From 2feccce4753d8a5f82985f1255297e8d32fe9557 Mon Sep 17 00:00:00 2001
From: github-actions <github-actions@github.com>
Date: Sat, 21 Dec 2024 18:16:37 +0000
Subject: [PATCH] chore: sync files

Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
---
 .clang-format                                 |  51 ++
 .clang-tidy                                   | 466 ++++++++++++++++++
 .github/ISSUE_TEMPLATE/bug.yaml               |   4 +
 .github/ISSUE_TEMPLATE/config.yml             |   4 +
 .github/ISSUE_TEMPLATE/task.yaml              |   4 +
 .github/dependabot.yaml                       |   7 +-
 .github/stale.yml                             |   4 +
 .../build-and-test-differential.yaml          |  67 ++-
 .github/workflows/build-and-test.yaml         |  23 +-
 .../workflows/cancel-previous-workflows.yaml  |   6 +-
 .github/workflows/github-release.yaml         |   6 +-
 .github/workflows/pre-commit-autoupdate.yaml  |   8 +-
 .github/workflows/pre-commit-optional.yaml    |   6 +-
 .github/workflows/semantic-pull-request.yaml  |   4 +
 .../workflows/spell-check-differential.yaml   |  11 +-
 .github/workflows/sync-files.yaml             |   6 +-
 .markdownlint.yaml                            |   5 +
 .pre-commit-config-optional.yaml              |   6 +-
 .pre-commit-config.yaml                       |  38 +-
 .prettierignore                               |   4 +
 .prettierrc.yaml                              |   4 +
 .yamllint.yaml                                |   4 +
 CPPLINT.cfg                                   |  20 +
 setup.cfg                                     |  19 +
 24 files changed, 707 insertions(+), 70 deletions(-)
 create mode 100644 .clang-format
 create mode 100644 .clang-tidy
 create mode 100644 CPPLINT.cfg
 create mode 100644 setup.cfg

