From f6ae3a44e520900ca61e2ef48ac8b1ef62931823 Mon Sep 17 00:00:00 2001 From: KuraZuzu Date: Tue, 18 Aug 2026 11:58:49 +0900 Subject: [PATCH 1/9] =?UTF-8?q?CMake=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- raspimouse_fake/CMakeLists.txt | 22 +++++++++++++--------- raspimouse_gazebo/CMakeLists.txt | 5 ++++- raspimouse_sim/CMakeLists.txt | 6 +++++- 3 files changed, 22 insertions(+), 11 deletions(-) diff --git a/raspimouse_fake/CMakeLists.txt b/raspimouse_fake/CMakeLists.txt index 9153a09..67cdb53 100644 --- a/raspimouse_fake/CMakeLists.txt +++ b/raspimouse_fake/CMakeLists.txt @@ -1,6 +1,9 @@ -cmake_minimum_required(VERSION 3.5) +cmake_minimum_required(VERSION 3.20) project(raspimouse_fake) +set(CMAKE_CXX_STANDARD 20) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(rclcpp_components REQUIRED) @@ -8,18 +11,19 @@ find_package(rclcpp_lifecycle REQUIRED) find_package(lifecycle_msgs REQUIRED) find_package(std_srvs REQUIRED) -include_directories(include) - add_library(fake_raspimouse_component SHARED src/fake_raspimouse_component.cpp) +target_include_directories(fake_raspimouse_component PUBLIC + $ + $) target_compile_definitions(fake_raspimouse_component PRIVATE "RASPIMOUSE_FAKE_BUILDING_DLL") -ament_target_dependencies(fake_raspimouse_component - rclcpp - rclcpp_components - rclcpp_lifecycle - lifecycle_msgs - std_srvs) +target_link_libraries(fake_raspimouse_component PUBLIC + rclcpp::rclcpp + rclcpp_components::component + rclcpp_lifecycle::rclcpp_lifecycle + lifecycle_msgs::lifecycle_msgs__rosidl_generator_cpp + std_srvs::std_srvs__rosidl_generator_cpp) rclcpp_components_register_nodes(fake_raspimouse_component "fake_raspimouse::Raspimouse") ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) diff --git a/raspimouse_gazebo/CMakeLists.txt b/raspimouse_gazebo/CMakeLists.txt index 7313576..26b4828 100644 --- a/raspimouse_gazebo/CMakeLists.txt +++ b/raspimouse_gazebo/CMakeLists.txt @@ -1,6 +1,9 @@ -cmake_minimum_required(VERSION 3.5) +cmake_minimum_required(VERSION 3.20) project(raspimouse_gazebo) +set(CMAKE_CXX_STANDARD 20) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + find_package(ament_cmake REQUIRED) install(DIRECTORY diff --git a/raspimouse_sim/CMakeLists.txt b/raspimouse_sim/CMakeLists.txt index e77a2fc..c1da48e 100644 --- a/raspimouse_sim/CMakeLists.txt +++ b/raspimouse_sim/CMakeLists.txt @@ -1,4 +1,8 @@ -cmake_minimum_required(VERSION 3.5) +cmake_minimum_required(VERSION 3.20) project(raspimouse_sim) + +set(CMAKE_CXX_STANDARD 20) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + find_package(ament_cmake REQUIRED) ament_package() From c0cfe963a350f75e8155193dfeadf4a83a3b4b70 Mon Sep 17 00:00:00 2001 From: KuraZuzu Date: Tue, 18 Aug 2026 14:26:00 +0900 Subject: [PATCH 2/9] =?UTF-8?q?=E3=82=B3=E3=83=B3=E3=83=88=E3=83=AD?= =?UTF-8?q?=E3=83=BC=E3=83=A9=E3=81=AE=20YAML=20=E8=A8=AD=E5=AE=9A?= =?UTF-8?q?=E3=83=95=E3=82=A1=E3=82=A4=E3=83=AB=E3=81=AB=E3=81=8A=E3=81=91?= =?UTF-8?q?=E3=82=8B=E3=83=91=E3=83=A9=E3=83=A1=E3=83=BC=E3=82=BF=E6=A7=8B?= =?UTF-8?q?=E9=80=A0=E3=81=AE=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../launch/raspimouse_with_emptyworld.launch.py | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py index 3cc4a24..c98184a 100644 --- a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py +++ b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py @@ -121,6 +121,11 @@ def generate_launch_description(): description_loader.gz_control_config_package = 'raspimouse_gazebo' description_loader.gz_control_config_file_path = 'config/raspimouse_controllers.yaml' + controller_config_file = os.path.join( + get_package_share_directory('raspimouse_gazebo'), + description_loader.gz_control_config_file_path, + ) + robot_state_publisher = Node( package='robot_state_publisher', executable='robot_state_publisher', @@ -139,7 +144,11 @@ def generate_launch_description(): package='controller_manager', executable='spawner', output='screen', - arguments=['diff_drive_controller'], + arguments=[ + 'diff_drive_controller', + '--param-file', + controller_config_file, + ], ) rviz_config_file = get_package_share_directory('raspimouse_gazebo') + '/config/config.rviz' From f140bd9c7fc1895907d95f2144e65d702d19f242 Mon Sep 17 00:00:00 2001 From: KuraZuzu Date: Tue, 18 Aug 2026 14:30:28 +0900 Subject: [PATCH 3/9] =?UTF-8?q?CI=E3=82=92Lyrical=E3=81=AB=E5=AF=BE?= =?UTF-8?q?=E5=BF=9C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .github/workflows/.ci.rosinstall | 2 +- .github/workflows/industrial_ci.yml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/.ci.rosinstall b/.github/workflows/.ci.rosinstall index 62d26e6..c49857e 100644 --- a/.github/workflows/.ci.rosinstall +++ b/.github/workflows/.ci.rosinstall @@ -1,4 +1,4 @@ - git: uri: https://github.com/rt-net/raspimouse_description.git local-name: raspimouse_description - version: jazzy + version: lyrical diff --git a/.github/workflows/industrial_ci.yml b/.github/workflows/industrial_ci.yml index 159c61a..c440e68 100644 --- a/.github/workflows/industrial_ci.yml +++ b/.github/workflows/industrial_ci.yml @@ -20,7 +20,7 @@ jobs: strategy: fail-fast: false matrix: - ROS_DISTRO: [jazzy] + ROS_DISTRO: [lyrical] ROS_REPO: [main] runs-on: ubuntu-latest From b6794cc13a46ff5fc178f1f3e31654211f215b19 Mon Sep 17 00:00:00 2001 From: KuraZuzu Date: Fri, 28 Aug 2026 18:03:30 +0900 Subject: [PATCH 4/9] =?UTF-8?q?README=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.en.md | 9 +++++---- README.md | 9 +++++---- 2 files changed, 10 insertions(+), 8 deletions(-) diff --git a/README.en.md b/README.en.md index ebce2b4..ce56ebd 100644 --- a/README.en.md +++ b/README.en.md @@ -30,22 +30,23 @@ ROS 2 package suite for simulating the Raspberry Pi Mouse in Gazebo - [Humble Hawksbill](https://github.com/rt-net/raspimouse_sim/tree/humble) - [Jazzy Jalisco](https://github.com/rt-net/raspimouse_sim/tree/jazzy) +- [Lyrical Luth](https://github.com/rt-net/raspimouse_sim/tree/lyrical) ## Requirements - OS - - Ubuntu Desktop 24.04 + - Ubuntu Desktop 26.04 - ROS 2 - - ROS 2 Jazzy Jalisco + - ROS 2 Lyrical Luth - Gazebo - - Gazebo Sim 8.x + - Gazebo Sim 10.x ## Installation ### Binary Installation ```bash -sudo apt install ros-jazzy-raspimouse-sim +sudo apt install ros-$ROS_DISTRO-raspimouse ``` ### Source Build diff --git a/README.md b/README.md index a56dc3e..051c43d 100644 --- a/README.md +++ b/README.md @@ -30,22 +30,23 @@ Gazebo上でRaspberry Pi Mouseの動作をシミュレーションするため - [Humble Hawksbill](https://github.com/rt-net/raspimouse_sim/tree/humble) - [Jazzy Jalisco](https://github.com/rt-net/raspimouse_sim/tree/jazzy) +- [Lyrical Luth](https://github.com/rt-net/raspimouse_sim/tree/lyrical) ## Requirements - OS - - Ubuntu Desktop 24.04 + - Ubuntu Desktop 26.04 - ROS 2 - - ROS 2 Jazzy Jalisco + - ROS 2 Lyrical Luth - Gazebo - - Gazebo Sim 8.x + - Gazebo Sim 10.x ## Installation ### Binary Installation ```bash -sudo apt install ros-jazzy-raspimouse-sim +sudo apt install ros-$ROS_DISTRO-raspimouse ``` ### Source Build From b8c95a76aec864f7ab3561073a87ed4e43e63df3 Mon Sep 17 00:00:00 2001 From: KuraZuzu Date: Fri, 28 Aug 2026 18:20:53 +0900 Subject: [PATCH 5/9] =?UTF-8?q?install=E3=82=B3=E3=83=9E=E3=83=B3=E3=83=89?= =?UTF-8?q?