From 24e56b783c504e906b0c7b2584b746e6b8918472 Mon Sep 17 00:00:00 2001
From: Hendrik <dev.nipe.systems@gmail.com>
Date: Sun, 3 Dec 2023 13:47:28 +0100
Subject: [PATCH] Initial commit

---
 .clang-format                                 |   4 +
 .git-blame-ignore-revs                        |   1 +
 .github/ISSUE_TEMPLATE/1_bug_report.md        |  23 ++
 .github/ISSUE_TEMPLATE/2_feature_request.md   |  17 ++
 .github/ISSUE_TEMPLATE/3_need_help.md         |  15 ++
 .github/pull_request_template.md              |  19 ++
 .github/workflows/pre-commit.yml              |  16 ++
 .gitignore                                    | 200 ++++++++++++++++++
 .pre-commit-config.yaml                       |  23 ++
 LICENSE                                       |  21 ++
 bitbots_template_cpp/CMakeLists.txt           |  48 +++++
 .../bitbots_template_cpp_parameters.yaml      |   6 +
 bitbots_template_cpp/docs/_static/logo.png    | Bin 0 -> 11686 bytes
 bitbots_template_cpp/docs/conf.py             | 187 ++++++++++++++++
 bitbots_template_cpp/docs/index.rst           |  21 ++
 .../include/bitbots_template_cpp/template.hpp |  19 ++
 bitbots_template_cpp/launch/template.launch   |   9 +
 bitbots_template_cpp/package.xml              |  30 +++
 bitbots_template_cpp/src/template.cpp         |  33 +++
 .../bitbots_template_py/__init__.py           |   0
 .../bitbots_template_py/template.py           |  36 ++++
 .../bitbots_template_py_parameters.yaml       |   6 +
 bitbots_template_py/docs/_static/logo.png     | Bin 0 -> 11686 bytes
 bitbots_template_py/docs/conf.py              | 187 ++++++++++++++++
 bitbots_template_py/docs/index.rst            |  21 ++
 bitbots_template_py/launch/template.launch    |   8 +
 bitbots_template_py/package.xml               |  23 ++
 .../resource/bitbots_template_py              |   0
 bitbots_template_py/setup.cfg                 |   4 +
 bitbots_template_py/setup.py                  |  34 +++
 pyproject.toml                                |  14 ++
 31 files changed, 1025 insertions(+)
 create mode 100644 .clang-format
 create mode 100644 .git-blame-ignore-revs
 create mode 100644 .github/ISSUE_TEMPLATE/1_bug_report.md
 create mode 100644 .github/ISSUE_TEMPLATE/2_feature_request.md
 create mode 100644 .github/ISSUE_TEMPLATE/3_need_help.md
 create mode 100644 .github/pull_request_template.md
 create mode 100644 .github/workflows/pre-commit.yml
 create mode 100644 .gitignore
 create mode 100644 .pre-commit-config.yaml
 create mode 100644 LICENSE
 create mode 100644 bitbots_template_cpp/CMakeLists.txt
 create mode 100644 bitbots_template_cpp/config/bitbots_template_cpp_parameters.yaml
 create mode 100644 bitbots_template_cpp/docs/_static/logo.png
 create mode 100644 bitbots_template_cpp/docs/conf.py
 create mode 100644 bitbots_template_cpp/docs/index.rst
 create mode 100644 bitbots_template_cpp/include/bitbots_template_cpp/template.hpp
 create mode 100644 bitbots_template_cpp/launch/template.launch
 create mode 100644 bitbots_template_cpp/package.xml
 create mode 100644 bitbots_template_cpp/src/template.cpp
 create mode 100644 bitbots_template_py/bitbots_template_py/__init__.py
 create mode 100755 bitbots_template_py/bitbots_template_py/template.py
 create mode 100644 bitbots_template_py/config/bitbots_template_py_parameters.yaml
 create mode 100644 bitbots_template_py/docs/_static/logo.png
 create mode 100644 bitbots_template_py/docs/conf.py
 create mode 100644 bitbots_template_py/docs/index.rst
 create mode 100644 bitbots_template_py/launch/template.launch
 create mode 100644 bitbots_template_py/package.xml
 create mode 100644 bitbots_template_py/resource/bitbots_template_py
 create mode 100755 bitbots_template_py/setup.cfg
 create mode 100644 bitbots_template_py/setup.py
 create mode 100644 pyproject.toml

diff --git a/.clang-format b/.clang-format
new file mode 100644
index 0000000..3442bc7
--- /dev/null
+++ b/.clang-format
@@ -0,0 +1,4 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+ColumnLimit: 120
diff --git a/.git-blame-ignore-revs b/.git-blame-ignore-revs
new file mode 100644
