Create CONTRIBUTING.md, lbr-stack/lbr_stack_doc#24

.github/CONTRIBUTING.md

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+The [LBR-Stack](https://github.com/lbr-stack/) thrives to build a friendly community for `KUKA` users to foster knowledge exchange! :)
+
+We **encourage** everyone to open issues for questions / problems / features. For additional information, we would like to provide some links below.
+
+### Knowledge Sources
+- [Issues](https://github.com/lbr-stack/lbr_fri_idl/issues)
+- [Read the Docs](https://lbr-stack.readthedocs.io/en/latest/)
+
+## Contributing
+### LBR FRI IDL
+Contributions are vital to this project. If you want to contribute a feature / fix proceed as follows
+
+1. Open an issue: Explain the issue and your solution
+2. Fork this repository
+3. Create a [pull request](https://github.com/lbr-stack/lbr_fri_idl/pulls)