diff --git a/.github/workflows/industrial_ci.yml b/.github/workflows/industrial_ci.yml
index 3ecf7af..268e475 100644
--- a/.github/workflows/industrial_ci.yml
+++ b/.github/workflows/industrial_ci.yml
@@ -14,7 +14,7 @@ jobs:
     strategy:
       matrix:
         env:
-          - { ROS_DISTRO: humble, ROS_REPO: ros, BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source /root/target_ws/install/setup.bash" }
+          - { ROS_DISTRO: jazzy, ROS_REPO: ros, BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source /root/target_ws/install/setup.bash" }
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
diff --git a/README.en.md b/README.en.md
index 1342b75..c35d4ce 100644
--- a/README.en.md
+++ b/README.en.md
@@ -13,6 +13,7 @@ See [rt-net/sciurus17_ros#134](https://github.com/rt-net/sciurus17_ros/issues/13
 ## Supported ROS distributions
 
 - Humble
+- Jazzy
 
 ### ROS 1
 
diff --git a/README.md b/README.md
index 43a7768..7581430 100644
--- a/README.md
+++ b/README.md
@@ -13,6 +13,7 @@
 ## サポートするROSディストリビューション
 
 - Humble
+- Jazzy
 
 ### ROS 1
 
diff --git a/launch/display.launch.py b/launch/display.launch.py
index 6b857b4..5058ebb 100644
--- a/launch/display.launch.py
+++ b/launch/display.launch.py
@@ -1,9 +1,9 @@
 # Copyright 2023 RT Corporation
 
 from ament_index_python.packages import get_package_share_directory
-from sciurus17_description.robot_description_loader import RobotDescriptionLoader
 from launch import LaunchDescription
 from launch_ros.actions import Node
+from sciurus17_description.robot_description_loader import RobotDescriptionLoader
 
 
 def generate_launch_description():
diff --git a/package.xml b/package.xml
index 75d7153..b7ad655 100644
--- a/package.xml
+++ b/package.xml
@@ -13,7 +13,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>ign_ros2_control</depend>
+  <depend>gz_ros2_control</depend>
   <depend>joint_state_publisher_gui</depend>
   <depend>launch</depend>
   <depend>robot_state_publisher</depend>
diff --git a/test/test_robot_description_loader.py b/test/test_robot_description_loader.py
index 00ecda2..02ab11b 100644
--- a/test/test_robot_description_loader.py
+++ b/test/test_robot_description_loader.py
@@ -1,8 +1,8 @@
 # Copyright 2023 RT Corporation
 
-from sciurus17_description.robot_description_loader import RobotDescriptionLoader
 from launch.launch_context import LaunchContext
 import pytest
+from sciurus17_description.robot_description_loader import RobotDescriptionLoader
 
 
 def exec_load(loader):
@@ -53,12 +53,12 @@ def test_manipulator_config_file_path():
 
 
 def test_use_gazebo():
-    # use_gazeboが変更され、xacroにign_ros2_controlがセットされることを期待
+    # use_gazeboが変更され、xacroにgz_ros2_controlがセットされることを期待
     rdl = RobotDescriptionLoader()
     rdl.use_gazebo = 'true'
     rdl.gz_control_config_package = 'sciurus17_description'
     rdl.gz_control_config_file_path = 'config/dummy_controllers.yaml'
-    assert 'ign_ros2_control/IgnitionSystem' in exec_load(rdl)
+    assert 'gz_ros2_control/GazeboSimSystem' in exec_load(rdl)
 
 
 def test_use_gazebo_head_camera():
diff --git a/urdf/sciurus17.gazebo_ros2_control.xacro b/urdf/sciurus17.gazebo_ros2_control.xacro
index 4d28422..d5c19e2 100644
--- a/urdf/sciurus17.gazebo_ros2_control.xacro
+++ b/urdf/sciurus17.gazebo_ros2_control.xacro
@@ -5,7 +5,7 @@
 
     <ros2_control name="sciurus17" type="system">
       <hardware>
-        <plugin>ign_ros2_control/IgnitionSystem</plugin>
+        <plugin>gz_ros2_control/GazeboSimSystem</plugin>
       </hardware>
 