=E3=81=AE=E3=83=91=E3=83=83=E3=82=B1=E3=83=BC=E3=82=B8=E5=90=8D?= =?UTF-8?q?=E3=83=9F=E3=82=B9=E3=82=92=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 051c43d..f65b262 100644 --- a/README.md +++ b/README.md @@ -46,7 +46,7 @@ Gazebo上でRaspberry Pi Mouseの動作をシミュレーションするため ### Binary Installation ```bash -sudo apt install ros-$ROS_DISTRO-raspimouse +sudo apt install ros-$ROS_DISTRO-raspimouse-sim ``` ### Source Build From 25333f2f4645e6ffbd4208459a00ae7f9a9a06ef Mon Sep 17 00:00:00 2001 From: KuraZuzu Date: Mon, 31 Aug 2026 19:04:39 +0900 Subject: [PATCH 6/9] =?UTF-8?q?remapping=E3=81=AE=E8=A8=AD=E5=AE=9A?= =?UTF-8?q?=E3=82=92=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py index c98184a..55ff6de 100644 --- a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py +++ b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py @@ -148,6 +148,10 @@ def generate_launch_description(): 'diff_drive_controller', '--param-file', controller_config_file, + '--controller-ros-args', + '-r /diff_drive_controller/cmd_vel:=/cmd_vel', + '--controller-ros-args', + '-r /diff_drive_controller/odom:=/odom', ], ) From cf1a1b7be8d0ff27533325e542c136a5d013e4bf Mon Sep 17 00:00:00 2001 From: KuraZuzu Date: Mon, 31 Aug 2026 19:04:57 +0900 Subject: [PATCH 7/9] =?UTF-8?q?[WIP]=E4=B8=8D=E8=A6=81=E3=81=AA=E8=A8=AD?= =?UTF-8?q?=E5=AE=9A=E3=82=92=E5=89=8A=E9=99=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- raspimouse_gazebo/config/raspimouse_controllers.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/raspimouse_gazebo/config/raspimouse_controllers.yaml b/raspimouse_gazebo/config/raspimouse_controllers.yaml index 88788b9..1e85e05 100644 --- a/raspimouse_gazebo/config/raspimouse_controllers.yaml +++ b/raspimouse_gazebo/config/raspimouse_controllers.yaml @@ -27,4 +27,3 @@ diff_drive_controller: base_frame_id: base_footprint open_loop: false enable_odom_tf: true - use_stamped_vel : false From 266254a2a087553bfad36fe3ac914f3f84f29c7e Mon Sep 17 00:00:00 2001 From: KuraZuzu Date: Thu, 3 Sep 2026 14:47:20 +0900 Subject: [PATCH 8/9] =?UTF-8?q?std=5Fsrvs=E3=81=AE=E5=9E=8B=E3=82=B5?= =?UTF-8?q?=E3=83=9D=E3=83=BC=E3=83=88=E3=82=92raspimouse=5Ffake=E3=81=AB?= =?UTF-8?q?=E3=83=AA=E3=83=B3=E3=82=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- raspimouse_fake/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/raspimouse_fake/CMakeLists.txt b/raspimouse_fake/CMakeLists.txt index 67cdb53..083a8a1 100644 --- a/raspimouse_fake/CMakeLists.txt +++ b/raspimouse_fake/CMakeLists.txt @@ -23,7 +23,7 @@ target_link_libraries(fake_raspimouse_component PUBLIC rclcpp_components::component rclcpp_lifecycle::rclcpp_lifecycle lifecycle_msgs::lifecycle_msgs__rosidl_generator_cpp - std_srvs::std_srvs__rosidl_generator_cpp) + std_srvs::std_srvs__rosidl_typesupport_cpp) rclcpp_components_register_nodes(fake_raspimouse_component "fake_raspimouse::Raspimouse") ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) From 2fbc9b2f71cd3192c82d51a71752dafafe471d6b Mon Sep 17 00:00:00 2001 From: KuraZuzu Date: Mon, 14 Sep 2026 14:00:24 +0900 Subject: [PATCH 9/9] =?UTF-8?q?README=E3=81=AE=E3=82=B3=E3=83=9E=E3=83=B3?= =?UTF-8?q?=E3=83=89=E3=82=92=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.en.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.en.md b/README.en.md index ce56ebd..2d30a53 100644 --- a/README.en.md +++ b/README.en.md @@ -46,7 +46,7 @@ ROS 2 package suite for simulating the Raspberry Pi Mouse in Gazebo ### Binary Installation ```bash -sudo apt install ros-$ROS_DISTRO-raspimouse +sudo apt install ros-$ROS_DISTRO-raspimouse-sim ``` ### Source Build