From d53a7d70064b7724da79996ec7fa0f0e4f0d22f4 Mon Sep 17 00:00:00 2001
From: RiverMatsumoto <matsumotorjames@gmail.com>
Date: Thu, 3 Oct 2024 18:53:41 -1000
Subject: [PATCH] init.lua update

---
 init.lua | 2355 +++++++++++++++++++++++++++++++++++-------------------
 1 file changed, 1536 insertions(+), 819 deletions(-)

diff --git a/init.lua b/init.lua
index 8ecf9f94..eb8456a0 100644
--- a/init.lua
+++ b/init.lua
@@ -1,791 +1,104 @@
 --[[
-
 =====================================================================
 ==================== READ THIS BEFORE CONTINUING ====================
 =====================================================================
-========                                    .-----.          ========
-========         .----------------------.   | === |          ========
-========         |.-""""""""""""""""""-.|   |-----|          ========
-========         ||                    ||   | === |          ========
-========         ||   KICKSTART.NVIM   ||   |-----|          ========
-========         ||                    ||   | === |          ========
-========         ||                    ||   |-----|          ========
-========         ||:Tutor              ||   |:::::|          ========
-========         |'-..................-'|   |____o|          ========
-========         `"")----------------(""`   ___________      ========
-========        /::::::::::|  |::::::::::\  \ no mouse \     ========
-========       /:::========|  |==hjkl==:::\  \ required \    ========
-========      '""""""""""""'  '""""""""""""'  '""""""""""'   ========
-========                                                     ========
-=====================================================================
-=====================================================================
+  ros2-with-neovim is heavily inspired from Kickstart.nvim.
 
-What is Kickstart?
+  I have basically taken the same approach of having a single file where all the
+  main configurations are done commenting clearly what all of them do.
 
-  Kickstart.nvim is *not* a distribution.
-
-  Kickstart.nvim is a starting point for your own configuration.
-    The goal is that you can read every line of code, top-to-bottom, understand
-    what your configuration is doing, and modify it to suit your needs.
-
-    Once you've done that, you can start exploring, configuring and tinkering to
-    make Neovim your own! That might mean leaving kickstart just the way it is for a while
-    or immediately breaking it into modular pieces. It's up to you!
-
-    If you don't know anything about Lua, I recommend taking some time to read through
-    a guide. One possible example which will only take 10-15 minutes:
-      - https://learnxinyminutes.com/docs/lua/
-
-    After understanding a bit more about Lua, you can use `:help lua-guide` as a
-    reference for how Neovim integrates Lua.
-    - :help lua-guide
-    - (or HTML version): https://neovim.io/doc/user/lua-guide.html
-
-Kickstart Guide:
-
-  TODO: The very first thing you should do is to run the command `:Tutor` in Neovim.
-
-    If you don't know what this means, type the following:
-      - <escape key>
-      - :
-      - Tutor
-      - <enter key>
-
-    (If you already know how the Neovim basics, you can skip this step)
-
-  Once you've completed that, you can continue working through **AND READING** the rest
-  of the kickstart init.lua
-
-  Next, run AND READ `:help`.
-    This will open up a help window with some basic information
-    about reading, navigating and searching the builtin help documentation.
-
-    This should be the first place you go to look when you're stuck or confused
-    with something. It's one of my favorite neovim features.
-
-    MOST IMPORTANTLY, we provide a keymap "<space>sh" to [s]earch the [h]elp documentation,
-    which is very useful when you're not sure exactly what you're looking for.
-
-  I have left several `:help X` comments throughout the init.lua
-    These are hints about where to find more information about the relevant settings,
-    plugins or neovim features used in kickstart.
-
-   NOTE: Look for lines like this
-
-    Throughout the file. These are for you, the reader, to help understand what is happening.
-    Feel free to delete them once you know what you're doing, but they should serve as a guide
-    for when you are first encountering a few different constructs in your nvim config.
-
-If you experience any errors while trying to install kickstart, run `:checkhealth` for more info
-
-I hope you enjoy your Neovim journey,
-- TJ
-
-P.S. You can delete this when you're done too. It's your config now! :)
+  You should consider this as a starting point into your Neovim journey. Then, you can
+  start to add as many plugins and configurations as you see fit :).
 --]]
-
 -- Set <space> as the leader key
 -- See `:help mapleader`
---  NOTE: Must happen before plugins are loaded (otherwise wrong leader will be used)
+--  NOTE: Must happen before plugins are required (otherwise wrong leader will be used)
 vim.g.mapleader = ' '
 vim.g.maplocalleader = ' '
 
--- [[ Setting options ]]
--- See `:help vim.opt`
--- NOTE: You can change these options as you wish!
---  For more options, you can see `:help option-list`
-
--- Make line numbers default
-vim.opt.number = true
--- You can also add relative line numbers, for help with jumping.
---  Experiment for yourself to see if you like it!
--- vim.opt.relativenumber = true
-
--- Enable mouse mode, can be useful for resizing splits for example!
-vim.opt.mouse = 'a'
-
--- Don't show the mode, since it's already in status line
-vim.opt.showmode = false
-
--- Sync clipboard between OS and Neovim.
---  Remove this option if you want your OS clipboard to remain independent.
---  See `:help 'clipboard'`
-vim.opt.clipboard = 'unnamedplus'
-
--- Enable break indent
-vim.opt.breakindent = true
-
--- indentation
--- vim.opt.autoindent = true
--- vim.opt.smartindent = true
-
--- Save undo history
-vim.opt.undofile = true
-
--- Case-insensitive searching UNLESS \C or capital in search
-vim.opt.ignorecase = true
-vim.opt.smartcase = true
-
--- Keep signcolumn on by default
-vim.opt.signcolumn = 'yes'
-
--- spaces instead of tab
-vim.opt.expandtab = true
-
--- tab width 4
--- vim.opt.shiftwidth = 4
--- vim.opt.tabstop = 4
--- vim.opt.softtabstop = 4
-
--- Decrease update time
-vim.opt.updatetime = 250
-vim.opt.timeoutlen = 300
-
--- Configure how new splits should be opened
-vim.opt.splitright = true
-vim.opt.splitbelow = true
-
--- Sets how neovim will display certain whitespace in the editor.
---  See `:help 'list'`
---  and `:help 'listchars'`
-vim.opt.list = true
-vim.opt.listchars = { tab = '» ', trail = '·', nbsp = '␣' }
-
--- Preview substitutions live, as you type!
-vim.opt.inccommand = 'split'
-
--- Show which line your cursor is on
-vim.opt.cursorline = true
-
--- Minimal number of screen lines to keep above and below the cursor.
-vim.opt.scrolloff = 10
-
--- [[ Basic Keymaps ]]
---  See `:help vim.keymap.set()`
-
--- Set highlight on search, but clear on pressing <Esc> in normal mode
-vim.opt.hlsearch = true
-vim.keymap.set('n', '<Esc>', '<cmd>nohlsearch<CR>')
-
--- Diagnostic keymaps
-vim.keymap.set('n', '[d', vim.diagnostic.goto_prev, { desc = 'Go to previous [D]iagnostic message' })
-vim.keymap.set('n', ']d', vim.diagnostic.goto_next, { desc = 'Go to next [D]iagnostic message' })
-vim.keymap.set('n', '<leader>e', vim.diagnostic.open_float, { desc = 'Show diagnostic [E]rror messages' })
-vim.keymap.set('n', '<leader>q', vim.diagnostic.setloclist, { desc = 'Open diagnostic [Q]uickfix list' })
-vim.api.nvim_set_keymap('n', '\\', ':Neotree toggle current reveal_force_cwd<CR>', { noremap = true })
-vim.api.nvim_set_keymap('n', '|', ':Neotree toggle reveal<CR>', { noremap = true })
-vim.api.nvim_set_keymap('n', 'gd', ':Neotree float reveal_file=<cfile> reveal_force_cwd<cr>', { noremap = true })
-vim.api.nvim_set_keymap('n', '<C-s>', ':w<CR>', { noremap = true })
-vim.api.nvim_set_keymap('i', '<C-s>', ':w<CR>', { noremap = true })
-vim.api.nvim_set_keymap('n', 'Y', 'yy', { noremap = true })
-vim.api.nvim_set_keymap('v', '<C-c>', '"+y', { noremap = true })
--- vim.api.nvim_set_keymap('i', '<C-H>', '<C-W>', { noremap = true })
-
--- Exit terminal mode in the builtin terminal with a shortcut that is a bit easier
--- for people to discover. Otherwise, you normally need to press <C-\><C-n>, which
--- is not what someone will guess without a bit more experience.
---
--- NOTE: This won't work in all terminal emulators/tmux/etc. Try your own mapping
--- or just use <C-\><C-n> to exit terminal mode
-vim.keymap.set('t', '<Esc><Esc>', '<C-\\><C-n>', { desc = 'Exit terminal mode' })
-
--- TIP: Disable arrow keys in normal mode
--- vim.keymap.set('n', '<left>', '<cmd>echo "Use h to move!!"<CR>')
--- vim.keymap.set('n', '<right>', '<cmd>echo "Use l to move!!"<CR>')
--- vim.keymap.set('n', '<up>', '<cmd>echo "Use k to move!!"<CR>')
--- vim.keymap.set('n', '<down>', '<cmd>echo "Use j to move!!"<CR>')
-
--- Keybinds to make split navigation easier.
---  Use CTRL+<hjkl> to switch between windows
---
---  See `:help wincmd` for a list of all window commands
-vim.keymap.set('n', '<C-h>', '<C-w><C-h>', { desc = 'Move focus to the left window' })
-vim.keymap.set('n', '<C-l>', '<C-w><C-l>', { desc = 'Move focus to the right window' })
-vim.keymap.set('n', '<C-j>', '<C-w><C-j>', { desc = 'Move focus to the lower window' })
-vim.keymap.set('n', '<C-k>', '<C-w><C-k>', { desc = 'Move focus to the upper window' })
-
--- [[ Basic Autocommands ]]
---  See `:help lua-guide-autocommands`
-
--- Highlight when yanking (copying) text
---  Try it with `yap` in normal mode
---  See `:help vim.highlight.on_yank()`
-vim.api.nvim_create_autocmd('TextYankPost', {
-  desc = 'Highlight when yanking (copying) text',
-  group = vim.api.nvim_create_augroup('kickstart-highlight-yank', { clear = true }),
-  callback = function()
-    vim.highlight.on_yank()
-  end,
-})
-
--- [[ Install `lazy.nvim` plugin manager ]]
---    See `:help lazy.nvim.txt` or https://github.com/folke/lazy.nvim for more info
+-- Install package manager
+--    https://github.com/folke/lazy.nvim
+--    `:help lazy.nvim.txt` for more info
+-- INFO: There are different plugins manager for neovim. I prefer Lazy
 local lazypath = vim.fn.stdpath 'data' .. '/lazy/lazy.nvim'
 if not vim.loop.fs_stat(lazypath) then
-  local lazyrepo = 'https://github.com/folke/lazy.nvim.git'
-  vim.fn.system { 'git', 'clone', '--filter=blob:none', '--branch=stable', lazyrepo, lazypath }
-end ---@diagnostic disable-next-line: undefined-field
+  vim.fn.system {
+    'git',
+    'clone',
+    '--filter=blob:none',
+    'https://github.com/folke/lazy.nvim.git',
+    '--branch=stable', -- latest stable release
+    lazypath,
+  }
+end
+
 vim.opt.rtp:prepend(lazypath)
 
