diff --git a/.github/ISSUE_TEMPLATE/bug-report.md b/.github/ISSUE_TEMPLATE/bug-report.md
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+---
+name: Bug report
+about: Create a report to help us improve
+title: "[BUG]"
+labels: ''
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Additional context**
+Add any other context about the problem here.
diff --git a/.github/ISSUE_TEMPLATE/feature_request.md b/.github/ISSUE_TEMPLATE/feature_request.md
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+---
+name: Feature request
+about: Suggest an idea for this project
+title: "[FEATURE]"
+labels: ''
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.
diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
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+# Pull Request
+
+## What type of PR is this? (check all applicable)
+
+- [ ] Refactor
+- [ ] Feature
+- [ ] Bug Fix
+- [ ] Optimization
+- [ ] Documentation Update
+
+## Description
+
+## 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 #
diff --git a/doc/TEMPLATE.md b/doc/TEMPLATE.md
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+<!-- Template From Here
+https://github.com/leggedrobotics/ros_best_practices/blob/main/ros_package_template/README.md
+-->
+
+# Package Name
+
+## Overview
+
+This is a template: replace, remove, and add where required. Describe here what this package does and what it's meant for in a few sentences.
+
+* **Author: John Doe**
+
+## Installation
+
+Describe any dependencies not install by rosdep
+
+## Usage
+
+Describe the quickest way to run this software, for example:
+
+Run the main node with
+
+```bash
+ros2 launch ros_package_template ros_package_template_launch.py
+```
+
+## Config files
+
+Config file folder/set 1
+
+* **config_file_1.yaml** Shortly explain the content of this config file
+
+## Launch files
+
+* **launch_file_1_launch.py:** shortly explain what is launched (e.g standard simulation, simulation with gdb,...)
+
+  * **`argument_1`** Short description (e.g. as commented in launch file). Default: `default_value`.
+
+## Nodes
+
+### ros_package_template
+
+Reads temperature measurements and computed the average.
+
+#### Subscribed Topics
+
+* **`/temperature`** ([sensor_msgs/Temperature])
+
+    The temperature measurements from which the average is computed.
+
+#### Published Topics
+
+...
+
+#### Services
+
+* **`get_average`** ([std_srvs/Trigger])
+
+    Returns information about the current average.
+
+#### Parameters
+
+* **`subscriber_topic`** (string, default: "/temperature")
+
+    The name of the input topic.
+
+* **`cache_size`** (int, default: 200, min: 0, max: 1000)
+
+    The size of the cache.
+
+### NODE_B_NAME
+
+...
+
+[std_srvs/Trigger]: http://docs.ros.org/api/std_srvs/html/srv/Trigger.html
+[sensor_msgs/Temperature]: http://docs.ros.org/api/sensor_msgs/html/msg/Temperature.html