diff --git a/.github/workflows/build_test.yaml b/.github/workflows/build_test.yaml
index 19b846b6a..5a64a48e2 100644
--- a/.github/workflows/build_test.yaml
+++ b/.github/workflows/build_test.yaml
@@ -15,13 +15,13 @@ jobs:
           || fromJSON('[ "ubuntu-latest" ]')
       }}
     timeout-minutes: 30
-    container: ghcr.io/ibis-ssl/crane:base
+    container: ros:${{ matrix.rosdistro }}
     env:
       DEBIAN_FRONTEND: noninteractive
     strategy:
       fail-fast: false
       matrix:
-        rosdistro: [humble]
+        rosdistro: [humble, jazzy]
     steps:
       - name: suppress warnings
         run: |
@@ -52,6 +52,11 @@ jobs:
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: Install wget
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y wget libcpprest-dev
+
       - name: Clone dependency packages
         run: |
           mkdir -p dependency_ws
@@ -76,7 +81,6 @@ jobs:
         run: |
           . /opt/ros/${{ matrix.rosdistro }}/setup.sh
           colcon build --event-handlers console_cohesion+ \
-            --packages-above-and-dependencies ${{ steps.get-modified-packages.outputs.modified-packages }} \
             --cmake-args -DCMAKE_BUILD_TYPE=Release \
             --mixin coverage-gcc coverage-pytest compile-commands
         shell: bash
diff --git a/.github/workflows/custom_dict.json b/.github/workflows/custom_dict.json
index 451ef1d5d..2b4c7acc8 100644
--- a/.github/workflows/custom_dict.json
+++ b/.github/workflows/custom_dict.json
@@ -6,7 +6,6 @@
     "robocupssl",
     "teleop",
     "inplay",
-    "liborocos",
     "matplotlibcpp",
     "DPPS",
     "consai",
diff --git a/crane_gui/AMENT_IGNORE b/crane_gui/AMENT_IGNORE
new file mode 100644
index 000000000..e69de29bb
diff --git a/crane_local_planner/CMakeLists.txt b/crane_local_planner/CMakeLists.txt
index b74b25048..e70a0dc8c 100755
--- a/crane_local_planner/CMakeLists.txt
+++ b/crane_local_planner/CMakeLists.txt
@@ -18,7 +18,10 @@ find_package(rclcpp_components REQUIRED)
 find_package(backward_ros REQUIRED)
 ament_auto_find_build_dependencies()
 
-ament_auto_add_library(${PROJECT_NAME}_component SHARED DIRECTORY src)
+ament_auto_add_library(${PROJECT_NAME}_component SHARED
+  src/rvo2_planner.cpp
+  src/crane_local_planner.cpp
+)
 
 target_precompile_headers(${PROJECT_NAME}_component
   PUBLIC
@@ -37,7 +40,7 @@ ament_auto_add_executable(${PROJECT_NAME}_node
   src/${PROJECT_NAME}_node.cpp
 )
 
-include(/opt/ros/humble/share/backward_ros/cmake/BackwardConfig.cmake)
+include(/opt/ros/$ENV{ROS_DISTRO}/share/backward_ros/cmake/BackwardConfig.cmake)
 add_backward(${PROJECT_NAME}_node)
 
 if(BUILD_TESTING)
diff --git a/crane_local_planner/include/crane_local_planner/local_planner.hpp b/crane_local_planner/include/crane_local_planner/local_planner.hpp
index a4299fcad..7f9b7b635 100644
--- a/crane_local_planner/include/crane_local_planner/local_planner.hpp
+++ b/crane_local_planner/include/crane_local_planner/local_planner.hpp
@@ -11,12 +11,12 @@
 #include <crane_msgs/msg/robot_commands.hpp>
 #include <crane_msgs/msg/world_model.hpp>
 #include <functional>
-#include <grid_map_ros/grid_map_ros.hpp>
+// #include <grid_map_ros/grid_map_ros.hpp>
 #include <memory>
 #include <rclcpp/rclcpp.hpp>
 #include <std_msgs/msg/float32.hpp>
 