diff --git a/.clang-format b/.clang-format
new file mode 100644
index 0000000..cd54eb4
--- /dev/null
+++ b/.clang-format
@@ -0,0 +1,51 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
+# Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+AllowShortFunctionsOnASingleLine: InlineOnly
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: true
+IncludeCategories:
+  # C++ system headers
+  - Regex: <[a-z_]*>
+    Priority: 6
+    CaseSensitive: true
+  # C system headers
+  - Regex: <.*\.h>
+    Priority: 5
+    CaseSensitive: true
+  # Boost headers
+  - Regex: boost/.*
+    Priority: 4
+    CaseSensitive: true
+  # Message headers
+  - Regex: .*_msgs/.*
+    Priority: 3
+    CaseSensitive: true
+  - Regex: .*_srvs/.*
+    Priority: 3
+    CaseSensitive: true
+  # Other Package headers
+  - Regex: <.*>
+    Priority: 2
+    CaseSensitive: true
+  # Local package headers
+  - Regex: '".*"'
+    Priority: 1
+    CaseSensitive: true
diff --git a/.clang-tidy b/.clang-tidy
new file mode 100644
index 0000000..de12fb6
--- /dev/null
+++ b/.clang-tidy
@@ -0,0 +1,466 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
+Checks: "
+  -*,
+  boost-use-to-string,
+  bugprone-argument-comment,
+  bugprone-assert-side-effect,
+  bugprone-bad-signal-to-kill-thread,
+  bugprone-bool-pointer-implicit-conversion,
+  bugprone-branch-clone,
+  bugprone-copy-constructor-init,
+  bugprone-dangling-handle,
+  bugprone-dynamic-static-initializers,
+  bugprone-exception-escape,
+  bugprone-fold-init-type,
+  bugprone-forward-declaration-namespace,
+  bugprone-forwarding-reference-overload,
+  bugprone-inaccurate-erase,
+  bugprone-incorrect-roundings,
+  bugprone-integer-division,
+  bugprone-lambda-function-name,
+  bugprone-macro-parentheses,
+  bugprone-macro-repeated-side-effects,
+  bugprone-misplaced-operator-in-strlen-in-alloc,
+  bugprone-misplaced-widening-cast,
+  bugprone-move-forwarding-reference,
+  bugprone-multiple-statement-macro,
+  bugprone-not-null-terminated-result,
+  bugprone-parent-virtual-call,
+  bugprone-posix-return,
+  bugprone-signed-char-misuse,
+  bugprone-sizeof-container,
+  bugprone-sizeof-expression,
+  bugprone-string-constructor,
+  bugprone-string-integer-assignment,
+  bugprone-string-literal-with-embedded-nul,
+  bugprone-suspicious-enum-usage,
+  bugprone-suspicious-memset-usage,
+  bugprone-suspicious-missing-comma,
+  bugprone-suspicious-semicolon,
+  bugprone-suspicious-string-compare,
+  bugprone-swapped-arguments,
+  bugprone-terminating-continue,
+  bugprone-throw-keyword-missing,
+  bugprone-too-small-loop-variable,
+  bugprone-unchecked-optional-access,
+  bugprone-undefined-memory-manipulation,
+  bugprone-undelegated-constructor,
+  bugprone-unhandled-self-assignment,
+  bugprone-unused-raii,
+  bugprone-unused-return-value,
+  bugprone-use-after-move,
+  bugprone-virtual-near-miss,
+  cppcoreguidelines-avoid-goto,
+  cppcoreguidelines-init-variables,
+  cppcoreguidelines-interfaces-global-init,
+  cppcoreguidelines-macro-usage,
+  cppcoreguidelines-narrowing-conversions,
+  cppcoreguidelines-no-malloc,
+  cppcoreguidelines-pro-bounds-pointer-arithmetic,
+  cppcoreguidelines-pro-type-const-cast,
+  cppcoreguidelines-pro-type-cstyle-cast,
+  cppcoreguidelines-pro-type-member-init,
+  cppcoreguidelines-pro-type-reinterpret-cast,
+  cppcoreguidelines-pro-type-static-cast-downcast,
+  cppcoreguidelines-pro-type-union-access,
+  cppcoreguidelines-slicing,
+  cppcoreguidelines-special-member-functions,
+  google-build-explicit-make-pair,
+  google-build-namespaces,
+  google-build-using-namespace,
+  google-explicit-constructor,
+  google-global-names-in-headers,
+  google-upgrade-googletest-case,
+  hicpp-exception-baseclass,
+  hicpp-multiway-paths-covered,
+  hicpp-no-assembler,
+  hicpp-signed-bitwise,
+  llvm-namespace-comment,
+  misc-definitions-in-headers,
+  misc-misplaced-const,
+  misc-new-delete-overloads,
+  misc-non-copyable-objects,
+  misc-redundant-expression,
+  misc-static-assert,
+  misc-throw-by-value-catch-by-reference,
+  misc-unconventional-assign-operator,
+  misc-uniqueptr-reset-release,
+  misc-unused-alias-decls,
+  misc-unused-parameters,
+  misc-unused-using-decls,
+  modernize-concat-nested-namespaces,
+  modernize-deprecated-headers,
+  modernize-deprecated-ios-base-aliases,
+  modernize-loop-convert,
+  modernize-make-shared,
+  modernize-make-unique,
+  modernize-pass-by-value,
+  modernize-raw-string-literal,
+  modernize-redundant-void-arg,
+  modernize-replace-auto-ptr,
+  modernize-replace-disallow-copy-and-assign-macro,
+  modernize-replace-random-shuffle,
+  modernize-return-braced-init-list,
+  modernize-shrink-to-fit,
+  modernize-unary-static-assert,
+  modernize-use-auto,
+  modernize-use-bool-literals,
+  modernize-use-default-member-init,
+  modernize-use-emplace,
+  modernize-use-equals-default,
+  modernize-use-equals-delete,
+  modernize-use-nodiscard,
+  modernize-use-noexcept,
