Update README.md

Author: Michi-Tsubaki

README.md

@@ -4,7 +4,7 @@
 [![deps](https://juliahub.com/docs/General/ROS2/stable/deps.svg)](https://juliahub.com/ui/Packages/General/ROS2?t=2)
 [![pkgeval](https://juliahub.com/docs/General/ROS2/stable/pkgeval.svg)](https://juliahub.com/ui/Packages/General/ROS2)
 
-ROS2.jl is a comprehensive Julia wrapper for ROS2's Python client library (rclpy), providing 99.5% of rclpy's functionality with Julia-friendly interfaces. It enables high-performance robotics development by combining Julia's computational power with ROS2's distributed systems capabilities.
+ROS2.jl is a Julia wrapper for ROS2's Python client library (rclpy), enabling robotics development in Julia with ROS2's distributed systems capabilities.
 
 [日本語のREADMEはこちら](#ros2jl-1)
 
@@ -31,6 +31,7 @@ ROS2.jl is a comprehensive Julia wrapper for ROS2's Python client library (rclpy
 
 | ROS2.jl Version | ROS2 Version | Julia Version | Python Version |
 |----------------|--------------|---------------|----------------|
+| 0.2.x          | Jazzy        | 1.10+        | 3.12          |
 | 0.1.x          | Jazzy        | 1.10+        | 3.12          |
 
 ## Features
@@ -43,11 +44,11 @@ ROS2.jl is a comprehensive Julia wrapper for ROS2's Python client library (rclpy
   - ROS Time, Duration, Clock
   - Time conversions and operations
 - **Coordinate Transformations**
-  - Full TF2 support (Transform Listener/Broadcaster)
+  - TF2 support (Transform Listener/Broadcaster)
   - Static transform broadcasting
 - **Dynamic Message System**
-  - 258+ message types automatically supported
   - Runtime message creation and field access
+  - Message type introspection
 - **Advanced Execution**
   - Multi-threaded executors
   - Custom QoS profiles
@@ -93,27 +94,21 @@ sudo apt install ros-jazzy-rclcpp-components ros-jazzy-composition-demo
 ```julia
 using ROS2
 
-# Initialize ROS2
 init()
 
-# Create a node
 node = ROSNode("example_node")
 
-# Create a publisher
 pub = Publisher(node, "hello", "std_msgs.msg.String")
 
-# Create and publish a message
 msg = create_msg("std_msgs.msg.String")
 msg.data = "Hello from Julia!"
 publish(pub, msg)
 
-# Create a subscriber
 function callback(msg)
     println("Received: ", msg.data)
 end
 sub = Subscriber(node, "hello", "std_msgs.msg.String", callback)
 
-# Spin the node
 spin(node)
 ```
 
@@ -125,7 +120,6 @@ using ROS2
 init()
 node = ROSNode("service_example")
 
-# Service Server
 function add_callback(request, response)
     response.sum = request.a + request.b
     println("Request: $(request.a) + $(request.b) = $(response.sum)")
@@ -134,7 +128,6 @@ end
 
 server = ServiceServer(node, "add_two_ints", "example_interfaces.srv.AddTwoInts", add_callback)
 
-# Service Client (in another script)
 client = ServiceClient(node, "add_two_ints", "example_interfaces.srv.AddTwoInts")
 
 if wait_for_service(client, timeout=5.0)
@@ -157,20 +150,17 @@ using ROS2
 init()
 node = ROSNode("action_example")
 
-# Action Client
 client = ActionClient(node, "fibonacci", "example_interfaces.action.Fibonacci")
 
 goal = create_goal("example_interfaces.action.Fibonacci")
 goal.order = 10
 
-# Send goal with feedback callback
 function feedback_callback(feedback_msg)
     println("Feedback: $(feedback_msg.feedback.partial_sequence)")
 end
 
 future = send_goal(client, goal, feedback_callback)
 
-# Wait for result
 result = send_goal_sync(client, goal, timeout=10.0)
 if result !== nothing
     println("Final sequence: $(result.result.sequence)")
@@ -187,14 +177,12 @@ using ROS2
 init()
 node = ROSNode("tf_example")
 
-# Transform Broadcaster
 broadcaster = TransformBroadcaster(node)
 
 transform = create_transform_stamped("map", "base_link", (1.0, 2.0, 0.0), (0.0, 0.0, 0.0, 1.0))
 transform.header.stamp = to_msg_time(now())
 send_transform(broadcaster, transform)
 
-# Transform Listener
 listener = TransformListener(node)
 
 try
@@ -215,11 +203,9 @@ using ROS2
 init()
 node = ROSNode("dynamic_msg_example")
 
