ROS 2 Jazzy対応

.github/workflows/.ci.rosinstall

@@ -0,0 +1,8 @@
+- git:
+    uri: https://github.com/rt-net/raspimouse2.git
+    local-name: raspimouse2
+    version: jazzy
+- git:
+    uri: https://github.com/rt-net/rt_usb_9axisimu_driver.git
+    local-name: rt_usb_9axisimu_driver
+    version: jazzy

.github/workflows/industrial_ci.yml

@@ -12,16 +12,21 @@ on:
   schedule:
     - 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@v3
+      - 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

@@ -14,25 +14,24 @@ To run on Gazebo, click [here](https://github.com/rt-net/raspimouse_sim/blob/ros
 
 ## Supported ROS 2 distributions
 
-- [Foxy](https://github.com/rt-net/raspimouse_ros2_examples/tree/foxy-devel)
-- Humble (This branch)
+- [Humble](https://github.com/rt-net/raspimouse_ros2_examples/tree/humble)
+- [Jazzy](https://github.com/rt-net/raspimouse_ros2_examples/tree/jazzy) (This branch)
 
 ## Requirements
 
 - Raspberry Pi Mouse
   - https://rt-net.jp/products/raspberrypimousev3/
   - Linux OS
-    - Ubuntu server 22.04
-    - https://ubuntu.com/download/raspberry-pi
+    - Ubuntu server 24.04
   - Device Driver
     - [rt-net/RaspberryPiMouse](https://github.com/rt-net/RaspberryPiMouse)
   - ROS
-    - [Humble Hawksbill](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
+    - [Jazzy Jalisco](https://docs.ros.org/en/jazzy/index.html)
   - Raspberry Pi Mouse ROS 2 package
     - https://github.com/rt-net/raspimouse2
 - Remote Computer (Optional)
   - ROS
-    - [Humble Hawksbill](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
+    - [Jazzy Jalisco](https://docs.ros.org/en/jazzy/index.html)
   - Raspberry Pi Mouse ROS 2 package
     - https://github.com/rt-net/raspimouse2
 