--- [[ Configure and install plugins ]]
---
---  To check the current status of your plugins, run
---    :Lazy
---
---  You can press `?` in this menu for help. Use `:q` to close the window
---
---  To update plugins, you can run
---    :Lazy update
---
 -- NOTE: Here is where you install your plugins.
-require('lazy').setup {
-  -- NOTE: Plugins can be added with a link (or for a github repo: 'owner/repo' link).
-  'tpope/vim-sleuth', -- Detect tabstop and shiftwidth automatically
+--  You can configure plugins using the `config` key.
+--  You can also configure plugins after the setup call,
+--    as they will be available in your neovim runtime.
+require('lazy').setup({
+  -- INFO: Git related plugins
   'voldikss/vim-floaterm',
-
-  -- NOTE: Plugins can also be added by using a table,
-  -- with the first argument being the link and the following
-  -- keys can be used to configure plugin behavior/loading/etc.
-  --
-  -- Use `opts = {}` to force a plugin to be loaded.
-  --
-  --  This is equivalent to:
-  --    require('Comment').setup({})
-
-  -- "gc" to comment visual regions/lines
+  'tpope/vim-fugitive', -- Git wrapper for vim
+  'rhysd/conflict-marker.vim', -- weapon to fight against merge conflicts
   { 'numToStr/Comment.nvim', opts = {} },
-  -- 'sainnhe/gruvbox-material',
-  'nvim-lualine/lualine.nvim',
+  'rhysd/git-messenger.vim', -- Shows commit message under cursor
   {
-    'f4z3r/gruvbox-material.nvim',
-    name = 'gruvbox-material',
-    lazy = false,
-    priority = 1000,
-    opts = {},
-  },
-  -- Here is a more advanced example where we pass configuration
-  -- options to `gitsigns.nvim`. This is equivalent to the following lua:
-  --    require('gitsigns').setup({ ... })
-  --
-  -- See `:help gitsigns` to understand what the configuration keys do
-  { -- Adds git related signs to the gutter, as well as utilities for managing changes
-    'lewis6991/gitsigns.nvim',
-    opts = {
-      signs = {
-        add = { text = '+' },
-        change = { text = '~' },
-        delete = { text = '_' },
-        topdelete = { text = '‾' },
-        changedelete = { text = '~' },
-      },
-    },
-  },
-
-  -- NOTE: Plugins can also be configured to run lua code when they are loaded.
-  --
-  -- This is often very useful to both group configuration, as well as handle
-  -- lazy loading plugins that don't need to be loaded immediately at startup.
-  --
-  -- For example, in the following configuration, we use:
-  --  event = 'VimEnter'
-  --
-  -- which loads which-key before all the UI elements are loaded. Events can be
-  -- normal autocommands events (`:help autocmd-events`).
-  --
-  -- Then, because we use the `config` key, the configuration only runs
-  -- after the plugin has been loaded:
-  --  config = function() ... end
-
-  { -- Useful plugin to show you pending keybinds.
-    'folke/which-key.nvim',
-    event = 'VimEnter', -- Sets the loading event to 'VimEnter'
-    config = function() -- This is the function that runs, AFTER loading
-      require('which-key').setup()
-
-      -- Document existing key chains
-      require('which-key').register {
-        ['<leader>c'] = { name = '[C]ode', _ = 'which_key_ignore' },
-        ['<leader>d'] = { name = '[D]ocument', _ = 'which_key_ignore' },
-        ['<leader>r'] = { name = '[R]ename', _ = 'which_key_ignore' },
-        ['<leader>s'] = { name = '[S]earch', _ = 'which_key_ignore' },
-        ['<leader>w'] = { name = '[W]orkspace', _ = 'which_key_ignore' },
-      }
-    end,
-  },
-
-  -- NOTE: Plugins can specify dependencies.
-  --
-  -- The dependencies are proper plugin specifications as well - anything
-  -- you do for a plugin at the top level, you can do for a dependency.
-  --
-  -- Use the `dependencies` key to specify the dependencies of a particular plugin
-
-  { -- Fuzzy Finder (files, lsp, etc)
-    'nvim-telescope/telescope.nvim',
-    event = 'VimEnter',
-    branch = '0.1.x',
-    dependencies = {
-      'nvim-lua/plenary.nvim',
-      { -- If encountering errors, see telescope-fzf-native README for install instructions
-        'nvim-telescope/telescope-fzf-native.nvim',
-
-        -- `build` is used to run some command when the plugin is installed/updated.
-        -- This is only run then, not every time Neovim starts up.
-        build = 'make',
-
-        -- `cond` is a condition used to determine whether this plugin should be
-        -- installed and loaded.
-        cond = function()
-          return vim.fn.executable 'make' == 1
-        end,
-      },
-      { 'nvim-telescope/telescope-ui-select.nvim' },
-
-      -- Useful for getting pretty icons, but requires special font.
-      --  If you already have a Nerd Font, or terminal set up with fallback fonts
-      --  you can enable this
-      { 'nvim-tree/nvim-web-devicons' },
-    },
+    'lewis6991/gitsigns.nvim', -- Similar to fugitive, but adds additiona functionality
+    event = 'VeryLazy',
     config = function()
-      -- Telescope is a fuzzy finder that comes with a lot of different things that
-      -- it can fuzzy find! It's more than just a "file finder", it can search
-      -- many different aspects of Neovim, your workspace, LSP, and more!
-      --
-      -- The easiest way to use telescope, is to start by doing something like:
-      --  :Telescope help_tags
-      --
-      -- After running this command, a window will open up and you're able to
-      -- type in the prompt window. You'll see a list of help_tags options and
-      -- a corresponding preview of the help.
-      --
-      -- Two important keymaps to use while in telescope are:
-      --  - Insert mode: <c-/>
-      --  - Normal mode: ?
-      --
-      -- This opens a window that shows you all of the keymaps for the current
-      -- telescope picker. This is really useful to discover what Telescope can
-      -- do as well as how to actually do it!
-
-      -- [[ Configure Telescope ]]
-      -- See `:help telescope` and `:help telescope.setup()`
-      require('telescope').setup {
-        -- You can put your default mappings / updates / etc. in here
-        --  All the info you're looking for is in `:help telescope.setup()`
-        --
-        defaults = {
-          -- mappings = {
-          --   i = { ['<c-enter>'] = 'to_fuzzy_refine' },
-          -- },
-          file_ignore_patterns = {
-            'node_modules',
-            'build',
-            '%.git$',
-            '%.cache$',
-            '%.o$',
-            '%.a$',
-            '%.out$',
-            '%.class$',
-            '%.pdf$',
-            '%.mkv$',
-            '%.mp4$',
-            '%.zip$',
-            '%.make$',
-          },
-        },
-        pickers = {
-          find_files = {
-            hidden = true,
-          },
-        },
-        extensions = {
-          ['ui-select'] = {
-            require('telescope.themes').get_dropdown(),
-          },
-          'projects',
+      require('gitsigns').setup {
+        signs = {
+          add = { text = '│' },
+          change = { text = '│' },
+          delete = { text = '_' },
+          topdelete = { text = '‾' },
+          changedelete = { text = '~' },
+          untracked = { text = '┆' },
         },
       }
-
-      -- Enable telescope extensions, if they are installed
-      pcall(require('telescope').load_extension, 'fzf')
-      pcall(require('telescope').load_extension, 'ui-select')
-
-      -- See `:help telescope.builtin`
-      local builtin = require 'telescope.builtin'
-      vim.keymap.set('n', '<leader>sh', builtin.help_tags, { desc = '[S]earch [H]elp' })
-      vim.keymap.set('n', '<leader>sk', builtin.keymaps, { desc = '[S]earch [K]eymaps' })
-      vim.keymap.set('n', '<leader>sf', builtin.find_files, { desc = '[S]earch [F]iles' })
-      vim.keymap.set('n', '<leader>ss', builtin.builtin, { desc = '[S]earch [S]elect Telescope' })
-      vim.keymap.set('n', '<leader>sw', builtin.grep_string, { desc = '[S]earch current [W]ord' })
-      vim.keymap.set('n', '<leader>sg', builtin.live_grep, { desc = '[S]earch by [G]rep' })
-      vim.keymap.set('n', '<leader>sd', builtin.diagnostics, { desc = '[S]earch [D]iagnostics' })
-      vim.keymap.set('n', '<leader>sr', builtin.resume, { desc = '[S]earch [R]esume' })
-      vim.keymap.set('n', '<leader>s.', builtin.oldfiles, { desc = '[S]earch Recent Files ("." for repeat)' })
-      vim.keymap.set('n', '<leader><leader>', builtin.buffers, { desc = '[ ] Find existing buffers' })
-
-      -- Slightly advanced example of overriding default behavior and theme
-      vim.keymap.set('n', '<leader>/', function()
-        -- You can pass additional configuration to telescope to change theme, layout, etc.
-        builtin.current_buffer_fuzzy_find(require('telescope.themes').get_dropdown {
-          winblend = 10,
-          previewer = false,
-        })
-      end, { desc = '[/] Fuzzily search in current buffer' })
-
-      -- Also possible to pass additional configuration options.
-      --  See `:help telescope.builtin.live_grep()` for information about particular keys
-      vim.keymap.set('n', '<leader>s/', function()
-        builtin.live_grep {
-          grep_open_files = true,
-          prompt_title = 'Live Grep in Open Files',
-        }
-      end, { desc = '[S]earch [/] in Open Files' })
-
-      -- Shortcut for searching your neovim configuration files
-      vim.keymap.set('n', '<leader>sn', function()
-        builtin.find_files { cwd = vim.fn.stdpath 'config' }
-      end, { desc = '[S]earch [N]eovim files' })
     end,
   },
-
   {
-    'ErickKramer/nvim-ros2',
+    'sindrets/diffview.nvim', -- Single tabpage interface for easily cycling through diffs
+    event = 'VeryLazy',
     dependencies = {
       'nvim-lua/plenary.nvim',
+    },
+  },
+  { -- Quick selection of co-authors
+    'ErickKramer/git-coauthors.nvim',
+    dependencies = {
       'nvim-telescope/telescope.nvim',
-      'nvim-treesitter/nvim-treesitter',
-    },
-    opts = {
-      -- Add any custom options here
-      autocmds = true,
-      telescope = true,
-      treesitter = true,
     },
   },
 
-  { -- LSP Configuration & Plugins
-    'neovim/nvim-lspconfig',
-    dependencies = {
-      -- Automatically install LSPs and related tools to stdpath for neovim
-      'williamboman/mason.nvim',
-      'williamboman/mason-lspconfig.nvim',
-      'WhoIsSethDaniel/mason-tool-installer.nvim',
-
-      -- Useful status updates for LSP.
-      -- NOTE: `opts = {}` is the same as calling `require('fidget').setup({})`
-      { 'j-hui/fidget.nvim', opts = {} },
-    },
+  -- INFO: Enhance Editor Experience
+  {
+    'iamcco/markdown-preview.nvim', -- Markdown previewer
+    -- event = "VeryLazy",
+    build = function()
+      vim.fn['mkdp#util#install']()
+    end,
     config = function()
-      -- Brief Aside: **What is LSP?**
-      --
-      -- LSP is an acronym you've probably heard, but might not understand what it is.
-      --
-      -- LSP stands for Language Server Protocol. It's a protocol that helps editors
-      -- and language tooling communicate in a standardized fashion.
-      --
-      -- In general, you have a "server" which is some tool built to understand a particular
-      -- language (such as `gopls`, `lua_ls`, `rust_analyzer`, etc). These Language Servers
-      -- (sometimes called LSP servers, but that's kind of like ATM Machine) are standalone
-      -- processes that communicate with some "client" - in this case, Neovim!
-      --
-      -- LSP provides Neovim with features like:
-      --  - Go to definition
-      --  - Find references
-      --  - Autocompletion
-      --  - Symbol Search
-      --  - and more!
-      --
-      -- Thus, Language Servers are external tools that must be installed separately from
-      -- Neovim. This is where `mason` and related plugins come into play.
-      --
-      -- If you're wondering about lsp vs treesitter, you can check out the wonderfully
-      -- and elegantly composed help section, `:help lsp-vs-treesitter`
+      -- Refresh markdown when saving the buffer or leaving insert mode
+      vim.g.mkdp_refresh_slow = 1
 
