diff --git a/.editorconfig b/.editorconfig
old mode 100644
new mode 100755
index 310f9a8..48c782f
--- a/.editorconfig
+++ b/.editorconfig
@@ -1,66 +1,75 @@
-root = true
-
 [*]
-indent_style = space
-indent_size = 2
-charset = utf-8
-trim_trailing_whitespace = true
-insert_final_newline = true
 cpp_indent_braces=false
 cpp_indent_multi_line_relative_to=innermost_parenthesis
 cpp_indent_within_parentheses=indent
-cpp_indent_preserve_within_parentheses=false
-cpp_indent_case_labels=false
+cpp_indent_preserve_within_parentheses=true
+cpp_indent_case_labels=true
 cpp_indent_case_contents=true
 cpp_indent_case_contents_when_block=false
 cpp_indent_lambda_braces_when_parameter=true
 cpp_indent_goto_labels=one_left
 cpp_indent_preprocessor=leftmost_column
 cpp_indent_access_specifiers=false
-cpp_indent_namespace_contents=true
+cpp_indent_namespace_contents=false
 cpp_indent_preserve_comments=false
-cpp_new_line_before_open_brace_namespace=ignore
-cpp_new_line_before_open_brace_type=ignore
+
+cpp_new_line_before_open_brace_namespace=false
+cpp_new_line_before_open_brace_type=false
 cpp_new_line_before_open_brace_function=ignore
 cpp_new_line_before_open_brace_block=ignore
 cpp_new_line_before_open_brace_lambda=ignore
+
 cpp_new_line_scope_braces_on_separate_lines=false
 cpp_new_line_close_brace_same_line_empty_type=false
 cpp_new_line_close_brace_same_line_empty_function=false
-cpp_new_line_before_catch=true
-cpp_new_line_before_else=true
+cpp_new_line_before_catch=false
+cpp_new_line_before_else=false
 cpp_new_line_before_while_in_do_while=false
+
 cpp_space_before_function_open_parenthesis=remove
 cpp_space_within_parameter_list_parentheses=false
 cpp_space_between_empty_parameter_list_parentheses=false
 cpp_space_after_keywords_in_control_flow_statements=true
 cpp_space_within_control_flow_statement_parentheses=false
 cpp_space_before_lambda_open_parenthesis=false
+
 cpp_space_within_cast_parentheses=false
 cpp_space_after_cast_close_parenthesis=false
 cpp_space_within_expression_parentheses=false
 cpp_space_before_block_open_brace=true
 cpp_space_between_empty_braces=false
-cpp_space_before_initializer_list_open_brace=false
+cpp_space_before_initializer_list_open_brace=true
 cpp_space_within_initializer_list_braces=true
 cpp_space_preserve_in_initializer_list=true
+
 cpp_space_before_open_square_bracket=false
 cpp_space_within_square_brackets=false
 cpp_space_before_empty_square_brackets=false
 cpp_space_between_empty_square_brackets=false
 cpp_space_group_square_brackets=true
+
 cpp_space_within_lambda_brackets=false
 cpp_space_between_empty_lambda_brackets=false
 cpp_space_before_comma=false
 cpp_space_after_comma=true
+
 cpp_space_remove_around_member_operators=true
+
 cpp_space_before_inheritance_colon=true
 cpp_space_before_constructor_colon=true
+
 cpp_space_remove_before_semicolon=true
-cpp_space_after_semicolon=false
+cpp_space_after_semicolon=true
+
 cpp_space_remove_around_unary_operator=true
+
 cpp_space_around_binary_operator=insert
 cpp_space_around_assignment_operator=insert
 cpp_space_pointer_reference_alignment=left
 cpp_space_around_ternary_operator=insert
 cpp_wrap_preserve_blocks=one_liners
+indent_style = space
+indent_size = 4
+charset = utf-8
+trim_trailing_whitespace = true
+insert_final_newline = true
diff --git a/.gitignore b/.gitignore
index ec6cb9f..c32553f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,9 +1,37 @@
-!.gitkeep
 
-tmp/
-src/tmp
+# Created by https://www.toptal.com/developers/gitignore/api/ros2
+# Edit at https://www.toptal.com/developers/gitignore?templates=ros2
 
-node_modules/
+### ROS2 ###
+install/
+log/
+build/
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+*~
+
+# Emacs
+.#*
+
+# Colcon custom files
+COLCON_IGNORE
+AMENT_IGNORE
+
+# End of https://www.toptal.com/developers/gitignore/api/ros2
 
-obj/
-out/
\ No newline at end of file
diff --git a/activate.fish b/activate.fish
new file mode 100644
index 0000000..2acf648
--- /dev/null
+++ b/activate.fish
@@ -0,0 +1,15 @@
+# Check if running inside distrobox
+
+if test -n "$__ROS_INITIALIZED"
+    exit 1
+end
+
+export __ROS_INITIALIZED="1"
+
+if test -f /run/.containerenv; or test -n "$CONTAINER_ID"
+    bass source /opt/ros/jazzy/setup.bash
+    bass source ./install/setup.bash
+else
+    echo "This script should only be run inside a distrobox container"
+    exit 1
+end