KuraZuzu · Sep 15, 2026 · Aug 18, 2026 · Aug 18, 2026 · Aug 18, 2026 · Aug 28, 2026
diff --git 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
@@ -20,7 +20,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [jazzy]
+        ROS_DISTRO: [lyrical]
         ROS_REPO: [main]
 
     runs-on: ubuntu-latest

diff --git 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-sim
 ```
 
 ### Source Build

diff --git 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-sim
 ```
 
 ### Source Build

diff --git a/raspimouse_fake/CMakeLists.txt b/raspimouse_fake/CMakeLists.txt
@@ -1,25 +1,29 @@
-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)
 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
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
 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_typesupport_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
@@ -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_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
diff --git 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 +144,15 @@ def generate_launch_description():
         package='controller_manager',
         executable='spawner',
         output='screen',
-        arguments=['diff_drive_controller'],
+        arguments=[
+            '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',
+        ],
     )
 
     rviz_config_file = get_package_share_directory('raspimouse_gazebo') + '/config/config.rviz'

diff --git 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()