-      --  This function gets run when an LSP attaches to a particular buffer.
-      --    That is to say, every time a new file is opened that is associated with
-      --    an lsp (for example, opening `main.rs` is associated with `rust_analyzer`) this
-      --    function will be executed to configure the current buffer
-      vim.api.nvim_create_autocmd('LspAttach', {
-        group = vim.api.nvim_create_augroup('kickstart-lsp-attach', { clear = true }),
-        callback = function(event)
-          -- NOTE: Remember that lua is a real programming language, and as such it is possible
-          -- to define small helper and utility functions so you don't have to repeat yourself
-          -- many times.
-          --
-          -- In this case, we create a function that lets us more easily define mappings specific
-          -- for LSP related items. It sets the mode, buffer and description for us each time.
-          local map = function(keys, func, desc)
-            vim.keymap.set('n', keys, func, { buffer = event.buf, desc = 'LSP: ' .. desc })
-          end
+      -- Fancy title
+      vim.g.mkdp_page_title = '「${name}」'
 
-          -- Jump to the definition of the word under your cursor.
-          --  This is where a variable was first declared, or where a function is defined, etc.
-          --  To jump back, press <C-T>.
-          map('gd', require('telescope.builtin').lsp_definitions, '[G]oto [D]efinition')
+      -- Dark mode (of course)
+      vim.g.mkdp_theme = 'dark'
 
-          -- Find references for the word under your cursor.
-          map('gr', require('telescope.builtin').lsp_references, '[G]oto [R]eferences')
+      -- Avoid auto close
+      vim.g.mkdp_auto_close = 0
 
-          -- Jump to the implementation of the word under your cursor.
-          --  Useful when your language has ways of declaring types without an actual implementation.
-          map('gI', require('telescope.builtin').lsp_implementations, '[G]oto [I]mplementation')
-
-          -- Jump to the type of the word under your cursor.
-          --  Useful when you're not sure what type a variable is and you want to see
-          --  the definition of its *type*, not where it was *defined*.
-          map('<leader>D', require('telescope.builtin').lsp_type_definitions, 'Type [D]efinition')
-
-          -- Fuzzy find all the symbols in your current document.
-          --  Symbols are things like variables, functions, types, etc.
-          map('<leader>ds', require('telescope.builtin').lsp_document_symbols, '[D]ocument [S]ymbols')
-
-          -- Fuzzy find all the symbols in your current workspace
-          --  Similar to document symbols, except searches over your whole project.
-          map('<leader>ws', require('telescope.builtin').lsp_dynamic_workspace_symbols, '[W]orkspace [S]ymbols')
-
-          -- Rename the variable under your cursor
-          --  Most Language Servers support renaming across files, etc.
-          map('<leader>rn', vim.lsp.buf.rename, '[R]e[n]ame')
-
-          -- Execute a code action, usually your cursor needs to be on top of an error
-          -- or a suggestion from your LSP for this to activate.
-          map('<leader>ca', vim.lsp.buf.code_action, '[C]ode [A]ction')
-
-          -- Opens a popup that displays documentation about the word under your cursor
-          --  See `:help K` for why this keymap
-          map('K', vim.lsp.buf.hover, 'Hover Documentation')
-
-          -- WARN: This is not Goto Definition, this is Goto Declaration.
-          --  For example, in C this would take you to the header
-          map('gD', vim.lsp.buf.declaration, '[G]oto [D]eclaration')
-
-          -- The following two autocommands are used to highlight references of the
-          -- word under your cursor when your cursor rests there for a little while.
-          --    See `:help CursorHold` for information about when this is executed
-          --
-          -- When you move your cursor, the highlights will be cleared (the second autocommand).
-          local client = vim.lsp.get_client_by_id(event.data.client_id)
-          if client and client.server_capabilities.documentHighlightProvider then
-            vim.api.nvim_create_autocmd({ 'CursorHold', 'CursorHoldI' }, {
-              buffer = event.buf,
-              callback = vim.lsp.buf.document_highlight,
-            })
-
-            vim.api.nvim_create_autocmd({ 'CursorMoved', 'CursorMovedI' }, {
-              buffer = event.buf,
-              callback = vim.lsp.buf.clear_references,
-            })
-          end
-        end,
-      })
-
-      -- LSP servers and clients are able to communicate to each other what features they support.
-      --  By default, Neovim doesn't support everything that is in the LSP Specification.
-      --  When you add nvim-cmp, luasnip, etc. Neovim now has *more* capabilities.
-      --  So, we create new capabilities with nvim cmp, and then broadcast that to the servers.
-      local capabilities = vim.lsp.protocol.make_client_capabilities()
-      capabilities = vim.tbl_deep_extend('force', capabilities, require('cmp_nvim_lsp').default_capabilities())
-
-      -- Enable the following language servers
-      --  Feel free to add/remove any LSPs that you want here. They will automatically be installed.
-      --
-      --  Add any additional override configuration in the following tables. Available keys are:
-      --  - cmd (table): Override the default command used to start the server
-      --  - filetypes (table): Override the default list of associated filetypes for the server
-      --  - capabilities (table): Override fields in capabilities. Can be used to disable certain LSP features.
-      --  - settings (table): Override the default settings passed when initializing the server.
-      --        For example, to see the options for `lua_ls`, you could go to: https://luals.github.io/wiki/settings/
-      local servers = {
-        clangd = {
-          cmd = {
-            'clangd',
-            '--compile-commands-dir=build',
-          },
-        },
-        -- gopls = {},
-        pyright = {},
-        -- rust_analyzer = {},
-        -- ... etc. See `:help lspconfig-all` for a list of all the pre-configured LSPs
-        --
-        -- Some languages (like typescript) have entire language plugins that can be useful:
-        --    https://github.com/pmizio/typescript-tools.nvim
-        --
-        -- But for many setups, the LSP (`tsserver`) will work just fine
-        -- tsserver = {},
-        --
-
-        lua_ls = {
-          -- cmd = {...},
-          -- filetypes { ...},
-          -- capabilities = {},
-          settings = {
-            Lua = {
-              runtime = { version = 'LuaJIT' },
-              workspace = {
-                checkThirdParty = false,
-                -- Tells lua_ls where to find all the Lua files that you have loaded
-                -- for your neovim configuration.
-                library = {
-                  '${3rd}/luv/library',
-                  unpack(vim.api.nvim_get_runtime_file('', true)),
-                },
-                -- If lua_ls is really slow on your computer, you can try this instead:
-                -- library = { vim.env.VIMRUNTIME },
-              },
-              completion = {
-                callSnippet = 'Replace',
-              },
-              -- You can toggle below to ignore Lua_LS's noisy `missing-fields` warnings
-              -- diagnostics = { disable = { 'missing-fields' } },
-            },
-          },
-        },
-      }
-
-      -- Ensure the servers and tools above are installed
-      --  To check the current status of installed tools and/or manually install
-      --  other tools, you can run
-      --    :Mason
-      --
-      --  You can press `g?` for help in this menu
-      require('mason').setup()
-
-      -- You can add other tools here that you want Mason to install
-      -- for you, so that they are available from within Neovim.
-      local ensure_installed = vim.tbl_keys(servers or {})
-      vim.list_extend(ensure_installed, {
-        'stylua', -- Used to format lua code
-      })
-      require('mason-tool-installer').setup { ensure_installed = ensure_installed }
-
-      require('mason-lspconfig').setup {
-        handlers = {
-          function(server_name)
-            local server = servers[server_name] or {}
-            -- This handles overriding only values explicitly passed
-            -- by the server configuration above. Useful when disabling
-            -- certain features of an LSP (for example, turning off formatting for tsserver)
-            server.capabilities = vim.tbl_deep_extend('force', {}, capabilities, server.capabilities or {})
-            require('lspconfig')[server_name].setup(server)
-          end,
-        },
-      }
+      vim.g.mkdp_combine_preview = 1
+      vim.g.mkdp_combine_preview_auto_refresh = 1
     end,
   },
-
-  { -- Autoformat
-    'stevearc/conform.nvim',
-    opts = {
-      notify_on_error = false,
-      format_on_save = {
-        timeout_ms = 500,
-        lsp_fallback = true,
-      },
-      formatters_by_ft = {
-        lua = { 'stylua' },
-        -- Conform can also run multiple formatters sequentially
-        -- python = { "isort", "black" },
-        c = { 'clangd' },
-        --
-        -- You can use a sub-list to tell conform to run *until* a formatter
-        -- is found.
-        -- javascript = { { "prettierd", "prettier" } },
-      },
-    },
-  },
-
-  { -- Autocompletion
-    'hrsh7th/nvim-cmp',
-    event = 'InsertEnter',
-    dependencies = {
-      -- Snippet Engine & its associated nvim-cmp source
-      {
-        'L3MON4D3/LuaSnip',
-        build = (function()
-          -- Build Step is needed for regex support in snippets
-          -- This step is not supported in many windows environments
-          -- Remove the below condition to re-enable on windows
-          if vim.fn.has 'win32' == 1 or vim.fn.executable 'make' == 0 then
-            return
-          end
-          return 'make install_jsregexp'
-        end)(),
-      },
-      'saadparwaiz1/cmp_luasnip',
-
-      -- Adds other completion capabilities.
-      --  nvim-cmp does not ship with all sources by default. They are split
-      --  into multiple repos for maintenance purposes.
-      'hrsh7th/cmp-nvim-lsp',
-      'hrsh7th/cmp-path',
-
-      -- If you want to add a bunch of pre-configured snippets,
-      --    you can use this plugin to help you. It even has snippets
-      --    for various frameworks/libraries/etc. but you will have to
-      --    set up the ones that are useful for you.
-      -- 'rafamadriz/friendly-snippets',
-    },
-    config = function()
-      -- See `:help cmp`
-      local cmp = require 'cmp'
-      local luasnip = require 'luasnip'
-      luasnip.config.setup {}
-
-      cmp.setup {
-        snippet = {
-          expand = function(args)
-            luasnip.lsp_expand(args.body)
-          end,
-        },
-        completion = { completeopt = 'menu,menuone,noinsert' },
-
-        -- For an understanding of why these mappings were
-        -- chosen, you will need to read `:help ins-completion`
-        --
-        -- No, but seriously. Please read `:help ins-completion`, it is really good!
-        mapping = cmp.mapping.preset.insert {
-          -- Select the [n]ext item
-          ['<Tab>'] = cmp.mapping.select_next_item(),
-          -- Select the [p]revious item
-          ['<S-Tab>'] = cmp.mapping.select_prev_item(),
-
-          -- Accept ([y]es) the completion.
-          --  This will auto-import if your LSP supports it.
-          --  This will expand snippets if the LSP sent a snippet.
-          ['<CR>'] = cmp.mapping.confirm { select = true },
-
-          -- Manually trigger a completion from nvim-cmp.
-          --  Generally you don't need this, because nvim-cmp will display
-          --  completions whenever it has completion options available.
-          ['<C-Space>'] = cmp.mapping.complete {},
-
-          -- Think of <c-l> as moving to the right of your snippet expansion.
-          --  So if you have a snippet that's like:
-          --  function $name($args)
-          --    $body
-          --  end
-          --
-          -- <c-l> will move you to the right of each of the expansion locations.
-          -- <c-h> is similar, except moving you backwards.
-          ['<C-l>'] = cmp.mapping(function()
-            if luasnip.expand_or_locally_jumpable() then
-              luasnip.expand_or_jump()
-            end
-          end, { 'i', 's' }),
-          ['<C-h>'] = cmp.mapping(function()
-            if luasnip.locally_jumpable(-1) then
-              luasnip.jump(-1)
-            end
-          end, { 'i', 's' }),
-        },
-        sources = {
-          { name = 'nvim_lsp' },
-          { name = 'luasnip' },
-          { name = 'path' },
-        },
-      }
-    end,
-  },
-
   { -- You can easily change to a different colorscheme.
     -- Change the name of the colorscheme plugin below, and then
     -- change the command in the config to whatever the name of that colorscheme is
@@ -802,90 +115,1488 @@ require('lazy').setup {
       vim.cmd.hi 'Comment gui=none'
     end,
   },
-
-  -- Highlight todo, notes, etc in comments
-  { 'folke/todo-comments.nvim', event = 'VimEnter', dependencies = { 'nvim-lua/plenary.nvim' }, opts = { signs = false } },
-
-  { -- Collection of various small independent plugins/modules
-    'echasnovski/mini.nvim',
+  {
+    'f4z3r/gruvbox-material.nvim',
+    name = 'gruvbox-material',
+    lazy = false,
+    priority = 1000,
+    opts = {},
+  },
+  'mg979/vim-visual-multi', -- Enable multicursor
+  {
+      "nvim-neo-tree/neo-tree.nvim",
+      branch = "v3.x",
+      dependencies = {
+        "nvim-lua/plenary.nvim",
+        "nvim-tree/nvim-web-devicons", -- not strictly required, but recommended
+        "MunifTanjim/nui.nvim",
+        -- "3rd/image.nvim", -- Optional image support in preview window: See `# Preview Mode` for more information
+      }
+  },
+  'nvim-tree/nvim-web-devicons', -- Add fancy icons
+  -- {
+  --   'nvim-tree/nvim-tree.lua', -- File tree
+  --   config = function()
+  --     -- Config needed for nvim-tree
+  --     vim.g.loaded_netrw = 1
+  --     vim.g.loaded_netrwPlugin = 1
+  --     require('nvim-tree').setup {
+  --       sort_by = 'case_sensitive',
+  --       view = {
+  --         adaptive_size = false,
+  --         relativenumber = true,
+  --         width = 40,
+  --       },
+  --       renderer = {
+  --         group_empty = true,
+  --       },
+  --       filters = {
+  --         dotfiles = true,
+  --       },
+  --     }
+  --   end,
+  -- },
+  {
+    'folke/todo-comments.nvim', -- Fancy TODOs/FIXMEs
+    dependencies = 'nvim-lua/plenary.nvim',
+    opts = {},
+  },
+  { -- Improve file navigation with search labels
+    'folke/flash.nvim',
+    event = 'VeryLazy',
+    ---@type Flash.Config
+    opts = {},
+    keys = {
+      {
+        's',
+        mode = { 'n', 'x', 'o' },
+        function()
+          require('flash').jump()
+        end,
+        desc = 'Flash',
+      },
+      {
+        'S',
+        mode = { 'n', 'x', 'o' },
+        function()
+          require('flash').treesitter()
+        end,
+        desc = 'Flash Treesitter',
+      },
+      {
+        'r',
+        mode = 'o',
+        function()
+          require('flash').remote()
+        end,
+        desc = 'Remote Flash',
+      },
+      {
+        'R',
+        mode = { 'o', 'x' },
+        function()
+          require('flash').treesitter_search()
+        end,
+        desc = 'Treesitter Search',
+      },
+      -- { "<c-s>", mode = { "c" }, function() require("flash").toggle() end, desc = "Toggle Flash Search" },
+    },
+  },
+  {
+    'folke/trouble.nvim', -- Quickfix list for LSP errors
+    dependencies = 'nvim-tree/nvim-web-devicons',
     config = function()
-      -- Better Around/Inside textobjects
-      --
-      -- Examples:
-      --  - va)  - [V]isually select [A]round [)]paren
-      --  - yinq - [Y]ank [I]nside [N]ext [']quote
-      --  - ci'  - [C]hange [I]nside [']quote
-      require('mini.ai').setup { n_lines = 500 }
-
-      -- Add/delete/replace surroundings (brackets, quotes, etc.)
-      --
-      -- - saiw) - [S]urround [A]dd [I]nner [W]ord [)]Paren
-      -- - sd'   - [S]urround [D]elete [']quotes
-      -- - sr)'  - [S]urround [R]eplace [)] [']
-      require('mini.surround').setup()
-
-      -- Simple and easy statusline.
-      --  You could remove this setup call if you don't like it,
-      --  and try some other statusline plugin
-      local statusline = require 'mini.statusline'
-      statusline.setup()
-
-      -- You can configure sections in the statusline by overriding their
-      -- default behavior. For example, here we disable the section for
-      -- cursor information because line numbers are already enabled
-      ---@diagnostic disable-next-line: duplicate-set-field
-      statusline.section_location = function()
-        return ''
+      require('trouble').setup {
+        signs = {
+          -- icons / text used for a diagnostic
+          error = '',
+          warning = '',
+          hint = '',
+          information = '',
+          other = '﫠',
+        },
+      }
+    end,
+  },
+  {
+    'folke/which-key.nvim', -- Popup with possible keybindings of the command you started to type
+    opts = {},
+  },
+  {
+    'nvim-lualine/lualine.nvim', -- Fancier statusline
+    config = function()
+      local function get_venv()
+        local venv = vim.env.VIRTUAL_ENV
+        if venv then
+          local env = string.match(venv, '[^/]+$')
+          return ' ' .. env
+        else
+          return ''
+        end
       end
 
