From 10efd041893291d4ae21b6782063ce5909b92287 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Fri, 15 Jul 2022 18:03:31 +0900
Subject: [PATCH 01/10] [jsk_rviz_plugins] Fixed Camera Info visualization

---
 jsk_rviz_plugins/src/camera_info_display.cpp | 27 +++++++++++++++++---
 1 file changed, 23 insertions(+), 4 deletions(-)

diff --git a/jsk_rviz_plugins/src/camera_info_display.cpp b/jsk_rviz_plugins/src/camera_info_display.cpp
index eb9de008d..6c72507a7 100644
--- a/jsk_rviz_plugins/src/camera_info_display.cpp
+++ b/jsk_rviz_plugins/src/camera_info_display.cpp
@@ -240,7 +240,11 @@ namespace jsk_rviz_plugins
         msg->header.frame_id == camera_info_->header.frame_id &&
         msg->height == camera_info_->height &&
         msg->width == camera_info_->width &&
-        msg->distortion_model == camera_info_->distortion_model;
+        msg->distortion_model == camera_info_->distortion_model &&
+        msg->roi.x_offset == camera_info_->roi.x_offset &&
+        msg->roi.y_offset == camera_info_->roi.y_offset &&
+        msg->roi.height == camera_info_->roi.height &&
+        msg->roi.width == camera_info_->roi.width;
       if (meta_same_p) {
         for (size_t i = 0; i < msg->P.size(); i++) {
           if (msg->P[i] != camera_info_->P[i]) {
@@ -405,10 +409,16 @@ namespace jsk_rviz_plugins
   {
     boost::mutex::scoped_lock lock(mutex_);
     cv_bridge::CvImagePtr cv_ptr;
+    if (!camera_info_) {
+      return;
+    }
     try
     {
       cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8);
-      image_ = cv_ptr->image;
+      cv::Rect roi(camera_info_->roi.x_offset, camera_info_->roi.y_offset,
+                   camera_info_->roi.width ? camera_info_->roi.width : camera_info_->width,
+                   camera_info_->roi.height ? camera_info_->roi.height : camera_info_->height);
+      image_ = cv::Mat(cv_ptr->image, roi).clone();
       // check the size of bottom texture
       if (bottom_texture_.isNull()
           || bottom_texture_->getWidth() != image_.cols
@@ -457,8 +467,17 @@ namespace jsk_rviz_plugins
       edges_->setLineWidth(0.01);
     }
 
-    cv::Point2d a(0, 0), b(msg->width, 0),
-      c(msg->width, msg->height), d(0, msg->height);
+    int height = msg->roi.height ? msg->roi.height : msg->height;
+    int width = msg->roi.width ? msg->roi.width : msg->width;
+    if (msg->binning_y > 0) {
+      height /= msg->binning_y;
+    }
+    if (msg->binning_x > 0) {
+      width /= msg->binning_x;
+    }
+
+    cv::Point2d a(0, 0), b(width, 0),
+      c(width, height), d(0, height);
     // all the z = 1.0
     cv::Point3d A = model.projectPixelTo3dRay(a);
     cv::Point3d B = model.projectPixelTo3dRay(b);

From c786fe34a7c1ee2297f279a115f1432bfb3e34ea Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sat, 16 Jul 2022 03:56:14 +0900
Subject: [PATCH 02/10] [jsk_rviz_plugins/CameraInfo] Avoid invalid image size
 case for visualization image

---
 jsk_rviz_plugins/src/camera_info_display.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/jsk_rviz_plugins/src/camera_info_display.cpp b/jsk_rviz_plugins/src/camera_info_display.cpp
index 6c72507a7..82446b777 100644
--- a/jsk_rviz_plugins/src/camera_info_display.cpp
+++ b/jsk_rviz_plugins/src/camera_info_display.cpp
@@ -415,6 +415,13 @@ namespace jsk_rviz_plugins
     try
     {
       cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8);
+      if (cv_ptr->image.cols != camera_info_->width
+          || cv_ptr->image.rows != camera_info_->height) {
+        ROS_ERROR("Invalid image size (w, h) = (%d, %d), expected (w, h) = (%d, %d)",
+                  cv_ptr->image.cols, cv_ptr->image.rows,
+                  camera_info_->width, camera_info_->height);
+        return;
+      }
       cv::Rect roi(camera_info_->roi.x_offset, camera_info_->roi.y_offset,
                    camera_info_->roi.width ? camera_info_->roi.width : camera_info_->width,
                    camera_info_->roi.height ? camera_info_->roi.height : camera_info_->height);

From 3b328f36f724b3c61c07045fc27d07ed490ef6c6 Mon Sep 17 00:00:00 2001
From: Aoi Nakane <nakane@jsk.imi.i.u-tokyo.ac.jp>
Date: Sat, 16 Jul 2022 18:29:18 +0900
Subject: [PATCH 03/10] [jsk_rviz_plugins/CameraInfo] Supprt for other image
 encodings (#1)

---
 jsk_rviz_plugins/src/camera_info_display.cpp | 22 ++++++++++++++------
 1 file changed, 16 insertions(+), 6 deletions(-)

diff --git a/jsk_rviz_plugins/src/camera_info_display.cpp b/jsk_rviz_plugins/src/camera_info_display.cpp
index 82446b777..339aed9fb 100644
--- a/jsk_rviz_plugins/src/camera_info_display.cpp
+++ b/jsk_rviz_plugins/src/camera_info_display.cpp
@@ -408,24 +408,34 @@ namespace jsk_rviz_plugins
       const sensor_msgs::Image::ConstPtr& msg)
   {
     boost::mutex::scoped_lock lock(mutex_);
-    cv_bridge::CvImagePtr cv_ptr;
+    cv_bridge::CvImageConstPtr cv_ptr;
     if (!camera_info_) {
       return;
     }
     try
     {
-      cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8);
-      if (cv_ptr->image.cols != camera_info_->width
-          || cv_ptr->image.rows != camera_info_->height) {
+      cv_ptr = cv_bridge::toCvShare(msg);
+      cv::Mat im = cv_ptr->image.clone();
+      int bitDepth = sensor_msgs::image_encodings::bitDepth(msg->encoding);
+      int numChannels = sensor_msgs::image_encodings::numChannels(msg->encoding);
+      if (bitDepth != 8) {
+        im.convertTo(im, CV_8U, 255.0);
+      }
+      if (numChannels == 1) {
+        cvtColor(im, im, CV_GRAY2RGB);
+      }
+
+      if (im.cols != camera_info_->width
+          || im.rows != camera_info_->height) {
         ROS_ERROR("Invalid image size (w, h) = (%d, %d), expected (w, h) = (%d, %d)",
-                  cv_ptr->image.cols, cv_ptr->image.rows,
+                  im.cols, im.rows,
                   camera_info_->width, camera_info_->height);
         return;
       }
       cv::Rect roi(camera_info_->roi.x_offset, camera_info_->roi.y_offset,
                    camera_info_->roi.width ? camera_info_->roi.width : camera_info_->width,
                    camera_info_->roi.height ? camera_info_->roi.height : camera_info_->height);
-      image_ = cv::Mat(cv_ptr->image, roi).clone();
+      image_ = cv::Mat(im, roi).clone();
       // check the size of bottom texture
       if (bottom_texture_.isNull()
           || bottom_texture_->getWidth() != image_.cols