-# Get available message types
 available_types = get_available_message_types()
 println("Available message types: $(length(available_types))")
 
-# Create messages dynamically
 twist_msg = create_msg_dynamic("geometry_msgs.msg.Twist")
 twist_msg.linear.x = 1.0
 twist_msg.angular.z = 0.5
@@ -229,7 +215,6 @@ pose_msg.header.stamp = to_msg_time(now())
 pose_msg.header.frame_id = "map"
 pose_msg.pose.position.x = 1.0
 
-# Check message fields
 fields = get_message_fields("geometry_msgs.msg.Twist")
 println("Twist message fields: $fields")
 
@@ -243,30 +228,25 @@ using ROS2
 
 init()
 
-# Set custom domain ID
 set_domain_id(1)
 println("Domain ID: $(get_domain_id())")
 
 node = ROSNode("advanced_node")
 
-# Multi-threaded executor
-executor = MultiThreadedExecutor(4)  # 4 threads
+executor = MultiThreadedExecutor(4)
 add_node(executor, node)
 
-# Custom QoS
 custom_qos = QoSProfile("best_effort", "volatile", "keep_last", 10)
-pub = Publisher(node, "high_freq_data", "std_msgs.msg.String", qos=custom_qos)
+pub = Publisher(node, "high_freq_data", "std_msgs.msg.String")
 
-# Timer with high frequency
 counter = Ref(0)
-timer = ROSTimer(node, 0.01, () -> begin  # 100Hz
+timer = ROSTimer(node, 0.01, () -> begin
     counter[] += 1
     msg = create_msg_dynamic("std_msgs.msg.String")
     msg.data = "High frequency message #$(counter[])"
     publish(pub, msg)
 end)
 
-# Run with multi-threaded executor
 spin_executor(executor)
 ```
 
@@ -277,26 +257,18 @@ using ROS2
 
 init()
 
-# First, start component container in another terminal:
-# ros2 run rclcpp_components component_container
-
-# Create component manager
 manager = ComponentManager("ComponentManager")
 
-# List loaded components
 components = list_components(manager)
 if components !== nothing
     println("Loaded components: $(length(components.unique_ids))")
 
-    # Load a component
     response = load_component(manager, "composition", "composition::Talker", "julia_talker")
     if response !== nothing && response.success
         println("Loaded component with ID: $(response.unique_id)")
 
-        # Run for a while
         sleep(5.0)
 
-        # Unload component
         unload_response = unload_component(manager, response.unique_id)
         if unload_response !== nothing && unload_response.success
             println("Component unloaded successfully")
@@ -315,12 +287,10 @@ using ROS2
 init()
 node = ROSNode("param_example")
 
-# Declare parameters
 declare_parameter(node, "max_speed", 1.0)
 declare_parameter(node, "robot_name", "my_robot")
 declare_parameter(node, "use_lidar", true)
 
-# Get parameters
 max_speed = get_parameter(node, "max_speed")
 robot_name = get_parameter(node, "robot_name")
 use_lidar = get_parameter(node, "use_lidar")
@@ -329,10 +299,8 @@ println("Max speed: $max_speed")
 println("Robot name: $robot_name")
 println("Use LiDAR: $use_lidar")
 
-# Set parameters
 set_parameter(node, "max_speed", 2.0)
 
-# Parameter callback
 function param_callback(params)
     for param in params
         println("Parameter changed: $(param.name) = $(param.value)")
@@ -354,21 +322,19 @@ node = ROSNode("logging_example")
 
 logger = get_logger(node)
 
-# Different log levels
 debug(logger, "Debug message")
 info(logger, "Info message")
 warn(logger, "Warning message")
 log_error(logger, "Error message")
 fatal(logger, "Fatal message")
 
-# Set log level
 set_level(logger, INFO)
 
 shutdown()
 ```
 
 ## Advanced Examples
-Check the `examples/` directory for comprehensive examples:
+Check the `examples/` directory for comprehensive examples.
 
 
 ## API Reference
@@ -382,8 +348,8 @@ Check the `examples/` directory for comprehensive examples:
 - `is_ok()` - Check if ROS2 is running
 
 ### Topic Communication
-- `Publisher(node, topic, msg_type, qos=DEFAULT_QOS)` - Create publisher
-- `Subscriber(node, topic, msg_type, callback, qos=DEFAULT_QOS)` - Create subscriber
+- `Publisher(node, topic, msg_type)` - Create publisher
+- `Subscriber(node, topic, msg_type, callback)` - Create subscriber
 - `publish(pub, msg)` - Publish message
 - `create_msg(msg_type)` - Create message
 - `create_msg_dynamic(msg_type)` - Create message dynamically
@@ -441,21 +407,18 @@ Check the `examples/` directory for comprehensive examples:
 
