ROS 2 Jazzy対応

.github/workflows/.ci.rosinstall

@@ -0,0 +1,4 @@
+- git:
+    uri: https://github.com/rt-net/raspimouse_description.git
+    local-name: raspimouse_description
+    version: jazzy

.github/workflows/industrial_ci.yml

@@ -10,16 +10,23 @@ on:
     - 'docs/**'
     - '**.md'
   schedule:
-    - cron: "0 1 * * 2" # Weekly on Tuesdays at 01:00(GMT)
+    - cron: "0 2 * * 0" # Weekly on Sundays at 02:00
+
+env:
+  UPSTREAM_WORKSPACE: .github/workflows/.ci.rosinstall
 
 jobs:
   industrial_ci:
     strategy:
+      fail-fast: false
       matrix:
-        env:
-          - { ROS_DISTRO: humble, ROS_REPO: ros }
+        ROS_DISTRO: [jazzy]
+        ROS_REPO: [main]
+
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
       - uses: "ros-industrial/industrial_ci@master"
-        env: ${{ matrix.env }}
+        env:
+          ROS_DISTRO: ${{matrix.ROS_DISTRO}}
+          ROS_REPO: ${{matrix.ROS_REPO}}

README.en.md

@@ -2,77 +2,80 @@
 
 # raspimouse_sim
 
+[![industrial_ci](https://github.com/rt-net/raspimouse_sim/actions/workflows/industrial_ci.yml/badge.svg?branch=ros2)](https://github.com/rt-net/raspimouse_sim/actions/workflows/industrial_ci.yml)
+
 ROS 2 package suite for Raspberry Pi Mouse Simulator runs on Gazebo
 
 ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_color_objects_world.png)
 
-## ROS 2 Package Status
+**This branch is intended for ROS 2 Jazzy. For other distributions, please refer to the corresponding branches listed below.**
+
+- ROS 2 Humble ([humble](https://github.com/rt-net/raspimouse_sim/tree/humble))
 
-| main develop<br>(ros2)|Humble + Ubuntu Jammy<br>(humble-devel)|
-|:---:|:---:|
-|[![industrial_ci](https://github.com/rt-net/raspimouse_sim/workflows/industrial_ci/badge.svg?branch=ros2)](https://github.com/rt-net/raspimouse_sim/actions?query=branch%3Aros2+workflow%3Aindustrial_ci)|[![industrial_ci](https://github.com/rt-net/raspimouse_sim/workflows/industrial_ci/badge.svg?branch=humble-devel)](https://github.com/rt-net/raspimouse_sim/actions?query=branch%3Ahumble-devel+workflow%3Aindustrial_ci)|
 
 ## Requirements
 
 requires the following to run:
 
 * Ubuntu
-  * Ubuntu Jammy Jellyfish 22.04.*
+  * Ubuntu 24.04 Noble Numbat
 * ROS 2
-  * ROS Humble Hawksbill
+  * ROS 2 Jazzy Jalisco
 * Gazebo
-  * Ignition Gazebo 6.x
+  * Gazebo Sim 8.x
 * ROS 2 Package
-  * ros-humble-desktop-full
+  * ros-jazzy-desktop-full
 
 ## Installation
 
 Download this ROS 2 package.
 
 ```sh
-cd ~/ros2_ws/src
-git clone -b ros2 https://github.com/rt-net/raspimouse_sim.git
+$ cd ~/ros2_ws/src
+$ git clone -b ros2 https://github.com/rt-net/raspimouse_sim.git
 ```
 
 Download the dependent ROS 2 packages.
 
 ```sh
-cd ~/ros2_ws/src
-git clone https://github.com/rt-net/raspimouse_ros2_examples.git
-git clone -b ros2 https://github.com/rt-net/raspimouse_description.git
-rosdep install -r -y -i --from-paths raspimouse*
+$ cd ~/ros2_ws/src
+$ git clone https://github.com/rt-net/raspimouse_ros2_examples.git
+$ git clone -b ros2 https://github.com/rt-net/raspimouse_description.git
+$ rosdep install -r -y -i --from-paths raspimouse*
 ```
 
 Build this package using `colcon`.
 
 ```sh
-cd ~/ros2_ws
-colcon build --symlink-install
-source ~/ros2_ws/install/setup.bash
+$ cd ~/ros2_ws
+$ colcon build --symlink-install
+$ source ~/ros2_ws/install/setup.bash
 ```
 
 ## QuickStart
 
 After building this package, run the following commands.
 
 ```sh
-ros2 launch raspimouse_gazebo raspimouse_with_emptyworld.launch.py
+$ ros2 launch raspimouse_gazebo raspimouse_with_emptyworld.launch.py
 ```
 
 ## Examples
 
+These exsamples require [raspimouse_ros2_examples](https://github.com/rt-net/raspimouse_ros2_examples) to operate.
+
 ### Joystick Controll
 
