Added pylint, docs, gitignore

.github/pull_request_template

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+<!--
+     For Work In Progress Pull Requests, please use the Draft PR feature,
+     see https://github.blog/2019-02-14-introducing-draft-pull-requests/ for further details.
+
+     For a timely review/response, please avoid force-pushing additional
+     commits if your PR already received reviews or comments.
+
+     Before submitting a Pull Request, please ensure you've done the following:
+     - 📖 Read the Forem Contributing Guide: https://developers.forem.com/contributing-guide/forem#create-a-pull-request
+     - 📖 Read the Forem Code of Conduct: https://github.com/forem/forem/blob/main/CODE_OF_CONDUCT.md
+     - 👷‍♀️ Create small PRs. In most cases this will be possible.
+     - ✅ Provide tests for your changes.
+     - 📝 Use descriptive commit messages.
+     - 📗 Update any related documentation and include any relevant screenshots.
+
+     NOTE: Pull Requests from forked repositories will need to be reviewed by
+     a Forem Team member before any CI builds will run. Once your PR is approved
+     with a `/ci` reply to the PR, it will be allowed to run subsequent builds without
+     manual approval.
+-->
+
+## What type of PR is this? (check all applicable)
+
+- [ ] Refactor
+- [ ] Feature
+- [ ] Bug Fix
+- [ ] Optimization
+- [ ] Documentation Update
+
+## Description
+_Describe the CHANGES, the REASONING, and BENEFITS of this PR._
+
+## Related Tickets & Documents
+
+<!--
+For pull requests that relate or close an issue, please include them
+below.  We like to follow [Github's guidance on linking issues to pull requests](https://docs.github.com/en/issues/tracking-your-work-with-issues/linking-a-pull-request-to-an-issue).
+
+For example having the text: "closes #1234" would connect the current pull
+request to issue 1234.  And when we merge the pull request, Github will
+automatically close the issue.
+-->
+
+- Related Issue #
+- Closes #
+
+## QA Instructions, Screenshots, Recordings
+
+_Please replace this line with instructions on how to test your changes, a note
+on the devices and browsers this has been tested on, as well as any relevant
+images for UI changes._
+
+## Added/updated tests?
+_We encourage you to keep the code coverage percentage at 80% and above._
+
+- [ ] Yes
+- [ ] No, and this is why: _please replace this line with details on why tests
+      have not been included_
+- [ ] I need help with writing tests
+
+## [optional] Are there any post deployment tasks we need to perform?
+
+## [optional] What gif best describes this PR or how it makes you feel?
+
+![alt_text](gif_link)

.github/workflows/.pylintrc

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+[MESSAGES CONTROL]
+
+disable=all
+
+enable=
+    bad-indentation,
+    trailing-whitespace,
+    wrong-import-order,
+    unused-variable,
+    unused-import

.github/workflows/pylint.yml

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+name: Pylint
+
+on: [push]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.8", "3.9", "3.10"]
+    steps:
+    - uses: actions/checkout@v3
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v3
+      with:
+        python-version: ${{ matrix.python-version }}
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install pylint
+    - name: Getting changed Python files and Analysing the code with pylint
+      run: |
+        git fetch origin ${CI_MERGE_REQUEST_TARGET_BRANCH_NAME}
+        echo CI_COMMIT_SHA=${GITHUB_SHA}
+        tmp_files=$(git diff --name-only origin/main ${CI_COMMIT_SHA})
+        echo "Changed files are $tmp_files"
+        if [ -z "$(echo "$tmp_files" | grep "\.py")" ]; then exit 0; else echo "Python files are found"; fi
+        tmp_pfiles=$(echo "$tmp_files" | grep "\.py")
+        echo "Python files are $tmp_pfiles"
+        if [[ -z "$tmp_pfiles" ]]; then
+          echo "No files to lint"
+        else
+          echo "Running Linter!"
+          pylint --rc-file=/home/runner/work/RoboBuggy2/RoboBuggy2/.github/workflows/.pylintrc $tmp_pfiles
+        fi

.gitignore

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+.DS_Store
+rb_ws/bags
+.docker-compose.yml.un~
+.python-requirements.txt.un~
+docker-compose.yml~
+python-requirements.txt~
+*TEMP_DO_NOT_EDIT.txt
+rb_ws/src/buggy/bags/2023-02-11-11-38-44.bag
+rb_ws/src/buggy/bags/2023-02-11-12-00-49.bag
+rb_ws/src/buggy/bags/2023-02-11-12-01-12.bag
+rb_ws/src/buggy/bags/2023-02-12-11-39-27.bag
+rb_ws/src/buggy/bags/2023-02-18-02-23-26.bag
+rb_ws/src/buggy/bags/2023-02-19-11-21-56.bag
+rb_ws/src/buggy/bags/2023-02-19-11-27-49.bag
+rb_ws/src/buggy/bags/2023-02-19-11-38-48.bag
+rb_ws/src/buggy/bags/*
+rb_ws/src/buggy/launch/.main.launch.swp                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        
+*.bag

docs/architecture/node_interactions.md

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+# ROS Node Interaction Document
+## Scope
+The purpose of this file is to descirbe the architecture of the RD25 stack from a ROS node level. This document should be updated whenever any ROS topics are added, removed or modified.
+
+## Viewing On VSCode
+Install `bierner.markdown-mermaid` from the extension marketplace to render the charts in VSCode markdown preview.
+
+## List of topics
+| Topic Name | Type                    | is custom message  |
+| ---------- | ----------------------- | ------------------ |
+| ego/state  | BuggyState              | yes |
+| other_buggy/state | BuggyState       | yes |
+| ego/trajectory | BuggyTrajectory     | yes |
+| ego/steering_cmd | [Float64](https://docs.ros.org/en/melodic/api/std_msgs/html/msg/Float64.html) | no |
+| add new topic here | | |
+
+## ROS Nodes Graph
+Auton Loop [Sequence Diagram](https://en.wikipedia.org/wiki/Sequence_diagram#:~:text=A%20sequence%20diagram%20shows%2C%20as,order%20in%20which%20they%20occur.)
+
+```mermaid
+sequenceDiagram
+A->>B: "some/topic"
+```
+
+means A publishes a message of `some/topic` and B receives the message.
+
+```mermaid
+sequenceDiagram
+    participant I as Ego State Estimator Node
+    participant P as Planner Node
+    participant C as Controller Node
+    participant S as Firmware Comms Node
+
+    box Grey HBK 3DM-GQ7 INS
+        participant I
+    end
+
+    box Purple Auton Core
+        participant P
+        participant C
+    end
+
+    box Blue Communication with Sensors, Actuators and Other Buggy
+        participant S
+    end
+
+    loop 100hz
+        I->>P: "ego/state"
+        I->>C: "ego/state"
+    end
+
+    loop 10hz
+        S->>P: "other_buggy/state"
+    end
+
+    loop 10hz
+        P->>C: "ego/trajectory"
+    end
+
+    loop 100hz
+        C->>S: "ego/steering_cmd"
+    end
+```
+