feat(slam): add lidar SLAM and pointcloud processing packages

2026-01-13 19:12:25 +08:00
parent dcb52622eb
commit ddef31d11a
140 changed files with 29546 additions and 0 deletions
@@ -0,0 +1,127 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        exclude_types: [rst]
+      - id: fix-byte-order-marker
+
+  # Python hooks
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.19.1
+    hooks:
+    -   id: pyupgrade
+        args: [--py36-plus]
+
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.8.4
+    hooks:
+      - id: ruff
+        args: [ --fix ]
+      - id: ruff-format
+
+  # CPP hooks
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v14.0.3
+    hooks:
+      - id: clang-format
+        args: ['-fallback-style=none', '-i']
+
+  - repo: local
+    hooks:
+      - id: ament_cppcheck
+        name: ament_cppcheck
+        description: Static code analysis of C/C++ files.
+        entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+
+  - repo: local
+    hooks:
+      - id: ament_cpplint
+        name: ament_cpplint
+        description: Static code analysis of C/C++ files.
+        entry: ament_cpplint
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        args: ["--linelength=100", "--filter=-whitespace/newline"]
+
+  # Cmake hooks
+  - repo: local
+    hooks:
+      - id: ament_lint_cmake
+        name: ament_lint_cmake
+        description: Check format of CMakeLists.txt files.
+        entry: ament_lint_cmake
+        language: system
+        files: CMakeLists\.txt$
+
+  # Copyright
+  - repo: local
+    hooks:
+      - id: ament_copyright
+        name: ament_copyright
+        description: Check if copyright notice is available in all files.
+        entry: ament_copyright
+        language: system
+
+  # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.2
+    hooks:
+      - id: doc8
+        args: ['--max-line-length=100', '--ignore=D001']
+        exclude: CHANGELOG\.rst$
+
+  - repo: https://github.com/pre-commit/pygrep-hooks
+    rev: v1.10.0
+    hooks:
+      - id: rst-backticks
+        exclude: CHANGELOG\.rst$
+      - id: rst-directive-colons
+      - id: rst-inline-touching-normal
+
+  # Spellcheck in comments and docs
+  # skipping of *.svg files is not working...
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.3.0
+    hooks:
+      - id: codespell
+        args: ['--write-changes']
+        exclude: CHANGELOG\.rst|\.(svg|pyc)$
+
+  - repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.30.0
+    hooks:
+      - id: check-github-workflows
+        args: ["--verbose"]
+      - id: check-github-actions
+        args: ["--verbose"]
+      - id: check-dependabot
+        args: ["--verbose"]