made ros2 compatible version

.clang-format

@@ -1,77 +1,88 @@
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-# BasedOnStyle:  WebKit
-AccessModifierOffset: -4
-AlignAfterOpenBracket: DontAlign
-AlignConsecutiveAssignments: false
+Language:        Cpp
+# BasedOnStyle:  LLVM
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignConsecutiveMacros: false
+AlignConsecutiveAssignments: true
 AlignConsecutiveDeclarations: false
 AlignEscapedNewlines: Right
-AlignOperands:   false
-AlignTrailingComments: false
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
 AllowAllParametersOfDeclarationOnNextLine: true
-AllowShortBlocksOnASingleLine: false
+AllowShortBlocksOnASingleLine: Never
 AllowShortCaseLabelsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: All
-AllowShortIfStatementsOnASingleLine: false
+AllowShortLambdasOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: Never
 AllowShortLoopsOnASingleLine: false
 AlwaysBreakAfterDefinitionReturnType: None
 AlwaysBreakAfterReturnType: None
 AlwaysBreakBeforeMultilineStrings: false
-AlwaysBreakTemplateDeclarations: No
+AlwaysBreakTemplateDeclarations: MultiLine
 BinPackArguments: true
 BinPackParameters: true
-BraceWrapping:   
+BraceWrapping:
+  AfterCaseLabel:  false
   AfterClass:      false
   AfterControlStatement: false
   AfterEnum:       false
-  AfterFunction:   true
+  AfterFunction:   false
   AfterNamespace:  false
   AfterObjCDeclaration: false
   AfterStruct:     false
   AfterUnion:      false
+  AfterExternBlock: false
   BeforeCatch:     false
   BeforeElse:      false
   IndentBraces:    false
   SplitEmptyFunction: true
   SplitEmptyRecord: true
   SplitEmptyNamespace: true
-BreakBeforeBinaryOperators: All
-BreakBeforeBraces: WebKit
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Stroustrup
 BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
 BreakBeforeTernaryOperators: true
 BreakConstructorInitializersBeforeComma: false
-BreakConstructorInitializers: BeforeComma
+BreakConstructorInitializers: BeforeColon
 BreakAfterJavaFieldAnnotations: false
 BreakStringLiterals: true
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+ColumnLimit:     160
 CommentPragmas:  '^ IWYU pragma:'
 CompactNamespaces: false
 ConstructorInitializerAllOnOneLineOrOnePerLine: false
 ConstructorInitializerIndentWidth: 4
 ContinuationIndentWidth: 4
-Cpp11BracedListStyle: false
+Cpp11BracedListStyle: true
+DeriveLineEnding: true
 DerivePointerAlignment: false
 DisableFormat:   false
 ExperimentalAutoDetectBinPacking: false
-FixNamespaceComments: false
-ForEachMacros:   
+FixNamespaceComments: true
+ForEachMacros:
   - foreach
   - Q_FOREACH
   - BOOST_FOREACH
+IncludeBlocks:   Preserve
 IncludeCategories:
-  - Regex:           '^"config\.h"'
-    Priority:        -1
-  # The main header for a source file automatically gets category 0
-  - Regex:           '^<.*SoftLink.h>'
-    Priority:        4
-  - Regex:           '^".*SoftLink.h"'
-    Priority:        3
-  - Regex:           '^<.*>'
+  - Regex:           '^"(llvm|llvm-c|clang|clang-c)/'
     Priority:        2
+    SortPriority:    0
+  - Regex:           '^(<|"(gtest|gmock|isl|json)/)'
+    Priority:        3
+    SortPriority:    0
   - Regex:           '.*'
     Priority:        1
+    SortPriority:    0
 IncludeIsMainRegex: '(Test)?$'
+IncludeIsMainSourceRegex: ''
 IndentCaseLabels: false
-IndentWidth:     4
+IndentGotoLabels: true
+IndentPPDirectives: None
+IndentWidth:     2
 IndentWrappedFunctionNames: false
 JavaScriptQuotes: Leave
 JavaScriptWrapImports: true
@@ -80,36 +91,46 @@ MacroBlockBegin: ''
 MacroBlockEnd:   ''
 MaxEmptyLinesToKeep: 1
 NamespaceIndentation: None
-ObjCBlockIndentWidth: 4
-ObjCSpaceAfterProperty: true
+ObjCBinPackProtocolList: Auto
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
 ObjCSpaceBeforeProtocolList: true
 PenaltyBreakAssignment: 2
 PenaltyBreakBeforeFirstCallParameter: 19
 PenaltyBreakComment: 300
 PenaltyBreakFirstLessLess: 120
 PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
 PenaltyExcessCharacter: 1000000
 PenaltyReturnTypeOnItsOwnLine: 60
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+PointerAlignment: Right
 ReflowComments:  true
 SortIncludes:    true
 SortUsingDeclarations: true
 SpaceAfterCStyleCast: false
-SpaceAfterTemplateKeyword: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
 SpaceBeforeAssignmentOperators: true
-SpaceBeforeCpp11BracedList: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
 SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyBlock: false
 SpaceInEmptyParentheses: false
 SpacesBeforeTrailingComments: 1
 SpacesInAngles:  false
+SpacesInConditionalStatement: false
 SpacesInContainerLiterals: true
 SpacesInCStyleCastParentheses: false
 SpacesInParentheses: false
 SpacesInSquareBrackets: false
-Standard:        Cpp11
-TabWidth:        8
-UseTab:          Never
----
-Language: ObjC
-PointerAlignment: Right
-...
+SpaceBeforeSquareBrackets: false
+Standard:        Latest
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth:        2
+UseCRLF:         false
+UseTab:          ForIndentation
+...