       <joint name="${NAME_JOINT_BODY}">
@@ -22,8 +22,8 @@
 
       <joint name="${NAME_JOINT_NECK_1}">
         <command_interface name="position">
-          <param name="min">${JOINT_NECK_1_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_NECK_1_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_NECK_1_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_NECK_1_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -34,8 +34,8 @@
 
       <joint name="${NAME_JOINT_NECK_2}">
         <command_interface name="position">
-          <param name="min">${JOINT_NECK_2_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_NECK_2_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_NECK_2_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_NECK_2_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -46,8 +46,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_1}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_1_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_1_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_1_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_1_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -58,8 +58,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_2}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_2_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_2_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_2_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_2_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">-1.5707</param>
@@ -70,8 +70,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_3}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_3_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_3_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_3_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_3_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -82,8 +82,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_4}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_4_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_4_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_4_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_4_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">2.7262</param>
@@ -94,8 +94,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_5}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_5_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_5_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_5_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_5_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -106,8 +106,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_6}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_6_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_6_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_6_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_6_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">-2.0943</param>
@@ -118,8 +118,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_7}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_7_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_7_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_7_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_7_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -130,8 +130,8 @@
 
       <joint name="${NAME_JOINT_GRIPPER_R_A}">
         <command_interface name="position">
-          <param name="min">${JOINT_GRIPPER_R_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_GRIPPER_R_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_GRIPPER_R_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_GRIPPER_R_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -143,7 +143,6 @@
       <joint name="${NAME_JOINT_GRIPPER_R_B}">
         <param name="mimic">${NAME_JOINT_GRIPPER_R_A}</param>
         <param name="multiplier">1</param>
-        <command_interface name="position"/>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
@@ -151,8 +150,8 @@
 
       <joint name="${NAME_JOINT_ARM_L_1}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_1_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_1_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_1_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_1_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -163,8 +162,8 @@
 
       <joint name="${NAME_JOINT_ARM_L_2}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_2_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_2_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_2_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_2_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">1.5707</param>
@@ -175,8 +174,8 @@
 
       <joint name="${NAME_JOINT_ARM_L_3}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_3_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_3_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_3_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_3_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -187,8 +186,8 @@
 
       <joint name="${NAME_JOINT_ARM_L_4}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_4_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_4_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_4_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_4_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">-2.7262</param>
@@ -199,8 +198,8 @@
 
       <joint name="${NAME_JOINT_ARM_L_5}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_5_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_5_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_5_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_5_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -211,8 +210,8 @@
 
       <joint name="${NAME_JOINT_ARM_L_6}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_6_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_6_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_6_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_6_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">2.09439</param>
@@ -223,8 +222,8 @@
 
       <joint name="${NAME_JOINT_ARM_L_7}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_7_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_7_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_7_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_7_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -235,8 +234,8 @@
 
       <joint name="${NAME_JOINT_GRIPPER_L_A}">
         <command_interface name="position">
-          <param name="min">${JOINT_GRIPPER_L_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_GRIPPER_L_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_GRIPPER_L_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_GRIPPER_L_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -248,7 +247,6 @@
       <joint name="${NAME_JOINT_GRIPPER_L_B}">
         <param name="mimic">${NAME_JOINT_GRIPPER_L_A}</param>
         <param name="multiplier">1</param>
-        <command_interface name="position"/>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
diff --git a/urdf/sciurus17.ros2_control.xacro b/urdf/sciurus17.ros2_control.xacro
index 5de1d66..98df3d3 100644
--- a/urdf/sciurus17.ros2_control.xacro
+++ b/urdf/sciurus17.ros2_control.xacro
@@ -25,8 +25,8 @@
 
       <joint name="${NAME_JOINT_NECK_1}">
         <command_interface name="position">
-          <param name="min">${JOINT_NECK_1_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_NECK_1_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_NECK_1_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_NECK_1_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -36,8 +36,8 @@
 
       <joint name="${NAME_JOINT_NECK_2}">
         <command_interface name="position">
-          <param name="min">${JOINT_NECK_2_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_NECK_2_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_NECK_2_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_NECK_2_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -47,8 +47,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_1}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_1_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_1_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_1_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_1_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -58,8 +58,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_2}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_2_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_2_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_2_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_2_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -69,8 +69,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_3}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_3_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_3_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_3_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_3_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -80,8 +80,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_4}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_4_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_4_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_4_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_4_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -91,8 +91,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_5}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_5_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_5_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_5_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_5_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -102,8 +102,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_6}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_6_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_6_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_6_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_6_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -113,8 +113,8 @@
 