-      -- ... and there is more!
-      --  Check out: https://github.com/echasnovski/mini.nvim
+      local ros_distro = vim.fn.expand '$ROS_DISTRO'
+
+      local function get_ros_distro()
+        if ros_distro and ros_distro ~= '$ROS_DISTRO' then
+          return '󰭆 ' .. ros_distro
+        else
+          return ''
+        end
+      end
+      require('lualine').setup {
+        options = {
+          icons_enabled = true,
+          theme = 'onedark',
+          component_separators = '|',
+          section_separators = '',
+          ignore_focus = {
+            'dapui_watches',
+            'dapui_breakpoints',
+            'dapui_scopes',
+            'dapui_console',
+            'dapui_stacks',
+            'dap-repl',
+          },
+          disabled_filetypes = { 'NvimTree' },
+        },
+        sections = {
+          lualine_a = { 'mode' },
+          lualine_b = { 'branch', 'diff', 'diagnostics' },
+          lualine_c = { 'filename' },
+          lualine_x = { { get_venv }, { get_ros_distro }, 'fileformat', 'filetype' },
+          lualine_y = { 'progress' },
+          lualine_z = { 'location' },
+        },
+      }
     end,
   },
-
-  { -- Highlight, edit, and navigate code
-    'nvim-treesitter/nvim-treesitter',
-    build = ':TSUpdate',
+  {
+    'nvim-pack/nvim-spectre', -- Advance Search and Replace
+    opts = {},
+  },
+  {
+    'goolord/alpha-nvim', -- Greeter dashboard
+    dependencies = { 'nvim-tree/nvim-web-devicons' },
     config = function()
-      -- [[ Configure Treesitter ]] See `:help nvim-treesitter`
+      local alpha = require 'alpha'
+      local dashboard = require 'alpha.themes.dashboard'
+      dashboard.section.header.val = {
+        [[██████╗  ██████╗ ███████╗]],
+        [[██╔══██╗██╔═══██╗██╔════╝]],
+        [[██████╔╝██║   ██║███████╗]],
+        [[██╔══██╗██║   ██║╚════██║]],
+        [[██║  ██║╚██████╔╝███████║]],
+        [[╚═╝  ╚═╝ ╚═════╝ ╚══════╝]],
+      }
+      dashboard.section.buttons.val = {
+        dashboard.button('f', '  Find file', ':Telescope find_files <CR>'),
+        dashboard.button('t', '  Find text', ':Telescope live_grep <CR>'),
+        dashboard.button('n', '  New file', ':ene <BAR> startinsert <CR>'),
+        dashboard.button('c', '  Configuration', ':e ~/.config/nvim/init.lua <CR>'),
+        dashboard.button('u', '  Update plugins', ':Lazy sync<CR>'),
+        dashboard.button('q', '  Quit', ':qa<CR>'),
+      }
+      local handle = io.popen 'fortune'
+      local fortune = handle:read '*a'
+      handle:close()
+      dashboard.section.footer.val = fortune
 
-      ---@diagnostic disable-next-line: missing-fields
-      require('nvim-treesitter.configs').setup {
-        ensure_installed = { 'bash', 'c', 'html', 'lua', 'markdown', 'vim', 'vimdoc' },
-        -- Autoinstall languages that are not installed
-        auto_install = true,
-        highlight = { enable = true },
-        indent = { enable = true },
+      dashboard.config.opts.noautocmd = true
+
+      vim.cmd [[autocmd User AlphaReady echo 'ready']]
+
+      alpha.setup(dashboard.config)
+    end,
+  },
+  {
+    'romgrk/barbar.nvim', -- Tabline plugin that improves buffers and tabs
+    event = 'BufEnter',
+    dependencies = 'nvim-tree/nvim-web-devicons',
+    init = function()
+      vim.g.barbar_auto_setup = false
+    end,
+    lazy = true,
+  },
+  {
+    -- Add indentation guides even on blank lines
+    'lukas-reineke/indent-blankline.nvim',
+    -- Enable `lukas-reineke/indent-blankline.nvim`
+    -- See `:help indent_blankline.txt`
+    main = 'ibl',
+    opts = {},
+    config = function()
+      local highlight = {
+        'RainbowRed',
+        'RainbowYellow',
+        'RainbowBlue',
+        'RainbowOrange',
+        'RainbowGreen',
+        'RainbowViolet',
+        'RainbowCyan',
       }
 