.github/issue_template/bug-template.yml

@@ -0,0 +1,64 @@
+name: Bug Report
+description: File a bug report
+title: "[Bug]: "
+labels: ["bug", "triage"]
+projects: ["octo-org/1", "octo-org/44"]
+assignees:
+  - octocat
+body:
+  - type: markdown
+    attributes:
+      value: |
+        Thanks for taking the time to fill out this bug report!
+  - type: input
+    id: contact
+    attributes:
+      label: Contact Details
+      description: How can we get in touch with you if we need more info?
+      placeholder: ex. [email protected]
+    validations:
+      required: false
+  - type: textarea
+    id: what-happened
+    attributes:
+      label: What happened?
+      description: Also tell us, what did you expect to happen?
+      placeholder: Tell us what you see!
+      value: "A bug happened!"
+    validations:
+      required: true
+  - type: dropdown
+    id: version
+    attributes:
+      label: Version
+      description: What version of our software are you running?
+      options:
+        - 1.0.2 (Default)
+        - 1.0.3 (Edge)
+      default: 0
+    validations:
+      required: true
+  - type: dropdown
+    id: browsers
+    attributes:
+      label: What browsers are you seeing the problem on?
+      multiple: true
+      options:
+        - Firefox
+        - Chrome
+        - Safari
+        - Microsoft Edge
+  - type: textarea
+    id: logs
+    attributes:
+      label: Relevant log output
+      description: Please copy and paste any relevant log output. This will be automatically formatted into code, so no need for backticks.
+      render: shell
+  - type: checkboxes
+    id: terms
+    attributes:
+      label: Code of Conduct
+      description: By submitting this issue, you agree to follow our [Code of Conduct](https://example.com)
+      options:
+        - label: I agree to follow this project's Code of Conduct
+          required: true

.github/issue_template/task-template.md

@@ -8,8 +8,17 @@ assignees: ''
 
 ---
 
-**Time estimate:** XX hours  
-**Deadline:**  DD.MONTH
+**Time estimate:** <XX hours>  
+**Deadline:**  <DD.MONTH>
 
 **Description of task:** DESCRIPTION
+**Time estimate:** <XX> hours
 
+## Suggested Workflow
+- <Step 1>
+
+## Specifications
+- <Spec 1>
+
+## Contacts
+- <@name> - <role>, <why is this person relevant?>

.gitignore

@@ -207,6 +207,7 @@ cython_debug/
 
 # ROS
 devel/
+install/
 logs/
 build/
 bin/

docker/Dockerfile

@@ -1,6 +1,6 @@
-FROM ros:noetic
+FROM ros:humble
 
-ARG distro=noetic
+ARG distro=humble
 ENV DEBIAN_FRONTEND=noninteractive
 SHELL ["/bin/bash", "-c"]