From 92d7bd08fb4abd2a5d63736293a75908484a5a6b Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sat, 16 Jul 2022 19:13:31 +0900
Subject: [PATCH 04/10] [jsk_rviz_plugins/CameraInfo] Enable ROI size iamge
 input

---
 jsk_rviz_plugins/src/camera_info_display.cpp | 56 ++++++++++++++------
 1 file changed, 41 insertions(+), 15 deletions(-)

diff --git a/jsk_rviz_plugins/src/camera_info_display.cpp b/jsk_rviz_plugins/src/camera_info_display.cpp
index 339aed9fb..242f6e68f 100644
--- a/jsk_rviz_plugins/src/camera_info_display.cpp
+++ b/jsk_rviz_plugins/src/camera_info_display.cpp
@@ -41,6 +41,9 @@
 #include <OGRE/OgreBlendMode.h>
 #include <QImage>
 #include <OGRE/OgreHardwarePixelBuffer.h>
+#include <sensor_msgs/image_encodings.h>
+
+namespace enc = sensor_msgs::image_encodings;
 
 namespace jsk_rviz_plugins
 {
@@ -207,7 +210,11 @@ namespace jsk_rviz_plugins
     // move scene_node according to tf
      Ogre::Vector3 position;
      Ogre::Quaternion quaternion;
-     if(!context_->getFrameManager()->getTransform(msg->header.frame_id,
+     std::string frame_id = msg->header.frame_id;
+     if (frame_id[0] == '/') {
+       frame_id = frame_id.substr(1, frame_id.size());
+     }
+     if(!context_->getFrameManager()->getTransform(frame_id,
                                                    msg->header.stamp,
                                                    position,
                                                    quaternion)) {
@@ -416,26 +423,45 @@ namespace jsk_rviz_plugins
     {
       cv_ptr = cv_bridge::toCvShare(msg);
       cv::Mat im = cv_ptr->image.clone();
-      int bitDepth = sensor_msgs::image_encodings::bitDepth(msg->encoding);
-      int numChannels = sensor_msgs::image_encodings::numChannels(msg->encoding);
-      if (bitDepth != 8) {
-        im.convertTo(im, CV_8U, 255.0);
+      if (msg->encoding == enc::BGRA8 || msg->encoding == enc::BGRA16) {
+        cv::cvtColor(im, im, cv::COLOR_BGRA2RGB);
+      } else if (msg->encoding == enc::BGR8 || msg->encoding == enc::BGR16) {
+        cv::cvtColor(im, im, cv::COLOR_BGR2RGB);
+      } else if (msg->encoding == enc::RGBA8 || msg->encoding == enc::RGBA16) {
+        cv::cvtColor(im, im, cv::COLOR_RGBA2RGB);
+      } else if (msg->encoding == enc::BGR8 || msg->encoding == enc::BGR16) {
+        // nothing
+      } else if (msg->encoding == enc::MONO8) {
+        cv::cvtColor(im, im, cv::COLOR_GRAY2RGB);
+      } else {
+        ROS_ERROR("[CameraInfoDisplay] Not supported image encodings %s.", msg->encoding.c_str());
+        return;
       }
-      if (numChannels == 1) {
-        cvtColor(im, im, CV_GRAY2RGB);
+
+      int roi_height = camera_info_->roi.height ? camera_info_->roi.height : camera_info_->height;
+      int roi_width = camera_info_->roi.width ? camera_info_->roi.width : camera_info_->width;
+      if (camera_info_->binning_y > 0) {
+        roi_height /= camera_info_->binning_y;
+      }
+      if (camera_info_->binning_x > 0) {
+        roi_width /= camera_info_->binning_x;
       }
 
-      if (im.cols != camera_info_->width
-          || im.rows != camera_info_->height) {
-        ROS_ERROR("Invalid image size (w, h) = (%d, %d), expected (w, h) = (%d, %d)",
+      if (im.cols == camera_info_->width && im.rows == camera_info_->height) {
+        cv::Rect roi(camera_info_->roi.x_offset, camera_info_->roi.y_offset,
+                     camera_info_->roi.width ? camera_info_->roi.width : camera_info_->width,
+                     camera_info_->roi.height ? camera_info_->roi.height : camera_info_->height);
+        image_ = cv::Mat(im, roi).clone();
+      } else if (im.cols == roi_width && im.rows == roi_height) {
+        image_ = im.clone();
+      } else {
+        ROS_ERROR("[CameraInfoDisplay] Invalid image size (w, h) = (%d, %d), expected (w, h) = (%d, %d) or (%d, %d) (ROI size)",
                   im.cols, im.rows,
-                  camera_info_->width, camera_info_->height);
+                  camera_info_->width, camera_info_->height,
+                  roi_width, roi_height);
         return;
       }
-      cv::Rect roi(camera_info_->roi.x_offset, camera_info_->roi.y_offset,
-                   camera_info_->roi.width ? camera_info_->roi.width : camera_info_->width,
-                   camera_info_->roi.height ? camera_info_->roi.height : camera_info_->height);
-      image_ = cv::Mat(im, roi).clone();
+
       // check the size of bottom texture
       if (bottom_texture_.isNull()
           || bottom_texture_->getWidth() != image_.cols

From 166f32d0ec8f7f06fa29de5861231db8fa721d35 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Mon, 18 Jul 2022 00:00:37 +0900
Subject: [PATCH 05/10] [jsk_rviz_plugins/CameraInfo] Fixed duplicated BGR
 encogind

---
 jsk_rviz_plugins/src/camera_info_display.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_rviz_plugins/src/camera_info_display.cpp b/jsk_rviz_plugins/src/camera_info_display.cpp
index 242f6e68f..4045d59b1 100644
--- a/jsk_rviz_plugins/src/camera_info_display.cpp
+++ b/jsk_rviz_plugins/src/camera_info_display.cpp
@@ -429,7 +429,7 @@ namespace jsk_rviz_plugins
         cv::cvtColor(im, im, cv::COLOR_BGR2RGB);
       } else if (msg->encoding == enc::RGBA8 || msg->encoding == enc::RGBA16) {
         cv::cvtColor(im, im, cv::COLOR_RGBA2RGB);
-      } else if (msg->encoding == enc::BGR8 || msg->encoding == enc::BGR16) {
+      } else if (msg->encoding == enc::RGB8 || msg->encoding == enc::RGB16) {
         // nothing
       } else if (msg->encoding == enc::MONO8) {
         cv::cvtColor(im, im, cv::COLOR_GRAY2RGB);