-      -- There are additional nvim-treesitter modules that you can use to interact
-      -- with nvim-treesitter. You should go explore a few and see what interests you:
-      --
-      --    - Incremental selection: Included, see `:help nvim-treesitter-incremental-selection-mod`
-      --    - Show your current context: https://github.com/nvim-treesitter/nvim-treesitter-context
-      --    - Treesitter + textobjects: https://github.com/nvim-treesitter/nvim-treesitter-textobjects
+      local hooks = require 'ibl.hooks'
+      -- create the highlight groups in the highlight setup hook, so they are reset
+      -- every time the colorscheme changes
+      hooks.register(hooks.type.HIGHLIGHT_SETUP, function()
+        vim.api.nvim_set_hl(0, 'RainbowRed', { fg = '#E06C75' })
+        vim.api.nvim_set_hl(0, 'RainbowYellow', { fg = '#E5C07B' })
+        vim.api.nvim_set_hl(0, 'RainbowBlue', { fg = '#61AFEF' })
+        vim.api.nvim_set_hl(0, 'RainbowOrange', { fg = '#D19A66' })
+        vim.api.nvim_set_hl(0, 'RainbowGreen', { fg = '#98C379' })
+        vim.api.nvim_set_hl(0, 'RainbowViolet', { fg = '#C678DD' })
+        vim.api.nvim_set_hl(0, 'RainbowCyan', { fg = '#56B6C2' })
+      end)
+      require('ibl').setup {
+        indent = { highlight = highlight, char = '┊' },
+        scope = { enabled = false },
+      }
+    end,
+  },
+  {
+    'akinsho/toggleterm.nvim', -- Improve handling neovim terminals
+    opts = {},
+    config = function()
+      require('toggleterm').setup {
+        size = 20,
+        open_mapping = [[<c-\>]],
+        hide_numbers = true,
+        shade_filetypes = {},
+        shade_terminals = true,
+        shading_factor = 2,
+        start_in_insert = true,
+        insert_mappings = true,
+        persist_size = true,
+        direction = 'float',
+        close_on_exit = true,
+        shell = vim.o.shell,
+        float_opts = {
+          border = 'curved',
+          winblend = 0,
+          highlights = {
+            border = 'Normal',
+            background = 'Normal',
+          },
+        },
+      }
+      function _G.set_terminal_keymaps()
+        local opts = { noremap = true }
+        vim.diagnostic.disable(0)
+        vim.api.nvim_buf_set_keymap(0, 't', '<esc>', [[<C-\><C-n>]], opts)
+      end
+
+      -- ====================================================
+      -- Custom terminals
+      -- ====================================================
+      vim.cmd 'autocmd! TermOpen term://* lua set_terminal_keymaps()'
+
+      local Terminal = require('toggleterm.terminal').Terminal
+
+      local lazygit = Terminal:new {
+        cmd = 'lazygit',
+        hidden = true,
+        direction = 'float',
+        float_opts = { -- Get floating window in full screen
+          width = vim.o.columns,
+          height = vim.o.lines,
+        },
+        on_open = function(term)
+          vim.cmd 'startinsert!'
+          vim.diagnostic.disable(0)
+          vim.api.nvim_buf_set_keymap(0, 't', '<esc>', '<cmd>close<CR>', { silent = false, noremap = true })
+          if vim.fn.mapcheck('<esc>', 't') ~= '' then
+            vim.api.nvim_buf_del_keymap(term.bufnr, 't', '<esc>')
+          end
+        end,
+      }
+
+      function _lazygit_toggle()
+        -- lazygit.dir = vim.fn.getcwd() -- Open lazygit in the current working directory
+        lazygit.dir = vim.fn.expand '%:p:h' -- Open lazygit in the repository from the file
+        lazygit:toggle()
+      end
+
+      local python = Terminal:new {
+        cmd = 'ipython3',
+        direction = 'horizontal',
+        hidden = true,
+        hidden_numbers = true,
+      }
+
+      function _python_toggle()
+        python:toggle()
+      end
+
+      -- Fancy terminals
+      vim.api.nvim_set_keymap('n', '<leader>lg', '<cmd>lua _lazygit_toggle()<CR>', { noremap = true, silent = true })
+      vim.api.nvim_set_keymap('n', '<leader>ip', '<cmd>lua _python_toggle()<CR>', { noremap = true, silent = true })
+    end,
+  },
+  {
+    'stevearc/dressing.nvim',
+    opts = {},
+    config = function()
+      require('dressing').setup {
+        input = {
+          get_config = function()
+            return {
+              title_pos = 'center',
+              win_options = {
+                sidescrolloff = 10,
+              },
+              insert_only = false,
+            }
+          end,
+        },
+      }
+    end,
+  },
+  { -- Color theme
+    'navarasu/onedark.nvim',
+    priority = 1000,
+    -- config = function()
+    --   vim.cmd.colorscheme 'onedark'
+    -- end,
+  },
+  -- Fuzzy Finder (files, lsp, etc)
+  {
+    'nvim-telescope/telescope.nvim',
+    branch = '0.1.x',
+    dependencies = {
+      'nvim-lua/plenary.nvim',
+      -- Fuzzy Finder Algorithm which requires local dependencies to be built.
+      -- Only load if `make` is available. Make sure you have the system
+      -- requirements installed.
+      {
+        'nvim-telescope/telescope-fzf-native.nvim',
+        -- NOTE: If you are having trouble with this installation,
+        --       refer to the README for telescope-fzf-native for more instructions.
+        build = 'make',
+        cond = function()
+          return vim.fn.executable 'make' == 1
+        end,
+      },
+      'benfowler/telescope-luasnip.nvim', -- Allows to search the available snippet
+      'nvim-telescope/telescope-live-grep-args.nvim', -- Enable passing arguments to ripgrep
+    },
+    config = function()
+      require('telescope').setup {
+        defaults = {
+          prompt_prefix = '🔍 ',
+          vimgrep_arguments = {
+            'rg',
+            '--color=never',
+            '--no-heading',
+            '--with-filename',
+            '--line-number',
+            '--column',
+            '--smart-case',
+            '--follow',
+          },
+          path_display = {
+            truncate = 3,
+          },
+        },
+        pickers = {
+          find_files = {
+            find_command = {
+              'rg',
+              '--files',
+              '--hidden',
+              '-g',
+              '!.git',
+            },
+            follow = true,
+          },
+          lsp_document_symbols = {
+            show_line = true,
+          },
+        },
+        extensions = {
+          fzf = {
+            fuzzy = true, -- false will only do exact matching
+            override_generic_sorter = true, -- override the generic sorter
+            override_file_sorter = true, -- override the file sorter
+            case_mode = 'smart_case', -- or "ignore_case" or "respect_case"
+          },
+        },
+      }
+      require('telescope').load_extension 'fzf'
+      require('telescope').load_extension 'luasnip'
+      require('telescope').load_extension 'live_grep_args'
+      require('telescope').load_extension 'coauthors'
     end,
   },
 
-  -- The following two comments only work if you have downloaded the kickstart repo, not just copy pasted the
-  -- init.lua. If you want these files, they are in the repository, so you can just download them and
-  -- put them in the right spots if you want.
+  --
+  -- NOTE: This is where your plugins related to LSP can be installed.
+  --  The configuration is done below. Search for lspconfig to find it below.
+  {
+    -- LSP Configuration & Plugins
+    'neovim/nvim-lspconfig',
+    dependencies = {
+      -- Automatically install LSPs to stdpath for neovim
+      { 'williamboman/mason.nvim', config = true },
+      'williamboman/mason-lspconfig.nvim',
+      'WhoIsSethDaniel/mason-tool-installer.nvim',
 
-  -- NOTE: Next step on your Neovim journey: Add/Configure additional plugins for kickstart
-  --
-  --  Here are some example plugins that I've included in the kickstart repository.
-  --  Uncomment any of the lines below to enable them (you will need to restart nvim).
-  --
-  -- require 'kickstart.plugins.debug',
-  require 'kickstart.plugins.indent_line',
+      -- Useful status updates for LSP
+      {
+        'j-hui/fidget.nvim',
+        config = function()
+          require('fidget').setup {
+            -- Options related to notification subsystem
+            notification = {
+              -- Options related to the notification window and buffer
+              window = {
+                normal_hl = 'Comment', -- Base highlight group in the notification window
+                border = 'rounded', -- Border around the notification window
+                zindex = 45, -- Stacking priority of the notification window
+                max_width = 0, -- Maximum width of the notification window
+                max_height = 0, -- Maximum height of the notification window
+                x_padding = 1, -- Padding from right edge of window boundary
+                y_padding = 0, -- Padding from bottom edge of window boundary
+                align = 'bottom', -- How to align the notification window
+                relative = 'editor', -- What the notification window position is relative to
+              },
+            },
+          }
+        end,
+      },
+    },
+    config = function()
+      -- INFO: LSP Settings
+      -- This contains the configuration of several components related to LSPs
+      -- - luasnip
+      -- - mason
+      -- - mason-lspconfig
+      -- - nvim-cmp
+      -- - nvim-lspconfig
 
