diff --git a/.github/workflows/colcon-test.yaml b/.github/workflows/colcon-test-humble.yaml
similarity index 97%
rename from .github/workflows/colcon-test.yaml
rename to .github/workflows/colcon-test-humble.yaml
index f1a437cca..4dcddafdd 100644
--- a/.github/workflows/colcon-test.yaml
+++ b/.github/workflows/colcon-test-humble.yaml
@@ -1,4 +1,4 @@
-name: colcon-test
+name: colcon-test (humble)
 
 on:
   pull_request:
@@ -48,7 +48,7 @@ jobs:
         with:
           package-name: ${{ steps.list_packages.outputs.package_list }}
           target-ros2-distro: ${{ matrix.ros_distribution }}
-          vcs-repo-file-url: dependency.repos
+          vcs-repo-file-url: dependency/humble.repos
           import-token: ${{ secrets.GITHUB_TOKEN }}
           colcon-defaults: |
             {
diff --git a/.github/workflows/colcon-test-jazzy.yaml b/.github/workflows/colcon-test-jazzy.yaml
new file mode 100644
index 000000000..9bc967357
--- /dev/null
+++ b/.github/workflows/colcon-test-jazzy.yaml
@@ -0,0 +1,84 @@
+name: colcon-test (jazzy)
+
+on:
+  pull_request:
+    types: [opened, synchronize]
+    paths: [driving_log_replayer_v2/**, .github/workflows/colcon-test-jazzy.yaml]
+  schedule:
+    - cron: 0 0 * * 0
+  workflow_dispatch:
+
+jobs:
+  colcon-test:
+    runs-on: ubuntu-latest
+    # PEP 668: for rosdep pip rules
+    # https://docs.ros.org/en/independent/api/rosdep/html/pip_and_pep_668.html
+    env:
+      PIP_BREAK_SYSTEM_PACKAGES: "1"
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distribution:
+          - jazzy
+        include:
+          # Jazzy Jalisco (May 2024 - May 2029)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
+            ros_distribution: jazzy
+            ros_version: 2
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+      - name: Cancel Previous Runs
+        uses: styfle/cancel-workflow-action@0.12.1
+        with:
+          access_token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Checkout
+        uses: actions/checkout@v5
+
+      - name: Search packages in this repository
+        id: list_packages
+        run: |
+          echo package_list=$(colcon list --names-only | sed -e ':loop; N; $!b loop; s/\n/ /g') >> $GITHUB_OUTPUT
+
+      - name: Setup ROS environment
+        uses: ros-tooling/setup-ros@0.7.15
+        with:
+          required-ros-distributions: ${{ matrix.ros_distribution }}
+
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@v0.4
+        id: actions_ros_ci_step
+        with:
+          package-name: ${{ steps.list_packages.outputs.package_list }}
+          target-ros2-distro: ${{ matrix.ros_distribution }}
+          vcs-repo-file-url: dependency/jazzy.repos
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+          colcon-defaults: |
+            {
+              "build": {
+                "mixin": ["coverage-pytest"]
+              },
+              "test": {
+                "mixin": ["coverage-pytest"]
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/b8436aa16c0bdbc01081b12caa253cbf16e0fb82/index.yaml
+
+      - name: Upload Unit Test Output
+        uses: actions/upload-artifact@v4
+        if: ${{ !cancelled() && !github.event.pull_request.head.repo.fork }}
+        with:
+          name: colcon-logs
+          path: ${{ steps.action_ros_ci_step.outputs.ros-workspace-directory-name }}/log
+
+      - name: fix paths for coverage file
+        if: ${{ !github.event.pull_request.head.repo.fork }}
+        run: sed -E -i 's/^([[:space:]]*<source>[[:space:]]*)(.*\/)(driving_log_replayer_v2\/driving_log_replayer_v2)/\1.\/driving_log_replayer_v2/' /__w/driving_log_replayer_v2/driving_log_replayer_v2/ros_ws/build/driving_log_replayer_v2/pytest_cov/driving_log_replayer_v2/coverage.xml
+
+      - name: Upload Coverage File
+        uses: actions/upload-artifact@v4
+        if: ${{ !cancelled() && !github.event.pull_request.head.repo.fork }}
+        with:
+          name: colcon-logs
+          path: /__w/driving_log_replayer_v2/driving_log_replayer_v2/ros_ws/build/driving_log_replayer_v2/pytest_cov/driving_log_replayer_v2/
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 8c171ab6e..72d1ea300 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -7,6 +7,7 @@
       },
       "includePath": [
         "/opt/ros/humble/include/**",
+        "/opt/ros/jazzy/include/**",
         "driving_log_replayer_v2/include/**",
         "${workspaceFolder}/../../../install/**",
         "/usr/include/**",
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 9772d4466..70dde8c55 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -25,6 +25,7 @@
     "editor.defaultFormatter": "charliermarsh.ruff"
   },
   "python.autoComplete.extraPaths": [
+    // ROS2 Humble and Python 3.10
     "/opt/ros/humble/lib/python3.10/site-packages",
     "${workspaceFolder}/../../../install/autoware_perception_msgs/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/autoware_vehicle_msgs/local/lib/python3.10/dist-packages",
@@ -42,9 +43,29 @@
     "${workspaceFolder}/../../../install/autoware_common_msgs/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/autoware_adapi_v1_msgs/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/tier4_metric_msgs/local/lib/python3.10/dist-packages",
-    "${workspaceFolder}/../../../install/autoware_internal_planning_msgs/local/lib/python3.10/dist-packages"
+    "${workspaceFolder}/../../../install/autoware_internal_planning_msgs/local/lib/python3.10/dist-packages",
+    // ROS2 Jazzy and Python 3.12
+    "/opt/ros/jazzy/lib/python3.12/site-packages",
+    "${workspaceFolder}/../../../install/autoware_perception_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_vehicle_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_map_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/tier4_planning_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/perception_eval/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/ros2_numpy/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/driving_log_replayer_v2_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_internal_debug_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/driving_log_replayer_v2_analyzer/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_internal_localization_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/tier4_api_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/tier4_perception_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_lanelet2_extension_python/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_common_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_adapi_v1_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/tier4_metric_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_internal_planning_msgs/local/lib/python3.12/dist-packages"
   ],
   "python.analysis.extraPaths": [
+    // ROS2 Humble and Python 3.10
     "/opt/ros/humble/lib/python3.10/site-packages",
     "${workspaceFolder}/../../../install/autoware_perception_msgs/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/autoware_vehicle_msgs/local/lib/python3.10/dist-packages",
@@ -62,7 +83,26 @@
     "${workspaceFolder}/../../../install/autoware_common_msgs/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/autoware_adapi_v1_msgs/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/tier4_metric_msgs/local/lib/python3.10/dist-packages",
-    "${workspaceFolder}/../../../install/autoware_internal_planning_msgs/local/lib/python3.10/dist-packages"
+    "${workspaceFolder}/../../../install/autoware_internal_planning_msgs/local/lib/python3.10/dist-packages",
+    // ROS2 Jazzy and Python 3.12
+    "/opt/ros/jazzy/lib/python3.12/site-packages",
+    "${workspaceFolder}/../../../install/autoware_perception_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_vehicle_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_map_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/tier4_planning_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/perception_eval/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/ros2_numpy/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/driving_log_replayer_v2_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_internal_debug_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/driving_log_replayer_v2_analyzer/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_internal_localization_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/tier4_api_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/tier4_perception_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_lanelet2_extension_python/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_common_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_adapi_v1_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/tier4_metric_msgs/local/lib/python3.12/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_internal_planning_msgs/local/lib/python3.12/dist-packages"
   ],
   "files.associations": {
     "cctype": "cpp",
@@ -145,5 +185,5 @@
     "stop_token": "cpp",
     "functional": "cpp"
   },
-  "ros.distro": "humble"
+  "ros.distro": "humble" // or "jazzy"
 }
diff --git a/README.md b/README.md
index 0a180db1c..819847896 100644
--- a/README.md
+++ b/README.md
@@ -4,8 +4,8 @@ driving_log_replayer_v2 is a ROS package that evaluates the functionality of Aut
 