From 647518ca36a633bf296982ec1196ab51e35e9dd1 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Mon, 18 Jul 2022 00:49:09 +0900
Subject: [PATCH 06/10] [jsk_rviz_plugins/CameraInfo] Fixed scale depending on
 encodings

---
 jsk_rviz_plugins/src/camera_info_display.cpp | 22 ++++++++++++++++----
 1 file changed, 18 insertions(+), 4 deletions(-)

diff --git a/jsk_rviz_plugins/src/camera_info_display.cpp b/jsk_rviz_plugins/src/camera_info_display.cpp
index 4045d59b1..fef43fa7e 100644
--- a/jsk_rviz_plugins/src/camera_info_display.cpp
+++ b/jsk_rviz_plugins/src/camera_info_display.cpp
@@ -423,16 +423,30 @@ namespace jsk_rviz_plugins
     {
       cv_ptr = cv_bridge::toCvShare(msg);
       cv::Mat im = cv_ptr->image.clone();
-      if (msg->encoding == enc::BGRA8 || msg->encoding == enc::BGRA16) {
+      if (msg->encoding == enc::BGRA8) {
         cv::cvtColor(im, im, cv::COLOR_BGRA2RGB);
-      } else if (msg->encoding == enc::BGR8 || msg->encoding == enc::BGR16) {
+      } else if (msg->encoding == enc::BGRA16) {
+        im.convertTo(im, CV_8U, 1 / 256.0);
+        cv::cvtColor(im, im, cv::COLOR_BGRA2RGB);
+      } else if (msg->encoding == enc::BGR8) {
+        cv::cvtColor(im, im, cv::COLOR_BGR2RGB);
+      } else if (msg->encoding == enc::BGR16) {
+        im.convertTo(im, CV_8U, 1 / 256.0);
         cv::cvtColor(im, im, cv::COLOR_BGR2RGB);
-      } else if (msg->encoding == enc::RGBA8 || msg->encoding == enc::RGBA16) {
+      } else if (msg->encoding == enc::RGBA8) {
         cv::cvtColor(im, im, cv::COLOR_RGBA2RGB);
-      } else if (msg->encoding == enc::RGB8 || msg->encoding == enc::RGB16) {
+      } else if (msg->encoding == enc::RGBA16) {
+        im.convertTo(im, CV_8U, 1 / 256.0);
+        cv::cvtColor(im, im, cv::COLOR_RGBA2RGB);
+      } else if (msg->encoding == enc::RGB8) {
         // nothing
+      } else if (msg->encoding == enc::RGB16) {
+        im.convertTo(im, CV_8U, 1 / 256.0);
       } else if (msg->encoding == enc::MONO8) {
         cv::cvtColor(im, im, cv::COLOR_GRAY2RGB);
+      } else if (msg->encoding == enc::MONO16) {
+        im.convertTo(im, CV_8U, 1 / 256.0);
+        cv::cvtColor(im, im, cv::COLOR_GRAY2RGB);
       } else {
         ROS_ERROR("[CameraInfoDisplay] Not supported image encodings %s.", msg->encoding.c_str());
         return;

From 9051cfabcf5e42847c97536e1c67880e19abf16e Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Fri, 16 Sep 2022 22:19:23 +0900
Subject: [PATCH 07/10] Fixed typo of Software License Agreement. and/o2r to
 and/or