       <joint name="${NAME_JOINT_ARM_R_7}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_R_7_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_R_7_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_R_7_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_R_7_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -124,8 +124,8 @@
 
       <joint name="${NAME_JOINT_GRIPPER_R_A}">
         <command_interface name="position">
-          <param name="min">${JOINT_GRIPPER_R_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_GRIPPER_R_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_GRIPPER_R_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_GRIPPER_R_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -135,8 +135,8 @@
 
       <joint name="${NAME_JOINT_ARM_L_1}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_1_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_1_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_1_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_1_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -146,8 +146,8 @@
 
       <joint name="${NAME_JOINT_ARM_L_2}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_2_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_2_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_2_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_2_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -157,8 +157,8 @@
 
       <joint name="${NAME_JOINT_ARM_L_3}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_3_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_3_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_3_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_3_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -168,8 +168,8 @@
 
       <joint name="${NAME_JOINT_ARM_L_4}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_4_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_4_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_4_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_4_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -179,8 +179,8 @@
 
       <joint name="${NAME_JOINT_ARM_L_5}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_5_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_5_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_5_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_5_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -190,8 +190,8 @@
 
       <joint name="${NAME_JOINT_ARM_L_6}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_6_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_6_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_6_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_6_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -201,8 +201,8 @@
 
       <joint name="${NAME_JOINT_ARM_L_7}">
         <command_interface name="position">
-          <param name="min">${JOINT_ARM_L_7_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_ARM_L_7_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_ARM_L_7_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_ARM_L_7_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -212,8 +212,8 @@
 
       <joint name="${NAME_JOINT_GRIPPER_L_A}">
         <command_interface name="position">
-          <param name="min">${JOINT_GRIPPER_L_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_GRIPPER_L_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_GRIPPER_L_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_GRIPPER_L_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
diff --git a/urdf/sciurus17.urdf.xacro b/urdf/sciurus17.urdf.xacro
index 186101d..26dc666 100644
--- a/urdf/sciurus17.urdf.xacro
+++ b/urdf/sciurus17.urdf.xacro
@@ -121,7 +121,8 @@
 
   <xacro:property name="JOINT_ARM_R_1_LOWER_LIMIT" value="${radians(-90)}"/>
   <xacro:property name="JOINT_ARM_R_1_UPPER_LIMIT" value="${radians(90)}"/>
-  <xacro:property name="JOINT_ARM_R_2_LOWER_LIMIT" value="${radians(-90)}"/>
+  <!-- 初期角度が範囲外だとプランニングで失敗するため範囲を広げる -->
+  <xacro:property name="JOINT_ARM_R_2_LOWER_LIMIT" value="${radians(-92)}"/>
   <xacro:property name="JOINT_ARM_R_2_UPPER_LIMIT" value="${radians(0)}"/>
   <xacro:property name="JOINT_ARM_R_3_LOWER_LIMIT" value="${radians(-90)}"/>
   <xacro:property name="JOINT_ARM_R_3_UPPER_LIMIT" value="${radians(90)}"/>
@@ -131,7 +132,8 @@
   <xacro:property name="JOINT_ARM_R_4_UPPER_LIMIT" value="${radians(157)}"/>
   <xacro:property name="JOINT_ARM_R_5_LOWER_LIMIT" value="${radians(-90)}"/>
   <xacro:property name="JOINT_ARM_R_5_UPPER_LIMIT" value="${radians(90)}"/>
-  <xacro:property name="JOINT_ARM_R_6_LOWER_LIMIT" value="${radians(-120)}"/>
+  <!-- 初期角度が範囲外だとプランニングで失敗するため範囲を広げる -->
+  <xacro:property name="JOINT_ARM_R_6_LOWER_LIMIT" value="${radians(-123)}"/>
   <xacro:property name="JOINT_ARM_R_6_UPPER_LIMIT" value="${radians(60)}"/>
   <xacro:property name="JOINT_ARM_R_7_LOWER_LIMIT" value="${radians(-170)}"/>
   <xacro:property name="JOINT_ARM_R_7_UPPER_LIMIT" value="${radians(170)}"/>
@@ -142,8 +144,9 @@
 
