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‎.clang-format‎

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BasedOnStyle: LLVM

‎.github/workflows/cpp-formatter.yml‎

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name: C++ Formatting Check
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on: [push, pull_request]
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jobs:
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cpp_formatter:
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runs-on: ubuntu-latest
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steps:
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- name: Checkout code
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uses: actions/checkout@v4
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- name: Clang Formatter
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uses: DoozyX/clang-format-lint-action@v0.18.1
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with:
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clangFormatVersion: 14
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source: "src"

‎.github/workflows/mkdocs.yml‎

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name: ci
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on:
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push:
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branches:
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- main
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permissions:
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contents: write
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jobs:
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deploy:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v3
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- uses: actions/setup-python@v4
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with:
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python-version: 3.x
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- run: echo "cache_id=$(date --utc '+%V')" >> $GITHUB_ENV
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- uses: actions/cache@v3
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with:
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key: mkdocs-material-${{ env.cache_id }}
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path: .cache
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restore-keys: |
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mkdocs-material-
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- run: sudo apt-get -y install doxygen
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- run: pip install mkdocs-material
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- run: pip install mkdoxy
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- run: mkdocs gh-deploy --force

‎.github/workflows/ros2_build_ros2_debian_package.yml‎

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name: Build Debian Packages (ROS2 Jazzy)
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on:
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workflow_dispatch:
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release:
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types: [created]
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jobs:
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build-debian-packages:
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runs-on: ubuntu-latest
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env:
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GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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steps:
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- name: Install required packages
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run: sudo apt-get update && sudo apt-get install libsdl2-dev -y
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- name: Checkout this repository
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uses: actions/checkout@v2.3.4
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- name: Build Debian packages
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uses: ichiro-its/ros2-build-debian-action@main
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with:
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ros2-distro: jazzy
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- name: Upload Release Asset
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env:
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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run: |
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REPO_FULL=$(gh repo view --json nameWithOwner --jq .nameWithOwner)
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TAG_NAME=$(gh release view --repo "$REPO_FULL" --json tagName --jq ".tagName")
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gh release upload "$TAG_NAME" package/*.deb --repo "$REPO_FULL"

‎.github/workflows/ros2_jazzy_code_compiles.yml‎

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name: ros2_jazzy_code_compiles
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on:
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push:
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branches: ["main"]
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pull_request:
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branches: ["main"]
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workflow_dispatch: {}
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jobs:
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build:
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# The CMake configure and build commands are platform agnostic and should work equally well on Windows or Mac.
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# You can convert this to a matrix build if you need cross-platform coverage.
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# See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
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runs-on: ubuntu-24.04
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steps:
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- uses: actions/checkout@v3
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- uses: ros-tooling/setup-ros@v0.7
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with:
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required-ros-distributions: jazzy
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- name: Install required packages
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# To compile and run the code we require cmake, ninja and opencv
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run: sudo apt-get update && sudo apt-get install build-essential cmake ninja-build ros-jazzy-diagnostic-updater libsdl2-dev
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- name: Install dependencies
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working-directory: ${{ github.workspace }}
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run: |
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sudo rosdep init || true
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rosdep update --rosdistro=jazzy
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- name: Colcon build
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working-directory: ${{ github.workspace }}
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run: |
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source /opt/ros/jazzy/setup.bash
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colcon build

‎.github/workflows/ros2_jazzy_code_compiles_windows.yml‎

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name: ROS2 Jazzy with Pixi on Windows
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on:
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push:
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branches:
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- main
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pull_request:
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jobs:
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build:
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runs-on: windows-latest
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steps:
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- name: Checkout Repository
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uses: actions/checkout@v4
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- name: Setup Pixi
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uses: prefix-dev/setup-pixi@v0.8.3
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- name: Run colcon build (Release Mode)
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shell: cmd
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run: pixi run build
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‎.github/workflows/ros2_jazzy_conda_package_linux.yml‎