@@ -41,7 +40,7 @@ To run on Gazebo, click [here](https://github.com/rt-net/raspimouse_sim/blob/ros
 ```sh
 $ cd ~/ros2_ws/src
 # Clone package
-$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse_ros2_examples.git
+$ git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse_ros2_examples.git
 
 # Install dependencies
 $ rosdep install -r -y --from-paths . --ignore-src
@@ -71,7 +70,7 @@ This repository is licensed under the Apache 2.0, see [LICENSE](./LICENSE) for d
 
 This is an example to use joystick controller to control a Raspberry Pi Mouse.
 
-#### Requirements 
+#### Requirements
 
 - Joystick Controller
   - [Logicool Wireless Gamepad F710](https://gaming.logicool.co.jp/ja-jp/products/gamepads/f710-wireless-gamepad.html#940-0001440)
@@ -122,15 +121,15 @@ button_cmd_enable       : 4
 
 [back to example list](#how-to-use-examples)
 
---- 
+---
 
 ### object_tracking
 
 <img src=https://rt-net.github.io/images/raspberry-pi-mouse/object_tracking.JPG width=500 />
 
 This is an example to use RGB camera images and OpenCV library for object tracking.
 
-#### Requirements 
+#### Requirements
 
 - Web camera
   - [Logicool HD WEBCAM C310N](https://www.logicool.co.jp/ja-jp/product/hd-webcam-c310n)
@@ -190,7 +189,7 @@ void Tracker::tracking(const cv::Mat & input_frame, cv::Mat & result_frame)
 
 [back to example list](#how-to-use-examples)
 
---- 
+---
 
 ### line_follower
 
@@ -256,7 +255,7 @@ void Follower::publish_cmdvel_for_line_following(void)
 
 This is an example for line following by RGB camera.
 
-#### Requirements 
+#### Requirements
 
 - Web camera
   - [Logicool HD WEBCAM C310N](https://www.logicool.co.jp/ja-jp/product/hd-webcam-c310n)
@@ -316,7 +315,7 @@ ros2 param set /camera_follower max_brightness 80
 
 [back to example list](#how-to-use-examples)
 
---- 
+---
 
 ### SLAM
 
@@ -330,13 +329,13 @@ SLAM and Navigation examples for Raspberry Pi Mouse is [here](https://github.com
 
 ### direction_controller
 
-<img src=https://www.rt-net.jp/wp-content/uploads/2018/02/img-usb9s_01.png width=500 />
+<img src=https://www.rt-shop.jp/images/RT/RT-USB-9axisIMU.png width=200 /> <img src=https://www.rt-shop.jp/images/RT/%E8%A3%BD%E5%93%81%E5%86%99%E7%9C%9F.JPG height=200>
 
 This is an example to use an IMU sensor for direction control.
 
 #### Requirements
 
-- [USB output 9 degrees IMU sensor module](https://www.rt-shop.jp/index.php?main_page=product_info&cPath=1348_1&products_id=3416&language=en)
+- [USB output 9 degrees IMU sensor module](https://www.rt-shop.jp/index.php?main_page=product_info&products_id=3416&language=en)
 - [LiDAR Mount](https://www.rt-shop.jp/index.php?main_page=product_info&cPath=1299_1395&products_id=3867)
 - RT-USB-9axisIMU ROS Package.
   - https://github.com/rt-net/rt_usb_9axisimu_driver
@@ -369,8 +368,8 @@ Then, press SW0 ~ SW2 to change the control mode as following,
 
 ### Troubleshooting
 
-The IMU might not be connected correctly.  
-Reconnect the USB cable several times and re-execute the above command.  
+The IMU might not be connected correctly.
+Reconnect the USB cable several times and re-execute the above command.
 
 #### Configure
 

README.md

@@ -14,25 +14,24 @@ Gazebo（シミュレータ）でも動作します。詳細は[こちら](https
 
 ## Supported ROS 2 distributions
 
-- [Foxy](https://github.com/rt-net/raspimouse_ros2_examples/tree/foxy-devel)
-- Humble (This branch)
+- [Humble](https://github.com/rt-net/raspimouse_ros2_examples/tree/humble)
+- [Jazzy](https://github.com/rt-net/raspimouse_ros2_examples/tree/jazzy) (This branch)
 
 ## Requirements
 
 - Raspberry Pi Mouse
   - https://rt-net.jp/products/raspberrypimousev3/
   - Linux OS
-    - Ubuntu server 22.04
-    - https://ubuntu.com/download/raspberry-pi
+    - Ubuntu server 24.04
   - Device Driver
     - [rt-net/RaspberryPiMouse](https://github.com/rt-net/RaspberryPiMouse)
   - ROS
-    - [Humble Hawksbill](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
+    - [Jazzy Jalisco](https://docs.ros.org/en/jazzy/index.html)
   - Raspberry Pi Mouse ROS 2 package
     - https://github.com/rt-net/raspimouse2
 - Remote Computer (Optional)
   - ROS
-    - [Humble Hawksbill](https://dcs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
+    - [Jazzy Jalisco](https://docs.ros.org/en/jazzy/index.html)
   - Raspberry Pi Mouse ROS 2 package
     - https://github.com/rt-net/raspimouse2
 
@@ -41,7 +40,7 @@ Gazebo（シミュレータ）でも動作します。詳細は[こちら](https
 ```sh
 $ cd ~/ros2_ws/src
 # Clone package
-$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse_ros2_examples.git
+$ git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse_ros2_examples.git
 
 # Install dependencies
 $ rosdep install -r -y --from-paths . --ignore-src
@@ -54,7 +53,7 @@ $ source ~/ros2_ws/install/setup.bash
 
 ## License
 
-このリポジトリはApache 2.0ライセンスの元、公開されています。 
+このリポジトリはApache 2.0ライセンスの元、公開されています。
 ライセンスについては[LICENSE](./LICENSE)を参照ください。
 
 ## How To Use Examples
@@ -72,7 +71,7 @@ $ source ~/ros2_ws/install/setup.bash
 
 ジョイスティックコントローラでRaspberryPiMouseを動かすコード例です。
 
-#### Requirements 
+#### Requirements
 
 - Joystick Controller
   - [Logicool Wireless Gamepad F710](https://gaming.logicool.co.jp/ja-jp/products/gamepads/f710-wireless-gamepad.html#940-0001440)
@@ -123,7 +122,7 @@ button_cmd_enable       : 4
 
 [back to example list](#how-to-use-examples)
 
---- 
+---
 
 ### object_tracking
 
@@ -132,7 +131,7 @@ button_cmd_enable       : 4
 色情報をもとにオレンジ色のボールの追跡を行うコード例です。
 USB接続のWebカメラとOpenCVを使ってボール追跡をします。
 
-#### Requirements 
+#### Requirements
 
 - Webカメラ
   - [Logicool HD WEBCAM C310N](https://www.logicool.co.jp/ja-jp/product/hd-webcam-c310n)
@@ -194,7 +193,7 @@ void Tracker::tracking(const cv::Mat & input_frame, cv::Mat & result_frame)
 