index 0000000..70e9581
--- /dev/null
+++ b/.git-blame-ignore-revs
@@ -0,0 +1 @@
+# Add git commit hashes to ignore for blame
diff --git a/.github/ISSUE_TEMPLATE/1_bug_report.md b/.github/ISSUE_TEMPLATE/1_bug_report.md
new file mode 100644
index 0000000..cc12b25
--- /dev/null
+++ b/.github/ISSUE_TEMPLATE/1_bug_report.md
@@ -0,0 +1,23 @@
+---
+name: "\U0001F41B Bug report"
+about: Report a misbehavior or other bug
+labels: 'bug'
+---
+# Summary
+<!--- Provide a general summary of the bug report -->
+
+## Expected behavior
+<!--- Describe what you expected to happen -->
+
+## Current behavior
+<!--- Describe what actually happened instead of the expected behavior -->
+
+## Steps to Reproduce
+<!--- An unambiguous set of steps to reproduce this bug. -->
+<!--- Code-snippets, screenshots or other details are welcome if needed. -->
+1.
+2.
+3.
+
+## Possible Solution
+<!--- Optional: If you already have an idea, you can suggest a fix/reason for the bug -->
diff --git a/.github/ISSUE_TEMPLATE/2_feature_request.md b/.github/ISSUE_TEMPLATE/2_feature_request.md
new file mode 100644
index 0000000..875cf49
--- /dev/null
+++ b/.github/ISSUE_TEMPLATE/2_feature_request.md
@@ -0,0 +1,17 @@
+---
+name: "\U0001F680 Feature request"
+about: Suggest an idea for this project
+labels: 'enhancement'
+---
+# Summary
+<!--- Provide a general summary of the feature request -->
+
+## Is your feature request related to a problem?
+<!-- Please describe the problem you are trying to solve. -->
+
+## Describe the solution you'd like
+<!-- Please describe the desired behavior. -->
+
+## Describe alternatives you've considered
+<!-- Please describe alternative solutions or features you have considered. -->
+<!-- This is not strictly necessary but helps all of us get a different point-of-view -->
diff --git a/.github/ISSUE_TEMPLATE/3_need_help.md b/.github/ISSUE_TEMPLATE/3_need_help.md
new file mode 100644
index 0000000..48cba38
--- /dev/null
+++ b/.github/ISSUE_TEMPLATE/3_need_help.md
@@ -0,0 +1,15 @@
+---
+name: "⁉️ Help me"
+about: "Get help with using or improving our software"
+labels: 'question'
+---
+<!--- If you have a question about any of our projects that is not a bug report or feature request, you can write us an issue like this or send a message to info@bit-bots.de -->
+
+# What I'm trying to do
+<!--- Please describe what you're trying to do so we know what your problem is about -->
+
+## What I've tried
+<!--- If you tell us what you already tried or what documentation you already read, we are able to help you better by not pointing to information you already know.-->
+
+## Additional context
+<!--- If there's more to say, feel free to do so :) -->
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
new file mode 100644
index 0000000..41cf5a8
--- /dev/null
+++ b/.github/pull_request_template.md
@@ -0,0 +1,19 @@
+# Summary
+<!--- Provide a general summary of the changes -->
+
+## Proposed changes
+<!--- Describe your changes and why they are necessary. -->
+
+## Related issues
+<!--- Mention (link) related issues. -->
+<!--- If you suggest a new feature, please discuss it in an issue first. -->
+<!--- If fixing a bug, there should be an issue describing it with steps to reproduce -->
+
+## Checklist
+
+- [ ] Run `colcon build`
+- [ ] Write documentation
+- [ ] Create issues for future work
+- [ ] Test on your machine
+- [ ] Test on the robot
+- [ ] This PR is on our `Software` project board
diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
new file mode 100644
index 0000000..bb68480
--- /dev/null
+++ b/.github/workflows/pre-commit.yml
@@ -0,0 +1,16 @@
+name: Code style checks
+
+on:
+  pull_request:
+  push:
+    branches: [main]
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v4
+      - name: Install cppcheck
+        run: sudo apt install cppcheck -y
+      - uses: pre-commit/action@v3.0.0
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..784caee
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,200 @@
+# Created by .ignore support plugin (hsz.mobi)
+### JetBrains template
