassCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.EnumCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.UnionCase
+    value:           CamelCase
+  # method names
+  - key:             readability-identifier-naming.MethodCase
+    value:           camelBack
+  # variable names
+  - key:             readability-identifier-naming.VariableCase
+    value:           lower_case
+  - key:             readability-identifier-naming.ClassMemberSuffix
+    value:           '_'
+  # const static or global variables are UPPER_CASE
+  - key:             readability-identifier-naming.EnumConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.StaticConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.ClassConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.GlobalVariableCase
+    value:           UPPER_CASE

.github/workflows/ros_ci.yml

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+name: Build and Test (humble)
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+jobs:
+  build-and-test:
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Setup ROS 2
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: humble
+      - name: Build rm_auto_aim
+        uses: ros-tooling/[email protected]
+        with:
+          package-name: rm_auto_aim
+          target-ros2-distro: humble
+          skip-tests: true
+      - name: Test armor_detector
+        run: |
+          source /opt/ros/humble/setup.sh
+          cd ros_ws
+          colcon test --packages-select armor_detector --event-handlers console_cohesion+ --return-code-on-test-failure
+      - name: Test armor_tracker
+        run: |
+          source /opt/ros/humble/setup.sh
+          cd ros_ws
+          colcon test --packages-select armor_tracker --event-handlers console_cohesion+ --return-code-on-test-failure

.gitignore

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+
+# Created by https://www.gitignore.io/api/c++,linux,macos,clion
+# Edit at https://www.gitignore.io/?templates=c++,linux,macos,clion
+
+### C++ ###
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### CLion ###
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio and WebStorm
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/**/usage.statistics.xml
+.idea/**/dictionaries
+.idea/**/shelf
+
+# Generated files
+.idea/**/contentModel.xml
+
+# Sensitive or high-churn files
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+.idea/**/dbnavigator.xml
+
+# Gradle
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# Gradle and Maven with auto-import
+# When using Gradle or Maven with auto-import, you should exclude module files,
+# since they will be recreated, and may cause churn.  Uncomment if using
+# auto-import.
+# .idea/modules.xml
+# .idea/*.iml
+# .idea/modules
+# *.iml
+# *.ipr
+
+# CMake
+cmake-build-*/
+
+# Mongo Explorer plugin
+.idea/**/mongoSettings.xml
+
+# File-based project format
+*.iws
+
+# IntelliJ
+out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+# Editor-based Rest Client
+.idea/httpRequests
+
+# Android studio 3.1+ serialized cache file
+.idea/caches/build_file_checksums.ser
+
+### CLion Patch ###
+# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721
+
+# *.iml
+# modules.xml
+# .idea/misc.xml
+# *.ipr
+
+# Sonarlint plugin
+.idea/**/sonarlint/
+
+# SonarQube Plugin
+.idea/**/sonarIssues.xml
+
+# Markdown Navigator plugin
+.idea/**/markdown-navigator.xml
+.idea/**/markdown-navigator/
+
+### Linux ###
+*~
+
+# temporary files which can be created if a process still has a handle open of a deleted file
+.fuse_hidden*
+
+# KDE directory preferences
+.directory
+
+# Linux trash folder which might appear on any partition or disk
+.Trash-*
+
+# .nfs files are created when an open file is removed but is still being accessed
+.nfs*
+
+### macOS ###
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+# End of https://www.gitignore.io/api/c++,linux,macos,clion

README.md

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+# rm_auto_aim
+
+## Overview
+
+RoboMaster 装甲板自瞄算法模块
+
+<img src="docs/rm_vision.svg" alt="rm_vision" width="200" height="200">
+
+该项目为 [rm_vision](https://github.com/chenjunnn/rm_vision) 的子模块
+
+若有帮助请Star这个项目，感谢~
+
+### License
+
+The source code is released under a [MIT license](rm_auto_aim/LICENSE).
+
+[![License: MIT](https://img.shields.io/badge/License-MIT-blue.svg)](https://opensource.org/licenses/MIT)
+
+Author: Chen Jun
+
+运行环境：Ubuntu 22.04 / ROS2 Humble (未在其他环境下测试)
+
+![Build Status](https://github.com/chenjunnn/rm_auto_aim/actions/workflows/ros_ci.yml/badge.svg)
+
+## Building from Source
+
+### Building
+
+在 Ubuntu 22.04 环境下安装 [ROS2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
+
+创建 ROS 工作空间后 clone 项目，使用 rosdep 安装依赖后编译代码
+
+	cd ros_ws/src
+	git clone https://github.com/chenjunnn/rm_auto_aim.git
+	cd ..
+	rosdep install --from-paths src --ignore-src -r -y
+	colcon build --symlink-install --packages-up-to auto_aim_bringup
+
+### Testing
+
+Run the tests with
+
+	colcon test --packages-up-to auto_aim_bringup
+
+## Packages
+
+- [armor_detector](armor_detector)
+
+	订阅相机参数及图像流进行装甲板的识别并解算三维位置，输出识别到的装甲板在输入frame下的三维位置 (一般是以相机光心为原点的相机坐标系)
+
+- [armor_tracker](armor_tracker)
+
+	订阅识别节点发布的装甲板三维位置及机器人的坐标转换信息，将装甲板三维位置变换到指定惯性系（一般是以云台中心为原点，IMU 上电时的 Yaw 朝向为 X 轴的惯性系）下，然后将装甲板目标送入跟踪器中，输出跟踪机器人在指定惯性系下的状态
+
+- auto_aim_interfaces
+
+	定义了识别节点和处理节点的接口以及定义了用于 Debug 的信息
+
+- auto_aim_bringup
+
+	包含启动识别节点和处理节点的默认参数文件及 launch 文件