 [back to example list](#how-to-use-examples)
 
---- 
+---
 
 ### line_follower
 
@@ -252,15 +251,15 @@ void Follower::publish_cmdvel_for_line_following(void)
 
 [back to example list](#how-to-use-examples)
 
---- 
+---
 
 ### camera_line_follower
 
 <img src=https://rt-net.github.io/images/raspberry-pi-mouse/mouse_camera_line_trace_2.png width=500 />
 
 RGBカメラによるライントレースのコード例です。
 
-#### Requirements 
+#### Requirements
 
 - Webカメラ
   - [Logicool HD WEBCAM C310N](https://www.logicool.co.jp/ja-jp/product/hd-webcam-c310n)
@@ -309,7 +308,7 @@ $ ros2 launch raspimouse_ros2_examples camera_line_follower.launch.py video_devi
   - Type: `double`
   - Default: 0.8
   - 旋回速度の最大値
-- `area_threthold`
+- `area_threshold`
   - Type: `double`
   - Default: 0.20
   - 走行を開始するためのライン面積のしきい値
@@ -320,7 +319,7 @@ ros2 param set /camera_follower max_brightness 80
 
 [back to example list](#how-to-use-examples)
 
---- 
+---
 
 ### SLAM
 
@@ -334,7 +333,7 @@ Raspberry Pi MouseでSLAMとNavigationを行うサンプルは[rt-net/raspimouse
 
 ### direction_controller
 
-<img src=https://www.rt-net.jp/wp-content/uploads/2018/02/img-usb9s_01.png width=500 />
+<img src=https://www.rt-shop.jp/images/RT/RT-USB-9axisIMU.png width=200 /> <img src=https://www.rt-shop.jp/images/RT/%E8%A3%BD%E5%93%81%E5%86%99%E7%9C%9F.JPG height=200>
 
 IMUセンサを使用した角度制御のコード例です。
 
@@ -373,9 +372,9 @@ SW0 ~ SW2を押して動作モードを切り替えます。
 
 ### Troubleshooting
 
-IMUの接続が正常に行われない場合があります。  
-その時は、IMUのUSBケーブルを抜き差ししてください。  
-抜き差し実施後は、コマンドを再度実行してください。  
+IMUの接続が正常に行われない場合があります。
+その時は、IMUのUSBケーブルを抜き差ししてください。
+抜き差し実施後は、コマンドを再度実行してください。
 
 #### Configure
 
@@ -410,7 +409,7 @@ Set parameter successful
   - Target angle for the SW1 control mode.
   - default: 0.0, min:-π, max:+π
   - type: double
-  
+
 #### Publish topics
 - heading_angle
   - Heading angle of the robot that calculated from the IMU module sensor values.

include/raspimouse_ros2_examples/camera_line_follower_component.hpp

@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2023-2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -26,7 +26,7 @@
 #include "std_msgs/msg/string.hpp"
 #include "std_srvs/srv/set_bool.hpp"
 #include "sensor_msgs/msg/image.hpp"
-#include "geometry_msgs/msg/twist.hpp"
+#include "geometry_msgs/msg/twist_stamped.hpp"
 #include "opencv2/highgui/highgui.hpp"
 
 namespace camera_line_follower
@@ -50,30 +50,29 @@ class CameraFollower : public rclcpp_lifecycle::LifecycleNode
   cv::Point2d object_normalized_point_;
   double object_normalized_area_;
   std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::Image>> result_image_pub_;
-  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::Twist>> cmd_vel_pub_;
+  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::TwistStamped>>
+  cmd_vel_pub_;
   std::shared_ptr<rclcpp::Client<std_srvs::srv::SetBool>> motor_power_client_;
   rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr image_sub_;
   rclcpp::Subscription<raspimouse_msgs::msg::Switches>::SharedPtr switches_sub_;
   rclcpp::TimerBase::SharedPtr cmd_vel_timer_;
 
   void set_motor_power(const bool motor_on);
   std::string mat_type2encoding(const int mat_type) const;
-  void convert_frame_to_message(
-    const cv::Mat & frame,
-    sensor_msgs::msg::Image & msg) const;
+  void convert_frame_to_message(const cv::Mat & frame, sensor_msgs::msg::Image & msg) const;
 
   bool detect_line(const cv::Mat & input_frame, cv::Mat & result_frame);
 
-  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 &);
 };
 
 }  // namespace camera_line_follower