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio and Webstorm
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# auto-generated documentation
+**/docs/_build
+**/docs/_out
+**/docs/cppapi
+**/docs/pyapi
+
+# auto-generated documentation
+**/docs/_build
+**/docs/_out
+**/docs/cppapi
+**/docs/pyapi
+
+# User-specific stuff:
+.idea/workspace.xml
+.idea/tasks.xml
+.idea/*
+
+# Sensitive or high-churn files:
+.idea/dataSources/
+.idea/dataSources.ids
+.idea/dataSources.xml
+.idea/dataSources.local.xml
+.idea/sqlDataSources.xml
+.idea/dynamic.xml
+.idea/uiDesigner.xml
+
+# Gradle:
+.idea/gradle.xml
+.idea/libraries
+
+# Mongo Explorer plugin:
+.idea/mongoSettings.xml
+
+## File-based project format:
+*.iws
+
+## Plugin-specific files:
+
+# IntelliJ
+/out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+### ROS template
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+*/cfg/cpp/
+*/src/*/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
+### Python template
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib64/
+parts/
+sdist/
+var/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*,cover
+.hypothesis/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# dotenv
+.env
+
+# virtualenv
+.venv/
+venv/
+ENV/
+
+# Spyder project settings
+.spyderproject
+
+# Rope project settings
+.ropeproject
+
+# Ruff cache
+.ruff_cache
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 0000000..561c3bd
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,23 @@
+repos:
+- repo: https://github.com/astral-sh/ruff-pre-commit
+  rev: v0.1.6
+  hooks:
+    - id: ruff
+      args:
+        - "--fix"
+        - "--exit-non-zero-on-fix"
+- repo: https://github.com/psf/black
+  rev: 23.11.0
+  hooks:
+    - id: black
+- repo: https://github.com/pocc/pre-commit-hooks
+  rev: v1.3.5
+  hooks:
+    - id: clang-format
+      args:
+        - "-i"
+    - id: cppcheck
+      args:
+        - "--suppress=missingInclude"
+        - "--suppress=unmatchedSuppression"
+        - "--suppress=unusedFunction"
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..9e20961
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 Hamburg Bit-Bots
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/bitbots_template_cpp/CMakeLists.txt b/bitbots_template_cpp/CMakeLists.txt
new file mode 100644
index 0000000..4bd3ada
--- /dev/null
+++ b/bitbots_template_cpp/CMakeLists.txt
@@ -0,0 +1,48 @@
+cmake_minimum_required(VERSION 3.5)
+project(bitbots_template_cpp)
+
+# Add support for C++17
+if (NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+endif ()
+
+find_package(ament_cmake REQUIRED)
+find_package(bitbots_docs REQUIRED)
+find_package(generate_parameter_library REQUIRED)
+find_package(rclcpp REQUIRED)
+
+generate_parameter_library(
+  bitbots_template_cpp_parameters
+  config/bitbots_template_cpp_parameters.yaml
+)
+
+include_directories(include)
+
+add_compile_options(-Wall -Werror -Wno-unused)
+
+add_executable(template src/template.cpp)
+
+target_link_libraries(
+  template
+  rclcpp::rclcpp
+  bitbots_template_cpp_parameters
+)
+
+## Specify libraries to link a library or executable target against
+ament_target_dependencies(
+  template
+  ament_cmake
+  bitbots_docs
+  generate_parameter_library
+  rclcpp
+)
+
+enable_bitbots_docs()
+
+install(TARGETS template
+        DESTINATION lib/${PROJECT_NAME})
+
+install(DIRECTORY launch
+        DESTINATION share/${PROJECT_NAME})
+
+ament_package()
diff --git a/bitbots_template_cpp/config/bitbots_template_cpp_parameters.yaml b/bitbots_template_cpp/config/bitbots_template_cpp_parameters.yaml
new file mode 100644
index 0000000..869be38
--- /dev/null
+++ b/bitbots_template_cpp/config/bitbots_template_cpp_parameters.yaml
@@ -0,0 +1,6 @@
+bitbots_template_cpp:
+  foo: {
+    type: string,
+    default_value: "Bar",
+    description: "Dummy parameter"
+  }
diff --git a/bitbots_template_cpp/docs/_static/logo.png b/bitbots_template_cpp/docs/_static/logo.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8afdd5d066232e2dba94b758c6c44fe72b42820
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diff --git a/bitbots_template_cpp/docs/conf.py b/bitbots_template_cpp/docs/conf.py