-  -- NOTE: The import below can automatically add your own plugins, configuration, etc from `lua/custom/plugins/*.lua`
-  --    This is the easiest way to modularize your config.
-  --
-  --  Uncomment the following line and add your plugins to `lua/custom/plugins/*.lua` to get going.
-  --    For additional information, see `:help lazy.nvim-lazy.nvim-structuring-your-plugins`
-  { import = 'custom.plugins' },
-}
+      -- PERF:
+      -- ====================================================
+      -- LSP Keymaps
+      -- ====================================================
+
+      --  This function gets run when an LSP connects to a particular buffer.
+      vim.api.nvim_create_autocmd('LspAttach', {
+        group = vim.api.nvim_create_augroup('personal-lsp-attach', { clear = true }),
+        callback = function(event)
+          -- Create a wrapper function to simplify keymaps creation
+          local map = function(keys, func, desc)
+            vim.keymap.set('n', keys, func, { buffer = event.buf, desc = 'LSP: ' .. desc })
+          end
+
+          --  Jump to the definition of the word under your cursor.
+          --  This is where a variable was first declared, or where a function is defined, etc.
+          --  To jump back, press <C-T>.
+          map('gd', require('telescope.builtin').lsp_definitions, '[G]oto [D]efinition')
+          -- Find references for the word under your cursor.
+          map('gr', require('telescope.builtin').lsp_references, '[G]oto [R]eferences')
+          -- Jump to the implementation of the word under your cursor.
+          --  Useful when your language has ways of declaring types without an actual implementation.
+          map('gI', require('telescope.builtin').lsp_implementations, '[G]oto [I]mplementation')
+          -- Jump to the type of the word under your cursor.
+          --  Useful when you're not sure what type a variable is and you want to see
+          --  the definition of its *type*, not where it was *defined*.
+          map('<leader>D', require('telescope.builtin').lsp_type_definitions, 'Type [D]efinition')
+          -- Fuzzy find all the symbols in your current document.
+          --  Symbols are things like variables, functions, types, etc.
+          map('<leader>ds', require('telescope.builtin').lsp_document_symbols, '[D]ocument [S]ymbols')
+          -- Fuzzy find all the symbols in your current workspace
+          --  Similar to document symbols, except searches over your whole project.
+          map('<leader>ws', require('telescope.builtin').lsp_dynamic_workspace_symbols, '[W]orkspace [S]ymbols')
+
+          -- Rename the variable under your cursor
+          --  Most Language Servers support renaming across files, etc.
+          map('<leader>rn', vim.lsp.buf.rename, '[R]e[n]ame')
+          -- Execute a code action, usually your cursor needs to be on top of an error
+          -- or a suggestion from your LSP for this to activate.
+          map('<leader>ca', vim.lsp.buf.code_action, '[C]ode [A]ction')
+
+          -- Opens a popup that displays documentation about the word under your cursor
+          --  See `:help K` for why this keymap
+          map('K', vim.lsp.buf.hover, 'Hover Documentation')
+          map('<C-k>', vim.lsp.buf.signature_help, 'Signature Documentation')
+          -- NOTE: This is not Goto Definition, this is Goto Declaration.
+          --  For example, in C this would take you to the header
+
+          -- When you move your cursor, the highlights will be cleared (the second autocommand).
+          local client = vim.lsp.get_client_by_id(event.data.client_id)
+          if client and client.server_capabilities.documentHighlightProvider then
+            vim.api.nvim_create_autocmd({ 'CursorHold', 'CursorHoldI' }, {
+              buffer = event.buf,
+              callback = vim.lsp.buf.document_highlight,
+            })
+
+            vim.api.nvim_create_autocmd({ 'CursorMoved', 'CursorMovedI' }, {
+              buffer = event.buf,
+              callback = vim.lsp.buf.clear_references,
+            })
+          end
+        end,
+      })
+
+      -- PERF:
+      -- ====================================================
+      -- LSP Servers
+      -- ====================================================
+      local servers = {
+        clangd = {
+          cmd = {
+            -- see clangd --help-hidden
+            'clangd',
+            '--background-index',
+            -- by default, clang-tidy use -checks=clang-diagnostic-*,clang-analyzer-*
+            -- to add more checks, create .clang-tidy file in the root directory
+            -- and add Checks key, see https://clang.llvm.org/extra/clang-tidy/
+            '--clang-tidy',
+            '--completion-style=bundled',
+            '--cross-file-rename',
+            '--header-insertion=iwyu',
+          },
+        },
+        pyright = {
+          python = {
+            analysis = {
+              autoSearchPaths = true,
+              diagnosticMode = 'openFilesOnly',
+              useLibraryCodeForTypes = true,
+              reportDuplicateImport = true,
+            },
+          },
+        },
+        lua_ls = {
+          settings = {
+            Lua = {
+              runtime = { version = 'LuaJIT' },
+              workspace = {
+                checkThirdParty = false,
+                library = {
+                  '${3rd}/luv/library',
+                  unpack(vim.api.nvim_get_runtime_file('', true)),
+                },
+              },
+              completion = {
+                callSnippet = 'Replace',
+              },
+            },
+          },
+        },
+      }
+
+      -- PERF:
+      -- ====================================================
+      -- capabilities Configuratioon
+      -- ====================================================
+
+      -- nvim-cmp supports additional completion capabilities, so broadcast that to servers
+      local capabilities = vim.lsp.protocol.make_client_capabilities()
+      -- capabilities.workspace.didChangeWatchedFiles.dynamicRegistration = false
+      capabilities = require('cmp_nvim_lsp').default_capabilities(capabilities)
+      capabilities.offsetEncoding = { 'utf-16' }
+      capabilities.textDocument.completion.completionItem.snippetSupport = true
+
+      -- Enable folding (for nvim-ufo)
+      capabilities.textDocument.foldingRange = {
+        dynamicRegistration = false,
+        lineFoldingOnly = true,
+      }
+
+      -- PERF:
+      -- ====================================================
+      -- Mason Configuratioon
+      -- ====================================================
+
+      -- Setup mason so it can manage external tooling
+      require('mason').setup {
+        ui = {
+          border = 'rounded',
+        },
+      }
+
+      -- mason-lspconfig configurations
+      require('mason-lspconfig').setup {
+        handlers = {
+          function(server_name)
+            local server = servers[server_name] or {}
+            -- This handles overriding only values explicitly passed
+            -- by the server configuration above. Useful when disabling
+            -- certain features of an LSP (for example, turning off formatting for tsserver)
+            server.capabilities = vim.tbl_deep_extend('force', {}, capabilities, server.capabilities or {})
+            require('lspconfig')[server_name].setup(server)
+          end,
+        },
+      }
+      require('mason-tool-installer').setup {
+
+        -- List of all DAP, Linter and Formatters to install
+        ensure_installed = {
+          -- LSPs
+          'clangd',
+          'lua_ls',
+          'pyright',
+          'ruff',
+
+          -- DAP
+          'codelldb',
+          'cpptools',
+
+          -- Linter
+          'cpplint',
+
+          -- Formatters
+          'stylua',
+          'prettier',
+        },
+
+        -- if set to true this will check each tool for updates. If updates
+        -- are available the tool will be updated. This setting does not
+        -- affect :MasonToolsUpdate or :MasonToolsInstall.
+        -- Default: false
+        auto_update = false,
+
+        -- automatically install / update on startup. If set to false nothing
+        -- will happen on startup. You can use :MasonToolsInstall or
+        -- :MasonToolsUpdate to install tools and check for updates.
+        -- Default: true
+        run_on_start = true,
+
+        -- set a delay (in ms) before the installation starts. This is only
+        -- effective if run_on_start is set to true.
+        -- e.g.: 5000 = 5 second delay, 10000 = 10 second delay, etc...
+        -- Default: 0
+        start_delay = 3000, -- 3 second delay
+
+        -- Only attempt to install if 'debounce_hours' number of hours has
+        -- elapsed since the last time Neovim was started. This stores a
+        -- timestamp in a file named stdpath('data')/mason-tool-installer-debounce.
+        -- This is only relevant when you are using 'run_on_start'. It has no
+        -- effect when running manually via ':MasonToolsInstall' etc....
+        -- Default: nil
+        debounce_hours = 5, -- at least 5 hours between attempts to install/update
+      }
+
+      -- PERF:
+      -- ====================================================
+      -- nvim-cmp configuration
+      -- ====================================================
+
+      local cmp = require 'cmp'
+      local luasnip = require 'luasnip'
+
+      cmp.setup {
+        snippet = {
+          expand = function(args)
+            luasnip.lsp_expand(args.body)
+          end,
+        },
+        -- performance = {
+        --   max_view_entries = 20,
+        -- },
+        mapping = cmp.mapping.preset.insert {
+          ['<C-n>'] = cmp.mapping.select_next_item(),
+          ['<C-p>'] = cmp.mapping.select_prev_item(),
+          ['<C-b>'] = cmp.mapping.scroll_docs(-4),
+          ['<C-f>'] = cmp.mapping.scroll_docs(4),
+          ['<C-Space>'] = cmp.mapping.complete(),
+          ['<C-e>'] = cmp.mapping.abort(),
+          ['<CR>'] = cmp.mapping.confirm {
+            behavior = cmp.ConfirmBehavior.Replace,
+            select = true,
+          },
+          ['<Tab>'] = cmp.mapping(function(fallback)
+            if cmp.visible() then
+              cmp.select_next_item()
+            elseif luasnip.expand_or_jumpable() then
+              luasnip.expand_or_jump()
+            else
+              fallback()
+            end
+          end, { 'i', 's' }),
+          ['<S-Tab>'] = cmp.mapping(function(fallback)
+            if cmp.visible() then
+              cmp.select_prev_item()
+            elseif luasnip.jumpable(-1) then
+              luasnip.jump(-1)
+            else
+              fallback()
+            end
+          end, { 'i', 's' }),
+        },
+        sources = {
+          { name = 'nvim_lsp', max_item_count = 10 },
+          { name = 'luasnip' },
+          { name = 'path', max_item_count = 5 },
+          { name = 'buffer', max_item_count = 5 },
+        },
+        window = {
+          completion = cmp.config.window.bordered(),
+          documentation = cmp.config.window.bordered(),
+        },
+      }
+
+      -- Suggested approach to cancel snippet session after going back to normal mode
+      -- Taken from https://github.com/L3MON4D3/LuaSnip/issues/258#issuecomment-1011938524
+      function leave_snippet()
+        if
+          ((vim.v.event.old_mode == 's' and vim.v.event.new_mode == 'n') or vim.v.event.old_mode == 'i')
+          and require('luasnip').session.current_nodes[vim.api.nvim_get_current_buf()]
+          and not require('luasnip').session.jump_active
+        then
+          require('luasnip').unlink_current()
+        end
+      end
+
+      -- stop snippets when you leave to normal mode
+      vim.api.nvim_command [[ autocmd ModeChanged * lua leave_snippet() ]]
+
+      -- Custom command to disable completion
+      local cmp_enabled = true
+      vim.api.nvim_create_user_command('ToggleAutoComplete', function()
+        if cmp_enabled then
+          require('cmp').setup.buffer { enabled = false }
+          cmp_enabled = false
+        else
+          require('cmp').setup.buffer { enabled = true }
+          cmp_enabled = true
+        end
+      end, {})
+
+      -- Configure cmp-cmdline
+      cmp.setup.cmdline('/', {
+        mapping = cmp.mapping.preset.cmdline(),
+        sources = {
+          { name = 'buffer' },
+        },
+      })
+      -- `:` cmdline setup.
+      cmp.setup.cmdline(':', {
+        mapping = cmp.mapping.preset.cmdline(),
+        sources = cmp.config.sources({
+          { name = 'path' },
+        }, {
+          {
+            name = 'cmdline',
+            option = {
+              ignore_cmds = { 'Man', '!' },
+            },
+          },
+        }),
+      })
+
+      -- PERF:
+      -- ====================================================
+      -- LSP related UI Configurations
+      -- ====================================================
+
+      -- Add bordered to LSP info
+      require('lspconfig.ui.windows').default_options.border = 'rounded'
+
+      -- INFO: Configure LSP textDocuments
+      vim.lsp.handlers['textDocument/hover'] = vim.lsp.with(vim.lsp.handlers.hover, { border = 'rounded' })
+
+      vim.lsp.handlers['textDocument/signatureHelp'] = vim.lsp.with(vim.lsp.handlers.signature_help, { border = 'rounded' })
+
+      -- Diagnostic signs
+      local diagnostic_signs = {
+        { name = 'DiagnosticSignError', text = ' ' },
+        { name = 'DiagnosticSignWarn', text = ' ' },
+        { name = 'DiagnosticSignHint', text = ' ' },
+        { name = 'DiagnosticSignInfo', text = ' ' },
+      }
+      for _, sign in ipairs(diagnostic_signs) do
+        vim.fn.sign_define(sign.name, { texthl = sign.name, text = sign.text, numhl = sign.name })
