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CONTRIBUTING.md

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+# Contributing Guidelines
+Thank you for your interest in contributing to `cartesian_controllers_ros2`. Whether it's a bug report, new feature, correction, or additional documentation, we greatly value feedback and contributions from the community.
+
+Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
+
+
+## Reporting Bugs/Feature Requests
+We welcome you to use the GitHub issue tracker to report bugs or suggest features.
+
+When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure somebody else hasn't already reported the issue.
+
+Please try to include as much information as you can. Details like these are incredibly useful:
+
+* A reproducible test case or series of steps
+* The version of our code being used
+* Any modifications you've made relevant to the bug
+* Anything unusual about your environment or deployment
+
+
+## Contributing via Pull Requests
+Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
+
+1. You are working against the latest source on the *main* branch.
+2. You check existing open, and recently merged, pull requests to make sure someone else hasn't addressed the problem already.
+3. You open an issue to discuss any significant work - we would hate for your time to be wasted.
+
+To send us a pull request, please:
+
+1. Fork the repository.
+2. Modify the source; please focus on the specific change you are contributing.
+  If you also reformat all the code, it will be hard for us to focus on your change.
+3. Ensure local tests pass.
+4. Commit to your fork using clear commit messages.
+5. Send a pull request, answering any default questions in the pull request interface.
+6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
+
+GitHub provides additional documentation on [forking a repository](https://help.github.com/articles/fork-a-repo/) and [creating a pull request](https://help.github.com/articles/creating-a-pull-request/).
+
+
+## Licensing
+Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html):
+
+~~~
+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.
+~~~