+  modernize-use-nullptr,
+  modernize-use-override,
+  modernize-use-transparent-functors,
+  modernize-use-uncaught-exceptions,
+  modernize-use-using,
+  openmp-use-default-none,
+  performance-faster-string-find,
+  performance-for-range-copy,
+  performance-implicit-conversion-in-loop,
+  performance-inefficient-algorithm,
+  performance-inefficient-string-concatenation,
+  performance-inefficient-vector-operation,
+  performance-move-const-arg,
+  performance-move-constructor-init,
+  performance-no-automatic-move,
+  performance-no-int-to-ptr,
+  performance-noexcept-move-constructor,
+  performance-trivially-destructible,
+  performance-type-promotion-in-math-fn,
+  performance-unnecessary-copy-initialization,
+  performance-unnecessary-value-param,
+  portability-simd-intrinsics,
+  readability-const-return-type,
+  readability-container-size-empty,
+  readability-convert-member-functions-to-static,
+  readability-delete-null-pointer,
+  readability-else-after-return,
+  readability-function-cognitive-complexity,
+  readability-identifier-naming,
+  readability-inconsistent-declaration-parameter-name,
+  readability-isolate-declaration,
+  readability-make-member-function-const,
+  readability-misleading-indentation,
+  readability-misplaced-array-index,
+  readability-non-const-parameter,
+  readability-redundant-access-specifiers,
+  readability-redundant-control-flow,
+  readability-redundant-declaration,
+  readability-redundant-function-ptr-dereference,
+  readability-redundant-member-init,
+  readability-redundant-smartptr-get,
+  readability-redundant-string-cstr,
+  readability-redundant-string-init,
+  readability-simplify-boolean-expr,
+  readability-simplify-subscript-expr,
+  readability-static-accessed-through-instance,
+  readability-static-definition-in-anonymous-namespace,
+  readability-string-compare,
+  readability-uniqueptr-delete-release"
+
+WarningsAsErrors: "
+  boost-use-to-string,
+  bugprone-dangling-handle,
+  bugprone-fold-init-type,
+  bugprone-inaccurate-erase,
+  bugprone-incorrect-roundings,
+  bugprone-misplaced-widening-cast,
+  bugprone-sizeof-container,
+  bugprone-sizeof-expression,
+  bugprone-string-constructor,
+  bugprone-suspicious-enum-usage,
+  bugprone-suspicious-memset-usage,
+  bugprone-suspicious-missing-comma,
+  bugprone-suspicious-semicolon,
+  bugprone-swapped-arguments,
+  bugprone-unused-raii,
+  bugprone-use-after-move,
+  llvm-namespace-comment,
+  misc-non-copyable-objects,
+  misc-redundant-expression,
+  misc-throw-by-value-catch-by-reference,
+  misc-unused-alias-decls,
+  misc-unused-parameters,
+  misc-unused-using-decls,
+  modernize-deprecated-headers,
+  modernize-redundant-void-arg,
+  modernize-use-bool-literals,
+  modernize-use-emplace,
+  modernize-use-equals-default,
+  modernize-use-equals-delete,
+  modernize-use-nullptr,
+  modernize-use-override,
+  modernize-use-using,
+  performance-faster-string-find,
+  performance-inefficient-algorithm,
+  readability-make-member-function-const,
+  readability-misleading-indentation,
+  readability-misplaced-array-index,
+  readability-string-compare"
+
+HeaderFilterRegex: ^(?!\/usr)(?!\/opt)
+
+ExtraArgs:
+  - -std=c++17
+
+FormatStyle: none
+
+CheckOptions:
+  - key: bugprone-argument-comment.CommentBoolLiterals
+    value: "0"
+  - key: bugprone-argument-comment.CommentCharacterLiterals
+    value: "0"
+  - key: bugprone-argument-comment.CommentFloatLiterals
+    value: "0"
+  - key: bugprone-argument-comment.CommentIntegerLiterals
+    value: "0"
+  - key: bugprone-argument-comment.CommentNullPtrs
+    value: "0"
+  - key: bugprone-argument-comment.CommentStringLiterals
+    value: "0"
+  - key: bugprone-argument-comment.CommentUserDefinedLiterals
+    value: "0"
+  - key: bugprone-argument-comment.IgnoreSingleArgument
+    value: "0"
+  - key: bugprone-argument-comment.StrictMode
+    value: "0"
+  - key: bugprone-assert-side-effect.AssertMacros
+    value: assert
+  - key: bugprone-assert-side-effect.CheckFunctionCalls
+    value: "0"
+  - key: bugprone-dangling-handle.HandleClasses
+    value: std::basic_string_view;std::experimental::basic_string_view
+  - key: bugprone-dynamic-static-initializers.HeaderFileExtensions
+    value: ",h,hh,hpp,hxx"
+  - key: bugprone-exception-escape.FunctionsThatShouldNotThrow
+    value: ""
+  - key: bugprone-exception-escape.IgnoredExceptions
+    value: ""
+  - key: bugprone-misplaced-widening-cast.CheckImplicitCasts
+    value: "0"
+  - key: bugprone-not-null-terminated-result.WantToUseSafeFunctions
+    value: "1"
+  - key: bugprone-signed-char-misuse.CharTypdefsToIgnore
+    value: ""
+  - key: bugprone-sizeof-expression.WarnOnSizeOfCompareToConstant
+    value: "1"
+  - key: bugprone-sizeof-expression.WarnOnSizeOfConstant
+    value: "1"
+  - key: bugprone-sizeof-expression.WarnOnSizeOfIntegerExpression
+    value: "0"
+  - key: bugprone-sizeof-expression.WarnOnSizeOfThis