+      end
+
+      vim.diagnostic.config {
+        virtual_text = {
+          prefix = '●', -- Could be '■', '▎', 'x'
+        },
+        severity_sort = true,
+        float = {
+          source = 'always', -- Or "if_many"
+        },
+        signs = true,
+      }
+    end,
+  },
+  { -- Formatter
+    'stevearc/conform.nvim',
+    config = function()
+      require('conform').setup {
+        formatters_by_ft = {
+          json = { { 'prettierd', 'prettier' } },
+          lua = { 'stylua' },
+          markdown = { 'prettier' },
+          -- Conform will run multiple formatters sequentially
+          python = function(bufnr)
+            if require('conform').get_formatter_info('ruff_format', bufnr).available then
+              return { 'ruff_format' }
+            else
+              return { 'isort', 'black' }
+            end
+          end,
+          yaml = { 'prettier' },
+          ['*'] = { 'injected' },
+        },
+        ignore_errors = true,
+        -- Map of treesitter language to file extension
+        -- A temporary file name with this extension will be generated during formatting
+        -- because some formatters care about the filename.
+        lang_to_ext = {
+          bash = 'sh',
+          latex = 'tex',
+          markdown = 'md',
+          python = 'py',
+        },
+      }
+      --
+      -- set up Format and <leader>f commands which should behave equivalently
+      vim.api.nvim_create_user_command('Format', function(args)
+        local range = nil
+        if args.count ~= -1 then
+          local end_line = vim.api.nvim_buf_get_lines(0, args.line2 - 1, args.line2, true)[1]
+          range = {
+            start = { args.line1, 0 },
+            ['end'] = { args.line2, end_line:len() },
+          }
+        end
+        require('conform').format { async = true, lsp_fallback = true, range = range }
+      end, { range = true })
+      vim.keymap.set('', '<leader>f', function()
+        require('conform').format { async = true, lsp_fallback = true }
+      end)
+    end,
+  },
+  {
+    -- Autocompletion
+    'hrsh7th/nvim-cmp',
+    dependencies = {
+      -- Snippet Engine & its associated nvim-cmp source
+      'L3MON4D3/LuaSnip',
+      'saadparwaiz1/cmp_luasnip',
+      'hrsh7th/cmp-nvim-lsp', -- Adds LSP completion capabilities
+      'hrsh7th/cmp-buffer', -- Source for buffer words
+      'hrsh7th/cmp-path', -- Add source filesystem path
+      'hrsh7th/cmp-cmdline', -- Source for vim's cmdline
+    },
+  },
+  {
+    'rafamadriz/friendly-snippets', -- Snippets collection
+    config = function()
+      require('luasnip.loaders.from_vscode').lazy_load()
+
+      require('luasnip/loaders/from_vscode').lazy_load {
+        paths = {
+          vim.fn.stdpath 'config' .. '/snippets',
+        },
+      }
+    end,
+  },
+  {
+    -- Highlight, edit, and navigate code
+    'nvim-treesitter/nvim-treesitter',
+    dependencies = {
+      'nvim-treesitter/nvim-treesitter-textobjects',
+    },
+    build = ':TSUpdate',
+    config = function()
+      -- [[ Configure Treesitter ]]
+      -- See `:help nvim-treesitter`
+      vim.defer_fn(function()
+        require('nvim-treesitter.configs').setup {
+          -- Add languages to be installed here that you want installed for treesitter
+          ensure_installed = {
+            'bash',
+            'c',
+            'cpp',
+            'csv',
+            'dockerfile',
+            'gitcommit',
+            'gitignore',
+            'go',
+            'html',
+            'json',
+            'lua',
+            'markdown',
+            'markdown_inline',
+            'python',
+            'vim',
+            'vimdoc',
+            'xml',
+            'yaml',
+          },
+
+          -- Autoinstall languages that are not installed. Defaults to false (but you can change for yourself!)
+          auto_install = false,
+          highlight = {
+            enable = true,
+            disable = function(lang, bufnr) -- Disable in large files
+              return vim.api.nvim_buf_line_count(bufnr) > 50000
+            end,
+            additional_vim_regex_highlighting = false,
+          },
+          indent = { enable = true, disable = { 'python', 'cpp' } },
+          incremental_selection = {
+            enable = true,
+            keymaps = {
+              init_selection = '<c-space>',
+              node_incremental = '<c-space>',
+              scope_incremental = '<c-s>',
+              node_decremental = '<c-backspace>',
+            },
+          },
+          textobjects = {
+            select = {
+              enable = true,
+              lookahead = true, -- Automatically jump forward to textobj, similar to targets.vim
+              keymaps = {
+                -- You can use the capture groups defined in textobjects.scm
+                ['aa'] = '@parameter.outer',
+                ['ia'] = '@parameter.inner',
+                ['af'] = '@function.outer',
+                ['if'] = '@function.inner',
+                ['ac'] = '@class.outer',
+                ['ic'] = '@class.inner',
+              },
+            },
+            move = {
+              enable = true,
+              set_jumps = true, -- whether to set jumps in the jumplist
+              goto_next_start = {
+                [']m'] = '@function.outer',
+                [']]'] = '@class.outer',
+              },
+              goto_next_end = {
+                [']M'] = '@function.outer',
+                [']['] = '@class.outer',
+              },
+              goto_previous_start = {
+                ['[m'] = '@function.outer',
+                ['[['] = '@class.outer',
+              },
+              goto_previous_end = {
+                ['[M'] = '@function.outer',
+                ['[]'] = '@class.outer',
+              },
+            },
+            swap = {
+              enable = true,
+              swap_next = {
+                ['<leader>a'] = '@parameter.inner',
+              },
+              swap_previous = {
+                ['<leader>A'] = '@parameter.inner',
+              },
+            },
+          },
+        }
+      end, 0)
+
+      -- Configure highlight group for treesittercontext
+      vim.cmd [[ hi TreesitterContextBottom gui=underline guisp=#a6e3a1 ]]
+    end,
+  },
+  -- INFO: Debug adapters
+  {
+    'mfussenegger/nvim-dap', -- Enable debug adapters
+    dependencies = {
+      'mfussenegger/nvim-dap-python', -- Python debug adapter
+      'rcarriga/nvim-dap-ui', -- UI-like for debugging
+      'theHamsta/nvim-dap-virtual-text', -- Inline text during debugging
+      'nvim-neotest/nvim-nio', -- Needed by nvim-dap-ui
+      'folke/neodev.nvim', -- Recommended by nvim-dap-ui
+    },
+    config = function()
+      require('neodev').setup {
+        library = { plugins = { 'nvim-dap-ui' }, types = true },
+      }
+      -- PERF:
+      -- ===================================================
+      -- UI related configurations
+      -- ====================================================
+      local dap = require 'dap'
+      local sign = vim.fn.sign_define
+
+      sign('DapBreakpoint', { text = ' ', texthl = 'DapBreakpoint', linehl = '', numhl = '' })
+      sign('DapBreakpointCondition', { text = ' ', texthl = 'DapBreakpointCondition', linehl = '', numhl = '' })
+      sign('DapLogPoint', { text = '◆ ', texthl = 'DapLogPoint', linehl = '', numhl = '' })
+      sign('DapStoppedLine', { text = '󰁕 ', texthl = 'DapLogPoint', linehl = '', numhl = '' })
+      sign('DapBreakpointRejected', { text = ' ', texthl = 'DapBreakpointRejected', linehl = '', numhl = '' })
+
+      -- PERF:
+      -- ===================================================
+      -- Adapters
+      -- ====================================================
+      dap.adapters.codelldb = {
+        type = 'server',
+        port = '${port}',
+        executable = {
+          command = vim.fn.expand '$HOME/.local/share/nvim/mason/bin/codelldb',
+          args = { '--port', '${port}' },
+        },
+      }
+      -- PERF:
+      -- ===================================================
+      -- Configurations
+      -- ====================================================
+      dap.configurations.cpp = {
+        {
+          name = 'C++: Run file',
+          type = 'codelldb',
+          request = 'launch',
+          program = function()
+            return vim.fn.input('Path to executable: ', vim.fn.getcwd() .. '/', 'file')
+          end,
+          cwd = '${workspaceFolder}',
+          stopOnEntry = false,
+        },
+        {
+          -- If you get an "Operation not permitted" error using this, try disabling YAMA:
+          --  echo 0 | sudo tee /proc/sys/kernel/yama/ptrace_scope
+          name = 'C++: Attach to process',
+          type = 'codelldb', -- Adjust this to match your adapter name (`dap.adapters.<name>`)
+          request = 'attach',
+          pid = require('dap.utils').pick_process,
+          args = {},
+        },
+        {
+          name = 'C++: ROS Node',
+          type = 'codelldb',
+          request = 'launch',
+          -- Might need to consider using vim.ui.input
+          program = function()
+            local pkgName = vim.fn.input('ROS Package: ', '')
+            return vim.fn.input('Path to executable: ', vim.fn.getcwd() .. '/install/' .. pkgName .. '/lib/' .. pkgName .. '/', 'file')
+          end,
+          cwd = '${workspaceFolder}',
+          stopOnEntry = false,
+        },
+      }
+      -- PERF:
+      -- ====================================================
+      -- Extensions configurations
+      -- ====================================================
+      require('dapui').setup {
+        controls = {
+          icons = {
+            pause = '⏸ ',
+            play = '▶ ',
+            terminate = '⏹ ',
+          },
+        },
+        floating = {
+          border = 'rounded',
+        },
+        layouts = {
+          {
+            elements = {
+              { id = 'stacks', size = 0.30 },
+              { id = 'breakpoints', size = 0.20 },
+              { id = 'scopes', size = 0.50 },
+            },
+            position = 'left',
+            size = 40,
+          },
+          {
+            elements = {
+              { id = 'console', size = 0.50 },
+              { id = 'repl', size = 0.50 },
+            },
+            position = 'bottom',
+            size = 10,
+          },
+        },
+      }
+      require('nvim-dap-virtual-text').setup()
+      require('dap-python').setup()
+      table.insert(require('dap').configurations.python, {
+        type = 'python',
+        request = 'launch',
+        name = 'Python: ROS2 lauch test',
+        program = '/opt/ros/humble/bin/launch_test',
+        args = { '${file}' },
+      })
+
+      require('dap-python').test_runner = 'pytest'
+
+      -- PERF:
+      -- ====================================================
+      -- Custom User Commands for Dap
+      -- ====================================================
+      vim.api.nvim_create_user_command('DapUIToggle', ":lua require('dapui').toggle()", {})
+      vim.api.nvim_create_user_command('DapPytestMethod', ":lua require('dap-python').test_method()", {})
+
+      vim.api.nvim_create_user_command('DapResetUI', ":lua require('dapui').open({reset = true})", { desc = 'Reset DAP UI Layout' })
+
+      vim.api.nvim_create_user_command(
+        'DapLogBreakpoint',
+        ":lua require('dap').set_breakpoint(nil, nil, vim.fn.input('Log Message: '))",
+        { desc = 'Set log message breakpoint' }
+      )
+      vim.api.nvim_create_user_command(
+        'DapConditionBreakpoint',
+        ":lua require('dap').set_breakpoint(vim.fn.input('Breakpoint Condition: '))",
+        { desc = 'Set conditional breakpoint' }
+      )
+      vim.api.nvim_create_user_command(
+        'DapConditionHitBreakpoint',
+        ":lua require('dap').set_breakpoint(vim.fn.input('Breapoint Condition: '), vim.fn.input('Hit Condition: '))",
+        { desc = 'Set condition and hit breakpoint' }
+      )
+      vim.api.nvim_create_user_command(
+        'DapHitBreakpoint',
+        ":lua require('dap').set_breakpoint(nil, vim.fn.input('Hit Condition: '))",
+        { desc = 'Set hit breakpoint' }
+      )
+
+      -- PERF:
+      -- ====================================================
+      -- Configure DAP UI Listeners
+      -- ====================================================
+      local dapui = require 'dapui'
+      dap.listeners.before.attach.dapui_config = function()
+        dapui.open()
+      end
+      dap.listeners.before.launch.dapui_config = function()
+        dapui.open()
+      end
+      dap.listeners.before.event_terminated.dapui_config = function()
+        dapui.close()
+      end
+      dap.listeners.before.exited.dapui_config = function()
+        dapui.close()
+      end
+    end,
+  },
+
+  -- NOTE: Here you can add additional plugins that can enhance your Neovim Journey
+  { -- ROS2 related plugin
+    'ErickKramer/nvim-ros2',
+    dependencies = {
+      'nvim-lua/plenary.nvim',
+      'nvim-telescope/telescope.nvim',
+      'nvim-treesitter/nvim-treesitter',
+    },
+    opts = {
+      autocmds = true,
+      telescope = true,
+      treesitter = true,
+    },
+  },
+}, {})
+
+--[[INFO: Editor Settingss
+ --   Take the time to check the settings underneath and configure them base on your needs and preferences
+ --]]
+-- Set highlight on search
+vim.o.hlsearch = false
+
+-- Make line numbers default
+vim.opt.nu = true
+vim.opt.relativenumber = true
+
+-- Enable mouse mode
+vim.o.mouse = 'a'
+
+-- Enable break indent
+vim.o.breakindent = true
+
+-- Save undo history
+vim.o.undofile = true
+
+-- Case insensitive searching UNLESS /C or capital in search