-#include "gridmap_planner.hpp"
+// #include "gridmap_planner.hpp"
 #include "rvo2_planner.hpp"
 #include "simple_planner.hpp"
 #include "visibility_control.h"
@@ -37,15 +37,16 @@ class LocalPlannerComponent : public rclcpp::Node
   explicit LocalPlannerComponent(const rclcpp::NodeOptions & options)
   : rclcpp::Node("local_planner", options)
   {
-    declare_parameter("planner", "gridmap");
+    declare_parameter("planner", "rvo2");
     auto planner_str = get_parameter("planner").as_string();
 
     crane::ConsaiVisualizerBuffer::activate(*this);
 
     process_time_pub = create_publisher<std_msgs::msg::Float32>("process_time", 10);
-    if (planner_str == "gridmap") {
-      planner = std::make_shared<GridMapPlanner>(*this);
-    } else if (planner_str == "simple") {
+    // if (planner_str == "gridmap") {
+    //   planner = std::make_shared<GridMapPlanner>(*this);
+    // }
+    if (planner_str == "simple") {
       planner = std::make_shared<SimplePlanner>(*this);
     } else if (planner_str == "rvo2") {
       planner = std::make_shared<RVO2Planner>(*this);
diff --git a/crane_local_planner/package.xml b/crane_local_planner/package.xml
index 582a852f2..b248c279f 100755
--- a/crane_local_planner/package.xml
+++ b/crane_local_planner/package.xml
@@ -14,12 +14,12 @@
   <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
-  <depend>grid_map_core</depend>
-  <depend>grid_map_ros</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>rvo2_vendor</depend>
   <depend>std_msgs</depend>
+  <!-- <depend>grid_map_core</depend> -->
+  <!-- <depend>grid_map_ros</depend> -->
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>crane_lint_common</test_depend>
diff --git a/dependency_jazzy.repos b/dependency_jazzy.repos
index 7c49a53e3..1a27dc7cd 100644
--- a/dependency_jazzy.repos
+++ b/dependency_jazzy.repos
@@ -7,19 +7,3 @@ repositories:
         type: git
         url: https://github.com/HansRobo/speak_ros_voicevox_plugin.git
         version: main
-    grid_map:
-        type: git
-        url: https://github.com/ANYbotics/grid_map.git
-        version: humble
-    navigation2:
-        type: git
-        url: https://github.com/open-navigation/navigation2.git
-        version: main
-    gazebo_ros_pkgs:
-        type: git
-        url: https://github.com/ros-simulation/gazebo_ros_pkgs.git
-        version: ros2
-    slam_toolbox:
-        type: git
-        url: https://github.com/SteveMacenski/slam_toolbox.git
-        version: ros2
diff --git a/docker/base/Dockerfile b/docker/base/Dockerfile
index 0c84bc79d..83fcf9fd2 100644
--- a/docker/base/Dockerfile
+++ b/docker/base/Dockerfile
@@ -9,11 +9,7 @@ WORKDIR $ROS_OVERLAY/src
 COPY . crane
 
 RUN apt-get update && \
-    apt-get install -y wget ccache python3-pip ffmpeg&& \
-    wget https://launchpad.net/ubuntu/+archive/primary/+files/liborocos-bfl0.8_0.8.0-6_amd64.deb && \
-    wget https://launchpad.net/ubuntu/+archive/primary/+files/liborocos-bfl-dev_0.8.0-6_amd64.deb && \
-    apt-get install -y ./liborocos-bfl0.8_0.8.0-6_amd64.deb && \
-    apt-get install -y ./liborocos-bfl-dev_0.8.0-6_amd64.deb
+    apt-get install -y wget ccache python3-pip ffmpeg
 
 RUN wget https://go.dev/dl/go1.22.4.linux-amd64.tar.gz && \
     tar -C /usr/local -xzf go1.22.4.linux-amd64.tar.gz && \
diff --git a/utility/crane_lint_common/package.xml b/utility/crane_lint_common/package.xml
index 345ac8ad6..3e7c632d0 100644
--- a/utility/crane_lint_common/package.xml
+++ b/utility/crane_lint_common/package.xml
@@ -9,7 +9,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <exec_depend>ament_cmake_clang_format</exec_depend>
+  <!--  <exec_depend>ament_cmake_clang_format</exec_depend>-->
   <exec_depend>ament_cmake_copyright</exec_depend>
   <exec_depend>ament_cmake_xmllint</exec_depend>
   <!--  <exec_depend>ament_cmake_flake8</exec_depend>-->
diff --git a/utility/crane_msg_wrappers/include/crane_msg_wrappers/geometry_wrapper.hpp b/utility/crane_msg_wrappers/include/crane_msg_wrappers/geometry_wrapper.hpp
index 956ba70a9..cf505c7c7 100644
--- a/utility/crane_msg_wrappers/include/crane_msg_wrappers/geometry_wrapper.hpp
+++ b/utility/crane_msg_wrappers/include/crane_msg_wrappers/geometry_wrapper.hpp
@@ -7,8 +7,6 @@
 #ifndef CRANE_MSG_WRAPPERS__GEOMETRY_WRAPPER_HPP_
 #define CRANE_MSG_WRAPPERS__GEOMETRY_WRAPPER_HPP_
 