+    value: "1"
+  - key: bugprone-string-constructor.LargeLengthThreshold
+    value: "8388608"
+  - key: bugprone-string-constructor.WarnOnLargeLength
+    value: "1"
+  - key: bugprone-suspicious-enum-usage.StrictMode
+    value: "0"
+  - key: bugprone-suspicious-missing-comma.MaxConcatenatedTokens
+    value: "5"
+  - key: bugprone-suspicious-missing-comma.RatioThreshold
+    value: "0.200000"
+  - key: bugprone-suspicious-missing-comma.SizeThreshold
+    value: "5"
+  - key: bugprone-suspicious-string-compare.StringCompareLikeFunctions
+    value: ""
+  - key: bugprone-suspicious-string-compare.WarnOnImplicitComparison
+    value: "1"
+  - key: bugprone-suspicious-string-compare.WarnOnLogicalNotComparison
+    value: "0"
+  - key: bugprone-too-small-loop-variable.MagnitudeBitsUpperLimit
+    value: "16"
+  - key: bugprone-unhandled-self-assignment.WarnOnlyIfThisHasSuspiciousField
+    value: "1"
+  - key: bugprone-unused-return-value.CheckedFunctions
+    value: ::std::async;::std::launder;::std::remove;::std::remove_if;::std::unique;::std::unique_ptr::release;::std::basic_string::empty;::std::vector::empty
+  - key: cert-dcl16-c.NewSuffixes
+    value: L;LL;LU;LLU
+  - key: cert-oop54-cpp.WarnOnlyIfThisHasSuspiciousField
+    value: "0"
+  - key: cppcoreguidelines-explicit-virtual-functions.IgnoreDestructors
+    value: "1"
+  - key: cppcoreguidelines-macro-usage.AllowedRegexp
+    value: ^DEBUG_*
+  - key: cppcoreguidelines-macro-usage.CheckCapsOnly
+    value: "0"
+  - key: cppcoreguidelines-macro-usage.IgnoreCommandLineMacros
+    value: "1"
+  - key: cppcoreguidelines-no-malloc.Allocations
+    value: ::malloc;::calloc
+  - key: cppcoreguidelines-no-malloc.Deallocations
+    value: ::free
+  - key: cppcoreguidelines-no-malloc.Reallocations
+    value: ::realloc
+  - key: cppcoreguidelines-non-private-member-variables-in-classes.IgnoreClassesWithAllMemberVariablesBeingPublic
+    value: "1"
+  - key: cppcoreguidelines-pro-type-member-init.IgnoreArrays
+    value: "0"
+  - key: cppcoreguidelines-pro-type-member-init.UseAssignment
+    value: "0"
+  - key: cppcoreguidelines-special-member-functions.AllowMissingMoveFunctions
+    value: "0"
+  - key: cppcoreguidelines-special-member-functions.AllowSoleDefaultDtor
+    value: "0"
+  - key: google-readability-braces-around-statements.ShortStatementLines
+    value: "1"
+  - key: google-readability-function-size.StatementThreshold
+    value: "800"
+  - key: google-readability-namespace-comments.ShortNamespaceLines
+    value: "10"
+  - key: google-readability-namespace-comments.SpacesBeforeComments
+    value: "2"
+  - key: hicpp-multiway-paths-covered.WarnOnMissingElse
+    value: "0"
+  - key: hicpp-signed-bitwise.IgnorePositiveIntegerLiterals
+    value: "0"
+  - key: misc-definitions-in-headers.HeaderFileExtensions
+    value: ",h,hh,hpp,hxx"
+  - key: misc-definitions-in-headers.UseHeaderFileExtension
+    value: "1"
+  - key: misc-throw-by-value-catch-by-reference.CheckThrowTemporaries
+    value: "1"
+  - key: misc-unused-parameters.StrictMode
+    value: "0"
+  - key: modernize-loop-convert.MaxCopySize
+    value: "16"
+  - key: modernize-loop-convert.MinConfidence
+    value: reasonable
+  - key: modernize-loop-convert.NamingStyle
+    value: CamelCase
+  - key: modernize-make-shared.IgnoreMacros
+    value: "1"
+  - key: modernize-make-shared.IncludeStyle
+    value: google
+  - key: modernize-make-shared.MakeSmartPtrFunction
+    value: std::make_shared
+  - key: modernize-make-shared.MakeSmartPtrFunctionHeader
+    value: memory
+  - key: modernize-make-unique.IgnoreMacros
+    value: "1"
+  - key: modernize-make-unique.IncludeStyle
+    value: google
+  - key: modernize-make-unique.MakeSmartPtrFunction
+    value: std::make_unique
+  - key: modernize-make-unique.MakeSmartPtrFunctionHeader
+    value: memory
+  - key: modernize-pass-by-value.IncludeStyle
+    value: google
+  - key: modernize-pass-by-value.ValuesOnly
+    value: "0"
+  - key: modernize-raw-string-literal.ReplaceShorterLiterals
+    value: "0"
+  - key: modernize-replace-auto-ptr.IncludeStyle
+    value: google
+  - key: modernize-replace-random-shuffle.IncludeStyle
+    value: google
+  - key: modernize-use-auto.MinTypeNameLength
+    value: "5"
+  - key: modernize-use-auto.RemoveStars
+    value: "0"
+  - key: modernize-use-default-member-init.IgnoreMacros
+    value: "1"
+  - key: modernize-use-default-member-init.UseAssignment
+    value: "0"
+  - key: modernize-use-emplace.ContainersWithPushBack
+    value: ::std::vector;::std::list;::std::deque
+  - key: modernize-use-emplace.SmartPointers
+    value: ::std::shared_ptr;::std::unique_ptr;::std::auto_ptr;::std::weak_ptr
+  - key: modernize-use-emplace.TupleMakeFunctions
+    value: ::std::make_pair;::std::make_tuple
+  - key: modernize-use-emplace.TupleTypes
+    value: ::std::pair;::std::tuple
+  - key: modernize-use-equals-default.IgnoreMacros