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name: Create ROS2 Jazzy package on Linux
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on:
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workflow_dispatch:
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release:
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types: [created]
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jobs:
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build:
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runs-on: ubuntu-latest
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steps:
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- name: Checkout Repository
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uses: actions/checkout@v4
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- name: Install Pixi
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uses: prefix-dev/setup-pixi@v0.8.3
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- name: Build package with Pixi
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env:
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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shell: pixi run bash -e {0}
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run: |
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source rattler/set_build_var.sh
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rattler-build build --recipe rattler/recipe.yaml -c conda-forge -c https://prefix.dev/robostack-jazzy --package-format tar-bz2
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- name: Upload Release Asset
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env:
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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run: |
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REPO_FULL=$(gh repo view --json nameWithOwner --jq .nameWithOwner)
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TAG_NAME=$(gh release view --repo "$REPO_FULL" --json tagName --jq ".tagName")
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gh release upload "$TAG_NAME" output/linux-64/ros-jazzy-*.tar.bz2 --repo "$REPO_FULL"
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‎.github/workflows/ros2_jazzy_conda_package_win.yml‎

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name: Create ROS2 Jazzy package on Windows
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on:
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workflow_dispatch:
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release:
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types: [created]
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jobs:
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build:
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runs-on: windows-latest
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steps:
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- name: Checkout Repository
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uses: actions/checkout@v4
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- name: Install Pixi
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uses: prefix-dev/setup-pixi@v0.8.3
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- name: Build package with Pixi (Windows)
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env:
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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shell: pwsh
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run: |
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rattler/set_build_var.ps1
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pixi run rattler-build build --recipe rattler/recipe.yaml -c conda-forge -c https://prefix.dev/robostack-jazzy --package-format tar-bz2
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- name: Upload Windows Conda Package to GitHub Release
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env:
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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shell: pwsh
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run: |
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$ErrorActionPreference = "Stop"
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$repo = (gh repo view --json nameWithOwner | ConvertFrom-Json).nameWithOwner
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$tag = gh release view --repo $repo --json tagName --jq ".tagName"
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$pkg = Get-ChildItem "output/win-64/ros-jazzy-*.tar.bz2" |
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Where-Object { $_.Extension -in ".bz2", ".conda" } |
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Sort-Object LastWriteTime -Descending |
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Select-Object -First 1
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if (-not $pkg) {
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Write-Error "❌ No conda package found in win-64."
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}
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if ($pkg.Name -like "*.tar.bz2") {
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$renamed = $pkg.FullName -replace '\.tar.bz2$', '-win.tar.bz2'
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Copy-Item $pkg.FullName $renamed
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} else {
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$renamed = $pkg.FullName
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}
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gh release upload $tag $renamed --repo $repo --clobber

‎.gitignore‎

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# Prerequisites
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*.d
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# Compiled Object files
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*.slo
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*.lo
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*.o
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*.obj
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# Precompiled Headers
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*.gch
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*.pch
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# Compiled Dynamic libraries
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*.so
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*.dylib
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*.dll
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# Fortran module files
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*.mod
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*.smod
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# Compiled Static libraries
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*.lai
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*.la
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*.a
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*.lib
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# Executables
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*.exe
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*.out
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*.app
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# ROS2 build folders
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build/
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install/
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log/
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# Rattler build folders
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output/
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# IDE folders
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.vscode/
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# Pixi artifacts
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pixi.lock
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.pixi/

‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.1...3.14)
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project(custom_pkg C CXX)
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(builtin_interfaces REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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find_package(std_msgs REQUIRED)
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rosidl_generate_interfaces(${PROJECT_NAME}
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msg/Custom.msg
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DEPENDENCIES std_msgs
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)
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ament_export_dependencies(rosidl_default_runtime)
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rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
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add_executable(custom_node src/custom_node.cpp)
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ament_target_dependencies(custom_node
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rclcpp
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std_msgs
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)
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target_link_libraries(custom_node "${cpp_typesupport_target}")
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if(UNIX AND NOT APPLE) # Linux only
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target_compile_options(custom_node PRIVATE -Wall)
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endif()
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install(TARGETS
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custom_node
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DESTINATION lib/${PROJECT_NAME})
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ament_package()

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