   <xacro:property name="JOINT_ARM_L_1_LOWER_LIMIT" value="${radians(-90)}"/>
   <xacro:property name="JOINT_ARM_L_1_UPPER_LIMIT" value="${radians(90)}"/>
+  <!-- 初期角度が範囲外だとプランニングで失敗するため範囲を広げる -->
   <xacro:property name="JOINT_ARM_L_2_LOWER_LIMIT" value="${radians(0)}"/>
-  <xacro:property name="JOINT_ARM_L_2_UPPER_LIMIT" value="${radians(90)}"/>
+  <xacro:property name="JOINT_ARM_L_2_UPPER_LIMIT" value="${radians(92)}"/>
   <xacro:property name="JOINT_ARM_L_3_LOWER_LIMIT" value="${radians(-90)}"/>
   <xacro:property name="JOINT_ARM_L_3_UPPER_LIMIT" value="${radians(90)}"/>
   <xacro:property name="JOINT_ARM_L_4_LOWER_LIMIT" value="${radians(-157)}"/>
@@ -153,7 +156,8 @@
   <xacro:property name="JOINT_ARM_L_5_LOWER_LIMIT" value="${radians(-90)}"/>
   <xacro:property name="JOINT_ARM_L_5_UPPER_LIMIT" value="${radians(90)}"/>
   <xacro:property name="JOINT_ARM_L_6_LOWER_LIMIT" value="${radians(-60)}"/>
-  <xacro:property name="JOINT_ARM_L_6_UPPER_LIMIT" value="${radians(120)}"/>
+  <!-- 初期角度が範囲外だとプランニングで失敗するため範囲を広げる -->
+  <xacro:property name="JOINT_ARM_L_6_UPPER_LIMIT" value="${radians(123)}"/>
   <xacro:property name="JOINT_ARM_L_7_LOWER_LIMIT" value="${radians(-170)}"/>
   <xacro:property name="JOINT_ARM_L_7_UPPER_LIMIT" value="${radians(170)}"/>
   <xacro:property name="JOINT_GRIPPER_L_LOWER_LIMIT" value="${radians(-86)}"/>
diff --git a/urdf/sciurus17_gazebo.xacro b/urdf/sciurus17_gazebo.xacro
index 6de8b49..5bbecfe 100644
--- a/urdf/sciurus17_gazebo.xacro
+++ b/urdf/sciurus17_gazebo.xacro
@@ -31,7 +31,7 @@
 
   <xacro:macro name="gazebo_robot_settings">
     <gazebo>
-      <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
+      <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
         <parameters>$(find ${GZ_CONTROL_CONFIG_PACKAGE})/${GZ_CONTROL_CONFIG_FILE_PATH}</parameters>
       </plugin>
     </gazebo>
@@ -53,7 +53,7 @@
     </gazebo>
 
     <gazebo>
-      <plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors">
+      <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
         <render_engine>ogre2</render_engine>
       </plugin>
     </gazebo>
@@ -64,7 +64,7 @@
           <update_rate>10</update_rate>
           <always_on>true</always_on>
           <topic>${NAME_HEAD_CAMERA_PREFIX}</topic>
-          <ignition_frame_id>${NAME_HEAD_CAMERA_PREFIX}_color_frame</ignition_frame_id>
+          <frame_id>${NAME_HEAD_CAMERA_PREFIX}_color_frame</frame_id>
           <camera name="realsense_d415">
             <xacro:property name="head_camera_width" value="640"/>
             <xacro:property name="head_camera_height" value="360"/>
@@ -115,7 +115,7 @@
           <update_rate>10</update_rate>
           <always_on>true</always_on>
           <topic>${NAME_CHEST_CAMERA_PREFIX}/image_raw</topic>
-          <ignition_frame_id>${NAME_LINK_CHEST_CAMERA}</ignition_frame_id>
+          <frame_id>${NAME_LINK_CHEST_CAMERA}</frame_id>
           <camera name="${NAME_CHEST_CAMERA_PREFIX}">
             <xacro:property name="chest_camera_width" value="640"/>
             <xacro:property name="chest_camera_height" value="360"/>