Initial commit of t07_ros code.

.github/dependabot.yml

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+# See: https://docs.github.com/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file#about-the-dependabotyml-file
+version: 2
+
+updates:
+  # Configure check for outdated GitHub Actions actions in workflows.
+  # Source: https://github.com/arduino/tooling-project-assets/blob/main/workflow-templates/assets/dependabot/README.md
+  # See: https://docs.github.com/code-security/dependabot/working-with-dependabot/keeping-your-actions-up-to-date-with-dependabot
+  - package-ecosystem: github-actions
+    directory: / # Check the repository's workflows under /.github/workflows/
+    schedule:
+      interval: daily
+    labels:
+      - "topic: ci"

.github/workflows/ros2.yml

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+name: ros2
+
+on:
+  push:
+    paths:
+      - ".github/workflows/ros2.yml"
+      - "include/**"
+      - "launch/**"
+      - "src/**"
+      - "CMakeLists.txt"
+      - "package.xml"
+  pull_request:
+    paths:
+      - ".github/workflows/ros2.yml"
+      - "include/**"
+      - "launch/**"
+      - "src/**"
+      - "CMakeLists.txt"
+      - "package.xml"
+
+env:
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    name: Build on ros2 ${{ matrix.ros_distro }}
+    runs-on: ubuntu-22.04
+    strategy:
+      matrix:
+        ros_distro: [ humble ]
+
+    steps:   
+    - uses: ros-tooling/setup-ros@v0.7
+      with:
+        required-ros-distributions: ${{ matrix.ros_distro }}
+
+    - name: Setup ros2 workspace
+      run: | 
+        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
+        mkdir -p ${{github.workspace}}/ros2_ws/src
+        cd ${{github.workspace}}/ros2_ws
+        colcon build
+        
+    - uses: actions/checkout@v4
+      with:
+        path: 'ros2_ws/src/t07_ros'
+
+    - name: colcon build
+      run: |
+        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
+        cd ${{github.workspace}}/ros2_ws
+        colcon build --event-handlers console_direct+

.github/workflows/spell-check.yml

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+# Source: https://github.com/per1234/.github/blob/main/workflow-templates/spell-check.md
+name: Spell Check
+
+# See: https://docs.github.com/en/actions/reference/events-that-trigger-workflows
+on:
+  push:
+  pull_request:
+  schedule:
+    # Run every Tuesday at 8 AM UTC to catch new misspelling detections resulting from dictionary updates.
+    - cron: "0 8 * * TUE"
+  workflow_dispatch:
+  repository_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  spellcheck:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Spell check
+        uses: codespell-project/actions-codespell@master

.github/workflows/sync-labels.yml

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+# Source: https://github.com/arduino/tooling-project-assets/blob/main/workflow-templates/sync-labels.md
+name: Sync Labels
+
+# See: https://docs.github.com/en/actions/reference/events-that-trigger-workflows
+on:
+  push:
+    paths:
+      - ".github/workflows/sync-labels.ya?ml"
+      - ".github/label-configuration-files/*.ya?ml"
+  pull_request:
+    paths:
+      - ".github/workflows/sync-labels.ya?ml"
+      - ".github/label-configuration-files/*.ya?ml"
+  schedule:
+    # run every Tuesday at 3 AM UTC
+    - cron: "0 3 * * 2"
+  workflow_dispatch:
+  repository_dispatch:
+
+env:
+  CONFIGURATIONS_FOLDER: .github/label-configuration-files
+  CONFIGURATIONS_ARTIFACT: label-configuration-files
+
+jobs:
+  check:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Download JSON schema for labels configuration file
+        id: download-schema
+        uses: carlosperate/download-file-action@v2.0.1
+        with:
+          file-url: https://raw.githubusercontent.com/arduino/tooling-project-assets/main/workflow-templates/assets/sync-labels/arduino-tooling-gh-label-configuration-schema.json
+          location: ${{ runner.temp }}/label-configuration-schema
+
+      - name: Install JSON schema validator
+        run: |
+          sudo npm install \
+            --global \
+            ajv-cli \
+            ajv-formats
+
+      - name: Validate local labels configuration
+        run: |
+          # See: https://github.com/ajv-validator/ajv-cli#readme
+          ajv validate \
+            --all-errors \
+            -c ajv-formats \
+            -s "${{ steps.download-schema.outputs.file-path }}" \
+            -d "${{ env.CONFIGURATIONS_FOLDER }}/*.{yml,yaml}"
+
+  download:
+    needs: check
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        filename:
+          # Filenames of the shared configurations to apply to the repository in addition to the local configuration.
+          # https://github.com/107-systems/.github/blob/main/workflow-templates/assets/sync-labels
+          - universal.yml
+
+    steps:
+      - name: Download
+        uses: carlosperate/download-file-action@v2.0.1
+        with:
+          file-url: https://raw.githubusercontent.com/107-systems/.github/main/workflow-templates/assets/sync-labels/${{ matrix.filename }}
+
+      - name: Pass configuration files to next job via workflow artifact
+        uses: actions/upload-artifact@v3
+        with:
+          path: |
+            *.yaml
+            *.yml
+          if-no-files-found: error
+          name: ${{ env.CONFIGURATIONS_ARTIFACT }}
+
+  sync:
+    needs: download
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Set environment variables
+        run: |
+          # See: https://docs.github.com/en/actions/reference/workflow-commands-for-github-actions#setting-an-environment-variable
+          echo "MERGED_CONFIGURATION_PATH=${{ runner.temp }}/labels.yml" >> "$GITHUB_ENV"
+
+      - name: Determine whether to dry run
+        id: dry-run
+        if: >
+          github.event == 'pull_request' ||
+          github.ref != format('refs/heads/{0}', github.event.repository.default_branch)
+        run: |
+          # Use of this flag in the github-label-sync command will cause it to only check the validity of the
+          # configuration.
+          echo "::set-output name=flag::--dry-run"
+
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Download configuration files artifact
+        uses: actions/download-artifact@v3
+        with:
+          name: ${{ env.CONFIGURATIONS_ARTIFACT }}
+          path: ${{ env.CONFIGURATIONS_FOLDER }}
+
+      - name: Remove unneeded artifact
+        uses: geekyeggo/delete-artifact@v2
+        with:
+          name: ${{ env.CONFIGURATIONS_ARTIFACT }}
+
+      - name: Merge label configuration files
+        run: |
+          # Merge all configuration files
+          shopt -s extglob
+          cat "${{ env.CONFIGURATIONS_FOLDER }}"/*.@(yml|yaml) > "${{ env.MERGED_CONFIGURATION_PATH }}"
+
+      - name: Install github-label-sync
+        run: sudo npm install --global github-label-sync
+
+      - name: Sync labels
+        env:
+          GITHUB_ACCESS_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          # See: https://github.com/Financial-Times/github-label-sync
+          github-label-sync \
+            --labels "${{ env.MERGED_CONFIGURATION_PATH }}" \
+            ${{ steps.dry-run.outputs.flag }} \
+            ${{ github.repository }}

