diff --git a/.clang-format b/.clang-format
new file mode 100644
index 0000000..b41fae9
--- /dev/null
+++ b/.clang-format
@@ -0,0 +1,47 @@
+# Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+AllowShortFunctionsOnASingleLine: InlineOnly
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: true
+IncludeCategories:
+  # C++ system headers
+  - Regex: <[a-z_]*>
+    Priority: 6
+    CaseSensitive: true
+  # C system headers
+  - Regex: <.*\.h>
+    Priority: 5
+    CaseSensitive: true
+  # Boost headers
+  - Regex: boost/.*
+    Priority: 4
+    CaseSensitive: true
+  # Message headers
+  - Regex: .*_msgs/.*
+    Priority: 3
+    CaseSensitive: true
+  - Regex: .*_srvs/.*
+    Priority: 3
+    CaseSensitive: true
+  # Other Package headers
+  - Regex: <.*>
+    Priority: 2
+    CaseSensitive: true
+  # Local package headers
+  - Regex: '".*"'
+    Priority: 1
+    CaseSensitive: true
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
new file mode 100644
index 0000000..635f3cb
--- /dev/null
+++ b/.github/workflows/pre-commit.yaml
@@ -0,0 +1,21 @@
+name: pre-commit
+
+on:
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+
+      - name: Setup Python
+        uses: actions/setup-python@v3
+
+      - name: Run pre-commit
+        uses: pre-commit/action@v3.0.0
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 0000000..a1d3a49
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,51 @@
+ci:
+  autofix_commit_msg: "style(pre-commit): autofix"
+
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+      - id: check-merge-conflict
+      - id: check-yaml
+        args: [--unsafe]
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        args: [--markdown-linebreak-ext=md]
+
+  - repo: https://github.com/adrienverge/yamllint
+    rev: v1.30.0
+    hooks:
+      - id: yamllint
+
+  - repo: https://github.com/tier4/pre-commit-hooks-ros
+    rev: v0.8.0
+    hooks:
+      - id: prettier-xacro
+      - id: prettier-launch-xml
+      - id: prettier-package-xml
+      - id: ros-include-guard
+      - id: sort-package-xml
+
+  - repo: https://github.com/shellcheck-py/shellcheck-py
+    rev: v0.9.0.6
+    hooks:
+      - id: shellcheck
+
+  - repo: https://github.com/psf/black
+    rev: 24.1.1
+    hooks:
+      - id: black
+        args: [--line-length=100]
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v17.0.6
+    hooks:
+      - id: clang-format
+        types_or: [c++]
+
+  - repo: https://github.com/cpplint/cpplint
+    rev: 1.6.1
+    hooks:
+      - id: cpplint
+        args: [--quiet]
diff --git a/.yamllint.yaml b/.yamllint.yaml
new file mode 100644
index 0000000..2c7bd08
--- /dev/null
+++ b/.yamllint.yaml
@@ -0,0 +1,22 @@
+extends: default
+
+ignore: |
+  *.param.yaml
+
+rules:
+  braces:
+    level: error
+    max-spaces-inside: 1 # To format with Prettier
+  comments:
+    level: error
+    min-spaces-from-content: 1 # To be compatible with C++ and Python
+  document-start:
+    level: error
+    present: false # Don't need document start markers
+  line-length: disable # Delegate to Prettier
+  truthy:
+    level: error
+    check-keys: false # To allow 'on' of GitHub Actions
+  quoted-strings:
+    level: error
+    required: only-when-needed # To keep consistent style