---
 .../include/jsk_interactive_marker/camera_info_publisher.h      | 2 +-
 .../include/jsk_interactive_marker/footstep_marker.h            | 2 +-
 .../include/jsk_interactive_marker/pointcloud_cropper.h         | 2 +-
 .../jsk_interactive_marker/src/bounding_box_marker.cpp          | 2 +-
 .../jsk_interactive_marker/src/camera_info_publisher.cpp        | 2 +-
 .../jsk_interactive_marker/src/footstep_marker.cpp              | 2 +-
 .../jsk_interactive_marker/src/marker_6dof.cpp                  | 2 +-
 .../jsk_interactive_marker/src/pointcloud_cropper.cpp           | 2 +-
 .../jsk_interactive_marker/src/polygon_marker.cpp               | 2 +-
 jsk_rviz_plugins/src/bounding_box_array_display.cpp             | 2 +-
 jsk_rviz_plugins/src/bounding_box_array_display.h               | 2 +-
 jsk_rviz_plugins/src/bounding_box_display.cpp                   | 2 +-
 jsk_rviz_plugins/src/bounding_box_display.h                     | 2 +-
 jsk_rviz_plugins/src/bounding_box_display_common.h              | 2 +-
 jsk_rviz_plugins/src/camera_info_display.cpp                    | 2 +-
 jsk_rviz_plugins/src/camera_info_display.h                      | 2 +-
 jsk_rviz_plugins/src/close_all_tool.cpp                         | 2 +-
 jsk_rviz_plugins/src/close_all_tool.h                           | 2 +-
 jsk_rviz_plugins/src/diagnostics_display.cpp                    | 2 +-
 jsk_rviz_plugins/src/diagnostics_display.h                      | 2 +-
 jsk_rviz_plugins/src/facing_visualizer.cpp                      | 2 +-
 jsk_rviz_plugins/src/facing_visualizer.h                        | 2 +-
 jsk_rviz_plugins/src/footstep_display.cpp                       | 2 +-
 jsk_rviz_plugins/src/footstep_display.h                         | 2 +-
 jsk_rviz_plugins/src/human_skeleton_array_display.cpp           | 2 +-
 jsk_rviz_plugins/src/human_skeleton_array_display.h             | 2 +-
 jsk_rviz_plugins/src/linear_gauge_display.cpp                   | 2 +-
 jsk_rviz_plugins/src/linear_gauge_display.h                     | 2 +-
 jsk_rviz_plugins/src/open_all_tool.cpp                          | 2 +-
 jsk_rviz_plugins/src/open_all_tool.h                            | 2 +-
 jsk_rviz_plugins/src/overlay_camera_display.cpp                 | 2 +-
 jsk_rviz_plugins/src/overlay_camera_display.h                   | 2 +-
 jsk_rviz_plugins/src/overlay_diagnostic_display.cpp             | 2 +-
 jsk_rviz_plugins/src/overlay_diagnostic_display.h               | 2 +-
 jsk_rviz_plugins/src/overlay_image_display.cpp                  | 2 +-
 jsk_rviz_plugins/src/overlay_image_display.h                    | 2 +-
 jsk_rviz_plugins/src/overlay_menu_display.cpp                   | 2 +-
 jsk_rviz_plugins/src/overlay_menu_display.h                     | 2 +-
 jsk_rviz_plugins/src/overlay_picker_tool.cpp                    | 2 +-
 jsk_rviz_plugins/src/overlay_picker_tool.h                      | 2 +-
 jsk_rviz_plugins/src/overlay_text_display.cpp                   | 2 +-
 jsk_rviz_plugins/src/overlay_text_display.h                     | 2 +-
 jsk_rviz_plugins/src/overlay_utils.cpp                          | 2 +-
 jsk_rviz_plugins/src/overlay_utils.h                            | 2 +-
 .../src/people_position_measurement_array_display.cpp           | 2 +-
 .../src/people_position_measurement_array_display.h             | 2 +-
 jsk_rviz_plugins/src/pictogram_array_display.cpp                | 2 +-
 jsk_rviz_plugins/src/pictogram_array_display.h                  | 2 +-
 jsk_rviz_plugins/src/pictogram_display.cpp                      | 2 +-
 jsk_rviz_plugins/src/pictogram_display.h                        | 2 +-
 jsk_rviz_plugins/src/pictogram_font_mapping.h                   | 2 +-
 jsk_rviz_plugins/src/pie_chart_display.cpp                      | 2 +-
 jsk_rviz_plugins/src/pie_chart_display.h                        | 2 +-
 jsk_rviz_plugins/src/plotter_2d_display.cpp                     | 2 +-
 jsk_rviz_plugins/src/plotter_2d_display.h                       | 2 +-
 jsk_rviz_plugins/src/polygon_array_display.cpp                  | 2 +-
 jsk_rviz_plugins/src/polygon_array_display.h                    | 2 +-
 jsk_rviz_plugins/src/quiet_interactive_marker_display.cpp       | 2 +-
 jsk_rviz_plugins/src/quiet_interactive_marker_display.h         | 2 +-
 jsk_rviz_plugins/src/rviz_scene_publisher.cpp                   | 2 +-
 jsk_rviz_plugins/src/rviz_scene_publisher.h                     | 2 +-
 jsk_rviz_plugins/src/rviz_util.h                                | 2 +-
 jsk_rviz_plugins/src/screenshot_listener_tool.cpp               | 2 +-
 jsk_rviz_plugins/src/screenshot_listener_tool.h                 | 2 +-
 jsk_rviz_plugins/src/segment_array_display.cpp                  | 2 +-
 jsk_rviz_plugins/src/segment_array_display.h                    | 2 +-
 jsk_rviz_plugins/src/simple_occupancy_grid_array_display.cpp    | 2 +-
 jsk_rviz_plugins/src/simple_occupancy_grid_array_display.h      | 2 +-
 jsk_rviz_plugins/src/string_display.cpp                         | 2 +-
 jsk_rviz_plugins/src/string_display.h                           | 2 +-
 jsk_rviz_plugins/src/tablet_controller_panel.cpp                | 2 +-
 jsk_rviz_plugins/src/tablet_controller_panel.h                  | 2 +-
 jsk_rviz_plugins/src/target_visualizer_display.cpp              | 2 +-
 jsk_rviz_plugins/src/target_visualizer_display.h                | 2 +-
 jsk_rviz_plugins/src/tf_trajectory_display.cpp                  | 2 +-
 jsk_rviz_plugins/src/tf_trajectory_display.h                    | 2 +-
 jsk_rviz_plugins/src/torus_array_display.cpp                    | 2 +-
 jsk_rviz_plugins/src/torus_array_display.h                      | 2 +-
 jsk_rviz_plugins/src/twist_stamped_display.cpp                  | 2 +-
 jsk_rviz_plugins/src/twist_stamped_display.h                    | 2 +-
 jsk_rviz_plugins/src/video_capture_display.cpp                  | 2 +-
 jsk_rviz_plugins/src/video_capture_display.h                    | 2 +-
 82 files changed, 82 insertions(+), 82 deletions(-)