.gitignore

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+build
+log
+install
+**/__pycache__
+.vscode
+.idea/
+cmake-build-debug/

CMakeLists.txt

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+#######################################################################################
+cmake_minimum_required(VERSION 3.8)
+#######################################################################################
+project(t07_ros)
+set(T07_ROS_TARGET ${PROJECT_NAME}_node)
+#######################################################################################
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+#######################################################################################
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+#######################################################################################
+include_directories(
+  include
+)
+#######################################################################################
+add_executable(${T07_ROS_TARGET}
+  src/Node.cpp
+  src/main.cpp
+)
+#######################################################################################
+target_compile_features(${T07_ROS_TARGET} PRIVATE cxx_std_17)
+ament_target_dependencies(${T07_ROS_TARGET} rclcpp)
+#######################################################################################
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+#######################################################################################
+ament_package()
+#######################################################################################

LICENSE

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+MIT License
+
+Copyright (c) 2023 Alexander Entinger, MSc / LXRobotics GmbH
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

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+<a href="https://107-systems.org/"><img align="right" src="https://raw.githubusercontent.com/107-systems/.github/main/logo/107-systems.png" width="15%"></a>
+:floppy_disk: `t07_ros`
+=======================
+[![Build Status](https://github.com/107-systems/l3xz_joy/actions/workflows/ros2.yml/badge.svg)](https://github.com/107-systems/l3xz_joy/actions/workflows/ros2.yml)
+[![Spell Check status](https://github.com/107-systems/l3xz_joy/actions/workflows/spell-check.yml/badge.svg)](https://github.com/107-systems/l3xz_joy/actions/workflows/spell-check.yml)
+
+ROS control code for the [T07](https://github.com/107-systems/T07) robot.
+
+#### How-to-build
+```bash
+cd $COLCON_WS/src
+git clone https://github.com/107-systems/t07_ros
+cd $COLCON_WS
+source /opt/ros/humble/setup.bash
+colcon build --packages-select t07_ros
+```
+
+#### How-to-run
+```bash
+cd $COLCON_WS
+. install/setup.bash
+ros2 launch t07_ros t07.py
+```
+
+#### Interface Documentation
+##### Published Topics
+| Default name |                                      Type                                      |
+|:------------:|:------------------------------------------------------------------------------:|
+
+##### Parameters
+|                  Name                 |     Default      | Description                                                                                   |
+|:-------------------------------------:|:----------------:|-----------------------------------------------------------------------------------------------|

include/t07_ros/Node.h

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+/**
+ * Copyright (c) 2023 LXRobotics GmbH.
+ * Author: Alexander Entinger <alexander.entinger@lxrobotics.com>
+ * Contributors: https://github.com/107-systems/t07_ros/graphs/contributors.
+ */
+
+#pragma once
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <rclcpp/rclcpp.hpp>
+
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+namespace t07
+{
+
+/**************************************************************************************
+ * CLASS DECLARATION
+ **************************************************************************************/
+
+class Node : public rclcpp::Node
+{
+public:
+   Node();
+  ~Node();
+
+private:
+};
+
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+} /* t07 */

launch/t07.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+  return LaunchDescription([
+    Node(
+      package='t07_ros',
+      executable='t07_ros_node',
+      name='t07_ros',
+      namespace='t07',
+      output='screen',
+      emulate_tty=True,
+      parameters=[
+      ]
+    )
+  ])