diff --git a/.clang-format b/.clang-format
new file mode 100644
index 0000000000000..88623d36ddbcb
--- /dev/null
+++ b/.clang-format
@@ -0,0 +1,44 @@
+---
+# Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: true
+IncludeCategories:
+  # C++ system headers
+  - Regex: "<[a-z_]*>"
+    Priority: 6
+    CaseSensitive: true
+  # C system headers
+  - Regex: '<.*\.h>'
+    Priority: 5
+    CaseSensitive: true
+  # Boost headers
+  - Regex: "boost/.*"
+    Priority: 4
+    CaseSensitive: true
+  # Message headers
+  - Regex: ".*_msgs/.*"
+    Priority: 3
+    CaseSensitive: true
+  # Other Package headers
+  - Regex: "<.*>"
+    Priority: 2
+    CaseSensitive: true
+  # Local package headers
+  - Regex: '".*"'
+    Priority: 1
+    CaseSensitive: true
diff --git a/.github/dependabot.yml b/.github/dependabot.yml
new file mode 100644
index 0000000000000..b940a74a4c60b
--- /dev/null
+++ b/.github/dependabot.yml
@@ -0,0 +1,7 @@
+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      interval: "daily"
+    open-pull-requests-limit: 1
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000..70254bd0936f2
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,16 @@
+# Vim
+*.swp
+*.swo
+
+# Visual Studio Code
+.vscode/
+*.code-workspace
+
+# colcon
+build/
+install/
+log/
+
+# Python
+*.pyc
+
diff --git a/.markdown-link-check.json b/.markdown-link-check.json
new file mode 100644
index 0000000000000..230751bcfe76f
--- /dev/null
+++ b/.markdown-link-check.json
@@ -0,0 +1,6 @@
+{
+  "aliveStatusCodes": [200, 206, 403],
+  "ignorePatterns": [],
+  "retryOn429": true,
+  "retryCount": 10
+}
diff --git a/.markdownlint.yaml b/.markdownlint.yaml
new file mode 100644
index 0000000000000..605ac41ce9fb6
--- /dev/null
+++ b/.markdownlint.yaml
@@ -0,0 +1,6 @@
+default: true
+MD013: false
+MD024:
+  siblings_only: true
+MD033: false
+MD041: false
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 0000000000000..1ca7eb51ffc66
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,81 @@
+ci:
+  autofix_commit_msg: "ci(pre-commit): autofix"
+  autoupdate_commit_msg: "ci(pre-commit): autoupdate"
+
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.0.1
+    hooks:
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-toml
+      - id: check-xml
+      - id: check-yaml
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        args: [--markdown-linebreak-ext=md]
+
+  - repo: https://github.com/igorshubovych/markdownlint-cli
+    rev: v0.30.0
+    hooks:
+      - id: markdownlint
+        args: ["-c", ".markdownlint.yaml", "--fix"]
+
+  - repo: https://github.com/pre-commit/mirrors-prettier
+    rev: v2.5.0
+    hooks:
+      - id: prettier
+
+  - repo: https://github.com/tier4/pre-commit-hooks-ros
+    rev: v0.4.0
+    hooks:
+      - id: prettier-package-xml
+      - id: sort-package-xml
+
+  - repo: https://github.com/gruntwork-io/pre-commit
+    rev: v0.1.17
+    hooks:
+      - id: shellcheck
+
+  - repo: https://github.com/pycqa/isort
+    rev: 5.10.1
+    hooks:
+      - id: isort
+
+  - repo: https://github.com/psf/black
+    rev: 21.11b1
+    hooks:
+      - id: black
+        args: ["--line-length=100"]
+
+  - repo: https://github.com/PyCQA/flake8
+    rev: 4.0.1
+    hooks:
+      - id: flake8
+        additional_dependencies:
+          [
+            "flake8-blind-except",
+            "flake8-builtins",
+            "flake8-class-newline",
+            "flake8-comprehensions",
+            "flake8-deprecated",
