ROS 2 support fo Wibotic Wireless Charger

.clang-format

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+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: true
+IncludeBlocks: Preserve
+AlignOperands: true
+PenaltyBreakAssignment: 21
+PenaltyBreakBeforeFirstCallParameter: 1

.github/pull_request_template.md

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+### Description
+
+-
+
+### Requirements
+
+- [ ] Code style guidelines followed
+- [ ] Documentation updated
+
+### Tests 🧪
+
+- [ ] Robot
+- [ ] Container
+- [ ] Simulation

.github/workflows/pre-commit.yaml

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+---
+name: Pre-Commit
+
+on:
+  push:
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: humble

.github/workflows/protect-default-branch.yaml

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+---
+name: Validate PR head branch
+on:
+  pull_request:
+    branches:
+      - ros2
+
+jobs:
+  check-head-branch:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check allowed branches
+        run: |
+          pattern="^[0-9]+\.[0-9]+\.[0-9]+-[0-9]{8}$" # This regex matches the X.X.X-YYYYMMDD pattern
+          if [[ "${{ github.head_ref }}" == *"hotfix"* ]]; then
+            echo "PR from a branch containing 'hotfix' is allowed."
+            exit 0
+          elif [[ "${{ github.head_ref }}" =~ $pattern ]]; then
+            echo "PR from a branch matching X.X.X-YYYYMMDD pattern is allowed."
+            exit 0
+          else
+            echo "PRs must come from branches containing 'hotfix' phrase or matching X.X.X-YYYYMMDD pattern."
+            exit 1
+          fi

.github/workflows/run-unit-tests.yaml

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+---
+name: Run unit tests
+
+on:
+  push:
+  workflow_dispatch:
+  # TODO: ENABLE WHEN READY
+  # pull_request:
+  #     branches:
+  #         - ros2-devel
+
+jobs:
+  test:
+    name: Run unit tests
+    runs-on: self-hosted
+    env:
+      HUSARION_ROS_BUILD_TYPE: hardware
+      ROS_DISTRO: humble
+      TEST_RESULT_FILENAME: last_run_results.txt
+      COVERAGE_RESULT_FILENAME: coverage_results.log
+    steps:
+      - name: Prepare filesystem
+        working-directory: ${{ runner.temp }}
+        run: |
+          touch ${{ env.TEST_RESULT_FILENAME }}
+          touch ${{ env.COVERAGE_RESULT_FILENAME }}
+
+      - name: Checkout repository
+        uses: actions/checkout@v3
+        with:
+          ref: ${{ github.ref }}
+          path: ros2_ws/src/wibotic_ros
+
+      - name: Resolve dependencies
+        working-directory: ros2_ws
+        run: |
+          sudo apt update
+          rosdep update --rosdistro $ROS_DISTRO
+          rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
+
+      - name: Build
+        working-directory: ros2_ws
+        run: |
+          source /opt/ros/$ROS_DISTRO/setup.bash
+          if [ -f install/setup.bash ]; then source install/setup.bash; fi
+          colcon build --symlink-install --parallel-workers $(nproc) --packages-up-to panther --cmake-args -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage'
+
+      - name: Test
+        working-directory: ros2_ws
+        run: |
+          source install/setup.bash
+          colcon test --packages-up-to panther --retest-until-pass 10 --event-handlers console_cohesion+ --return-code-on-test-failure
+          echo "result=$?" >> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }}
+          colcon lcov-result --packages-up-to panther --verbose >> ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }}
+          lines_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }} | grep -E 'lines' | head -1)
+          functions_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }}  | grep -E 'functions' | head -1)
+          branches_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }}  | grep -E 'branches' | head -1)
+          echo "lines_cov=$lines_cov">> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }}
+          echo "functions_cov=$functions_cov" >> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }}
+          echo "branches_cov=$branches_cov" >> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }}
+
+      - name: Collect unit tests output
+        working-directory: ${{ runner.temp }}
+        id: unit-tests-output
+        run: cat ${{ env.TEST_RESULT_FILENAME }} >> "$GITHUB_OUTPUT"
+
+      - name: Validate tests result
+        uses: nick-fields/assert-action@v1
+        with:
+          expected: 0
+          actual: ${{ steps.unit-tests-output.outputs.result }}
+
+      - name: Comment PR
+        uses: thollander/actions-comment-pull-request@v2
+        with:
+          message: |
+            **Test coverage of modified packages:**
+            ${{ steps.unit-tests-output.outputs.lines_cov }}
+            ${{ steps.unit-tests-output.outputs.functions_cov }}
+            ${{ steps.unit-tests-output.outputs.branches_cov }}

.gitignore

@@ -0,0 +1 @@
+__pycache__

.pre-commit-config.yaml

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+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+      - id: check-added-large-files
+        # mesh files has to be taken into account
+        args: ["--maxkb=3000"]
+      - id: check-ast
+      - id: check-json
+        # vscode .json files do not follow the standard JSON format
+        exclude: ^.vscode/
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - 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: name-tests-test
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+
+  - repo: https://github.com/PyCQA/isort
+    rev: 5.13.2
+    hooks:
+      - id: isort
+        args: ["--profile", "black"]
+
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+      - id: cmake-format
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v18.1.8
+    hooks:
+      - id: clang-format
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.3.0
+    hooks:
+      - id: codespell
+        name: codespell
+        description: Checks for common misspellings in text files.
+        entry: codespell
+        args:
+          [
+            "--ignore-words-list",
+            "ned" # north, east, down (NED)
+          ]
+        exclude_types: [rst, svg]
+        language: python
+        types: [text]
+
+  - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
+    rev: 0.2.3
+    hooks:
+      - id: yamlfmt
+        files: ^.github|./\.yaml
+        args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
+
+  - repo: https://github.com/psf/black
+    rev: 24.8.0
+    hooks:
+      - id: black
+        args: ["--line-length=99"]
+
+  - repo: https://github.com/PyCQA/flake8
+    rev: 7.1.1
+    hooks:
+      - id: flake8
+        args:
+          ["--ignore=E501,W503"] # ignore too long line and line break before binary operator,
+          # black checks it
+
+  - repo: local
+    hooks:
+      - id: ament_copyright
+        name: ament_copyright
+        description: Check if copyright notice is available in all files.
+        stages: [commit]
+        entry: ament_copyright
+        language: system
+
+    # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.1
+    hooks:
+      - id: doc8
+        args: ["--max-line-length=100", "--ignore=D001"]
+        exclude: ^.*\/CHANGELOG\.rst/.*$
+
+  - repo: https://github.com/tier4/pre-commit-hooks-ros
+    rev: v0.10.0
+    hooks:
+      - id: prettier-package-xml
+      - id: sort-package-xml