Feature/corey onboarding 3

[khoibot]

PR Summary

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Issue Link: INSERT-LINK-HERE

Description

Corey Onboarding attempt 3

Reviewers

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• Required: @MaxxWilson

• Optional:

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Changelog

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Reviewer Guide

This is the most important part!

• No one is going to read every line of every PR, so you need to tell the reviewers what they are looking for.
• Point out lines you want feedback on or feel unsure about.
• Highlight major changes that other members need to know about.

Testing

Automatic

• Describe test cases that are covered by unit tests

Manual

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Documentation

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Checklist

• Confirmed all tests pass on a clean build
• Added reviewers in Github
• Posted PR Summary to Discord PR's Channel
• Ran uncrustify on any modified C++ files
• Ran Colcon Lint for any modified CMakeLists.txt or Package.xml