READMEのフォーマット修正

README.en.md

@@ -4,218 +4,128 @@
 
 [![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
+ROS 2 package suite for simulating the Raspberry Pi Mouse in Gazebo
 
 ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_color_objects_world.png)
 
-**This branch is intended for ROS 2 Jazzy. For other distributions, please refer to the corresponding branches listed below.**
+## Table of Contents
 
-- ROS 2 Humble ([humble](https://github.com/rt-net/raspimouse_sim/tree/humble))
+- [raspimouse\_sim](#raspimouse_sim)
+  - [Table of Contents](#table-of-contents)
+  - [Supported ROS distributions](#supported-ros-distributions)
+  - [Requirements](#requirements)
+  - [Installation](#installation)
+    - [Binary Installation](#binary-installation)
+    - [Source Build](#source-build)
+  - [QuickStart](#quickstart)
+  - [Packages](#packages)
+  - [How to Use Examples](#how-to-use-examples)
+  - [License](#license)
+  - [Contributing](#contributing)
+  - [Acknowledgements](#acknowledgements)
 
+## Supported ROS distributions
 
-## Requirements
+### ROS 2
+
+- [Humble Hawksbill](https://github.com/rt-net/raspimouse_sim/tree/humble)
+- [Jazzy Jalisco](https://github.com/rt-net/raspimouse_sim/tree/jazzy)
 
-requires the following to run:
+## Requirements
 
-* Ubuntu
-  * Ubuntu 24.04 Noble Numbat
-* ROS 2
-  * ROS 2 Jazzy Jalisco
-* Gazebo
-  * Gazebo Sim 8.x
-* ROS 2 Package
-  * ros-jazzy-desktop-full
+- OS
+  - Ubuntu Desktop 24.04
+- ROS 2
+  - ROS 2 Jazzy Jalisco
+- Gazebo
+  - Gazebo Sim 8.x
 
 ## Installation
 
-Download this ROS 2 package.
+### Binary Installation
 
-```sh
-cd ~/ros2_ws/src
-git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse_sim.git
+```bash
+sudo apt install ros-jazzy-raspimouse-sim
 ```
 
-Download the dependent ROS 2 packages.
+### Source Build
 
-```sh
-cd ~/ros2_ws/src
-git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse_ros2_examples.git
-git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse_slam_navigation_ros2.git
-git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse_description.git
-rosdep install -r -y -i --from-paths raspimouse*
-```
+```bash
+# Create workspace directory
+mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
 
-Build this package using `colcon`.
+# Clone package
+git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse_sim.git
 
-```sh
+# Install dependencies
+rosdep install -r -y -i --from-paths .
+
+# Build & Install
 cd ~/ros2_ws
 colcon build --symlink-install
 source ~/ros2_ws/install/setup.bash
 ```
 
