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Clean up builds, pre-commit, and add workflows (#1)
* Add initial cleanup pass and update cmakelists for more appropriate building * Add pre-commit * Run pre-commit and clean-up * Update to catch2withmain style * Remove unnecessary stuff in gitignore * Move into the right folder for workflows * Don't have a repos file! * Remove visibility control, we don't use it. Also clean up namespacing * Remove ament lint because it's extremely constraining and conflicting at times * Change versioning to prep for bloom and fix bad copyright * Add magic humble vs jazzy and rolling builder * Include the right catch versions for humble vs non * Further clean up branching * Add cleanup removing unnecessary packages and bad copypasta * Revert package.xml and fix pre-commit * Fix missing rclcpp components * Fix missing rclcpp components
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‎.config/clang-format‎

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---
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# See https://releases.llvm.org/14.0.0/tools/clang/docs/ClangFormatStyleOptions.html for documentation of these options
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BasedOnStyle: Google
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IndentWidth: 2
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ColumnLimit: 120
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AccessModifierOffset: -2
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AlignAfterOpenBracket: AlwaysBreak
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AlignConsecutiveAssignments: None
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AlignConsecutiveDeclarations: None
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AlignEscapedNewlines: Left
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AlignTrailingComments: false
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AllowAllArgumentsOnNextLine: true
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AllowAllParametersOfDeclarationOnNextLine: true
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AllowShortBlocksOnASingleLine: Empty
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AllowShortFunctionsOnASingleLine: false
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BinPackArguments: false
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BinPackParameters: false
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BraceWrapping:
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AfterClass: true
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AfterControlStatement: MultiLine
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AfterEnum: true
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AfterFunction: true
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AfterNamespace: true
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AfterStruct: true
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AfterUnion: true
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AfterExternBlock: true
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BeforeCatch: false
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BeforeElse: false
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BeforeLambdaBody: false
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BeforeWhile: false
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IndentBraces: false
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SplitEmptyFunction: false
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SplitEmptyRecord: false
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SplitEmptyNamespace: false
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BreakBeforeBraces: Custom
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BreakConstructorInitializers: BeforeComma
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CompactNamespaces: false
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ContinuationIndentWidth: 2
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ConstructorInitializerIndentWidth: 0
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DerivePointerAlignment: false
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EmptyLineAfterAccessModifier: Never
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EmptyLineBeforeAccessModifier: LogicalBlock
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FixNamespaceComments: true
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IncludeBlocks: Regroup
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IncludeCategories:
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# Headers in <> with .h extension (best guess at C system headers)
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- Regex: '<([A-Za-z0-9\Q/-_\E])+\.h>'
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Priority: 1
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# Headers in <> without extension (C++ system headers)
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- Regex: '<([A-Za-z0-9\Q/-_\E])+>'
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Priority: 2
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# Headers in <> with other extensions.
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- Regex: '<([A-Za-z0-9.\Q/-_\E])+>'
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Priority: 3
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# Headers in ""
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- Regex: '"([A-Za-z0-9.\Q/-_\E])+"'
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Priority: 4
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IndentAccessModifiers: false
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IndentPPDirectives: BeforeHash
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PackConstructorInitializers: Never
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PointerAlignment: Middle
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ReferenceAlignment: Middle
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ReflowComments: false
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SeparateDefinitionBlocks: Always
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SortIncludes: CaseInsensitive
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SpacesBeforeTrailingComments: 2

‎.config/copyright.txt‎

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Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.

‎.cpplint.cfg‎

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# Because of cpplint's config file assumptions, this can't be contained in .config/ directory
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linelength=256
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# TODO(emerson) we need to apply a copyright check, maybe not via this tool though
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filter=-legal/copyright
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# TODO(emerson) we want these, but the style as enforced here is probably not quite right for us
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filter=-build/header_guard
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filter=-build/c++17
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# Per our style guide, we want to allow the use of non-const reference passing for output parameters
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filter=-runtime/references
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# Disable all formatting checks, this is handled by clang-format
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filter=-readability/braces
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filter=-whitespace/braces
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filter=-whitespace/indent
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filter=-whitespace/newline
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filter=-whitespace/parens
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filter=-whitespace/semicolon

