merge upstream changes

Author: evan-palmer

.devcontainer/Dockerfile

@@ -71,8 +71,7 @@ WORKDIR $USER_WORKSPACE
 
 # Install debugging/linting Python packages
 RUN pip install \
-    pre-commit \
-    mypy
+    pre-commit
 
 # Install debugging/linting C++ packages
 RUN sudo apt-get -q update \

.dockerignore

@@ -3,11 +3,14 @@
 *
 
 # Except the following
-
+!auv_control_demos
+!auv_control_msgs
 !auv_controllers
-!velocity_controllers
+!controller_common
+!ik_solvers
 !thruster_allocation_matrix_controller
 !thruster_controllers
-!auv_control_msgs
-!auv_control_demos
+!topic_sensors
+!velocity_controllers
+!whole_body_controllers
 !ros2.repos

.github/ISSUE_TEMPLATE/bug-report.yml

@@ -1,7 +1,8 @@
 name: Bug Report
 description: Report a bug.
-title: "[BUG]: <Please write a descriptive title after the '[BUG]: ' prefix>"
-labels: [bug, needs triage]
+title: "<Please write a descriptive title>"
+labels: [needs triage]
+type: Bug
 
 body:
   - type: markdown

.github/ISSUE_TEMPLATE/documentation.yml

@@ -1,7 +1,8 @@
 name: Documentation Improvement
 description: Report an issue related to the project documentation.
-title: "[DOC]: <Please write a descriptive title after the '[DOC]: ' prefix>"
-labels: [documentation, needs triage]
+title: "<Please write a descriptive title>"
+labels: [needs triage]
+type: Documentation
 
 body:
   - type: markdown

.github/ISSUE_TEMPLATE/feature-request.yml

@@ -1,7 +1,8 @@
 name: Feature Request
 description: Suggest a new idea for the project.
-title: "[FEATURE]: <Please write a descriptive title after the '[FEATURE]: ' prefix>"
-labels: [enhancement, needs triage]
+title: "<Please write a descriptive title>"
+labels: [needs triage]
+type: Feature
 
 body:
   - type: markdown

.github/workflows/ci.yml

@@ -3,7 +3,7 @@ name: Continuous Integration
 on:
   push:
     branches:
-      - main
+      - jazzy
   pull_request:
   workflow_dispatch:
 
@@ -28,7 +28,7 @@ jobs:
         uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: ${{ matrix.env.ROS_DISTRO }}
-          CXXFLAGS: -Wall -Wextra -Wpedantic
+          CXXFLAGS: -Wall -Wextra -Wpedantic -std=c++20
           CLANG_TIDY: true
           UPSTREAM_WORKSPACE: ros2.repos
           AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src

.pre-commit-config.yaml

@@ -17,12 +17,12 @@ repos:
         types_or: [c++, c]
 
   - repo: https://github.com/BlankSpruce/gersemi
-    rev: 0.13.5
+    rev: 0.21.0
     hooks:
     - id: gersemi
 
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v5.0.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict

.ruff.toml

@@ -1 +1 @@
-target-version = "py310"
+target-version = "py312"

.vscode/c_cpp_properties.json

@@ -11,7 +11,7 @@
       "defines": [],
       "compilerPath": "/usr/bin/clang",
       "cStandard": "c99",
-      "cppStandard": "c++20",
+      "cppStandard": "c++23",
       "intelliSenseMode": "linux-clang-x64"
     }
   ],

.vscode/settings.json

@@ -3,10 +3,11 @@
     "*.repos": "yaml",
     "*.world": "xml",
     "*.xacro": "xml",
-    "*.srdf": "xml",
     "*.rviz": "yaml",
     "*.config": "xml",
-    "*.sdf": "xml"
+    "*.sdf": "xml",
+    "limits": "cpp",
+    "format": "cpp"
   },
   "terminal.integrated.defaultProfile.linux": "bash",
   "terminal.integrated.profiles.linux": {
@@ -20,6 +21,7 @@
   "files.trimTrailingWhitespace": true,
   "editor.formatOnSave": true,
   "editor.tabSize": 2,
+  "editor.detectIndentation": false,
   "autoDocstring.startOnNewLine": false,
   "autoDocstring.docstringFormat": "google-notypes",
   "python.autoComplete.extraPaths": [