diff --git a/jsk_interactive_markers/jsk_interactive_marker/include/jsk_interactive_marker/camera_info_publisher.h b/jsk_interactive_markers/jsk_interactive_marker/include/jsk_interactive_marker/camera_info_publisher.h
index 07d33fa1d..1d55bd3d6 100644
--- a/jsk_interactive_markers/jsk_interactive_marker/include/jsk_interactive_marker/camera_info_publisher.h
+++ b/jsk_interactive_markers/jsk_interactive_marker/include/jsk_interactive_marker/camera_info_publisher.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the Willow Garage nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_interactive_markers/jsk_interactive_marker/include/jsk_interactive_marker/footstep_marker.h b/jsk_interactive_markers/jsk_interactive_marker/include/jsk_interactive_marker/footstep_marker.h
index 6cebe8ce8..3637abadb 100644
--- a/jsk_interactive_markers/jsk_interactive_marker/include/jsk_interactive_marker/footstep_marker.h
+++ b/jsk_interactive_markers/jsk_interactive_marker/include/jsk_interactive_marker/footstep_marker.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_interactive_markers/jsk_interactive_marker/include/jsk_interactive_marker/pointcloud_cropper.h b/jsk_interactive_markers/jsk_interactive_marker/include/jsk_interactive_marker/pointcloud_cropper.h
index 132566d95..6883262d0 100644
--- a/jsk_interactive_markers/jsk_interactive_marker/include/jsk_interactive_marker/pointcloud_cropper.h
+++ b/jsk_interactive_markers/jsk_interactive_marker/include/jsk_interactive_marker/pointcloud_cropper.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the Willow Garage nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_interactive_markers/jsk_interactive_marker/src/bounding_box_marker.cpp b/jsk_interactive_markers/jsk_interactive_marker/src/bounding_box_marker.cpp
index a9c62c74e..956f26171 100644
--- a/jsk_interactive_markers/jsk_interactive_marker/src/bounding_box_marker.cpp
+++ b/jsk_interactive_markers/jsk_interactive_marker/src/bounding_box_marker.cpp
@@ -12,7 +12,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the Willow Garage nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_interactive_markers/jsk_interactive_marker/src/camera_info_publisher.cpp b/jsk_interactive_markers/jsk_interactive_marker/src/camera_info_publisher.cpp
index b0a16b77d..da651c3f2 100644
--- a/jsk_interactive_markers/jsk_interactive_marker/src/camera_info_publisher.cpp
+++ b/jsk_interactive_markers/jsk_interactive_marker/src/camera_info_publisher.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the Willow Garage nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_interactive_markers/jsk_interactive_marker/src/footstep_marker.cpp b/jsk_interactive_markers/jsk_interactive_marker/src/footstep_marker.cpp
index cc0e515c2..e0fc153fd 100644
--- a/jsk_interactive_markers/jsk_interactive_marker/src/footstep_marker.cpp
+++ b/jsk_interactive_markers/jsk_interactive_marker/src/footstep_marker.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_interactive_markers/jsk_interactive_marker/src/marker_6dof.cpp b/jsk_interactive_markers/jsk_interactive_marker/src/marker_6dof.cpp
index 551b57e6e..fb0c2c93b 100644
--- a/jsk_interactive_markers/jsk_interactive_marker/src/marker_6dof.cpp
+++ b/jsk_interactive_markers/jsk_interactive_marker/src/marker_6dof.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the Willow Garage nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_interactive_markers/jsk_interactive_marker/src/pointcloud_cropper.cpp b/jsk_interactive_markers/jsk_interactive_marker/src/pointcloud_cropper.cpp
index 18cd8274f..938538628 100644
--- a/jsk_interactive_markers/jsk_interactive_marker/src/pointcloud_cropper.cpp
+++ b/jsk_interactive_markers/jsk_interactive_marker/src/pointcloud_cropper.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the Willow Garage nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_interactive_markers/jsk_interactive_marker/src/polygon_marker.cpp b/jsk_interactive_markers/jsk_interactive_marker/src/polygon_marker.cpp
index 9a55c4476..373be896e 100644
--- a/jsk_interactive_markers/jsk_interactive_marker/src/polygon_marker.cpp
+++ b/jsk_interactive_markers/jsk_interactive_marker/src/polygon_marker.cpp
@@ -12,7 +12,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the Willow Garage nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/bounding_box_array_display.cpp b/jsk_rviz_plugins/src/bounding_box_array_display.cpp
index 7b5e233b8..4fdcace26 100644
--- a/jsk_rviz_plugins/src/bounding_box_array_display.cpp
+++ b/jsk_rviz_plugins/src/bounding_box_array_display.cpp
@@ -12,7 +12,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/bounding_box_array_display.h b/jsk_rviz_plugins/src/bounding_box_array_display.h
index 17924fac3..39d840dd4 100644
--- a/jsk_rviz_plugins/src/bounding_box_array_display.h
+++ b/jsk_rviz_plugins/src/bounding_box_array_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/bounding_box_display.cpp b/jsk_rviz_plugins/src/bounding_box_display.cpp
index 1e2cc04d8..67e9ee8ab 100644
--- a/jsk_rviz_plugins/src/bounding_box_display.cpp
+++ b/jsk_rviz_plugins/src/bounding_box_display.cpp
@@ -12,7 +12,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/bounding_box_display.h b/jsk_rviz_plugins/src/bounding_box_display.h
index c5d0058ee..c45f9ba95 100644
--- a/jsk_rviz_plugins/src/bounding_box_display.h
+++ b/jsk_rviz_plugins/src/bounding_box_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/bounding_box_display_common.h b/jsk_rviz_plugins/src/bounding_box_display_common.h
index a4335ba27..e9a6db4c7 100644
--- a/jsk_rviz_plugins/src/bounding_box_display_common.h
+++ b/jsk_rviz_plugins/src/bounding_box_display_common.h
@@ -12,7 +12,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/camera_info_display.cpp b/jsk_rviz_plugins/src/camera_info_display.cpp
index fef43fa7e..c4904e2ac 100644
--- a/jsk_rviz_plugins/src/camera_info_display.cpp
+++ b/jsk_rviz_plugins/src/camera_info_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/camera_info_display.h b/jsk_rviz_plugins/src/camera_info_display.h
index ecb49d818..eaea45ee2 100644
--- a/jsk_rviz_plugins/src/camera_info_display.h
+++ b/jsk_rviz_plugins/src/camera_info_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/close_all_tool.cpp b/jsk_rviz_plugins/src/close_all_tool.cpp
index fa23b77ad..56fc9a2d2 100644
--- a/jsk_rviz_plugins/src/close_all_tool.cpp
+++ b/jsk_rviz_plugins/src/close_all_tool.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/close_all_tool.h b/jsk_rviz_plugins/src/close_all_tool.h
index 3fc9a8223..05adc6cb3 100644
--- a/jsk_rviz_plugins/src/close_all_tool.h
+++ b/jsk_rviz_plugins/src/close_all_tool.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/diagnostics_display.cpp b/jsk_rviz_plugins/src/diagnostics_display.cpp
index a0b2362fe..4b183fbf4 100644
--- a/jsk_rviz_plugins/src/diagnostics_display.cpp
+++ b/jsk_rviz_plugins/src/diagnostics_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/diagnostics_display.h b/jsk_rviz_plugins/src/diagnostics_display.h
index d8a7e02f5..2c2089e2e 100644
--- a/jsk_rviz_plugins/src/diagnostics_display.h
+++ b/jsk_rviz_plugins/src/diagnostics_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/facing_visualizer.cpp b/jsk_rviz_plugins/src/facing_visualizer.cpp
index 60f21549b..8c0dcc5a5 100644
--- a/jsk_rviz_plugins/src/facing_visualizer.cpp
+++ b/jsk_rviz_plugins/src/facing_visualizer.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/facing_visualizer.h b/jsk_rviz_plugins/src/facing_visualizer.h
index 0064af6f8..38194562b 100644
--- a/jsk_rviz_plugins/src/facing_visualizer.h
+++ b/jsk_rviz_plugins/src/facing_visualizer.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/footstep_display.cpp b/jsk_rviz_plugins/src/footstep_display.cpp
index d2763ab30..2f9f9e923 100644
--- a/jsk_rviz_plugins/src/footstep_display.cpp