‎.github/workflows/build.yml‎

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---
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name: Build and test
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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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jobs:
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build_and_test:
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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include:
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- ros: humble
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ubuntu: jammy
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- ros: jazzy
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ubuntu: noble
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- ros: rolling
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ubuntu: noble
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name: ROS 2 ${{ matrix.ros }}
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container:
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image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-${{ matrix.ubuntu }}:latest
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env:
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ROS_DISTRO: ${{ matrix.ros }}
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PIP_BREAK_SYSTEM_PACKAGES: 1
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steps:
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- uses: actions/checkout@v4
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- uses: ros-tooling/[email protected]
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with:
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target-ros2-distro: ${{ matrix.ros }}
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- uses: actions/upload-artifact@v4
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with:
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name: colcon-logs-${{ matrix.ros }}
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path: ros_ws/log

‎.github/workflows/pre-commit.yml‎

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---
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name: pre-commit
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"on":
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pull_request:
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push:
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branches: [main]
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jobs:
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pre-commit:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: "3.10"
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- run: sudo apt-get update && sudo apt-get install libxml2-utils
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- uses: pre-commit/[email protected]

‎.gitignore‎

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# Colcon
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/build/
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/install/
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/log/

‎.gitlab-ci.yml‎

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‎.pre-commit-config.yaml‎

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---
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# See https://pre-commit.com for more information on these settings
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repos:
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# Generally useful checks provided by pre-commit
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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: v5.0.0
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hooks:
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- id: check-added-large-files
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- id: check-ast
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- id: check-case-conflict
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- id: check-merge-conflict
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- id: check-shebang-scripts-are-executable
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- id: check-symlinks
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- id: check-toml
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- id: check-xml
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- id: end-of-file-fixer
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- id: forbid-submodules
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- id: mixed-line-ending
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- id: trailing-whitespace
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# Python
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- repo: https://github.com/astral-sh/ruff-pre-commit
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rev: v0.11.5
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hooks:
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- id: ruff-format
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- id: ruff
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args: [--fix]
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# C++ formatting
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- repo: https://github.com/pre-commit/mirrors-clang-format
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rev: v19.1.7
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hooks:
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- id: clang-format
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args: ["--style=file:.config/clang-format"]
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# C++ linting
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- repo: https://github.com/cpplint/cpplint
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rev: 2.0.0
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hooks:
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- id: cpplint
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args: ["--config=.cpplint.cfg", --quiet, --output=sed]
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# Markdown
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- repo: https://github.com/jackdewinter/pymarkdown
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rev: v0.9.28
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hooks:
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- id: pymarkdown
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args: [-d, MD013, fix]
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# XML
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- repo: https://github.com/emersonknapp/ament_xmllint
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rev: v0.1
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hooks:
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- id: ament_xmllint
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# YAML
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- repo: https://github.com/adrienverge/yamllint.git
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rev: v1.29.0
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hooks:
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- id: yamllint
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args: [-d, "{extends: default, rules: {line-length: {max: 256}, commas: false}}"]
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# CMake
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- repo: https://github.com/cmake-lint/cmake-lint
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rev: 1.4.3
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hooks:
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- id: cmakelint
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args: [--linelength=140]
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- repo: https://github.com/Lucas-C/pre-commit-hooks
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rev: v1.5.5
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hooks:
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- id: insert-license
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types_or: [python, cmake, shell]
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name: Copyright headers for Python/CMake
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args: [
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--license-filepath, .config/copyright.txt,
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--comment-style, '#',
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--allow-past-years,
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--no-extra-eol,
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]
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- id: insert-license
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types_or: [c++, c]
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name: Copyright headers for C/C++
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args: [
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--license-filepath, .config/copyright.txt,
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--comment-style, '//',
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--allow-past-years,
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]

‎.ruff.toml‎

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line-length = 120
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indent-width = 4
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[format]
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preview = true
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quote-style = "single"
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indent-style = "space"
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skip-magic-trailing-comma = false
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line-ending = "lf"
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[lint]
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select = ["E4", "E7", "E9", "F", "I"]
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# Rules intended for future application
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# select = ["N", "D", "C90", "PTH", "UP", "PERF", "RUF"]
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ignore = []
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fixable = ["ALL"]
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unfixable = []
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dummy-variable-rgx = "^(_+|(_+[a-zA-Z0-9_]*[a-zA-Z0-9]+?))$"

‎CHANGELOG.md‎

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# Release Notes
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3-
## v0.1.0
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## v0.0.0
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__INITIAL RELEASE__
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### Features

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