 1. **PyCall Configuration**
 ```bash
-# If you encounter Python import errors
 ENV["PYTHON"] = "/usr/bin/python3"
 using Pkg; Pkg.build("PyCall")
 ```
 
 2. **ROS2 Environment**
 ```bash
-# Always source ROS2 before starting Julia
 source /opt/ros/jazzy/setup.bash
 julia
 ```
 
 3. **Component Container**
 ```bash
-# Start component container for component management
 ros2 run rclcpp_components component_container
 ```
 
@@ -478,12 +441,10 @@ julia --project -e 'using Pkg; Pkg.test()'
 ```
 
 ## TODO
-- Lifecycle Nodes (Advanced State Management, Basic functions are already transplanted)
+- Lifecycle Nodes (Advanced State Management)
 - Advanced Security Features
 - DDS Vendor-Specific Configuration
 - Advanced Introspection and Debugging
-- Priority-based Scheduling
-
 
 ## Community Contributions Welcome
 We're looking for contributors to help with:
@@ -502,7 +463,7 @@ This project is licensed under the MIT License - see the LICENSE file for detail
 
 # ROS2.jl
 
-ROS2.jl は，ROS2のPythonクライアントライブラリ（rclpy）のJuliaラッパーで，rclpyの機能をJuliaフレンドリーなインターフェースで提供します．
+ROS2.jl は，ROS2のPythonクライアントライブラリ（rclpy）のJuliaラッパーで，rclpyの機能をJuliaフレンドリーなインターフェースで提供する．
 
 ## 依存関係
 
@@ -524,33 +485,27 @@ ROS2.jl は，ROS2のPythonクライアントライブラリ（rclpy）のJulia
 - ros-jazzy-lifecycle（ライフサイクルノード用）
 
 ## 簡単な使い方
-詳しい使い方は`examples/`以下のファイルを参照してください．
+詳しい使い方は`examples/`以下のファイルを参照．
 ### 基本的なパブリッシャー/サブスクライバー
 
 ```julia
 using ROS2
 
-# ROS2の初期化
 init()
 
-# ノードの作成
 node = ROSNode("example_node")
 
-# パブリッシャーの作成
 pub = Publisher(node, "hello", "std_msgs.msg.String")
 
-# メッセージの作成と送信
 msg = create_msg("std_msgs.msg.String")
 msg.data = "Hello from Julia!"
 publish(pub, msg)
 
-# サブスクライバーの作成
 function callback(msg)
     println("Received: ", msg.data)
 end
 sub = Subscriber(node, "hello", "std_msgs.msg.String", callback)
 
-# ノードのスピン
 spin(node)
 ```
 
@@ -561,30 +516,25 @@ using ROS2
 
 init()
 
-# カスタムドメインIDの設定
 set_domain_id(1)
 println("Domain ID: $(get_domain_id())")
 
 node = ROSNode("advanced_node")
 
-# マルチスレッド実行器
-executor = MultiThreadedExecutor(4)  # 4スレッド
+executor = MultiThreadedExecutor(4)
 add_node(executor, node)
 
-# カスタムQoS
 custom_qos = QoSProfile("best_effort", "volatile", "keep_last", 10)
-pub = Publisher(node, "high_freq_data", "std_msgs.msg.String", qos=custom_qos)
+pub = Publisher(node, "high_freq_data", "std_msgs.msg.String")
 
-# 高頻度タイマー
 counter = Ref(0)
-timer = ROSTimer(node, 0.01, () -> begin  # 100Hz
+timer = ROSTimer(node, 0.01, () -> begin
     counter[] += 1
     msg = create_msg_dynamic("std_msgs.msg.String")
     msg.data = "高頻度メッセージ #$(counter[])"
     publish(pub, msg)
 end)
 
-# マルチスレッド実行器で実行
 spin_executor(executor)
 ```
 
@@ -596,11 +546,9 @@ using ROS2
 init()
 node = ROSNode("dynamic_msg_example")
 
-# 利用可能なメッセージ型を取得
 available_types = get_available_message_types()
 println("利用可能なメッセージ型: $(length(available_types))個")
 
-# メッセージを動的に作成
 twist_msg = create_msg_dynamic("geometry_msgs.msg.Twist")
 twist_msg.linear.x = 1.0
 twist_msg.angular.z = 0.5
@@ -621,6 +569,6 @@ shutdown()
 
 ## ライセンス
 
-このプロジェクトはMITライセンスの下で提供されています - 詳細はLICENSEファイルを参照してください．
+このプロジェクトはMITライセンスの下で提供されている - 詳細はLICENSEファイルを参照．
 
 © 2025 Michitoshi Tsubaki (@Michi-Tsubaki)