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

@@ -2,44 +2,45 @@
 
 # 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
+git clone -b jazzy 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
+git clone -b jazzy https://github.com/rt-net/raspimouse_description.git
 rosdep install -r -y -i --from-paths raspimouse*
 ```
 
@@ -61,6 +62,8 @@ 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:
@@ -93,7 +96,7 @@ ros2 launch raspimouse_ros2_examples object_tracking.launch.py mouse:=false use_
 
 ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_object_tracking.gif)
 
-### camera_line_follower 
+### camera_line_follower
 
 Terminal 1:
 
@@ -124,6 +127,8 @@ 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:
@@ -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

README.md

@@ -1,37 +1,37 @@
 [English](README.en.md) | [日本語](README.md)
 
-# raspimouse_sim 
+# 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)
 
 Gazebo上でシミュレートできるRaspberry Pi MouseのROS 2パッケージです。
 
 ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_color_objects_world.png)
 
-## ROS 2 Package Status
+**本ブランチはROS 2 Jazzy向けです。他のディストリビューションについては、以下にリストされた対応するブランチを参照してください。**
 
-| 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)|
+- ROS 2 Humble ([humble](https://github.com/rt-net/raspimouse_sim/tree/humble))
 
 ## 動作環境
 
 以下の環境を前提として動作確認しています。
 
 * 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
 
 ## インストール方法
 
 このROS 2パッケージをダウンロードします。
 
 ```sh
 cd ~/ros2_ws/src
-git clone -b ros2 https://github.com/rt-net/raspimouse_sim.git
+git clone -b jazzy https://github.com/rt-net/raspimouse_sim.git
 ```
 
 依存しているROS 2パッケージをインストールします。
@@ -40,7 +40,7 @@ git clone -b ros2 https://github.com/rt-net/raspimouse_sim.git
 cd ~/ros2_ws/src
 git clone https://github.com/rt-net/raspimouse_ros2_examples.git
 git clone https://github.com/rt-net/raspimouse_slam_navigation_ros2.git
-git clone -b ros2 https://github.com/rt-net/raspimouse_description.git
+git clone -b jazzy https://github.com/rt-net/raspimouse_description.git
 rosdep install -r -y -i --from-paths raspimouse*
 ```
 
@@ -62,6 +62,8 @@ ros2 launch raspimouse_gazebo raspimouse_with_emptyworld.launch.py
 
 ## サンプル動作例
 
+各サンプルの動作には、[raspimouse_ros2_examples](https://github.com/rt-net/raspimouse_ros2_examples)が必要です。
+
 ### ジョイスティックコントローラによる操縦サンプル
 
 端末1で次のコマンドを実行すると、Gazeboシミュレータが起動します。
@@ -122,6 +124,8 @@ ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: true, sw
 
 ### LiDARを用いたSLAMとNavigationのサンプル
 
+本サンプルの動作には、[raspimouse_slam_navigation_ros2](https://github.com/rt-net/raspimouse_slam_navigation_ros2) が必要です。
+
 #### SLAM
 
 端末1で次のコマンドを実行すると、`Lake House`のモデルが配置されたワールドが表示されます。
@@ -193,10 +197,10 @@ daeファイルはBlender 4.0で編集しています。
 
 ## ライセンス
 
-このリポジトリはMITライセンスに基づいて公開されています。  
+このリポジトリはMITライセンスに基づいて公開されています。
 MITライセンスについては[LICENSE]( ./LICENSE )を確認してください。
 
-※このソフトウェアは基本的にオープンソースソフトウェアとして「AS IS」（現状有姿のまま）で提供しています。本ソフトウェアに関する無償サポートはありません。  
+※このソフトウェアは基本的にオープンソースソフトウェアとして「AS IS」（現状有姿のまま）で提供しています。本ソフトウェアに関する無償サポートはありません。
 バグの修正や誤字脱字の修正に関するリクエストは常に受け付けていますが、それ以外の機能追加等のリクエストについては社内のガイドラインを優先します。
 
 ### 謝辞

raspimouse_fake/include/raspimouse_fake/fake_raspimouse_component.hpp

@@ -1,6 +1,6 @@
 // The MIT License (MIT)
 //
-// Copyright 2023 RT Corporation <support@rt-net.jp>
+// Copyright 2023-2024 RT Corporation <support@rt-net.jp>
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy of
 // this software and associated documentation files (the "Software"), to deal in
@@ -19,12 +19,12 @@
 // IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 // CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 
-
 #ifndef RASPIMOUSE_FAKE__FAKE_RASPIMOUSE_COMPONENT_HPP_
 #define RASPIMOUSE_FAKE__FAKE_RASPIMOUSE_COMPONENT_HPP_
 
 #include <memory>
-#include "raspimouse_fake/visibility_control.h"
+
+#include "raspimouse_fake/visibility_control.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 #include "rclcpp_lifecycle/lifecycle_publisher.hpp"
@@ -42,16 +42,16 @@ class Raspimouse : public rclcpp_lifecycle::LifecycleNode
 private:
   rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr motor_power_service_;
 
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_configure(const rclcpp_lifecycle::State &);
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_activate(const rclcpp_lifecycle::State &);
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_deactivate(const rclcpp_lifecycle::State &);
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_cleanup(const rclcpp_lifecycle::State &);
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_shutdown(const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(
+    const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(
+    const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(
+    const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_cleanup(
+    const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_shutdown(
+    const rclcpp_lifecycle::State &);
 
   void handle_motor_power(
     const std::shared_ptr<rmw_request_id_t> request_header,

raspimouse_fake/include/raspimouse_fake/visibility_control.h → raspimouse_fake/include/raspimouse_fake/visibility_control.hpp

@@ -1,6 +1,6 @@
 // The MIT License (MIT)
 //
-// Copyright 2023 RT Corporation <support@rt-net.jp>
+// Copyright 2023-2024 RT Corporation <support@rt-net.jp>
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy of
 // this software and associated documentation files (the "Software"), to deal in
@@ -19,9 +19,8 @@
 // IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 // CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 
-
-#ifndef RASPIMOUSE_FAKE__VISIBILITY_CONTROL_H_
-#define RASPIMOUSE_FAKE__VISIBILITY_CONTROL_H_
+#ifndef RASPIMOUSE_FAKE__VISIBILITY_CONTROL_HPP_
+#define RASPIMOUSE_FAKE__VISIBILITY_CONTROL_HPP_
 
 #ifdef __cplusplus
 extern "C"
@@ -63,4 +62,4 @@ extern "C"
 }
 #endif
 
-#endif  // RASPIMOUSE_FAKE__VISIBILITY_CONTROL_H_
+#endif  // RASPIMOUSE_FAKE__VISIBILITY_CONTROL_HPP_

raspimouse_fake/src/fake_raspimouse_component.cpp

@@ -1,6 +1,6 @@
 // The MIT License (MIT)
 //
-// Copyright 2023 RT Corporation <support@rt-net.jp>
+// Copyright 2023-2024 RT Corporation <support@rt-net.jp>
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy of
 // this software and associated documentation files (the "Software"), to deal in
@@ -19,11 +19,10 @@
 // IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 // CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 
-
 #include "raspimouse_fake/fake_raspimouse_component.hpp"
 
-#include "rclcpp/rclcpp.hpp"
 #include "lifecycle_msgs/srv/change_state.hpp"
+#include "rclcpp/rclcpp.hpp"
 #include "std_srvs/srv/set_bool.hpp"
 
 using namespace std::chrono_literals;