new file mode 100644
index 0000000..0bf6043
--- /dev/null
+++ b/bitbots_template_cpp/docs/conf.py
@@ -0,0 +1,187 @@
+#
+# Full list of options at http://www.sphinx-doc.org/en/master/config
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+
+import catkin_pkg.package
+from exhale import utils
+
+package_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+catkin_package = catkin_pkg.package.parse_package(
+    os.path.join(package_dir, catkin_pkg.package.PACKAGE_MANIFEST_FILENAME)
+)
+sys.path.insert(0, os.path.abspath(os.path.join(package_dir, "src")))
+
+
+# -- Helper functions --------------------------------------------------------
+
+
+def count_files():
+    """:returns tuple of (num_py, num_cpp)"""
+    num_py = 0
+    num_cpp = 0
+
+    for _root, _dirs, files in os.walk(os.path.join(package_dir, "src")):
+        for f in files:
+            if f.endswith(".py"):
+                num_py += 1
+    for _root, _dirs, files in os.walk(os.path.join(package_dir, "include")):
+        for f in files:
+            if f.endswith(".h") or f.endswith(".hpp"):
+                num_cpp += 1
+
+    return num_py, num_cpp
+
+
+# -- Project information -----------------------------------------------------
+
+project = catkin_package.name
+copyright = "2019, Bit-Bots"
+author = ", ".join([a.name for a in catkin_package.authors])
+
+# The short X.Y version
+version = str(catkin_package.version)
+# The full version, including alpha/beta/rc tags
+release = str(catkin_package.version)
+
+# -- General configuration ---------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#
+# needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    "sphinx.ext.autodoc",
+    "sphinx.ext.doctest",
+    "sphinx.ext.intersphinx",
+    "sphinx.ext.todo",
+    "sphinx.ext.coverage",
+    "sphinx.ext.imgmath",
+    "sphinx.ext.viewcode",
+    "sphinx_rtd_theme",
+]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ["_templates"]
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+#
+# source_suffix = ['.rst', '.md']
+source_suffix = ".rst"
+
+# The master toctree document.
+master_doc = "index"
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = None
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = None
+
+# -- Exhale and Breath setup -------------------------------------------------
+
+# Tell sphinx what the primary language being documented is.
+num_files_py, num_files_cpp = count_files()
+primary_domain = "py" if num_files_py >= num_files_cpp else "cpp"
+
+# Tell sphinx what the pygments highlight language should be.
+highlight_language = primary_domain
+
+if num_files_cpp > 0:
+    extensions += [
+        "breathe",
+        "exhale",
+    ]
+
+    breathe_projects = {project: os.path.join("_build", "doxyoutput", "xml")}
+    breathe_default_project = project
+
+    def specifications_for_kind(kind):
+        # Show all members for classes and structs
+        if kind == "class" or kind == "struct":
+            return [":members:", ":protected-members:", ":private-members:", ":undoc-members:"]
+        # An empty list signals to Exhale to use the defaults
+        else:
+            return []
+
+    exhale_args = {
+        # These arguments are required
+        "containmentFolder": "cppapi",
+        "rootFileName": "library_root.rst",
+        "rootFileTitle": "C++ Library API",
+        "doxygenStripFromPath": "..",
+        "customSpecificationsMapping": utils.makeCustomSpecificationsMapping(specifications_for_kind),
+        # Suggested optional arguments
+        "createTreeView": True,
+        "exhaleExecutesDoxygen": True,
+        "exhaleDoxygenStdin": "INPUT = {}".format(os.path.join(package_dir, "include")),
+    }
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = "sphinx_rtd_theme"
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#
+# html_theme_options = {}
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ["_static"]
+
+# Custom sidebar templates, must be a dictionary that maps document names
+# to template names.
