Initial commit

.editorconfig

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+root = true
+
+[*]
+charset = utf-8
+end_of_line = lf
+indent_style = space
+indent_size = 2
+insert_final_newline = true
+trim_trailing_whitespace = true
+
+[*.md]
+indent_size = 4
+trim_trailing_whitespace = false
+
+[*.py]
+indent_size = 4

.github/PULL_REQUEST_TEMPLATE.md

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+## PR Type
+
+<!-- Select one and remove others. If an appropriate one is not listed, please write by yourself. -->
+
+- New Feature
+- Improvement
+- Bug Fix
+
+## Related Links
+
+<!-- Please write related links to GitHub/Jira/Slack/etc. -->
+
+## Description
+
+<!-- Describe what this PR changes. -->
+
+## Review Procedure
+
+<!-- Explain how to review this PR. -->
+
+## Remarks
+
+<!-- Write remarks as you like if you need them. -->
+
+## Pre-Review Checklist for the PR Author
+
+**PR Author should check the checkboxes below when creating the PR.**
+
+- [ ] Assign PR to reviewer
+
+## Checklist for the PR Reviewer
+
+**Reviewers should check the checkboxes below before approval.**
+
+- [ ] Commits are properly organized and messages are according to the guideline
+- [ ] (Optional) Unit tests have been written for new behavior
+- [ ] PR title describes the changes
+
+## Post-Review Checklist for the PR Author
+
+**PR Author should check the checkboxes below before merging.**
+
+- [ ] All open points are addressed and tracked via issues or tickets
+
+## CI Checks
+
+- **Build and test for PR**: Required to pass before the merge.

.github/dependabot.yml

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+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    directory: "/" # Location of package manifests
+    schedule:
+      interval: "daily"

.github/workflows/build-and-test.yml

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+name: Build and test
+
+on:
+  pull_request:
+  push:
+    branches:
+      - main
+  workflow_dispatch:
+
+jobs:
+  build-and-test:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distribution:
+          - foxy
+          - galactic
+
+        include:
+          # Foxy Fitzroy (June 2020 - May 2023)
+          - docker_image: ubuntu:focal
+            ros_distribution: foxy
+
+          # Galactic Geochelone (May 2021 - November 2022)
+          - docker_image: ubuntu:focal
+            ros_distribution: galactic
+
+    container:
+      image: ${{ matrix.docker_image }}
+
+    steps:
+      - name: Check out repo
+        uses: actions/checkout@v2
+        with:
+          fetch-depth: 2 # https://github.com/codecov/codecov-action/issues/190#issuecomment-790729633
+
+      - name: Setup ROS environment
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ matrix.ros_distribution }}
+
+      - name: Search packages in this repository
+        id: list_packages
+        run: |
+          echo ::set-output name=package_list::$(colcon list --names-only)
+
+      - name: Run action-ros-ci
+        id: action_ros_ci_step
+        uses: ros-tooling/[email protected]
+        with:
+          package-name: ${{ steps.list_packages.outputs.package_list }}
+          target-ros2-distro: ${{ matrix.ros_distribution }}
+          # Set following option if you need.
+          # vcs-repo-file-url: build_depends.repos
+          # import-token: ${{ secrets.REPO_TOKEN }}
+          colcon-defaults: |
+            {
+              "build": {
+                "mixin": ["coverage-gcc", "coverage-pytest"]
+              },
+              "test": {
+                "mixin": ["coverage-pytest"]
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/1ddb69bedfd1f04c2f000e95452f7c24a4d6176b/index.yaml

.github/workflows/codeql-analysis.yml

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+# For most projects, this workflow file will not need changing; you simply need
+# to commit it to your repository.
+#
+# You may wish to alter this file to override the set of languages analyzed,
+# or to provide custom queries or build logic.
+#
+# ******** NOTE ********
+# We have attempted to detect the languages in your repository. Please check
+# the `language` matrix defined below to confirm you have the correct set of
+# supported CodeQL languages.
+#
+name: "CodeQL"
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    # The branches below must be a subset of the branches above
+    branches: [ main ]
+  schedule:
+    - cron: "0 19 * * 0" # run at Sun 4 AM JST
+
+jobs:
+  analyze:
+    name: Analyze
+    runs-on: ubuntu-latest
+    permissions:
+      actions: read
+      contents: read
+      security-events: write
+
+    strategy:
+      fail-fast: false
+      matrix:
+        language: [ 'cpp', 'python' ]
+        ros_distribution: [ 'foxy', 'galactic' ]
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v2
+
+    # Initializes the CodeQL tools for scanning.
+    - name: Initialize CodeQL
+      uses: github/codeql-action/init@v1
+      with:
+        languages: ${{ matrix.language }}
+
+    - name: Setup ROS environment
+      uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: ${{ matrix.ros_distribution }}
+
+    - name: Search packages in this repository
+      id: list_packages
+      run: |
+        echo ::set-output name=package_list::$(colcon list --names-only)
+
+    - name: Run action-ros-ci
+      id: action_ros_ci_step
+      uses: ros-tooling/[email protected]
+      with:
+        package-name: ${{ steps.list_packages.outputs.package_list }}
+        target-ros2-distro: ${{ matrix.ros_distribution }}
+        # Set following option if you need.
+        # vcs-repo-file-url: build_depends.repos
+        # import-token: ${{ secrets.REPO_TOKEN }}
+
+    - name: Perform CodeQL Analysis
+      uses: github/codeql-action/analyze@v1

.gitignore

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+install/
+log/
+build/
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+*~
+
+# Emacs
+.#*