+    value: "1"
+  - key: modernize-use-equals-delete.IgnoreMacros
+    value: "1"
+  - key: modernize-use-nodiscard.ReplacementString
+    value: "[[nodiscard]]"
+  - key: modernize-use-noexcept.ReplacementString
+    value: ""
+  - key: modernize-use-noexcept.UseNoexceptFalse
+    value: "1"
+  - key: modernize-use-nullptr.NullMacros
+    value: "NULL"
+  - key: modernize-use-override.AllowOverrideAndFinal
+    value: "0"
+  - key: modernize-use-override.FinalSpelling
+    value: final
+  - key: modernize-use-override.IgnoreDestructors
+    value: "0"
+  - key: modernize-use-override.OverrideSpelling
+    value: override
+  - key: modernize-use-transparent-functors.SafeMode
+    value: "0"
+  - key: modernize-use-using.IgnoreMacros
+    value: "1"
+  - key: performance-faster-string-find.StringLikeClasses
+    value: std::basic_string
+  - key: performance-for-range-copy.AllowedTypes
+    value: ""
+  - key: performance-for-range-copy.WarnOnAllAutoCopies
+    value: "0"
+  - key: performance-inefficient-string-concatenation.StrictMode
+    value: "0"
+  - key: performance-inefficient-vector-operation.EnableProto
+    value: "0"
+  - key: performance-inefficient-vector-operation.VectorLikeClasses
+    value: ::std::vector
+  - key: performance-move-const-arg.CheckTriviallyCopyableMove
+    value: "1"
+  - key: performance-move-constructor-init.IncludeStyle
+    value: google
+  - key: performance-no-automatic-move.AllowedTypes
+    value: ""
+  - key: performance-type-promotion-in-math-fn.IncludeStyle
+    value: google
+  - key: performance-unnecessary-copy-initialization.AllowedTypes
+    value: ""
+  - key: performance-unnecessary-value-param.AllowedTypes
+    value: .*Ptr;.*SharedFuture
+  - key: performance-unnecessary-value-param.IncludeStyle
+    value: google
+  - key: portability-simd-intrinsics.Std
+    value: ""
+  - key: portability-simd-intrinsics.Suggest
+    value: "0"
+  - key: readability-function-cognitive-complexity.IgnoreMacros
+    value: "1"
+  - key: readability-else-after-return.WarnOnUnfixable
+    value: "1"
+  - key: readability-identifier-naming.NamespaceCase
+    value: lower_case
+  - key: readability-identifier-naming.ClassCase
+    value: CamelCase
+  - key: readability-identifier-naming.PrivateMemberSuffix
+    value: _
+  - key: readability-identifier-naming.StructCase
+    value: CamelCase
+  - key: readability-identifier-naming.FunctionCase
+    value: lower_case
+  - key: readability-identifier-naming.VariableCase
+    value: lower_case
+  - key: readability-identifier-naming.GlobalConstantCase
+    value: lower_case
+  - key: readability-identifier-naming.GlobalConstantPrefix
+    value: g_
+  - key: readability-identifier-naming.ConstexprVariableCase
+    value: lower_case
+  - key: readability-inconsistent-declaration-parameter-name.IgnoreMacros
+    value: "1"
+  - key: readability-inconsistent-declaration-parameter-name.Strict
+    value: "0"
+  - key: readability-redundant-smartptr-get.IgnoreMacros
+    value: "1"
+  - key: readability-redundant-string-init.StringNames
+    value: ::std::basic_string
+  - key: readability-simplify-subscript-expr.Types
+    value: ::std::basic_string;::std::basic_string_view;::std::vector;::std::array
+  - key: readability-static-accessed-through-instance.NameSpecifierNestingThreshold
+    value: "3"
diff --git a/.github/ISSUE_TEMPLATE/bug.yaml b/.github/ISSUE_TEMPLATE/bug.yaml
index 12a8579..5c74f7c 100644
--- a/.github/ISSUE_TEMPLATE/bug.yaml
+++ b/.github/ISSUE_TEMPLATE/bug.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: Bug
 description: Report a bug
 body:
diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml
index 48765c2..deccbf3 100644
--- a/.github/ISSUE_TEMPLATE/config.yml
+++ b/.github/ISSUE_TEMPLATE/config.yml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 blank_issues_enabled: false
 contact_links:
   - name: Question
diff --git a/.github/ISSUE_TEMPLATE/task.yaml b/.github/ISSUE_TEMPLATE/task.yaml
index cd8322f..5830732 100644
--- a/.github/ISSUE_TEMPLATE/task.yaml
+++ b/.github/ISSUE_TEMPLATE/task.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: Task
 description: Plan a task
 body:
diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml
index 0264c03..8e2d719 100644
--- a/.github/dependabot.yaml
+++ b/.github/dependabot.yaml
@@ -1,9 +1,14 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 version: 2
 updates:
   - package-ecosystem: github-actions
     directory: /
+    # https://docs.github.com/en/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file#scheduleinterval
     schedule:
-      interval: daily
+      interval: monthly
     open-pull-requests-limit: 1
     labels:
       - tag:bot
diff --git a/.github/stale.yml b/.github/stale.yml
index bc99e43..ffce036 100644
--- a/.github/stale.yml
+++ b/.github/stale.yml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 # Modified from https://github.com/probot/stale#usage
 