+++ b/jsk_rviz_plugins/src/footstep_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/footstep_display.h b/jsk_rviz_plugins/src/footstep_display.h
index ee4d64399..f3fd6a5af 100644
--- a/jsk_rviz_plugins/src/footstep_display.h
+++ b/jsk_rviz_plugins/src/footstep_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/human_skeleton_array_display.cpp b/jsk_rviz_plugins/src/human_skeleton_array_display.cpp
index 57cd3185d..d682d8cb5 100644
--- a/jsk_rviz_plugins/src/human_skeleton_array_display.cpp
+++ b/jsk_rviz_plugins/src/human_skeleton_array_display.cpp
@@ -12,7 +12,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/human_skeleton_array_display.h b/jsk_rviz_plugins/src/human_skeleton_array_display.h
index b3337b052..6aad80e0a 100644
--- a/jsk_rviz_plugins/src/human_skeleton_array_display.h
+++ b/jsk_rviz_plugins/src/human_skeleton_array_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/linear_gauge_display.cpp b/jsk_rviz_plugins/src/linear_gauge_display.cpp
index e3f058327..1525f0af9 100644
--- a/jsk_rviz_plugins/src/linear_gauge_display.cpp
+++ b/jsk_rviz_plugins/src/linear_gauge_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/linear_gauge_display.h b/jsk_rviz_plugins/src/linear_gauge_display.h
index 33189ddce..02e43d89d 100644
--- a/jsk_rviz_plugins/src/linear_gauge_display.h
+++ b/jsk_rviz_plugins/src/linear_gauge_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/open_all_tool.cpp b/jsk_rviz_plugins/src/open_all_tool.cpp
index 6580ac54f..fc7fc9fb6 100644
--- a/jsk_rviz_plugins/src/open_all_tool.cpp
+++ b/jsk_rviz_plugins/src/open_all_tool.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/open_all_tool.h b/jsk_rviz_plugins/src/open_all_tool.h
index 9af0c6a1a..2e709131f 100644
--- a/jsk_rviz_plugins/src/open_all_tool.h
+++ b/jsk_rviz_plugins/src/open_all_tool.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/overlay_camera_display.cpp b/jsk_rviz_plugins/src/overlay_camera_display.cpp
index 7fe5bff99..24810da5e 100644
--- a/jsk_rviz_plugins/src/overlay_camera_display.cpp
+++ b/jsk_rviz_plugins/src/overlay_camera_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/overlay_camera_display.h b/jsk_rviz_plugins/src/overlay_camera_display.h
index b1fabc2e9..e9d9ccab4 100644
--- a/jsk_rviz_plugins/src/overlay_camera_display.h
+++ b/jsk_rviz_plugins/src/overlay_camera_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/overlay_diagnostic_display.cpp b/jsk_rviz_plugins/src/overlay_diagnostic_display.cpp
index d1dcecbd2..2cc3f0abc 100644
--- a/jsk_rviz_plugins/src/overlay_diagnostic_display.cpp
+++ b/jsk_rviz_plugins/src/overlay_diagnostic_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/overlay_diagnostic_display.h b/jsk_rviz_plugins/src/overlay_diagnostic_display.h
index 01cc7fc08..e60ff2a3c 100644
--- a/jsk_rviz_plugins/src/overlay_diagnostic_display.h
+++ b/jsk_rviz_plugins/src/overlay_diagnostic_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/overlay_image_display.cpp b/jsk_rviz_plugins/src/overlay_image_display.cpp
index 430feba1e..cb832267b 100644
--- a/jsk_rviz_plugins/src/overlay_image_display.cpp
+++ b/jsk_rviz_plugins/src/overlay_image_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/overlay_image_display.h b/jsk_rviz_plugins/src/overlay_image_display.h
index 7a6ac5106..acf26974e 100644
--- a/jsk_rviz_plugins/src/overlay_image_display.h
+++ b/jsk_rviz_plugins/src/overlay_image_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/overlay_menu_display.cpp b/jsk_rviz_plugins/src/overlay_menu_display.cpp
index fee9bca70..b41b5b8bb 100644
--- a/jsk_rviz_plugins/src/overlay_menu_display.cpp
+++ b/jsk_rviz_plugins/src/overlay_menu_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/overlay_menu_display.h b/jsk_rviz_plugins/src/overlay_menu_display.h
index 2f54a87de..45801193a 100644
--- a/jsk_rviz_plugins/src/overlay_menu_display.h
+++ b/jsk_rviz_plugins/src/overlay_menu_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/overlay_picker_tool.cpp b/jsk_rviz_plugins/src/overlay_picker_tool.cpp
index 33eab4b8a..f2cbe9948 100644
--- a/jsk_rviz_plugins/src/overlay_picker_tool.cpp
+++ b/jsk_rviz_plugins/src/overlay_picker_tool.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/overlay_picker_tool.h b/jsk_rviz_plugins/src/overlay_picker_tool.h
index d09d7bab0..d2dd0d82d 100644
--- a/jsk_rviz_plugins/src/overlay_picker_tool.h
+++ b/jsk_rviz_plugins/src/overlay_picker_tool.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/overlay_text_display.cpp b/jsk_rviz_plugins/src/overlay_text_display.cpp
index 703e618e5..86edc2397 100644
--- a/jsk_rviz_plugins/src/overlay_text_display.cpp
+++ b/jsk_rviz_plugins/src/overlay_text_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/overlay_text_display.h b/jsk_rviz_plugins/src/overlay_text_display.h
index 5a0e1930e..d6b5f4674 100644
--- a/jsk_rviz_plugins/src/overlay_text_display.h
+++ b/jsk_rviz_plugins/src/overlay_text_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/overlay_utils.cpp b/jsk_rviz_plugins/src/overlay_utils.cpp
index 73525c437..c9f2df00a 100644
--- a/jsk_rviz_plugins/src/overlay_utils.cpp
+++ b/jsk_rviz_plugins/src/overlay_utils.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/overlay_utils.h b/jsk_rviz_plugins/src/overlay_utils.h
index 26ebc9212..760ba5ab5 100644
--- a/jsk_rviz_plugins/src/overlay_utils.h
+++ b/jsk_rviz_plugins/src/overlay_utils.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/people_position_measurement_array_display.cpp b/jsk_rviz_plugins/src/people_position_measurement_array_display.cpp
index 257021171..c90963c64 100644
--- a/jsk_rviz_plugins/src/people_position_measurement_array_display.cpp
+++ b/jsk_rviz_plugins/src/people_position_measurement_array_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/people_position_measurement_array_display.h b/jsk_rviz_plugins/src/people_position_measurement_array_display.h
index 906430cc0..1dcd4ee5e 100644
--- a/jsk_rviz_plugins/src/people_position_measurement_array_display.h
+++ b/jsk_rviz_plugins/src/people_position_measurement_array_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/pictogram_array_display.cpp b/jsk_rviz_plugins/src/pictogram_array_display.cpp
index 58d75c742..75e1b2a7c 100644
--- a/jsk_rviz_plugins/src/pictogram_array_display.cpp
+++ b/jsk_rviz_plugins/src/pictogram_array_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/pictogram_array_display.h b/jsk_rviz_plugins/src/pictogram_array_display.h
index b1b3e5fd8..e15821fd4 100644
--- a/jsk_rviz_plugins/src/pictogram_array_display.h
+++ b/jsk_rviz_plugins/src/pictogram_array_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/pictogram_display.cpp b/jsk_rviz_plugins/src/pictogram_display.cpp
index 47fd81f10..a64c46afa 100644
--- a/jsk_rviz_plugins/src/pictogram_display.cpp
+++ b/jsk_rviz_plugins/src/pictogram_display.cpp
@@ -12,7 +12,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/pictogram_display.h b/jsk_rviz_plugins/src/pictogram_display.h
index 6ae929110..06252b436 100644
--- a/jsk_rviz_plugins/src/pictogram_display.h
+++ b/jsk_rviz_plugins/src/pictogram_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/pictogram_font_mapping.h b/jsk_rviz_plugins/src/pictogram_font_mapping.h
index a266103ff..e1157496e 100644
--- a/jsk_rviz_plugins/src/pictogram_font_mapping.h
+++ b/jsk_rviz_plugins/src/pictogram_font_mapping.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/pie_chart_display.cpp b/jsk_rviz_plugins/src/pie_chart_display.cpp
index 120fe2791..1c647238e 100644
--- a/jsk_rviz_plugins/src/pie_chart_display.cpp
+++ b/jsk_rviz_plugins/src/pie_chart_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/pie_chart_display.h b/jsk_rviz_plugins/src/pie_chart_display.h
index ee209b827..1b2199e46 100644
--- a/jsk_rviz_plugins/src/pie_chart_display.h
+++ b/jsk_rviz_plugins/src/pie_chart_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/plotter_2d_display.cpp b/jsk_rviz_plugins/src/plotter_2d_display.cpp