 ## QuickStart
 
-After building this package, run the following commands.
+The following command launches the Gazebo simulator and displays the Raspberry Pi Mouse model.
 
 ```sh
 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
-```
-
-Terminal 2:
-
-```sh
-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)
-
-### Object Tracking
-
-Terminal 1:
-
-```sh
-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
-```
-
-![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_object_tracking.gif)
-
-### camera_line_follower
-
-Terminal 1:
-
-```sh
-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
-```
-
-Terminal 3: Start
-
-```sh
-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}"
-```
-
-For information on parameters in camera line follower, click [here](https://github.com/rt-net/raspimouse_ros2_examples/blob/master/README.en.md#parameters).
+## Packages
 
-![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_camerafollower_short.gif)
+- raspimouse_sim
+  - Manages meta-information for the packages in this repository.
+- raspimouse_fake
+  - This package simulates the motor control interface of the Raspberry Pi Mouse.
+- raspimouse_gazebo
+  - This package provides models and scripts to set up a simulation environment on [Gazebo](https://gazebosim.org).
 
-### SLAM & Navigation
+## How to Use Examples
 
-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
-```
-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
-```
-
-Terminal 3:
-```sh
-ros2 launch raspimouse_slam pc_slam.launch.py
-```
+Detailed usage of the sample program is explained in the [README](./raspimouse_gazebo/README.en.md) of the `raspimouse_gazebo` package.
 
-![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_slam.png)
+- raspimouse_gazebo
+  - [Joystick Control](./raspimouse_gazebo/README.md#joystick-control)
+  - [Object Tracking](./raspimouse_gazebo/README.md#object-tracking)
+  - [Camera Line Follower](./raspimouse_gazebo/README.md#camera_line_follower)
+  - [SLAM & Navigation](./raspimouse_gazebo/README.md#slam--navigation)
 
-Terminal 4:
-```sh
-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)
-
-#### Navigation
-
-Terminal 1:
-```sh
-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 use_sim_time:=true map:=$HOME/MAP_NAME.yaml
-```
-
-![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_navigation_short.gif)
-
-## Model data list
-
-### course_curve_50x50cm
-Curve course panel for line following.
-Panel size is 50 cm x 50 cm and line width is 4 cm.
-
-![](./raspimouse_gazebo/models/course_curve_50x50cm/meshes/course_curve.jpg)
-
-### course_straight_50x50cm
-Straight course panel for line following.
-Panel size is 50 cm x 50 cm and line width is 4 cm.
-
-![](./raspimouse_gazebo/models/course_straight_50x50cm/meshes/course_straight.jpg)
-
-### cube_*cm_color-name
-Each cube is 5 cm, 7.5 cm, 10 cm, and 15 cm, 30 cm on a side.
-The cube colors are red, yellow, blue, green and black.
+## License
 
-![](https://rt-net.github.io/images/raspberry-pi-mouse/color_objects.png)
+(C) 2016 RT Corporation \<support@rt-net.jp\>
 
-### about dae files
-The dae file is edited in Blender 4.0.
+Each file is licensed as stated in their headers.  
+If no license is specified, the file is licensed under the MIT License.  
+The full license text is available in the [LICENSE](./LICENSE) file or at [https://opensource.org/license/MIT](https://opensource.org/license/MIT).
 
-## License
+## Contributing
 
-This repository is licensed under the MIT license, see [LICENSE]( ./LICENSE ).
-Unless attributed otherwise, everything in this repository is under the MIT license.
+- This software is open source, but its development is not open.
+- This software is essentially provided as open source software on an “AS IS” (in its current state) basis.
+- No free support is available for this software.
+- Requests for bug fixes and corrections of typographical errors are always accepted; however, requests for additional features will be subject to our internal guidelines. For further details, please refer to the [Contribution Guidelines](https://github.com/rt-net/.github/blob/master/CONTRIBUTING.md).
 
 ### Acknowledgements
 
-* [CIR-KIT/fourth_robot_pkg]( https://github.com/CIR-KIT/fourth_robot_pkg )
-  * author
-    * RyodoTanaka
-  * maintainer
-    * RyodoTanaka
-  * BSD ([BSD 3-Clause License](https://opensource.org/licenses/BSD-3-Clause))
-  * See [package.xml](https://github.com/CIR-KIT/fourth_robot_pkg/blob/indigo-devel/fourth_robot_control/package.xml) for details.
-* [yujinrobot/kobuki]( https://github.com/yujinrobot/kobuki )
-  * authors
-    * Daniel Stonier
-    * Younghun Ju
-    * Jorge Santos Simon
-    * Marcus Liebhardt
-  * maintainer
-    * Daniel Stonier
-  * BSD ([BSD 3-Clause License](https://opensource.org/licenses/BSD-3-Clause))
-  * See [package.xml](https://github.com/yujinrobot/kobuki/blob/melodic/kobuki/package.xml) for details。
+This repository is developed based on files from the following repository.
+
+- [CIR-KIT/fourth_robot_pkg]( https://github.com/CIR-KIT/fourth_robot_pkg )
+  - author
+    - RyodoTanaka
+  - maintainer
+    - RyodoTanaka
+  - BSD ([BSD 3-Clause License](https://opensource.org/licenses/BSD-3-Clause))
+  - For details, see [package.xml](https://github.com/CIR-KIT/fourth_robot_pkg/blob/indigo-devel/fourth_robot_control/package.xml).
+- [yujinrobot/kobuki]( https://github.com/yujinrobot/kobuki )
+  - authors
+    - Daniel Stonier
+    - Younghun Ju
+    - Jorge Santos Simon
+    - Marcus Liebhardt
+  - maintainer
+    - Daniel Stonier
+  - BSD ([BSD 3-Clause License](https://opensource.org/licenses/BSD-3-Clause))
+  - For details, see [package.xml](https://github.com/yujinrobot/kobuki/blob/melodic/kobuki/package.xml).