+#
+# The default sidebars (for documents that don't match any pattern) are
+# defined by theme itself.  Builtin themes are using these templates by
+# default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
+# 'searchbox.html']``.
+#
+# html_sidebars = {}
+
+html_logo = os.path.join("_static", "logo.png")
+html_favicon = os.path.join("_static", "logo.png")
+
+
+# -- Options for intersphinx extension ---------------------------------------
+
+# Example configuration for intersphinx: refer to the Python standard library.
+intersphinx_mapping = {"https://docs.python.org/": None}
+
+# -- Options for todo extension ----------------------------------------------
+
+# If true, `todo` and `todoList` produce output, else they produce nothing.
+todo_include_todos = True
+
+# -- RST Standard variables ---------------------------------------------------
+rst_prolog = f".. |project| replace:: {project}\n"
+rst_prolog += ".. |description| replace:: {}\n".format(catkin_package.description.replace("\n\n", "\n"))
+rst_prolog += ".. |modindex| replace:: {}\n".format(
+    ":ref:`modindex`" if num_files_py > 0 else "Python module index is not available"
+)
diff --git a/bitbots_template_cpp/docs/index.rst b/bitbots_template_cpp/docs/index.rst
new file mode 100644
index 0000000..e76aa43
--- /dev/null
+++ b/bitbots_template_cpp/docs/index.rst
@@ -0,0 +1,21 @@
+Welcome to |project|'s documentation!
+================================================
+
+Description
+-----------
+
+|description|
+
+.. toctree::
+   :maxdepth: 2
+
+   cppapi/library_root
+   pyapi/modules
+
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* |modindex|
+* :ref:`search`
diff --git a/bitbots_template_cpp/include/bitbots_template_cpp/template.hpp b/bitbots_template_cpp/include/bitbots_template_cpp/template.hpp
new file mode 100644
index 0000000..7d18cf3
--- /dev/null
+++ b/bitbots_template_cpp/include/bitbots_template_cpp/template.hpp
@@ -0,0 +1,19 @@
+#include <bitbots_template_cpp_parameters.hpp>
+#include <rclcpp/experimental/executors/events_executor/events_executor.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+namespace bitbots_template_cpp {
+
+class Template : public rclcpp::Node {
+ public:
+  Template();
+  void log_foo_param();
+
+ private:
+  // Declare parameter listener and struct from the generate_parameter_library
+  bitbots_template_cpp::ParamListener param_listener_;
+  // Data structure to hold all parameters, which is build from the schema in the 'parameters.yaml'
+  bitbots_template_cpp::Params config_;
+};
+
+}  // namespace bitbots_template_cpp
diff --git a/bitbots_template_cpp/launch/template.launch b/bitbots_template_cpp/launch/template.launch
new file mode 100644
index 0000000..912f541
--- /dev/null
+++ b/bitbots_template_cpp/launch/template.launch
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<launch>
+    <arg name="sim" default="false"/>
+
+    <node name="bitbots_template_cpp_node" pkg="bitbots_template_cpp" exec="template">
+        <param name="use_sim_time" value="$(var sim)"/>
+    </node>
+
+</launch>
diff --git a/bitbots_template_cpp/package.xml b/bitbots_template_cpp/package.xml
new file mode 100644
index 0000000..1e0bc09
--- /dev/null
+++ b/bitbots_template_cpp/package.xml
@@ -0,0 +1,30 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>bitbots_template_cpp</name>
+  <description>Template cpp node</description>
+  <version>0.0.0</version>
+  <license>MIT</license>
+
+  <maintainer email="info@bit-bots.de">Hamburg Bit-Bots</maintainer>
+  <author email="info@bit-bots.de">Hamburg Bit-Bots</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>backward_ros</depend>
+  <depend>bitbots_docs</depend>
+  <depend>generate_parameter_library</depend>
+  <depend>rclcpp</depend>
+
+
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <bitbots_documentation>
+      <status>unknown</status>
+      <language>c++</language>
+    </bitbots_documentation>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/bitbots_template_cpp/src/template.cpp b/bitbots_template_cpp/src/template.cpp
