Refactor/refactor main

.github/workflows/ros2_ci.yml

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+name: ROS2 CI
+on:
+  pull_request:
+jobs:
+  auto_format:
+    name: Auto-format Python & XML
+    runs-on: ubuntu-22.04
+    permissions:
+      contents: write
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+        with:
+          ref: ${{ github.head_ref }}
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: "3.10"
+      - name: Install format tools
+        run: |
+          sudo apt update
+          sudo apt install -y libxml2-utils
+          pip install black isort autoflake
+      - name: Run autoflake
+        run: |
+          find . -type f -name "*.py" -exec autoflake --in-place --remove-unused-variables --remove-all-unused-imports {} \;
+      - name: Run isort
+        run: |
+          find . -type f -name "*.py" -exec isort {} \;
+      - name: Run black
+        run: |
+          black .
+      - name: Format XML files
+        run: |
+          find . -type f \( -name "*.xml" -or -name "*.urdf" -or -name "*.xacro" -or -name "*.sdf" \) -exec xmllint --format -o {} {} \;
+      - name: Auto-commit changes
+        uses: stefanzweifel/git-auto-commit-action@v4
+        with:
+          commit_message: "Apply formatting to PR files"
+          commit_user_name: github-actions[bot]
+          commit_user_email: github-actions[bot]@users.noreply.github.com
+
+  build_check:
+    name: ROS2 Build Check (colcon via industrial_ci)
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distro: [humble]
+        ros_repo: [main, testing]
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+        with:
+          ref: ${{ github.head_ref }}
+      - name: Run industrial_ci
+        uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: ${{ matrix.ros_distro }}
+          ROS_REPO: ${{ matrix.ros_repo }}
+          BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install -q -r requirements.txt'
+          IMMEDIATE_TEST_OUTPUT: true
+          CLANG_FORMAT_CHECK: none
+          CLANG_TIDY: none
+          PYLINT_CHECK: false
+          BLACK_CHECK: false
+

.gitignore

@@ -1,4 +1,4 @@
-/hyperparameter/pcd_bag/*.pcd
+sing_detection/__pycache__
 
 devel/
 logs/

bag/example.bag/metadata.yaml

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+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: sqlite3
+  duration:
+    nanoseconds: 19999574454
+  starting_time:
+    nanoseconds_since_epoch: 1730436811403031317
+  message_count: 201
+  topics_with_message_count:
+    - topic_metadata:
+        name: /livox/lidar
+        type: livox_ros_driver2/msg/CustomMsg
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 201
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - no1.bag_0.db3
+  files:
+    - path: no1.bag_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 1730436811403031317
+      duration:
+        nanoseconds: 19999574454
+      message_count: 201