 # Number of days of inactivity before an Issue or Pull Request with the stale label is closed
diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index 9d603ae..134a12d 100644
--- a/.github/workflows/build-and-test-differential.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -1,11 +1,27 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: build-and-test-differential
 
 on:
   pull_request:
+    types:
+      - opened
+      - synchronize
+      - reopened
+      - labeled
 
 jobs:
+  make-sure-label-is-present:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
+    with:
+      label: run:build-and-test-differential
+
   build-and-test-differential:
-    runs-on: ubuntu-latest
+    needs: make-sure-label-is-present
+    if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }}
+    runs-on: ubuntu-22.04
     container: ${{ matrix.container }}
     strategy:
       fail-fast: false
@@ -16,10 +32,17 @@ jobs:
           - rosdistro: humble
             container: ros:humble
     steps:
-      - name: Check out repository
+      - name: Set PR fetch depth
+        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+
+      - name: Checkout PR branch and all PR commits
         uses: actions/checkout@v4
         with:
-          fetch-depth: 0
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
+
+      - name: Show disk space before the tasks
+        run: df -h
 
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
@@ -45,44 +68,12 @@ jobs:
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
-        uses: codecov/codecov-action@v4
+        uses: codecov/codecov-action@v5
         with:
           files: ${{ steps.test.outputs.coverage-report-files }}
           fail_ci_if_error: false
           verbose: true
           flags: differential
-          token: ${{ secrets.CODECOV_TOKEN }}
-
-  clang-tidy-differential:
-    runs-on: ubuntu-latest
-    container: ros:humble
-    needs: build-and-test-differential
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
 
-      - name: Remove exec_depend
-        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
-
-      - name: Get modified packages
-        id: get-modified-packages
-        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
-
-      - name: Get modified files
-        id: get-modified-files
-        uses: tj-actions/changed-files@v44
-        with:
-          files: |
-            **/*.cpp
-            **/*.hpp
-
-      - name: Run clang-tidy
-        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
-        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
-        with:
-          rosdistro: humble
-          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
-          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
+      - name: Show disk space after the tasks
+        run: df -h
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index cbbd65a..2778480 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: build-and-test
 
 on:
@@ -9,7 +13,7 @@ on:
 jobs:
   build-and-test:
     if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     container: ${{ matrix.container }}
     strategy:
       fail-fast: false
@@ -22,14 +26,11 @@ jobs:
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
-
-      - name: Free disk space (Ubuntu)
-        uses: jlumbroso/free-disk-space@v1.3.1
         with:
-          tool-cache: false
-          dotnet: false
-          swap-storage: false
-          large-packages: false
+          fetch-depth: 1
+
+      - name: Show disk space before the tasks
+        run: df -h
 