index 1422e279e..4848f84fa 100644
--- a/jsk_rviz_plugins/src/plotter_2d_display.cpp
+++ b/jsk_rviz_plugins/src/plotter_2d_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/plotter_2d_display.h b/jsk_rviz_plugins/src/plotter_2d_display.h
index f1a600c68..7039cab9a 100644
--- a/jsk_rviz_plugins/src/plotter_2d_display.h
+++ b/jsk_rviz_plugins/src/plotter_2d_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/polygon_array_display.cpp b/jsk_rviz_plugins/src/polygon_array_display.cpp
index b1b1ef351..7fce414c6 100644
--- a/jsk_rviz_plugins/src/polygon_array_display.cpp
+++ b/jsk_rviz_plugins/src/polygon_array_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/polygon_array_display.h b/jsk_rviz_plugins/src/polygon_array_display.h
index 6fd135a94..a2da3fff6 100644
--- a/jsk_rviz_plugins/src/polygon_array_display.h
+++ b/jsk_rviz_plugins/src/polygon_array_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/quiet_interactive_marker_display.cpp b/jsk_rviz_plugins/src/quiet_interactive_marker_display.cpp
index 554fc781b..a8c729edd 100644
--- a/jsk_rviz_plugins/src/quiet_interactive_marker_display.cpp
+++ b/jsk_rviz_plugins/src/quiet_interactive_marker_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/quiet_interactive_marker_display.h b/jsk_rviz_plugins/src/quiet_interactive_marker_display.h
index d547f9327..803e63dc0 100644
--- a/jsk_rviz_plugins/src/quiet_interactive_marker_display.h
+++ b/jsk_rviz_plugins/src/quiet_interactive_marker_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/rviz_scene_publisher.cpp b/jsk_rviz_plugins/src/rviz_scene_publisher.cpp
index e24eeb28b..2d3087795 100644
--- a/jsk_rviz_plugins/src/rviz_scene_publisher.cpp
+++ b/jsk_rviz_plugins/src/rviz_scene_publisher.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/rviz_scene_publisher.h b/jsk_rviz_plugins/src/rviz_scene_publisher.h
index 44740ceac..543365e4f 100644
--- a/jsk_rviz_plugins/src/rviz_scene_publisher.h
+++ b/jsk_rviz_plugins/src/rviz_scene_publisher.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/rviz_util.h b/jsk_rviz_plugins/src/rviz_util.h
index 8969fa5d0..3b71a75b0 100644
--- a/jsk_rviz_plugins/src/rviz_util.h
+++ b/jsk_rviz_plugins/src/rviz_util.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/screenshot_listener_tool.cpp b/jsk_rviz_plugins/src/screenshot_listener_tool.cpp
index 372cdeb8d..1450e065f 100644
--- a/jsk_rviz_plugins/src/screenshot_listener_tool.cpp
+++ b/jsk_rviz_plugins/src/screenshot_listener_tool.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/screenshot_listener_tool.h b/jsk_rviz_plugins/src/screenshot_listener_tool.h
index ba77c75c2..3d1e42188 100644
--- a/jsk_rviz_plugins/src/screenshot_listener_tool.h
+++ b/jsk_rviz_plugins/src/screenshot_listener_tool.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/segment_array_display.cpp b/jsk_rviz_plugins/src/segment_array_display.cpp
index 663fa7f26..43a20c390 100644
--- a/jsk_rviz_plugins/src/segment_array_display.cpp
+++ b/jsk_rviz_plugins/src/segment_array_display.cpp
@@ -12,7 +12,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/segment_array_display.h b/jsk_rviz_plugins/src/segment_array_display.h
index 9e5640c49..c420ce559 100644
--- a/jsk_rviz_plugins/src/segment_array_display.h
+++ b/jsk_rviz_plugins/src/segment_array_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/simple_occupancy_grid_array_display.cpp b/jsk_rviz_plugins/src/simple_occupancy_grid_array_display.cpp
index 95bd0f9e0..848697432 100644
--- a/jsk_rviz_plugins/src/simple_occupancy_grid_array_display.cpp
+++ b/jsk_rviz_plugins/src/simple_occupancy_grid_array_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/simple_occupancy_grid_array_display.h b/jsk_rviz_plugins/src/simple_occupancy_grid_array_display.h
index d7a44c65e..b8d7bcc4e 100644
--- a/jsk_rviz_plugins/src/simple_occupancy_grid_array_display.h
+++ b/jsk_rviz_plugins/src/simple_occupancy_grid_array_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/string_display.cpp b/jsk_rviz_plugins/src/string_display.cpp
index ff989eac5..a899d519c 100644
--- a/jsk_rviz_plugins/src/string_display.cpp
+++ b/jsk_rviz_plugins/src/string_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/string_display.h b/jsk_rviz_plugins/src/string_display.h
index 000b52d56..b2199efe6 100644
--- a/jsk_rviz_plugins/src/string_display.h
+++ b/jsk_rviz_plugins/src/string_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/tablet_controller_panel.cpp b/jsk_rviz_plugins/src/tablet_controller_panel.cpp
index b94f29c26..245791851 100644
--- a/jsk_rviz_plugins/src/tablet_controller_panel.cpp
+++ b/jsk_rviz_plugins/src/tablet_controller_panel.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/tablet_controller_panel.h b/jsk_rviz_plugins/src/tablet_controller_panel.h
index af9d8eaaf..c11f52c5e 100644
--- a/jsk_rviz_plugins/src/tablet_controller_panel.h
+++ b/jsk_rviz_plugins/src/tablet_controller_panel.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/target_visualizer_display.cpp b/jsk_rviz_plugins/src/target_visualizer_display.cpp
index 367af9fc6..13811efe0 100644
--- a/jsk_rviz_plugins/src/target_visualizer_display.cpp
+++ b/jsk_rviz_plugins/src/target_visualizer_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/target_visualizer_display.h b/jsk_rviz_plugins/src/target_visualizer_display.h
index 2388beb5c..c701e15fb 100644
--- a/jsk_rviz_plugins/src/target_visualizer_display.h
+++ b/jsk_rviz_plugins/src/target_visualizer_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/tf_trajectory_display.cpp b/jsk_rviz_plugins/src/tf_trajectory_display.cpp
index 591365ab6..ef9c75345 100644
--- a/jsk_rviz_plugins/src/tf_trajectory_display.cpp
+++ b/jsk_rviz_plugins/src/tf_trajectory_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/tf_trajectory_display.h b/jsk_rviz_plugins/src/tf_trajectory_display.h
index 5e2f94f16..a4f2dffcd 100644
--- a/jsk_rviz_plugins/src/tf_trajectory_display.h
+++ b/jsk_rviz_plugins/src/tf_trajectory_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/torus_array_display.cpp b/jsk_rviz_plugins/src/torus_array_display.cpp
index a1cd1c4de..ae55ad8a0 100644
--- a/jsk_rviz_plugins/src/torus_array_display.cpp
+++ b/jsk_rviz_plugins/src/torus_array_display.cpp
@@ -12,7 +12,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/torus_array_display.h b/jsk_rviz_plugins/src/torus_array_display.h
index 227b0de40..6f2109b3b 100644
--- a/jsk_rviz_plugins/src/torus_array_display.h
+++ b/jsk_rviz_plugins/src/torus_array_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/twist_stamped_display.cpp b/jsk_rviz_plugins/src/twist_stamped_display.cpp
index 1391a8aa0..33c3513c0 100644
--- a/jsk_rviz_plugins/src/twist_stamped_display.cpp
+++ b/jsk_rviz_plugins/src/twist_stamped_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/twist_stamped_display.h b/jsk_rviz_plugins/src/twist_stamped_display.h
index 73d662cfd..0234e0805 100644
--- a/jsk_rviz_plugins/src/twist_stamped_display.h
+++ b/jsk_rviz_plugins/src/twist_stamped_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/video_capture_display.cpp b/jsk_rviz_plugins/src/video_capture_display.cpp
index a55a880ba..a9dc596f5 100644
--- a/jsk_rviz_plugins/src/video_capture_display.cpp
+++ b/jsk_rviz_plugins/src/video_capture_display.cpp
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived
diff --git a/jsk_rviz_plugins/src/video_capture_display.h b/jsk_rviz_plugins/src/video_capture_display.h
index c3d6fe491..a4e008c73 100644
--- a/jsk_rviz_plugins/src/video_capture_display.h
+++ b/jsk_rviz_plugins/src/video_capture_display.h
@@ -13,7 +13,7 @@
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/o2r other materials provided
+ *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the JSK Lab nor the names of its
  *     contributors may be used to endorse or promote products derived