new file mode 100644
index 0000000..bd90691
--- /dev/null
+++ b/bitbots_template_cpp/src/template.cpp
@@ -0,0 +1,33 @@
+#include <bitbots_template_cpp/template.hpp>
+
+namespace bitbots_template_cpp {
+
+Template::Template() : Node("bitbots_template_cpp_node"), param_listener_(get_node_parameters_interface()) {
+  RCLCPP_INFO(this->get_logger(), "Starting bitbots_template_cpp_node...");
+
+  // get parameters for generated code
+  config_ = param_listener_.get_params();
+}
+
+void Template::log_foo_param() {
+  // Update parameters
+  config_ = param_listener_.get_params();
+
+  // Log value of parameter foo
+  RCLCPP_INFO(this->get_logger(), "Parameter 'foo' was: '%s'.", config_.foo.c_str());
+}
+}  // namespace bitbots_template_cpp
+
+int main(int argc, char **argv) {
+  rclcpp::init(argc, argv);
+  auto node = std::make_shared<bitbots_template_cpp::Template>();
+
+  rclcpp::Duration timer_duration = rclcpp::Duration::from_seconds(1.0);
+  rclcpp::TimerBase::SharedPtr timer =
+      rclcpp::create_timer(node, node->get_clock(), timer_duration, [node]() -> void { node->log_foo_param(); });
+  rclcpp::experimental::executors::EventsExecutor exec;
+  exec.add_node(node);
+
+  exec.spin();
+  rclcpp::shutdown();
+}
diff --git a/bitbots_template_py/bitbots_template_py/__init__.py b/bitbots_template_py/bitbots_template_py/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/bitbots_template_py/bitbots_template_py/template.py b/bitbots_template_py/bitbots_template_py/template.py
new file mode 100755
index 0000000..cdba09d
--- /dev/null
+++ b/bitbots_template_py/bitbots_template_py/template.py
@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.executors import MultiThreadedExecutor
+from rclpy.node import Node
+from rclpy.timer import Timer
+
+from bitbots_template_py.bitbots_template_py_parameters import bitbots_template_py
+
+
+class TemplateNode(Node):
+    """
+    Template Node class that print some stuff in a timer.
+    """
+
+    def __init__(self) -> None:
+        node_name = "bitbots_template_py_node"
+        super().__init__(node_name)
+        self.get_logger().info(f"Starting {node_name}...")
+        self.param_listener = bitbots_template_py.ParamListener(self)
+        self.params = self.param_listener.get_params()
+        self.timer: Timer = self.create_timer(1, self.log_foo_param)
+
+    def log_foo_param(self) -> None:
+        self.params = self.param_listener.get_params()
+        self.get_logger().info(f"Parameter 'foo' was: '{self.params.foo}'.")
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = TemplateNode()
+    ex = MultiThreadedExecutor(num_threads=2)
+    ex.add_node(node)
+    ex.spin()
+    node.destroy_node()
+    rclpy.shutdown()
diff --git a/bitbots_template_py/config/bitbots_template_py_parameters.yaml b/bitbots_template_py/config/bitbots_template_py_parameters.yaml
new file mode 100644
index 0000000..42e9d0a
--- /dev/null
+++ b/bitbots_template_py/config/bitbots_template_py_parameters.yaml
@@ -0,0 +1,6 @@
+bitbots_template_py:
+  foo: {
+    type: string,
+    default_value: "Bar",
+    description: "Dummy parameter"
+  }
diff --git a/bitbots_template_py/docs/_static/logo.png b/bitbots_template_py/docs/_static/logo.png
new file mode 100644
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diff --git a/bitbots_template_py/docs/conf.py b/bitbots_template_py/docs/conf.py
new file mode 100644
index 0000000..0bf6043
--- /dev/null
+++ b/bitbots_template_py/docs/conf.py
@@ -0,0 +1,187 @@
+#
+# Full list of options at http://www.sphinx-doc.org/en/master/config
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+
+import catkin_pkg.package
+from exhale import utils
+
+package_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+catkin_package = catkin_pkg.package.parse_package(
+    os.path.join(package_dir, catkin_pkg.package.PACKAGE_MANIFEST_FILENAME)
+)
+sys.path.insert(0, os.path.abspath(os.path.join(package_dir, "src")))
+
+
+# -- Helper functions --------------------------------------------------------
+
+
+def count_files():
+    """:returns tuple of (num_py, num_cpp)"""