+            "flake8-docstrings",
+            "flake8-import-order",
+            "flake8-quotes",
+          ]
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v12.0.1
+    hooks:
+      - id: clang-format
+
+  - repo: https://github.com/cpplint/cpplint
+    rev: 1.5.5
+    hooks:
+      - id: cpplint
+        args: ["--quiet"]
+        exclude: ".cu"
+
+exclude: ".svg"
diff --git a/.prettierignore b/.prettierignore
new file mode 100644
index 0000000000000..f740580782527
--- /dev/null
+++ b/.prettierignore
@@ -0,0 +1 @@
+*.param.yaml
diff --git a/.prettierrc.yaml b/.prettierrc.yaml
new file mode 100644
index 0000000000000..48b0552e3fe47
--- /dev/null
+++ b/.prettierrc.yaml
@@ -0,0 +1,2 @@
+printWidth: 100
+tabWidth: 2
diff --git a/build_depends.repos b/build_depends.repos
new file mode 100644
index 0000000000000..56f46b6f79b6e
--- /dev/null
+++ b/build_depends.repos
@@ -0,0 +1 @@
+repositories:
diff --git a/docs/assets/images/autoware-foundation.png b/docs/assets/images/autoware-foundation.png
new file mode 100644
index 0000000000000..8d5ce44879fb7
Binary files /dev/null and b/docs/assets/images/autoware-foundation.png differ
diff --git a/mkdocs.yaml b/mkdocs.yaml
new file mode 100644
index 0000000000000..912888ad38d1f
--- /dev/null
+++ b/mkdocs.yaml
@@ -0,0 +1,62 @@
+site_name: Autoware Universe Documentation
+site_url: https://autowarefoundation.github.io/autoware.universe
+repo_url: https://github.com/autowarefoundation/autoware.universe
+edit_uri: edit/main/
+docs_dir: .
+copyright: "Copyright &copy; 2021 The Autoware Foundation"
+
+theme:
+  name: material
+  features:
+    - navigation.expand
+    - navigation.instant
+    - navigation.sections
+    - navigation.tabs
+    - navigation.tabs.sticky
+    - navigation.top
+  favicon: assets/images/autoware-foundation.png
+  icon:
+    logo: fontawesome/solid/car
+    repo: fontawesome/brands/github
+  language: en
+  palette:
+    - primary: white
+    - scheme: default
+      toggle:
+        icon: material/weather-sunny
+        name: Switch to dark mode
+    - scheme: slate
+      toggle:
+        icon: material/weather-night
+        name: Switch to light mode
+
+extra:
+  font:
+    text: Roboto
+    code: Roboto Mono
+
+extra_css:
+  - https://use.fontawesome.com/releases/v5.15.4/css/all.css
+
+extra_javascript:
+  - https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js?config=TeX-AMS-MML_HTMLorMML
+
+plugins:
+  - awesome-pages
+  - same-dir
+  - search
+
+markdown_extensions:
+  - admonition
+  - attr_list
+  - codehilite: { guess_lang: false }
+  - fontawesome_markdown
+  - footnotes
+  - mdx_math
+  - mdx_truly_sane_lists: { nested_indent: 2 }
+  - mdx_unimoji
+  - plantuml_markdown: { server: "http://www.plantuml.com/plantuml", format: svg }
+  - pymdownx.arithmatex
+  - pymdownx.highlight
+  - pymdownx.superfences
+  - toc: { permalink: "#" }
diff --git a/setup.cfg b/setup.cfg
new file mode 100644
index 0000000000000..fd61ed536ebc4
--- /dev/null
+++ b/setup.cfg
@@ -0,0 +1,15 @@
+[flake8]
+# Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_flake8/ament_flake8/configuration/ament_flake8.ini
+extend-ignore = B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202,CNL100,E203,E501,Q000
+import-order-style = google
+max-line-length = 100
+show-source = true
+statistics = true
+
+[isort]
+profile=black
+line_length=100
+force_sort_within_sections=true
+force_single_line=true
+reverse_relative=true
+known_third_party=launch