Implements liboculus as a hybrid ROS1-ROS2 package.

.github/dependabot.yml

@@ -0,0 +1,6 @@
+version: 2
+updates:
+  - package-ecosystem: github-actions
+    directory: "/"
+    schedule:
+      interval: "weekly"

.github/mergify.yml

@@ -0,0 +1,18 @@
+pull_request_rules:
+
+  - name: ask to resolve conflict
+    conditions:
+      - conflict
+      - author!=mergify[bot]
+    actions:
+        comment:
+          message: This pull request is in conflict. Could you fix it @{{author}}?
+
+  - name: development targets main branch
+    conditions:
+      - base!=main
+      - author!=mergify[bot]
+    actions:
+        comment:
+          message: |
+            Please target the `main` branch for development, we will backport the changes to {{base}} for you if approved and if they don't break API.

.github/workflows/ci.yaml

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+name: ROS Industrial CI
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  industrial-ci:
+    name: Run Industrial CI
+
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distro: ["noetic", "kilted", "rolling"]
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Run ROS Industrial CI
+        uses: ros-industrial/industrial_ci@master
+        environment:
+          CI_ROS_DISTRO: ${{ matrix.ros_distro }}
+          UPSTREAM_WORKSPACE: liboculus.repos

.github/workflows/format.yaml

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+name: Formatting (pre-commit)
+
+on:
+  pull_request:
+  push:
+    branches:
+      - main
+  workflow_dispatch:
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.10"
+
+      - name: Install clang-format-14
+        run: sudo apt-get install clang-format-14
+
+      - name: Run pre-commit
+        uses: pre-commit/[email protected]
+        id: precommit
+
+      - name: Upload pre-commit changes
+        if: failure() && steps.precommit.outcome == 'failure'
+        uses: rhaschke/upload-git-patch-action@main
+        with:
+          name: pre-commit

.pre-commit-config.yaml

@@ -1,41 +1,43 @@
-# See https://pre-commit.com for more information
-# See https://pre-commit.com/hooks.html for more hooks
 repos:
--   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v3.2.0
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.12.3
     hooks:
-    -   id: check-added-large-files
-    -   id: check-json
-    -   id: check-merge-conflict
-    -   id: check-xml
-    -   id: check-yaml
-    -   id: end-of-file-fixer
-    -   id: mixed-line-ending
-    -   id: trailing-whitespace
+      # Run the linter
+      - id: ruff-check
+        args: ["--fix", "--exit-non-zero-on-fix"]
+      # Run the formatter.
+      - id: ruff-format
 
--   repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v15.0.4
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v20.1.7
     hooks:
     -   id: clang-format
-        # Respect .clang-format if it exists, otherwise use Google
-        args: ["--fallback-style=Google"]
+        types_or: [c++, c]
 
-# -   repo: https://gitlab.com/daverona/pre-commit/cpp
-#     rev: 0.8.0
-#     hooks:
-#     -   id: cpplint
-#         args: ["--filter=-build/include_order,-readability/todo"]
-
--   repo: https://github.com/psf/black
-    rev: 22.12.0
+  # CMake formatter
+  - repo: https://github.com/BlankSpruce/gersemi
+    rev: 0.19.3
     hooks:
-    -   id: black
-        # For now, no configuration. May want "--line-length 80"
--   repo: https://github.com/PyCQA/flake8
-    rev: 6.0.0
+    - id: gersemi
+
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
     hooks:
-    -   id: flake8
-        # pep8-naming catches camel_case violations
-        additional_dependencies: [pep8-naming, flake8-bugbear, flake8-comprehensions]
-        # formatting handles line-length, no reason for linter to also flag.
-        args: [--ignore, E501]
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-executables-have-shebangs
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-shebang-scripts-are-executable
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: fix-byte-order-marker
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        args: [--markdown-linebreak-ext=md]