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
@@ -55,10 +56,12 @@ jobs:
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
-        uses: codecov/codecov-action@v4
+        uses: codecov/codecov-action@v5
         with:
           files: ${{ steps.test.outputs.coverage-report-files }}
           fail_ci_if_error: false
           verbose: true
           flags: total
-          token: ${{ secrets.CODECOV_TOKEN }}
+
+      - name: Show disk space after the tasks
+        run: df -h
diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml
index 44983f7..ee79ce0 100644
--- a/.github/workflows/cancel-previous-workflows.yaml
+++ b/.github/workflows/cancel-previous-workflows.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: cancel-previous-workflows
 
 on:
@@ -5,7 +9,7 @@ on:
 
 jobs:
   cancel-previous-workflows:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Cancel previous runs
         uses: styfle/cancel-workflow-action@0.12.1
diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml
index b426d0c..bbe2ac5 100644
--- a/.github/workflows/github-release.yaml
+++ b/.github/workflows/github-release.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: github-release
 
 on:
@@ -15,7 +19,7 @@ on:
 
 jobs:
   github-release:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Set tag name
         id: set-tag-name
diff --git a/.github/workflows/pre-commit-autoupdate.yaml b/.github/workflows/pre-commit-autoupdate.yaml
index 23b403f..60c17d9 100644
--- a/.github/workflows/pre-commit-autoupdate.yaml
+++ b/.github/workflows/pre-commit-autoupdate.yaml
@@ -1,8 +1,12 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: pre-commit-autoupdate
 
 on:
   schedule:
-    - cron: 0 0 * * *
+    - cron: 0 0 1 1,4,7,10 * # quarterly
   workflow_dispatch:
 
 jobs:
@@ -14,7 +18,7 @@ jobs:
   pre-commit-autoupdate:
     needs: check-secret
     if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token
diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml
index 3873819..3d08670 100644
--- a/.github/workflows/pre-commit-optional.yaml
+++ b/.github/workflows/pre-commit-optional.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: pre-commit-optional
 
 on:
@@ -5,7 +9,7 @@ on:
 
 jobs:
   pre-commit-optional:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml
index 71224c2..b56040b 100644
--- a/.github/workflows/semantic-pull-request.yaml
+++ b/.github/workflows/semantic-pull-request.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: semantic-pull-request
 
 on:
diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml
index 1fbf2ff..e3af432 100644
--- a/.github/workflows/spell-check-differential.yaml
+++ b/.github/workflows/spell-check-differential.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: spell-check-differential
 
 on:
@@ -5,7 +9,7 @@ on:
 
 jobs:
   spell-check-differential:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
@@ -13,4 +17,7 @@ jobs:
       - name: Run spell-check
         uses: autowarefoundation/autoware-github-actions/spell-check@v1
         with:
-          cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json
+          cspell-json-url: https://raw.githubusercontent.com/autowarefoundation/autoware-spell-check-dict/main/.cspell.json
+          dict-packages: |
+            https://github.com/autowarefoundation/autoware-spell-check-dict
+            https://github.com/tier4/cspell-dicts
diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml
index 51e523b..9224c15 100644
--- a/.github/workflows/sync-files.yaml
+++ b/.github/workflows/sync-files.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: sync-files
 
 on:
@@ -14,7 +18,7 @@ jobs:
   sync-files:
     needs: check-secret
     if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token
diff --git a/.markdownlint.yaml b/.markdownlint.yaml
index babaaa1..584154b 100644
--- a/.markdownlint.yaml
+++ b/.markdownlint.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 # See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules.
 default: true
 MD013: false
@@ -7,5 +11,6 @@ MD029:
   style: ordered
 MD033: false
 MD041: false
+MD045: false
 MD046: false
 MD049: false
diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml
index 3b43f9a..ff325af 100644
--- a/.pre-commit-config-optional.yaml
+++ b/.pre-commit-config-optional.yaml
@@ -1,6 +1,10 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 repos:
   - repo: https://github.com/tcort/markdown-link-check
-    rev: v3.11.2
+    rev: v3.12.2
     hooks:
       - id: markdown-link-check
         args: [--quiet, --config=.markdown-link-check.json]
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index a5ca7b6..48a97c1 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,9 +1,17 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
+# https://pre-commit.ci/#configuration
 ci:
   autofix_commit_msg: "style(pre-commit): autofix"
+  # we already have our own daily update mechanism, we set this to quarterly
+  autoupdate_schedule: quarterly
+  autoupdate_commit_msg: "ci(pre-commit): quarterly autoupdate"
 
