Initial commit

.clang-format

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+---
+# BasedOnStyle:  WebKit
+AccessModifierOffset: -4
+AlignAfterOpenBracket: DontAlign
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Right
+AlignOperands:   false
+AlignTrailingComments: false
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: No
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:   
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   true
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: All
+BreakBeforeBraces: WebKit
+BreakBeforeInheritanceComma: false
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeComma
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     0
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: false
+DerivePointerAlignment: false
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: false
+ForEachMacros:   
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeCategories:
+  - Regex:           '^"config\.h"'
+    Priority:        -1
+  # The main header for a source file automatically gets category 0
+  - Regex:           '^<.*SoftLink.h>'
+    Priority:        4
+  - Regex:           '^".*SoftLink.h"'
+    Priority:        3
+  - Regex:           '^<.*>'
+    Priority:        2
+  - Regex:           '.*'
+    Priority:        1
+IncludeIsMainRegex: '(Test)?$'
+IndentCaseLabels: false
+IndentWidth:     4
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: true
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBlockIndentWidth: 4
+ObjCSpaceAfterProperty: true
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 60
+PointerAlignment: Left
+ReflowComments:  true
+SortIncludes:    true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterTemplateKeyword: false
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 1
+SpacesInAngles:  false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard:        Cpp11
+TabWidth:        8
+UseTab:          Never
+---
+Language: ObjC
+PointerAlignment: Right
+...

.github/issue_template/task-template.md

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+---
+name: Task template
+about: 'Use this template when defining a new task in an issue. Make sure to fill
+  out all the fields. '
+title: "[TASK]"
+labels: ''
+assignees: ''
+
+---
+
+**Time estimate:** XX hours  
+**Deadline:**  DD.MONTH
+
+**Description of task:** DESCRIPTION
+

.github/workflows/clang-format-checker.yml

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+name: Check C++ code format with clang-format
+
+on:
+  pull_request:
+    branches: [main]
+
+jobs:
+  clang-format:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+
+      - name: Install clang-format
+        run: sudo apt-get install clang-format
+
+      - name: Check code format
+        run: find . -regex '.*\.\(cpp\|hpp\|h\|cc\|c\|cxx\)' -exec clang-format -style=file {} \;
+

.github/workflows/clang-formatter.yml

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+name: Format C++ code with clang-format
+
+on:
+  push:
+    branches: [main]
+  # pull_request:
+  #   branches: [main]
+
+jobs:
+  clang-format:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+
+      - name: Install clang-format
+        run: sudo apt-get install clang-format
+
+      - name: Format code
+        run: find . -regex '.*\.\(cpp\|hpp\|h\|cc\|c\|cxx\)' -exec clang-format -style=file -i {} \;
+
+      - name: Commit changes
+        uses: EndBug/add-and-commit@v9
+        with:
+          author_name: Clang Robot
+          author_email: [email protected]
+          message: 'Committing clang-format changes'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/docker-publish.yml

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+name: Publish Docker image to GHCR
+
+on:
+  push:
+    branches: [ main ]
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ${{ github.repository }}
+
+jobs:
+  build-and-push-image:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Checkout own repository
+        uses: actions/checkout@v3
+
+      # vortex_msgs needs to be in the same location as the rest of the vortex-auv packages
+      - name: Checkout vortex_msgs
+        uses: actions/checkout@v3
+        with:
+          repository: 'vortexntnu/vortex-msgs'
+          path: './vortex-msgs'  
+      - name: Move vortex_msgs
+        run: mv ./vortex-msgs ../vortex-msgs
+
+      # robot_localization needs to be in the same location as the rest of the vortex-auv packages  
+      - name: Checkout robot_localization
+        uses: actions/checkout@v3
+        with:
+          repository: 'vortexntnu/robot_localization'
+          path: './robot_localization'   
+      - name: Move robot_localization
+        run: mv ./robot_localization ../robot_localization
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@f054a8b539a109f9f41c372932f1ae047eff08c9
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@ad44023a93711e3deb337508980b4b5e9bcdc5dc
+        with:
+          context: ..
+          file: ./docker/Dockerfile
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}

.github/workflows/python-format-checker.yml

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+name: Check format of python code with black
+
+on:
+  pull_request:
+    branches: [main]
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repo
+        uses: actions/checkout@v3
+
+      - name: Format with black
+        uses: psf/black@stable
+        with:
+          options: "--check --verbose"
+          src: "."
+          version: "~= 22.0"

.github/workflows/python-formatter.yml

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+name: Format python code with black
+
+on:
+  push:
+    branches: [main]
+
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repo
+        uses: actions/checkout@v3
+
+      - name: Format with black
+        uses: psf/black@stable
+        with:
+          options: "--verbose"
+          src: "."
+          version: "~= 22.0"
+
+      - name: Commit changes
+        uses: EndBug/add-and-commit@v9
+        with:
+          author_name: Black Robot
+          author_email: [email protected]
+          message: 'Committing black-format changes'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}