made ros2 compatible version

.clang-format

@@ -1,77 +1,88 @@
 ---
-# 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
-ColumnLimit:     0
+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
-PointerAlignment: Left
+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/workflows/clang-format-checker.yml

@@ -1,8 +1,13 @@
 name: Check C++ code format with clang-format
 
 on:
+  push:
+    branches: [ main ]
+  workflow_dispatch:
+
   pull_request:
-    branches: [main]
+    types: [opened, reopened]
+    branches: [ main ]
 
 jobs:
   clang-format:

.github/workflows/clang-formatter.yml

@@ -2,9 +2,12 @@ name: Format C++ code with clang-format
 
 on:
   push:
-    branches: [main]
-  # pull_request:
-  #   branches: [main]
+    branches: [ main ]
+  workflow_dispatch:
+
+  pull_request:
+    types: [opened, reopened]
+    branches: [ main ]
 
 jobs:
   clang-format:

.github/workflows/docker-publish.yml

@@ -3,7 +3,12 @@ name: Publish Docker image to GHCR
 on:
   push:
     branches: [ main ]
+  workflow_dispatch:
 
+  pull_request:
+    types: [opened, reopened]
+    branches: [ main ]
+
 env:
   REGISTRY: ghcr.io
   IMAGE_NAME: ${{ github.repository }}
@@ -19,24 +24,6 @@ jobs:
       - name: Checkout own repository
         uses: actions/checkout@v3
 
-      # vortex_msgs needs to be in the same location as the rest of the vortex-auv packages
-      - name: Checkout vortex_msgs
-        uses: actions/checkout@v3
-        with:
-          repository: 'vortexntnu/vortex-msgs'
-          path: './vortex-msgs'  
-      - name: Move vortex_msgs
-        run: mv ./vortex-msgs ../vortex-msgs
-
-      # robot_localization needs to be in the same location as the rest of the vortex-auv packages  
-      - name: Checkout robot_localization
-        uses: actions/checkout@v3
-        with:
-          repository: 'vortexntnu/robot_localization'
-          path: './robot_localization'   
-      - name: Move robot_localization
-        run: mv ./robot_localization ../robot_localization
-
       - name: Log in to the Container registry
         uses: docker/login-action@f054a8b539a109f9f41c372932f1ae047eff08c9
         with:

.github/workflows/python-format-checker.yml

@@ -1,8 +1,13 @@
 name: Check format of python code with black
 
 on:
+  push:
+    branches: [ main ]
+  workflow_dispatch:
+
   pull_request:
-    branches: [main]
+    types: [opened, reopened]
+    branches: [ main ]
 
 jobs:
   lint:

.github/workflows/python-formatter.yml

@@ -2,8 +2,12 @@ name: Format python code with black
 
 on:
   push:
-    branches: [main]
+    branches: [ main ]
+  workflow_dispatch:
 
+  pull_request:
+    types: [opened, reopened]
+    branches: [ main ]
 
 jobs:
   lint:

.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"]