Added CI files

.github/workflows/clang_format.yml

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+name: Clang-Format
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    paths:
+      - 'snp**'
+      - '.github/workflows/clang_format.yml'
+      - '**clang-format'
+  schedule:
+    - cron: '0 5 * * *'
+
+jobs:
+  clang_format:
+    runs-on: ubuntu-20.04
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Run clang format
+        run: |
+          sudo apt update
+          sudo apt install -y git clang-format
+          if [ $? -ge 1 ]; then return 1; fi
+          ./.run-clang-format
+          if [ $? -ge 1 ]; then return 1; fi
+          output=$(git diff)
+          if [ -n "$output" ]; then exit 1; else exit 0; fi

.github/workflows/cmake_format.yml

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+name: CMake-Format
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    paths:
+      - 'snp**'
+      - '.github/workflows/cmake_format.yml'
+      - '**cmake-format'
+  schedule:
+    - cron: '0 5 * * *'
+
+jobs:
+  cmake_format:
+    runs-on: ubuntu-20.04
+    steps:
+      - uses: actions/checkout@v1
+
+      - name: Run CMake Lang Format Check
+        run: |
+          sudo pip3 install cmakelang
+          ./.run-cmake-format
+          output=$(git diff)
+          if [ -n "$output" ]; then exit 1; else exit 0; fi

.github/workflows/ubuntu.yml

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+name: Ubuntu
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+  schedule:
+    - cron: '0 5 * * *'
+  workflow_dispatch:
+  release:
+    types:
+      - released
+
+jobs:
+  ci:
+    name: ${{ matrix.distro }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [noetic]
+    container:
+      image: ros:${{ matrix.distro }}
+      env:
+        CCACHE_DIR: ${{ github.workspace }}/${{ matrix.distro }}/.ccache
+        DEBIAN_FRONTEND: noninteractive
+        TZ: Etc/UTC
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          path: target_ws/src
+
+      - name: Build and Tests
+        uses: tesseract-robotics/colcon-action@v6
+        with:
+          before-script: source /opt/ros/${{ matrix.distro }}/setup.bash
+          ccache-prefix: ${{ matrix.distro }}
+          target-path: target_ws/src
+          target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug

ci

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+.github/workflows/