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YevgeniyEngineerYevgeniyEngineer
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Added Dev container and clang format, restructured folder to follow the ROS structure
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‎.clang-format‎

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BasedOnStyle: LLVM
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IndentWidth: 4
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ColumnLimit: 120

‎.devcontainer/Dockerfile‎

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# Use an official ROS1 environment as a parent image
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FROM ros:noetic-robot
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# Set the default shell to bash
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SHELL ["/bin/bash", "-c"]
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# Set a non-interactive shell to avoid stuck prompts during build
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ARG DEBIAN_FRONTEND=noninteractive
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# Update package lists and install only necessary packages
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RUN apt-get update && apt-get install -y \
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build-essential \
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cmake \
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git \
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sudo \
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lsb-release \
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gnupg2 \
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net-tools \
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clang-format \
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clangd \
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gdb \
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libpcl-dev \
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libopencv-dev \
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python3-pip \
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ros-noetic-catkin \
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ros-noetic-pcl-ros \
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ros-noetic-grid-map \
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python3-catkin-tools \
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&& apt-get clean \
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&& rm -rf /var/lib/apt/lists/*
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# Install cmake-format via pip
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RUN pip3 install cmake-format
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# Add a user for the development environment
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ARG USERNAME=devuser
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ARG USER_UID=1000
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ARG USER_GID=$USER_UID
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# Create user with specified home directory
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RUN groupadd --gid $USER_GID $USERNAME || echo "Group $USERNAME already exists"
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RUN useradd --uid $USER_UID --gid $USER_GID --create-home --home-dir /home/$USERNAME $USERNAME || echo "User $USERNAME already exists"
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RUN echo "$USERNAME ALL=(root) NOPASSWD:ALL" > /etc/sudoers.d/$USERNAME
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RUN chmod 0440 /etc/sudoers.d/$USERNAME
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# Set the working directory
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WORKDIR /home/$USERNAME/workspace
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# Setup ROS1 environment in the bashrc for interactive bash shells
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RUN echo "source /opt/ros/noetic/setup.bash" >> /home/$USERNAME/.bashrc
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# Setup GUI forwarding with the correct DISPLAY setting
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RUN echo "export DISPLAY=:1" >> /home/$USERNAME/.bashrc
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# Command to run on container start
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CMD ["/bin/bash"]

‎.devcontainer/devcontainer.json‎

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{
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"name": "GroundGrid",
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"privileged": true,
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"build": {
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"dockerfile": "Dockerfile",
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"args": {
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"USER_UID": "1000",
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"USER_GID": "1000"
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}
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},
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"containerEnv": {
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"DISPLAY": "unix:1",
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"ROS_AUTOMATIC_DISCOVERY_RANGE": "LOCALHOST",
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"ROS_DOMAIN_ID": "0"
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},
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"runArgs": [
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"--gpus",
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"all",
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"--runtime=nvidia",
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"--net",
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"host",
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"--privileged",
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"--env=DISPLAY=:1",
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"--volume=/tmp/.X11-unix:/tmp/.X11-unix:rw"
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],
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"remoteUser": "devuser",
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"workspaceFolder": "/home/devuser/workspace/groundgrid",
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"mounts": [
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{
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"source": "${env:HOME}/workspace",
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"target": "/home/devuser/workspace",
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"type": "bind"
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}
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],
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"postCreateCommand": "bash -c 'source /opt/ros/noetic/setup.bash'",
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"customizations": {
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"vscode": {
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"extensions": [
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"ms-iot.vscode-ros",
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"ms-python.black-formatter",
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"ms-python.vscode-pylance",
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"ms-python.python",
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"ms-python.debugpy",
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"xaver.clang-format",
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"eamodio.gitlens",
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"twxs.cmake",
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"ClemensPeters.format-json",
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"DavidAnson.vscode-markdownlint",
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"redhat.vscode-xml",
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"redhat.vscode-yaml",
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"mechatroner.rainbow-csv",
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"llvm-vs-code-extensions.vscode-clangd"
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],
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"settings": {
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"terminal.integrated.defaultProfile.linux": "bash",
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"C_Cpp.clang_format_style": "file",
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"C_Cpp.default.cppStandard": "c++17",
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"C_Cpp.default.cStandard": "c11",
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"C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools",
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"C_Cpp.default.browse.path": [
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"${workspaceFolder}"
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],
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"C_Cpp.errorSquiggles": "enabled",
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"[c]": {
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"editor.formatOnSave": true,
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"editor.defaultFormatter": "xaver.clang-format"
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},
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"[cpp]": {
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"editor.formatOnSave": true,
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"editor.defaultFormatter": "xaver.clang-format"
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},
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"[python]": {
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"editor.formatOnSave": true,
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"editor.defaultFormatter": "ms-python.black-formatter"
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},
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"[yaml]": {
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"editor.formatOnSave": true,
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"editor.defaultFormatter": "redhat.vscode-yaml"
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},
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"[json]": {
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"editor.formatOnSave": true,
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"editor.defaultFormatter": "ClemensPeters.format-json"
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},
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"[xml]": {
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"editor.formatOnSave": true,
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"editor.defaultFormatter": "redhat.vscode-xml"
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},
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"files.trimTrailingWhitespace": true,
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"files.insertFinalNewline": true,
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"terminal.integrated.scrollback": 10000
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}
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}
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}
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}