-#include <bfl/filter/extendedkalmanfilter.h>
-
 #include <geometry_msgs/msg/accel.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/pose2_d.hpp>
@@ -34,7 +32,6 @@ class Pose
   explicit Pose(geometry_msgs::msg::Pose pose);
   explicit Pose(geometry_msgs::msg::Pose2D pose);
 
-  MatrixWrapper::ColumnVector toColumnVector();
   geometry_msgs::msg::Pose toROSPose();
   geometry_msgs::msg::Pose2D toROSPose2D();
   geometry2d::Pose transpose(geometry2d::Pose pose);
@@ -66,8 +63,6 @@ class Accel
   Accel();
   Accel(float x, float y, float theta);
   explicit Accel(geometry_msgs::msg::Accel accel);
-
-  MatrixWrapper::ColumnVector toColumnVector();
 };
 
 class Point
diff --git a/utility/crane_msg_wrappers/package.xml b/utility/crane_msg_wrappers/package.xml
index 07aa42d3c..e462c8819 100755
--- a/utility/crane_msg_wrappers/package.xml
+++ b/utility/crane_msg_wrappers/package.xml
@@ -15,8 +15,6 @@
   <depend>crane_msgs</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
-  <depend>liborocos-bfl</depend>
-  <depend>liborocos-bfl-dev</depend>
   <depend>nav_msgs</depend>
   <depend>range-v3</depend>
   <depend>rclcpp</depend>
diff --git a/utility/crane_msg_wrappers/src/geometry_wrapper.cpp b/utility/crane_msg_wrappers/src/geometry_wrapper.cpp
index 601161966..240179f7d 100644
--- a/utility/crane_msg_wrappers/src/geometry_wrapper.cpp
+++ b/utility/crane_msg_wrappers/src/geometry_wrapper.cpp
@@ -47,17 +47,6 @@ Pose::Pose(geometry_msgs::msg::Pose2D pose)
   this->theta = pi2pi(this->theta);
 }
 
-MatrixWrapper::ColumnVector Pose::toColumnVector()
-{
-  MatrixWrapper::ColumnVector column_vector(3);
-
-  column_vector(1) = this->x;
-  column_vector(2) = this->y;
-  column_vector(3) = this->theta;
-
-  return column_vector;
-}
-
 geometry_msgs::msg::Pose Pose::toROSPose()
 {
   geometry_msgs::msg::Pose msg;
@@ -165,17 +154,6 @@ Accel::Accel(geometry_msgs::msg::Accel accel)
   this->theta = accel.angular.z;
 }
 
-MatrixWrapper::ColumnVector Accel::toColumnVector()
-{
-  MatrixWrapper::ColumnVector column_vector(3);
-
-  column_vector(1) = this->x;
-  column_vector(2) = this->y;
-  column_vector(3) = this->theta;
-
-  return column_vector;
-}
-
 Odometry::Odometry() {}
 
