From 284394581aacf8e217f1a14b3083648ac7c4a090 Mon Sep 17 00:00:00 2001
From: Ryohei Sasaki <rsasaki0109@gmail.com>
Date: Fri, 3 Apr 2026 16:36:08 +0900
Subject: [PATCH] Add developer tooling: .gitignore, .clang-format, pre-commit
 config

---
 .clang-format           | 56 +++++++++++++++++++++++++++++++++++++++++
 .gitignore              | 33 ++++++++++++++++++++++++
 .pre-commit-config.yaml | 22 ++++++++++++++++
 3 files changed, 111 insertions(+)
 create mode 100644 .clang-format
 create mode 100644 .pre-commit-config.yaml

diff --git a/.clang-format b/.clang-format
new file mode 100644
index 00000000..8e655cdd
--- /dev/null
+++ b/.clang-format
@@ -0,0 +1,56 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: false
+AlignOperands: true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: Empty
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterReturnType: None
+AlwaysBreakTemplateDeclarations: Yes
+BinPackArguments: true
+BinPackParameters: true
+BreakBeforeBraces: Attach
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializers: BeforeComma
+ColumnLimit: 100
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 2
+ContinuationIndentWidth: 2
+Cpp11BracedListStyle: false
+DerivePointerAlignment: false
+FixNamespaceComments: true
+IncludeBlocks: Regroup
+IndentCaseLabels: true
+IndentWidth: 2
+KeepEmptyLinesAtTheStartOfBlocks: false
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+ReflowComments: false
+SortIncludes: false
+SpaceAfterCStyleCast: false
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles: false
+SpacesInCStyleCastParentheses: false
+SpacesInContainerLiterals: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard: c++17
+TabWidth: 2
+UseTab: Never
diff --git a/.gitignore b/.gitignore
index 1d74e219..e70fd42a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,34 @@
+# ROS workspace artifacts
+build/
+install/
+log/
+
+# IDE
 .vscode/
+.idea/
+*.swp
+*.swo
+*~
+
+# Python
+__pycache__/
+*.pyc
+*.pyo
+
+# CMake
+CMakeCache.txt
+CMakeFiles/
+cmake_install.cmake
+Makefile
+*.cmake
+!cmake/*.cmake
+
+# Compiled binaries
+*.o
+*.a
+*.so
+*.so.*
+
+# OS
+.DS_Store
+Thumbs.db
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 00000000..c85af788
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,22 @@
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+      - id: check-yaml
+      - id: check-json
+      - id: check-merge-conflict
+      - id: mixed-line-ending
+        args: [--fix=lf]
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v17.0.6
+    hooks:
+      - id: clang-format
+        types_or: [c, c++]
+
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+      - id: cmake-format