‎.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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# Build
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build
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# Clang-format index
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.cache
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# ROS
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.catkin_tools
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devel
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logs

‎.vscode/c_cpp_properties.json‎

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{
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"configurations": [
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{
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"name": "Linux",
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"includePath": [
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"${default}",
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"${workspaceFolder}/**",
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"/usr/local/include/**",
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"/opt/ros/noetic/include/**",
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"/opt/ros/noetic/include/rclcpp/**",
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"/opt/ros/noetic/include/sensor_msgs/**",
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"/opt/ros/noetic/include/visualization_msgs/**"
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],
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"defines": [],
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"compilerPath": "/usr/bin/g++",
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"intelliSenseMode": "linux-gcc-x64",
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"configurationProvider": "ms-vscode.cmake-tools",
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"cStandard": "c11",
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"cppStandard": "c++17",
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"compileCommands": "${workspaceFolder}/build/compile_commands.json"
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}
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],
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"version": 4
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}

‎.vscode/settings.json‎

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{
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"files.associations": {
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"cctype": "cpp",
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"clocale": "cpp",
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"cmath": "cpp",
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"cstdarg": "cpp",
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"cstddef": "cpp",
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"cstdio": "cpp",
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"cstdlib": "cpp",
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"cstring": "cpp",
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"ctime": "cpp",
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"cwchar": "cpp",
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"cwctype": "cpp",
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"array": "cpp",
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"atomic": "cpp",
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"bit": "cpp",
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"*.tcc": "cpp",
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"bitset": "cpp",
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"chrono": "cpp",
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"compare": "cpp",
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"complex": "cpp",
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"concepts": "cpp",
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"condition_variable": "cpp",
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"cstdint": "cpp",
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"deque": "cpp",
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"forward_list": "cpp",
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"list": "cpp",
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"map": "cpp",
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"set": "cpp",
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"string": "cpp",
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"unordered_map": "cpp",
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"unordered_set": "cpp",
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"vector": "cpp",
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"exception": "cpp",
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"algorithm": "cpp",
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"functional": "cpp",
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"iterator": "cpp",
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"memory": "cpp",
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"memory_resource": "cpp",
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"numeric": "cpp",
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"optional": "cpp",
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"random": "cpp",
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"ratio": "cpp",
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"string_view": "cpp",
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"system_error": "cpp",
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"tuple": "cpp",
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"type_traits": "cpp",
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"utility": "cpp",
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"fstream": "cpp",
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"initializer_list": "cpp",
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"iomanip": "cpp",
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"iosfwd": "cpp",
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"iostream": "cpp",
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"istream": "cpp",
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"limits": "cpp",
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"mutex": "cpp",
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"new": "cpp",
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"numbers": "cpp",
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"ostream": "cpp",
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"semaphore": "cpp",
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"sstream": "cpp",
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"stdexcept": "cpp",
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"stop_token": "cpp",
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"streambuf": "cpp",
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"thread": "cpp",
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"cinttypes": "cpp",
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"typeindex": "cpp",
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"typeinfo": "cpp",
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"strstream": "cpp",
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"codecvt": "cpp",
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"future": "cpp",
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"shared_mutex": "cpp",
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"cfenv": "cpp",
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"variant": "cpp",
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"any": "cpp",
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"*.txx": "cpp",
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"valarray": "cpp"
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},
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"terminal.integrated.env.linux": {
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"CMAKE_PREFIX_PATH": "/opt/ros/noetic:$CMAKE_PREFIX_PATH",
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"LD_LIBRARY_PATH": "/opt/ros/noetic/lib:$LD_LIBRARY_PATH"
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},
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"search.exclude": {
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"**/build": true,
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"**/install": true,
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"**/log": true
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},
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"ros.rosSetupScript": "/opt/ros/noetic/setup.bash",
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"python.autoComplete.extraPaths": [
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"/opt/ros/noetic/lib/python3/dist-packages/"
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],
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"python.analysis.extraPaths": [
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"/opt/ros/noetic/lib/python3/dist-packages/"
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],
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"clangd.path": "/usr/bin/clangd",
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"clangd.checkUpdates": false,
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"C_Cpp.autocomplete": "disabled",
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"C_Cpp.intelliSenseEngine": "disabled",
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"C_Cpp.errorSquiggles": "disabled",
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"C_Cpp.formatting": "disabled",
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"C_Cpp.intelliSenseEngineFallback": "disabled",
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"C_Cpp.configurationWarnings": "disabled",
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"C_Cpp.vcpkg.enabled": false,
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"C_Cpp.inlayHints.parameterNames.enabled": false,
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"C_Cpp.autoAddFileAssociations": false,
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"C_Cpp.codeAnalysis.runAutomatically": false,
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"C_Cpp.default.enableConfigurationSquiggles": false
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}

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