 Terminal 1:
 
 ```sh
-ros2 launch raspimouse_gazebo raspimouse_with_emptyworld.launch.py
+$ ros2 launch raspimouse_gazebo raspimouse_with_emptyworld.launch.py
 ```
 
 Terminal 2:
 
 ```sh
-ros2 launch raspimouse_ros2_examples teleop_joy.launch.py joydev:="/dev/input/js0" joyconfig:=f710 mouse:=false
+$ ros2 launch raspimouse_ros2_examples teleop_joy.launch.py joydev:="/dev/input/js0" joyconfig:=f710 mouse:=false
 ```
 
 ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_joystick.gif)
@@ -82,40 +85,40 @@ ros2 launch raspimouse_ros2_examples teleop_joy.launch.py joydev:="/dev/input/js
 Terminal 1:
 
 ```sh
-ros2 launch raspimouse_gazebo raspimouse_with_color_objects.launch.py use_rgb_camera:=true
+$ ros2 launch raspimouse_gazebo raspimouse_with_color_objects.launch.py use_rgb_camera:=true
 ```
 
 Terminal 2:
 
 ```sh
-ros2 launch raspimouse_ros2_examples object_tracking.launch.py mouse:=false use_camera_node:=false
+$ ros2 launch raspimouse_ros2_examples object_tracking.launch.py mouse:=false use_camera_node:=false
 ```
 
 ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_object_tracking.gif)
 
-### camera_line_follower 
+### camera_line_follower
 
 Terminal 1:
 
 ```sh
-ros2 launch raspimouse_gazebo raspimouse_with_line_follower_field.launch.py use_rgb_camera:=true camera_downward:=true
+$ ros2 launch raspimouse_gazebo raspimouse_with_line_follower_field.launch.py use_rgb_camera:=true camera_downward:=true
 ```
 
 Terminal 2:
 
 ```sh
-ros2 launch raspimouse_ros2_examples camera_line_follower.launch.py mouse:=false use_camera_node:=false
+$ ros2 launch raspimouse_ros2_examples camera_line_follower.launch.py mouse:=false use_camera_node:=false
 ```
 
 Terminal 3: Start
 
 ```sh
-ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: false, switch1: false, switch2: true}"
+$ ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: false, switch1: false, switch2: true}"
 ```
 
 Terminal 3: Stop
 ```sh
-ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: true, switch1: false, switch2: false}"
+$ ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: true, switch1: false, switch2: false}"
 ```
 
 For information on parameters in camera line follower, click [here](https://github.com/rt-net/raspimouse_ros2_examples/blob/master/README.en.md#parameters).
@@ -124,29 +127,31 @@ For information on parameters in camera line follower, click [here](https://gith
 
 ### SLAM & Navigation
 
+This exsample requires [raspimouse_slam_navigation_ros2](https://github.com/rt-net/raspimouse_slam_navigation_ros2) to operate.
+
 #### SLAM
 
 Terminal 1:
 ```sh
-ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg
+$ ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg
 ```
 The lidar option supports `urg`, `lds`, and `rplidar`.
 
 Terminal 2:
 ```sh
-ros2 launch raspimouse_ros2_examples teleop_joy.launch.py joydev:="/dev/input/js0" joyconfig:=f710 mouse:=false
+$ ros2 launch raspimouse_ros2_examples teleop_joy.launch.py joydev:="/dev/input/js0" joyconfig:=f710 mouse:=false
 ```
 
 Terminal 3:
 ```sh
-ros2 launch raspimouse_slam pc_slam.launch.py
+$ ros2 launch raspimouse_slam pc_slam.launch.py
 ```
 
 ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_slam.png)
 
 Terminal 4:
 ```sh
-ros2 run nav2_map_server map_saver_cli -f ~/MAP_NAME
+$ ros2 run nav2_map_server map_saver_cli -f ~/MAP_NAME
 ```
 
 ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_slam_short.gif)
@@ -155,13 +160,13 @@ ros2 run nav2_map_server map_saver_cli -f ~/MAP_NAME
 
 Terminal 1:
 ```sh
-ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg
+$ ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg
 ```
 The lidar option supports `urg`, `lds`, and `rplidar`.
 
 Terminal 2:
 ```sh
-ros2 launch raspimouse_navigation pc_navigation.launch.py map:=$HOME/MAP_NAME.yaml
+$ ros2 launch raspimouse_navigation pc_navigation.launch.py map:=$HOME/MAP_NAME.yaml
 ```
 
 ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_navigation_short.gif)
@@ -191,7 +196,7 @@ The dae file is edited in Blender 4.0.
 
 ## License
 
-This repository is licensed under the MIT license, see [LICENSE]( ./LICENSE ).  
+This repository is licensed under the MIT license, see [LICENSE]( ./LICENSE ).
 Unless attributed otherwise, everything in this repository is under the MIT license.
 
 ### Acknowledgements