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CONTRIBUTING.md

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How to Contribute

Thank you for your interest and time spent contributing!
We welcome contributions from everyone, and to ensure our community stays open and healthy we adhere to the Contributor Covenant, a widely used code of conduct adopted by many other communities such as Linux, Autoware, GitLab.

Communication

First, please read through our code of conduct, as we expect all our contributors to follow it.

Second, before starting on a project that you intend to contribute to any of our projects, we strongly recommend posting on the repository's Issues page or Discord and briefly outlining the changes you plan to make.
This will enable us to provide some context that may be helpful for you. This could range from advice and feedback on how to optimally perform your changes or reasons for not doing it.

Contribution Workflow

  1. Create an issue or post on Discord defining your intended contribution
  2. Create a fork
    • For more information about the fork-and-pull model, see the GitHub Docs.
  3. Write code
  4. Create a pull request
    • Fill the template
    • For more information about the fork-and-pull model, see the GitHub Docs.
  5. Finish a pull request
    • In order for a pull request to be merged to mini_pupper_ros, it must meet the following criteria:
      • All discussions on the pull request must be resolved.
      • All items of the pull request checklist are checked off.
      • CI jobs for the pull request must have passed successfully.

Pull Requests

For Pull Requests, please target the ros2 branch for any ROS 2 contributions, and the ros1 branch for any ROS 1 contributions.
To contribute, please check out the ros2 branch, and then create your feature branch from there:

git checkout ros2                # start with the ros2 branch
git pull origin ros2             # pull remote repo changes
git checkout your-feature-branch # create your feature branch

Then when you submit a Pull Request, please select the ros2 branch to request to merge your commits.

If you are interested in understanding this development style a bit further, we follow the GitHub Flow model of branching.

Guildlines for Development

License

mini_pupper_ros is licensed under the Apache 2.0 License, and thus all contributions will be licensed as such as per clause 5 of the Apache 2.0 License:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Code Style

We follow the ROS code style guidelines as closely as possible. Please ensure that any new contributions are compatible with C++17 and Python3.x.

To check Python code style, run the following command in the ROS workspace.

ament_flake8
ament_pep257

To check C++ code style, run the following command in the ROS workspace.

ament_clang_format --reformat
ament_uncrustify --reformat
ament_cpplint

After checking all styles, run the following command to test the ROS package configuration in the ROS workspace.

colcon test --packages-select-regex "mini_pupper*"
colcon test-result --verbose  # confirm this shows "0 errors, 0 failures, 0 skipped"

This guide is based on https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/contributor-guidelines.html#contributors-guidelines-formatting