add basic interface

.vscode/c_cpp_properties.json

@@ -0,0 +1,20 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/opt/ros/galactic/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "clang-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "c99",
+      "cppStandard": "c++17"
+    }
+  ],
+  "version": 4
+}

.vscode/cmake-format

@@ -0,0 +1,70 @@
+# -----------------------------
+# Options effecting formatting.
+# -----------------------------
+with section("format"):
+    line_width = 80
+    tab_size = 2
+    use_tabchars = False
+    fractional_tab_policy = 'round-up'
+    separate_ctrl_name_with_space = False
+    separate_fn_name_with_space = False
+    dangle_parens = True
+    dangle_align = 'prefix'
+    enable_sort = True
+
+# ----------------------------
+# Options affecting the linter
+# ----------------------------
+with section("lint"):
+
+    # a list of lint codes to disable
+    disabled_codes = ['C0113']
+
+    # regular expression pattern describing valid function names
+    function_pattern = '[0-9a-z_]+'
+
+    # regular expression pattern describing valid macro names
+    macro_pattern = '[0-9A-Z_]+'
+
+    # regular expression pattern describing valid names for variables with global
+    # (cache) scope
+    global_var_pattern = '[A-Z][0-9A-Z_]+'
+
+    # regular expression pattern describing valid names for variables with global
+    # scope (but internal semantic)
+    internal_var_pattern = '_[A-Z][0-9A-Z_]+'
+
+    # regular expression pattern describing valid names for variables with local
+    # scope
+    local_var_pattern = '[a-z][a-z0-9_]+'
+
+    # regular expression pattern describing valid names for privatedirectory
+    # variables
+    private_var_pattern = '_[0-9a-z_]+'
+
+    # regular expression pattern describing valid names for public directory
+    # variables
+    public_var_pattern = '[A-Z][0-9A-Z_]+'
+
+    # regular expression pattern describing valid names for function/macro
+    # arguments and loop variables.
+    argument_var_pattern = '[a-z][a-z0-9_]+'
+
+    # regular expression pattern describing valid names for keywords used in
+    # functions or macros
+    keyword_pattern = '[A-Z][0-9A-Z_]+'
+
+    # In the heuristic for C0201, how many conditionals to match within a loop in
+    # before considering the loop a parser.
+    max_conditionals_custom_parser = 2
+
+    # Require at least this many newlines between statements
+    min_statement_spacing = 1
+
+    # Require no more than this many newlines between statements
+    max_statement_spacing = 2
+    max_returns = 6
+    max_branches = 12
+    max_arguments = 5
+    max_localvars = 15
+    max_statements = 50

.vscode/cspell.json

@@ -0,0 +1,18 @@
+{
+  "version": "0.2",
+  "language": "en",
+  "words": [
+    "rclcpp",
+    "m12watanabe1a",
+    "rosdistro",
+    "distro",
+    "colcon",
+    "roboteq",
+    "rviz",
+    "xacro",
+    "urdf",
+    "bringup",
+    "dualsense",
+    "dualshock"
+  ]
+}

.vscode/settings.json

@@ -0,0 +1,102 @@
+{
+  "python.autoComplete.extraPaths": [
+    "/opt/ros/galactic/lib/python3.8/site-packages",
+  ],
+  "python.analysis.extraPaths": [
+    "/opt/ros/galactic/lib/python3.8/site-packages"
+  ],
+  "[cpp]": {
+    "editor.tabSize": 2,
+    "editor.defaultFormatter": "zachflower.uncrustify"
+  },
+  "[xml]": {
+    "editor.tabSize": 2,
+    "editor.autoClosingBrackets": "always",
+    "files.trimFinalNewlines": true,
+    "editor.defaultFormatter": "redhat.vscode-xml",
+  },
+  "uncrustify.configPath.linux": ".vscode/uncrustify.cfg",
+  "xml.format.splitAttributes": true,
+  "editor.formatOnSave": true,
+  "cmakeFormat.args": [
+    "--config-file",
+    ".vscode/cmake-format"
+  ],
+  "python.linting.enabled": true,
+  "python.linting.flake8Enabled": true,
+  "files.associations": {
+    "*.ui": "xml",
+    "qapplication": "cpp",
+    "chrono": "cpp",
+    "cctype": "cpp",
+    "clocale": "cpp",
+    "cmath": "cpp",
+    "csignal": "cpp",
+    "cstddef": "cpp",
+    "cstdio": "cpp",
+    "cstdlib": "cpp",
+    "cstring": "cpp",
+    "ctime": "cpp",
+    "cwchar": "cpp",
+    "array": "cpp",
+    "atomic": "cpp",
+    "*.tcc": "cpp",
+    "condition_variable": "cpp",
+    "cstdint": "cpp",
+    "list": "cpp",
+    "unordered_map": "cpp",
+    "unordered_set": "cpp",
+    "vector": "cpp",
+    "exception": "cpp",
+    "algorithm": "cpp",
+    "functional": "cpp",
+    "iterator": "cpp",
+    "map": "cpp",
+    "memory": "cpp",
+    "memory_resource": "cpp",
+    "optional": "cpp",
+    "random": "cpp",
+    "ratio": "cpp",
+    "set": "cpp",
+    "string": "cpp",
+    "string_view": "cpp",
+    "system_error": "cpp",
+    "tuple": "cpp",
+    "type_traits": "cpp",
+    "utility": "cpp",
+    "future": "cpp",
+    "initializer_list": "cpp",
+    "iosfwd": "cpp",
+    "iostream": "cpp",
+    "istream": "cpp",
+    "limits": "cpp",
+    "mutex": "cpp",
+    "new": "cpp",
+    "ostream": "cpp",
+    "shared_mutex": "cpp",
+    "sstream": "cpp",
+    "stdexcept": "cpp",
+    "streambuf": "cpp",
+    "thread": "cpp",
+    "cinttypes": "cpp",
+    "typeindex": "cpp",
+    "typeinfo": "cpp",
+    "variant": "cpp",
+    "bit": "cpp",
+    "cstdarg": "cpp",
+    "cwctype": "cpp",
+    "bitset": "cpp",
+    "codecvt": "cpp",
+    "complex": "cpp",
+    "deque": "cpp",
+    "forward_list": "cpp",
+    "numeric": "cpp",
+    "fstream": "cpp",
+    "iomanip": "cpp",
+    "*.ipp": "cpp",
+    "core": "cpp",
+    "strstream": "cpp",
+    "cfenv": "cpp",
+    "valarray": "cpp"
+  }
+}