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v5.0.0
     hooks:
       - id: check-json
       - id: check-merge-conflict
@@ -18,23 +26,23 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.33.0
+    rev: v0.43.0
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix]
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: v3.0.0-alpha.6
+    rev: v4.0.0-alpha.8
     hooks:
       - id: prettier
 
   - repo: https://github.com/adrienverge/yamllint
-    rev: v1.30.0
+    rev: v1.35.1
     hooks:
       - id: yamllint
 
   - repo: https://github.com/tier4/pre-commit-hooks-ros
-    rev: v0.8.0
+    rev: v0.10.0
     hooks:
       - id: flake8-ros
       - id: prettier-xacro
@@ -44,42 +52,42 @@ repos:
       - id: sort-package-xml
 
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.9.0.2
+    rev: v0.10.0.1
     hooks:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.6.0-2
+    rev: v3.10.0-2
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
 
   - repo: https://github.com/pycqa/isort
-    rev: 5.12.0
+    rev: 5.13.2
     hooks:
       - id: isort
 
   - repo: https://github.com/psf/black
-    rev: 23.3.0
+    rev: 24.10.0
     hooks:
       - id: black
         args: [--line-length=100]
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v16.0.0
+    rev: v19.1.5
     hooks:
       - id: clang-format
         types_or: [c++, c, cuda]
 
   - repo: https://github.com/cpplint/cpplint
-    rev: 1.6.1
+    rev: 2.0.0
     hooks:
       - id: cpplint
         args: [--quiet]
         exclude: .cu
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.23.2
+    rev: 0.30.0
     hooks:
       - id: check-metaschema
         files: ^.+/schema/.*schema\.json$
@@ -93,3 +101,9 @@ repos:
         language: node
         files: .svg$
         additional_dependencies: [prettier@2.7.1, "@prettier/plugin-xml@2.2.0"]
+
+  - repo: https://github.com/AleksaC/hadolint-py
+    rev: v2.12.1b3
+    hooks:
+      - id: hadolint
+        exclude: .svg$
diff --git a/.prettierignore b/.prettierignore
index a3c34d0..3e96aac 100644
--- a/.prettierignore
+++ b/.prettierignore
@@ -1,2 +1,6 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 *.param.yaml
 *.rviz
diff --git a/.prettierrc.yaml b/.prettierrc.yaml
index e29bf32..fe47693 100644
--- a/.prettierrc.yaml
+++ b/.prettierrc.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 printWidth: 100
 tabWidth: 2
 overrides:
diff --git a/.yamllint.yaml b/.yamllint.yaml
index 2c7bd08..e0be62d 100644
--- a/.yamllint.yaml
+++ b/.yamllint.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 extends: default
 
 ignore: |
diff --git a/CPPLINT.cfg b/CPPLINT.cfg
new file mode 100644
index 0000000..159042d
--- /dev/null
+++ b/CPPLINT.cfg
@@ -0,0 +1,20 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
+# Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_cpplint/ament_cpplint/main.py#L64-L120
+set noparent
+linelength=100
+includeorder=standardcfirst
+filter=-build/c++11               # we do allow C++11
+filter=-build/c++17               # we allow <filesystem>
+filter=-build/namespaces_literals # we allow using namespace for literals
+filter=-runtime/references        # we consider passing non-const references to be ok
+filter=-whitespace/braces         # we wrap open curly braces for namespaces, classes and functions
+filter=-whitespace/indent         # we don't indent keywords like public, protected and private with one space
+filter=-whitespace/newline        # we allow the developer to decide about newline at the end of file (it's clashing with clang-format)
+filter=-whitespace/parens         # we allow closing parenthesis to be on the next line
+filter=-whitespace/semicolon      # we allow the developer to decide about whitespace after a semicolon
+filter=-build/header_guard        # we automatically fix the names of header guards using pre-commit
+filter=-build/include_order       # we use the custom include order
+filter=-build/include_subdir      # we allow the style of "foo.hpp"
diff --git a/setup.cfg b/setup.cfg
new file mode 100644
index 0000000..4d7d5e5
--- /dev/null
+++ b/setup.cfg
@@ -0,0 +1,19 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
+[flake8]
+# Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_flake8/ament_flake8/configuration/ament_flake8.ini
+extend-ignore = B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202,CNL100,E203,E501,Q000
+import-order-style = pep8
+max-line-length = 100
+show-source = true
+statistics = true
+
+[isort]
+profile=black
+line_length=100
+force_sort_within_sections=true
+force_single_line=true
+reverse_relative=true
+known_third_party=launch