diff --git a/.cspell.json b/.cspell.json
index 1c58d051..550d2344 100644
--- a/.cspell.json
+++ b/.cspell.json
@@ -18,6 +18,7 @@
     "**/.vscode/**",
     "**/build/**",
     "**/CHANGELOG.rst",
+    "**/.clang-format",
     "**/CPPLINT.cfg",
     "**/Doxyfile",
     "**/install/**",
diff --git a/aichallenge/workspace/.clang-format b/aichallenge/workspace/.clang-format
new file mode 100644
index 00000000..b41fae91
--- /dev/null
+++ b/aichallenge/workspace/.clang-format
@@ -0,0 +1,47 @@
+# Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+AllowShortFunctionsOnASingleLine: InlineOnly
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: true
+IncludeCategories:
+  # C++ system headers
+  - Regex: <[a-z_]*>
+    Priority: 6
+    CaseSensitive: true
+  # C system headers
+  - Regex: <.*\.h>
+    Priority: 5
+    CaseSensitive: true
+  # Boost headers
+  - Regex: boost/.*
+    Priority: 4
+    CaseSensitive: true
+  # Message headers
+  - Regex: .*_msgs/.*
+    Priority: 3
+    CaseSensitive: true
+  - Regex: .*_srvs/.*
+    Priority: 3
+    CaseSensitive: true
+  # Other Package headers
+  - Regex: <.*>
+    Priority: 2
+    CaseSensitive: true
+  # Local package headers
+  - Regex: '".*"'
+    Priority: 1
+    CaseSensitive: true
diff --git a/aichallenge/workspace/.gitignore b/aichallenge/workspace/.gitignore
index 4c288e3e..ab2524be 100644
--- a/aichallenge/workspace/.gitignore
+++ b/aichallenge/workspace/.gitignore
@@ -1,3 +1,6 @@
 /build
 /install
 /log
+
+.vscode
+*.code-workspace
\ No newline at end of file