From 12f7a411d7431eefdffeef9fd4095974f6bee9d0 Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Fri, 16 Dec 2022 11:12:08 +0900
Subject: [PATCH 08/10] [.github] specify full version of actions/Checkout
 action for github workflow

---
 .github/workflows/config.yml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/config.yml b/.github/workflows/config.yml
index 218d75279..bc1a74011 100644
--- a/.github/workflows/config.yml
+++ b/.github/workflows/config.yml
@@ -58,7 +58,9 @@ jobs:
           fi
 
       - name: Chcekout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3.0.2
+        with:
+          submodules: true
 
       - name: Cache Download Data
         uses: actions/cache@v3

From f8f9d01b154f7f8ea15168b36477e2e0ead68f63 Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Fri, 16 Dec 2022 14:32:17 +0900
Subject: [PATCH 09/10] fix _temp/_runner_file_commands/ for indigo docker
 images

---
 .github/workflows/config.yml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/config.yml b/.github/workflows/config.yml
index bc1a74011..8e70f1e71 100644
--- a/.github/workflows/config.yml
+++ b/.github/workflows/config.yml
@@ -50,6 +50,8 @@ jobs:
              sudo mkdir -p /__w/
              sudo chmod 777 -R /__w/
              sudo chown -R $USER $HOME
+             sudo mkdir  -p /__w/_temp/_runner_file_commands/
+             sudo chown -R $USER /__w/_temp/_runner_file_commands/
              # sudo mkdir -p /home/runner/work/_temp/_github_workflow/
              # sudo chown -R $USER $HOME /home/runner/work/_temp/_github_workflow/
              # ls -al /home/runner/work/_temp/_github_workflow/
@@ -63,7 +65,7 @@ jobs:
           submodules: true
 
       - name: Cache Download Data
-        uses: actions/cache@v3
+        uses: actions/cache@v3.0.4
         with:
           path: /github/home/.ros/data/jsk_rviz_plugins
           key: jsk_rviz_plugins

From 5441d08f9203ff6f55695e7a5f3f107a698fcf19 Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Fri, 16 Dec 2022 18:26:34 +0900
Subject: [PATCH 10/10] .github/workflow: add start X server for 14.04

---
 .github/workflows/config.yml | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/.github/workflows/config.yml b/.github/workflows/config.yml
index 8e70f1e71..cd3f39c31 100644
--- a/.github/workflows/config.yml
+++ b/.github/workflows/config.yml
@@ -72,6 +72,7 @@ jobs:
 
       - name: Start X server
         run: |
+          if [[ "${{ matrix.CONTAINER }}" =~ "jskrobotics/ros-ubuntu:14.04" ]]; then exit 0; fi
           echo 'debconf debconf/frontend select Noninteractive' | sudo debconf-set-selections || echo "failing on ros-ubuntu is OK" # set non interactive tzdata https://stackoverflow.com/questions/8671308/non-interactive-method-for-dpkg-reconfigure-tzdata
           sudo apt-get -y -qq install mesa-utils x11-xserver-utils xserver-xorg-video-dummy wget
           export DISPLAY=:0
@@ -80,6 +81,21 @@ jobs:
           sleep 3 # wait x server up
           export QT_X11_NO_MITSHM=1 # http://wiki.ros.org/docker/Tutorials/GUI
           xhost +local:root
+        shell: bash
+
+      - name: Start X server (for 14.04)
+        run: |
+          if [[ "${{ matrix.CONTAINER }}" =~ "jskrobotics/ros-ubuntu:14.04" ]]; then
+            echo 'debconf debconf/frontend select Noninteractive' | sudo debconf-set-selections || echo "failing on ros-ubuntu is OK" # set non interactive tzdata https://stackoverflow.com/questions/8671308/non-interactive-method-for-dpkg-reconfigure-tzdata
+            export DISPLAY=:0
+            sudo apt-get install -y xvfb libxkbcommon-x11-0 libxcb-icccm4 libxcb-image0 libxcb-keysyms1 libxcb-randr0 libxcb-render-util0 libxcb-xinerama0 libxcb-xfixes0
+            sudo apt-get install -y x11-xserver-utils  # for xhost
+            sudo /usr/bin/Xvfb $DISPLAY -screen 0 1280x1024x24 &
+            sleep 3 # wait x server up
+            export QT_X11_NO_MITSHM=1 # http://wiki.ros.org/docker/Tutorials/GUI
+            xhost +local:root
+          fi
+        shell: bash
 
       - name: Run jsk_travis
         uses: jsk-ros-pkg/jsk_travis@master