+    num_py = 0
+    num_cpp = 0
+
+    for _root, _dirs, files in os.walk(os.path.join(package_dir, "src")):
+        for f in files:
+            if f.endswith(".py"):
+                num_py += 1
+    for _root, _dirs, files in os.walk(os.path.join(package_dir, "include")):
+        for f in files:
+            if f.endswith(".h") or f.endswith(".hpp"):
+                num_cpp += 1
+
+    return num_py, num_cpp
+
+
+# -- Project information -----------------------------------------------------
+
+project = catkin_package.name
+copyright = "2019, Bit-Bots"
+author = ", ".join([a.name for a in catkin_package.authors])
+
+# The short X.Y version
+version = str(catkin_package.version)
+# The full version, including alpha/beta/rc tags
+release = str(catkin_package.version)
+
+# -- General configuration ---------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#
+# needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    "sphinx.ext.autodoc",
+    "sphinx.ext.doctest",
+    "sphinx.ext.intersphinx",
+    "sphinx.ext.todo",
+    "sphinx.ext.coverage",
+    "sphinx.ext.imgmath",
+    "sphinx.ext.viewcode",
+    "sphinx_rtd_theme",
+]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ["_templates"]
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+#
+# source_suffix = ['.rst', '.md']
+source_suffix = ".rst"
+
+# The master toctree document.
+master_doc = "index"
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = None
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = None
+
+# -- Exhale and Breath setup -------------------------------------------------
+
+# Tell sphinx what the primary language being documented is.
+num_files_py, num_files_cpp = count_files()
+primary_domain = "py" if num_files_py >= num_files_cpp else "cpp"
+
+# Tell sphinx what the pygments highlight language should be.
+highlight_language = primary_domain
+
+if num_files_cpp > 0:
+    extensions += [
+        "breathe",
+        "exhale",
+    ]
+
+    breathe_projects = {project: os.path.join("_build", "doxyoutput", "xml")}
+    breathe_default_project = project
+
+    def specifications_for_kind(kind):
+        # Show all members for classes and structs
+        if kind == "class" or kind == "struct":
+            return [":members:", ":protected-members:", ":private-members:", ":undoc-members:"]
+        # An empty list signals to Exhale to use the defaults
+        else:
+            return []
+
+    exhale_args = {
+        # These arguments are required
+        "containmentFolder": "cppapi",
+        "rootFileName": "library_root.rst",
+        "rootFileTitle": "C++ Library API",
+        "doxygenStripFromPath": "..",
+        "customSpecificationsMapping": utils.makeCustomSpecificationsMapping(specifications_for_kind),
+        # Suggested optional arguments
+        "createTreeView": True,
+        "exhaleExecutesDoxygen": True,
+        "exhaleDoxygenStdin": "INPUT = {}".format(os.path.join(package_dir, "include")),
+    }
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = "sphinx_rtd_theme"
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#
+# html_theme_options = {}
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ["_static"]
+
+# Custom sidebar templates, must be a dictionary that maps document names
+# to template names.
+#
+# The default sidebars (for documents that don't match any pattern) are
+# defined by theme itself.  Builtin themes are using these templates by
+# default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
+# 'searchbox.html']``.
+#
+# html_sidebars = {}
+
+html_logo = os.path.join("_static", "logo.png")
+html_favicon = os.path.join("_static", "logo.png")
+
+
+# -- Options for intersphinx extension ---------------------------------------
+
+# Example configuration for intersphinx: refer to the Python standard library.
+intersphinx_mapping = {"https://docs.python.org/": None}
+
+# -- Options for todo extension ----------------------------------------------
+
+# If true, `todo` and `todoList` produce output, else they produce nothing.