+vim.o.ignorecase = true
+vim.o.smartcase = true
+
+-- Decrease update time
+vim.o.updatetime = 250
+vim.o.timeoutlen = 300
+
+-- Configure how new splits should be opened
+vim.opt.splitright = true
+vim.opt.splitbelow = true
+
+-- Preview substitutions live, as you type!
+vim.opt.inccommand = 'split'
+
+-- Keep signcolumn on
+vim.wo.signcolumn = 'yes'
+vim.opt.signcolumn = 'yes:1' -- Enable expanding signcolumn
+
+-- Highlight current line
+vim.opt.cursorline = true
+
+-- Render the column delimiter
+vim.opt.colorcolumn = '100'
+
+-- Prefer spaces of 2 over tabs
+vim.opt.tabstop = 2
+vim.opt.shiftwidth = 2
+vim.opt.expandtab = true
+
+-- Render trailing spaces
+vim.opt.listchars = { trail = '⇲', tab = '◦ ' }
+vim.opt.list = true
+
+-- Share system clipboard
+vim.opt.clipboard = 'unnamedplus'
+
+-- Set completeopt to have a better completion experience
+vim.o.completeopt = 'menuone,noselect'
+
+-- Remap for dealing with word wrap
+vim.keymap.set('n', 'k', "v:count == 0 ? 'gk' : 'k'", { expr = true, silent = true })
+vim.keymap.set('n', 'j', "v:count == 0 ? 'gj' : 'j'", { expr = true, silent = true })
+
+-- set termguicolors to enable highlight groups
+vim.opt.termguicolors = true
+
+--  Highlight on yank
+local highlight_group = vim.api.nvim_create_augroup('YankHighlight', { clear = true })
+vim.api.nvim_create_autocmd('TextYankPost', {
+  callback = function()
+    vim.highlight.on_yank()
+  end,
+  group = highlight_group,
+  pattern = '*',
+})
+
+-- Relative line numbers
+local numtogGrp = vim.api.nvim_create_augroup('NumberToggle', { clear = true })
+vim.api.nvim_create_autocmd({ 'BufEnter', 'InsertLeave', 'FocusGained' }, {
+  pattern = '*',
+  callback = function()
+    vim.opt.relativenumber = true
+  end,
+  group = numtogGrp,
+  desc = 'Turn on relative line numbering when the buffer is entered.',
+})
+vim.api.nvim_create_autocmd({ 'BufLeave', 'InsertEnter', 'FocusLost' }, {
+  pattern = '*',
+  callback = function()
+    vim.opt.relativenumber = false
+  end,
+  group = numtogGrp,
+  desc = 'Turn off relative line numbering when the buffer is exited.',
+})
+
+--[[ INFO: Keymaps configurations
+--    Make sure to change these keymaps so that they make the most sense to you
+--]]
+
+-- Improve motions
+vim.keymap.set('n', '<C-d>', '<C-d>zz')
+vim.keymap.set('n', '<C-u>', '<C-u>zz')
+vim.keymap.set('n', 'n', 'nzzzv')
+vim.keymap.set('n', 'N', 'Nzzzv')
+vim.keymap.set('v', 'J', ":m '>+1<CR>gv=gv", { desc = 'Move selected lines down' })
+vim.keymap.set('v', 'K', ":m '<-2<CR>gv=gv", { desc = 'Move selected lines down' })
+
+-- Improve splits navigation
+vim.keymap.set('n', '<C-h>', '<C-W>h')
+vim.keymap.set('n', '<C-j>', '<C-W>j')
+vim.keymap.set('n', '<C-k>', '<C-W>k')
+vim.keymap.set('n', '<C-l>', '<C-W>l')
+
+-- Improve pasting
+vim.keymap.set('x', '<leader>p', [["_dP]], { desc = 'Preserve previous word when pasting' })
+
+vim.keymap.set('n', '<leader>ya', ':%y+<CR>', { desc = 'Yank all content in file' })
+
+-- Diagnostic keymaps
+vim.keymap.set('n', '[d', vim.diagnostic.goto_prev)
+vim.keymap.set('n', ']d', vim.diagnostic.goto_next)
+vim.keymap.set('n', '<leader>e', vim.diagnostic.open_float, { desc = 'Open diagnostic in floating window' })
+vim.keymap.set('n', '<leader>q', vim.diagnostic.setloclist, { desc = 'Send diagnostic to loclist' })
+vim.keymap.set('n', '<leader>dd', vim.diagnostic.disable, { desc = '[D]iagnostics [D]disable' })
+vim.keymap.set('n', '<leader>de', vim.diagnostic.enable, { desc = '[D]iagnostics [E]nable' })
+
+-- Change workingdir
+vim.keymap.set('n', '<leader>cw', ':cd %:p:h<CR>:pwd<CR>', { desc = 'Change current workding dir' })
+-- Fix forward jump after setting <TAB>
+-- https://github.com/neovim/neovim/issues/20126
+vim.keymap.set('n', '<C-I>', '<C-I>', { noremap = true })
+
+-- Editor experience
+vim.keymap.set('n', '<C-s>', ':write<CR>', { desc = 'Save file' })
+vim.keymap.set('n', '<leader>cd', ':ToggleAutoComplete<CR>', { desc = '[C]ompletion [D]isable' })
+vim.keymap.set('n', '<leader>ce', ':ToggleAutoComplete<CR>', { desc = '[C]ompletion [E]nable' })
+
+-- ====================================================
+-- Telescope
+-- ====================================================
+vim.keymap.set('n', '<leader>?', require('telescope.builtin').oldfiles, { desc = '[?] Find recently opened files' })
+vim.keymap.set('n', '<leader><space>', require('telescope.builtin').buffers, { desc = '[ ] Find existing buffers' })
+vim.keymap.set('n', '<leader>/', function()
+  -- You can pass additional configuration to telescope to change theme, layout, etc.
+  require('telescope.builtin').current_buffer_fuzzy_find(require('telescope.themes').get_dropdown {
+    previewer = false,
+    sorting_strategy = 'ascending',
+  })
+end, { desc = '[/] Fuzzily search in current buffer]' })
+
+vim.keymap.set('n', '<leader>sf', require('telescope.builtin').find_files, { desc = '[S]earch [F]iles' })
+vim.keymap.set('n', '<leader>sh', require('telescope.builtin').help_tags, { desc = '[S]earch [H]elp' })
+vim.keymap.set('n', '<leader>sw', require('telescope.builtin').grep_string, { desc = '[S]earch current [W]ord' })
+vim.keymap.set('n', '<leader>sg', require('telescope.builtin').live_grep, { desc = '[S]earch by [G]rep' })
+vim.keymap.set('n', '<leader>sd', require('telescope.builtin').diagnostics, { desc = '[S]earch [D]iagnostics' })
+vim.keymap.set('n', '<leader>sp', require('telescope.builtin').spell_suggest, { desc = '[S][P]ell suggestion' })
+vim.keymap.set('n', '<leader>sk', require('telescope.builtin').keymaps, { desc = '[S]earch [K]eymaps' })
+vim.keymap.set('n', '<leader>gf', require('telescope.builtin').git_files, { desc = 'Search [G]it [F]iles' })
+vim.keymap.set('n', '<leader>sc', require('telescope.builtin').git_commits, { desc = '[S]earch git [C]ommits' })
+vim.keymap.set('n', '<leader>sr', require('telescope.builtin').resume, { desc = 'Telescope [S]earch [R]esume' })
+-- Also possible to pass additional configuration options.
+--  See `:help telescope.builtin.live_grep()` for information about particular keys
+vim.keymap.set('n', '<leader>s/', function()
+  require('telescope.builtin').live_grep {
+    grep_open_files = true,
+    prompt_title = 'Live Grep in Open Files',
+  }
+end, { desc = '[S]earch [/] in Open Files' })
+-- Shortcut for searching your neovim configuration files
+vim.keymap.set('n', '<leader>sn', function()
+  require('telescope.builtin').find_files { cwd = vim.fn.stdpath 'config' }
+end, { desc = '[S]earch [N]eovim files' })
+
+-- ====================================================
+-- Nvim Tree
+-- ====================================================
+vim.keymap.set('n', '<leader>ff', ':NvimTreeFindFile<CR>', { desc = 'NvimTree [F]ind [F]ile' })
+vim.keymap.set('n', '<leader>tt', ':NvimTreeToggle<CR>', { desc = 'NvimTree [T]ree [T]oggle' })
+
+-- ====================================================
+-- Execute over files
+-- ====================================================
+vim.keymap.set('n', '<leader>ru', ':w<CR>:!%:p', { desc = '[R][U]n current file' })
+vim.keymap.set('n', '<leader>me', ':!chmod +x %:p<CR>', { desc = '[M]ake current file [E]xecutable' })
+
+-- ====================================================
+-- Spectre
+-- ====================================================
+vim.keymap.set('n', '<leader>P', require('spectre').open, { desc = 'Open Search and Replace' })
+
+-- ====================================================
+-- Trouble
+-- ====================================================
+vim.keymap.set('n', '<leader>xx', '<cmd>TroubleToggle<cr>', { silent = true, noremap = true, desc = 'Toggle trouble window' })
+vim.keymap.set(
+  'n',
+  '<leader>xw',
+  '<cmd>TroubleToggle workspace_diagnostics<cr>',
+  { silent = true, noremap = true, desc = 'Trouble diagnostics for the whole workspace' }
+)
+vim.keymap.set(
+  'n',
+  '<leader>xd',
+  '<cmd>TroubleToggle document_diagnostics<cr>',
+  { silent = true, noremap = true, desc = 'Trouble diagnostics for current document' }
+)
+
+-- ====================================================
+-- Uncrustify
+-- ====================================================
+vim.api.nvim_create_user_command(
+  'Uncrustify',
+  -- ":!uncrustify -c /home/ekramer/evobot_ecosystem/humble_ws/ament_code_style.cfg --replace %:p -q --no-backup", {}
+  ':!ament_uncrustify --reformat %:p',
+  {}
+)
+
+-- ====================================================
+-- Debugging -> dap
+-- ====================================================
+vim.keymap.set('n', '<F2>', ":lua require('dapui').toggle()<CR>")
+vim.keymap.set('n', '<leader>dc', ":lua require('dap').continue()<CR>")
+vim.keymap.set('n', '<leader>do', ":lua require('dap').step_over()<CR>")
+vim.keymap.set('n', '<leader>di', ":lua require('dap').step_into()<CR>")
+vim.keymap.set('n', '<leader>dk', function()
+  require('dap.ui.widgets').hover()
+end)
+vim.keymap.set('n', '<leader>d?', function()
+  local widgets = require 'dap.ui.widgets'
+  widgets.centered_float(widgets.scopes)
+end)
+vim.keymap.set('n', '<leader>du', ":lua require('dap').step_out()<CR>")
+vim.keymap.set('n', '<leader>dl', ":lua require('dapui').float_element()<CR>", { silent = true, noremap = true, desc = 'Open floating window in Dap UI' })
+vim.keymap.set('n', '<leader>dt', ":lua require('dap').toggle_breakpoint()<CR>", { silent = true, noremap = true, desc = 'Toggle breakpoint' })
+vim.keymap.set('n', '<leader>dm', ":lua require('dap-python').test_method()<CR>", { silent = true, noremap = true, desc = 'DapPytest : Debug method' })
+vim.keymap.set('n', '<leader>df', ":lua require('dap-python').test_class()<CR>", { silent = true, noremap = true, desc = 'DapPytest : Debug class' })
+
+-- ====================================================
+-- barbar --> Tabs management
+-- ====================================================
+vim.keymap.set('n', '<A-,>', '<cmd>BufferPrevious<cr>', { silent = true, noremap = true, desc = 'Go to previous tab' })
+vim.keymap.set('n', '<A-.>', '<cmd>BufferNext<cr>', { silent = true, noremap = true, desc = 'Go to next tab' })
+vim.keymap.set('n', '<A-c>', '<cmd>BufferClose<cr>', { silent = true, noremap = true, desc = 'Close current buffer' })
+local opts = { noremap = true, silent = true }
+-- Goto buffer in position...
+vim.keymap.set('n', '<A-1>', '<Cmd>BufferGoto 1<CR>', opts)
+vim.keymap.set('n', '<A-2>', '<Cmd>BufferGoto 2<CR>', opts)
+vim.keymap.set('n', '<A-3>', '<Cmd>BufferGoto 3<CR>', opts)
+vim.keymap.set('n', '<A-4>', '<Cmd>BufferGoto 4<CR>', opts)
+vim.keymap.set('n', '<A-5>', '<Cmd>BufferGoto 5<CR>', opts)
+vim.keymap.set('n', '<A-6>', '<Cmd>BufferGoto 6<CR>', opts)
+vim.keymap.set('n', '<A-7>', '<Cmd>BufferGoto 7<CR>', opts)
+vim.keymap.set('n', '<A-8>', '<Cmd>BufferGoto 8<CR>', opts)
+vim.keymap.set('n', '<A-9>', '<Cmd>BufferGoto 9<CR>', opts)
+vim.keymap.set('n', '<A-0>', '<Cmd>BufferLast<CR>', opts)
+
+-- ====================================================
+-- Quickfix
+-- ====================================================
+vim.keymap.set('n', '<leader>cn', ':cnext<CR>', { desc = 'Next quickfix list' })
+vim.keymap.set('n', '<leader>cp', ':cprevious<CR>', { desc = 'Previous quickfix list' })
+
+-- ====================================================
+-- Markdown
+-- ====================================================
+vim.keymap.set('n', '<leader>mp', ':MarkdownPreview<CR>', { desc = '[M]arkdown [P]review' })
+
+-- ====================================================
+-- nvim-ros2
+-- ====================================================
+vim.keymap.set('n', '<leader>li', ':Telescope ros2 interfaces<CR>', { desc = '[ROS 2]: List interfaces' })
+vim.keymap.set('n', '<leader>ln', ':Telescope ros2 nodes<CR>', { desc = '[ROS 2]: List nodes' })
+vim.keymap.set('n', '<leader>la', ':Telescope ros2 actions<CR>', { desc = '[ROS 2]: List actions' })
+vim.keymap.set('n', '<leader>lt', ':Telescope ros2 topics<CR>', { desc = '[ROS 2]: List topics' })
+vim.keymap.set('n', '<leader>ls', ':Telescope ros2 services<CR>', { desc = '[ROS 2]: List services' })
+
+-- ====================================================
+-- git_coauthors
+-- ====================================================
+vim.keymap.set('n', '<leader>ga', ':Telescope coauthors<CR>', { desc = '[G]it co-[A]uthors' })
+
+-- NOTE: Custon User Commads
+
+-- ====================================================
+-- ROS 2 related commands
+-- ====================================================
+vim.api.nvim_command [[
+  command! ColconBuild :! CC=clang CXX=clang++ colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
+]]
+vim.api.nvim_command [[
+  command! -nargs=1 ColconBuildSingle :! CC=clang CXX=clang++ colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --packages-up-to <args>
+]]
+vim.api.nvim_command [[
+  command! ColconBuildDebug :! CC=clang CXX=clang++ colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_BUILD_TYPE=Debug
+]]
+vim.api.nvim_command [[
+  command! -nargs=1 ColconBuildDebugSingle :! CC=clang CXX=clang++ colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_BUILD_TYPE=Debug --packages-up-to <args>
+]]
+
+-- Test
+vim.api.nvim_command [[
+  command! ColconTest :! colcon test
+]]
+vim.api.nvim_command [[
+  command! -nargs=1 ColconTestSingle :! colcon test --packages-select <args>
+]]
+vim.api.nvim_command [[
+  command! ColconTestResult :! colcon test-result --all
+]]
 
 -- The line beneath this is called `modeline`. See `:help modeline`
 -- vim: ts=2 sts=2 sw=2 et
@@ -948,3 +1659,9 @@ vim.api.nvim_create_autocmd('FileType', {
     vim.opt_local.expandtab = true
   end,
 })
+
+-- Remap copy line
+vim.api.nvim_set_keymap('n', 'Y', 'yy', { noremap = true, silent = true })
+-- Open Neo-tree automatically on startup
+vim.cmd('Neotree show')
+vim.api.nvim_set_keymap('i', '{', '{}<Left>', { noremap = true, silent = true })