 Odometry::Odometry(Pose pose, Velocity velocity)
diff --git a/utility/gridmap_to_image/.clang-format b/utility/gridmap_to_image/.clang-format
deleted file mode 100755
index 1db9fb9f5..000000000
--- a/utility/gridmap_to_image/.clang-format
+++ /dev/null
@@ -1,17 +0,0 @@
-Language: Cpp
-BasedOnStyle: Google
-
-AccessModifierOffset: -2
-AlignAfterOpenBracket: AlwaysBreak
-BraceWrapping:
-  AfterClass: true
-  AfterFunction: true
-  AfterNamespace: true
-  AfterStruct: true
-BreakBeforeBraces: Custom
-ColumnLimit: 100
-ConstructorInitializerIndentWidth: 0
-ContinuationIndentWidth: 2
-DerivePointerAlignment: false
-PointerAlignment: Middle
-ReflowComments: false
diff --git a/utility/gridmap_to_image/CMakeLists.txt b/utility/gridmap_to_image/CMakeLists.txt
deleted file mode 100755
index 6301e3790..000000000
--- a/utility/gridmap_to_image/CMakeLists.txt
+++ /dev/null
@@ -1,24 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(gridmap_to_image)
-
-# Default to C++20
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 20)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -g)
-endif()
-
-# find dependencies
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
-
-ament_auto_add_executable(${PROJECT_NAME}_node src/${PROJECT_NAME}_node.cpp)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_auto_package()
diff --git a/utility/gridmap_to_image/package.xml b/utility/gridmap_to_image/package.xml
deleted file mode 100755
index af15384cb..000000000
--- a/utility/gridmap_to_image/package.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>gridmap_to_image</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="ibis.team@gmail.com">ibis</maintainer>
-  <license>TODO: License declaration</license>
-
-  <buildtool_depend>ament_cmake_auto</buildtool_depend>
-
-  <depend>grid_map_core</depend>
-  <depend>grid_map_cv</depend>
-  <depend>grid_map_ros</depend>
-  <depend>rclcpp</depend>
-  <depend>sensor_msgs</depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>crane_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/utility/gridmap_to_image/src/gridmap_to_image_node.cpp b/utility/gridmap_to_image/src/gridmap_to_image_node.cpp
deleted file mode 100644
index 577c4ae18..000000000
--- a/utility/gridmap_to_image/src/gridmap_to_image_node.cpp
+++ /dev/null
@@ -1,65 +0,0 @@
-// Copyright (c) 2024 ibis-ssl
-//
-// Use of this source code is governed by an MIT-style
-// license that can be found in the LICENSE file or at
-// https://opensource.org/licenses/MIT.
-
-#include <cv_bridge/cv_bridge.h>
-
-#include <grid_map_cv/grid_map_cv.hpp>
-#include <grid_map_ros/grid_map_ros.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <sensor_msgs/msg/image.hpp>
-
-class GridMapToImageNode : public rclcpp::Node
-{
-public:
-  GridMapToImageNode() : Node("grid_map_to_image_node")
-  {
-    // grid_mapの購読
-    grid_map_sub_ = this->create_subscription<grid_map_msgs::msg::GridMap>(
-      "/local_planner/grid_map", 10,
-      std::bind(&GridMapToImageNode::gridMapCallback, this, std::placeholders::_1));
-  }
-
-private:
-  void gridMapCallback(const grid_map_msgs::msg::GridMap::SharedPtr msg)
-  {
-    grid_map::GridMap map;
-    grid_map::GridMapRosConverter::fromMessage(*msg, map);
-
-    // GridMap内の全てのレイヤーを取得
-    for (const auto & layer : map.getLayers()) {
-      // GridMapをcv::Matに変換
-      cv::Mat image;
-      grid_map::GridMapCvConverter::toImage<unsigned char, 1>(map, layer, CV_8UC1, 0.0, 1.0, image);
-
-      // cv::Matをsensor_msgs/Imageに変換
-      auto image_msg = cv_bridge::CvImage(std_msgs::msg::Header(), "mono8", image).toImageMsg();
-      image_msg->header.stamp = this->get_clock()->now();
-
-      // トピック名をレイヤー名に基づいて生成し、「/」を「_」に置換
-      std::string topic_name = "grid_map_image_" + layer;
-      std::replace(topic_name.begin(), topic_name.end(), '/', '_');
-
-      // 該当トピックのパブリッシャーが存在しない場合は作成
-      image_pubs_.try_emplace(
-        topic_name, this->create_publisher<sensor_msgs::msg::Image>(topic_name, 10));
-
-      // Imageメッセージの発行
-      image_pubs_[topic_name]->publish(*image_msg);
-    }
-  }
-
-  rclcpp::Subscription<grid_map_msgs::msg::GridMap>::SharedPtr grid_map_sub_;
-  std::unordered_map<std::string, rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr>
-    image_pubs_;
-};
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  rclcpp::spin(std::make_shared<GridMapToImageNode>());
-  rclcpp::shutdown();
-  return 0;
-}