+todo_include_todos = True
+
+# -- RST Standard variables ---------------------------------------------------
+rst_prolog = f".. |project| replace:: {project}\n"
+rst_prolog += ".. |description| replace:: {}\n".format(catkin_package.description.replace("\n\n", "\n"))
+rst_prolog += ".. |modindex| replace:: {}\n".format(
+    ":ref:`modindex`" if num_files_py > 0 else "Python module index is not available"
+)
diff --git a/bitbots_template_py/docs/index.rst b/bitbots_template_py/docs/index.rst
new file mode 100644
index 0000000..e76aa43
--- /dev/null
+++ b/bitbots_template_py/docs/index.rst
@@ -0,0 +1,21 @@
+Welcome to |project|'s documentation!
+================================================
+
+Description
+-----------
+
+|description|
+
+.. toctree::
+   :maxdepth: 2
+
+   cppapi/library_root
+   pyapi/modules
+
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* |modindex|
+* :ref:`search`
diff --git a/bitbots_template_py/launch/template.launch b/bitbots_template_py/launch/template.launch
new file mode 100644
index 0000000..f836ef1
--- /dev/null
+++ b/bitbots_template_py/launch/template.launch
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<launch>
+    <!-- Get launch params-->
+    <arg name="sim" default="false" description="true: activates simulation time, switches to simulation color settings and deactivates launching of an image provider" />
+
+    <!-- Start the template node -->
+    <node pkg="bitbots_template_py" exec="template" output="screen"></node>
+</launch>
diff --git a/bitbots_template_py/package.xml b/bitbots_template_py/package.xml
new file mode 100644
index 0000000..a84dc7e
--- /dev/null
+++ b/bitbots_template_py/package.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>bitbots_template_py</name>
+  <description>Template python node</description>
+  <version>0.0.0</version>
+  <license>MIT</license>
+
+  <maintainer email="info@bit-bots.de">Hamburg Bit-Bots</maintainer>
+  <author email="info@bit-bots.de">Hamburg Bit-Bots</author>
+
+  <depend>rclpy</depend>
+  <depend>generate_parameter_library</depend>
+  <depend>bitbots_docs</depend>
+
+  <export>
+    <bitbots_documentation>
+      <status>unknown</status>
+      <language>python3</language>
+    </bitbots_documentation>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/bitbots_template_py/resource/bitbots_template_py b/bitbots_template_py/resource/bitbots_template_py
new file mode 100644
index 0000000..e69de29
diff --git a/bitbots_template_py/setup.cfg b/bitbots_template_py/setup.cfg
new file mode 100755
index 0000000..43aa6ac
--- /dev/null
+++ b/bitbots_template_py/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/bitbots_template_py
+[install]
+install_scripts=$base/lib/bitbots_template_py
diff --git a/bitbots_template_py/setup.py b/bitbots_template_py/setup.py
new file mode 100644
index 0000000..c665c81
--- /dev/null
+++ b/bitbots_template_py/setup.py
@@ -0,0 +1,34 @@
+import glob
+
+from generate_parameter_library_py.setup_helper import generate_parameter_module
+from setuptools import find_packages, setup
+
+package_name = "bitbots_template_py"
+
+generate_parameter_module(
+    f"{package_name}_parameters",  # python module name for parameter library
+    "config/bitbots_template_py_parameters.yaml",  # path to input yaml file
+)
+
+setup(
+    name=package_name,
+    packages=find_packages(exclude=["test"]),
+    data_files=[
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
+        ("share/" + package_name + "/config", glob.glob("config/*.yaml")),
+        ("share/" + package_name + "/launch", glob.glob("launch/*.launch")),
+    ],
+    install_requires=[
+        "launch",
+        "setuptools",
+    ],
+    zip_safe=True,
+    keywords=["ROS"],
+    license="MIT",
+    entry_points={
+        "console_scripts": [
+            f"template = {package_name}.template:main",
+        ],
+    },
+)
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..3ed6ff7
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,14 @@
+[tool.black]
+line-length = 120
+
+[tool.ruff]
+line-length = 120
+ # Never enforce `E501` (line length violations), as black takes care of this.
+ignore = ["E501"]
+# Additionally enable the following rules
+# - pycodestyle warnings (`W`)
+# - flake8-bugbear warnings (`B`)
+# - isort import sorting (`I`)
+# - pep8-naming convenrtions (`N`)
+# - pyupgrade prefer newer language constructs (`UP`)
+select = ["F", "E", "B", "W", "I", "N", "UP"]