 ## Requirements
 
-- ROS 2 humble
-- [Python 3.10](https://www.python.org/)
+- ROS 2 humble or Jazzy
+- Python 3.10 or 3.12
 
 ### Optional
 
diff --git a/dependency.repos b/dependency/humble.repos
similarity index 100%
rename from dependency.repos
rename to dependency/humble.repos
diff --git a/dependency/jazzy.repos b/dependency/jazzy.repos
new file mode 100644
index 000000000..9381825dd
--- /dev/null
+++ b/dependency/jazzy.repos
@@ -0,0 +1,38 @@
+repositories:
+  autoware/autoware_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_msgs.git
+    version: 1.3.0
+  autoware/autoware_adapi_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
+    version: beta/1.7.0
+  autoware/autoware_internal_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_internal_msgs.git
+    version: 1.3.0
+  autoware/autoware_cmake:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_cmake.git
+    version: 1.0.0
+  autoware/autoware_utils:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_utils.git
+    version: 1.0.0
+  autoware/autoware_lanelet2_extension:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git
+    version: 0.12.0
+  autoware/tier4_autoware_msgs:
+    type: git
+    url: https://github.com/tier4/tier4_autoware_msgs.git
+    version: tier4/universe
+  # simulator
+  simulator/perception_eval:
+    type: git
+    url: https://github.com/tier4/autoware_perception_evaluation.git
+    version: main
+  simulator/vendor/ros2_numpy:
+    type: git
+    url: https://github.com/Box-Robotics/ros2_numpy.git
+    version: jazzy
diff --git a/docs/quick_start/installation.en.md b/docs/quick_start/installation.en.md
index dd2438adf..092a7f235 100644
--- a/docs/quick_start/installation.en.md
+++ b/docs/quick_start/installation.en.md
@@ -5,13 +5,22 @@ This document contains step-by-step instruction on how to build [AWF Autoware Co
 ## Requirements
 
 - CPU amd64
-- Ubuntu 22.04
-- ROS humble
-- Python 3.10
 - NVIDIA GPU (required if running perception)
 - [zstd](https://github.com/facebook/zstd)
   - sudo apt install zstd
 
+Supported environment: either the Humble stack or the Jazzy stack below.
+
+- Ubuntu 22.04
+- ROS Humble
+- Python 3.10
+
+or
+
+- Ubuntu 24.04
+- ROS Jazzy
+- Python 3.12
+
 ## How to build
 
 1. Navigate to the Autoware workspace:
@@ -39,7 +48,7 @@ This document contains step-by-step instruction on how to build [AWF Autoware Co
      simulator/vendor/ros2_numpy:
        type: git
        url: https://github.com/Box-Robotics/ros2_numpy.git
-       version: humble
+       version: humble  # or jazzy
      simulator/vendor/ros2bag_extensions:
        type: git
        url: https://github.com/tier4/ros2bag_extensions.git
diff --git a/docs/quick_start/installation.ja.md b/docs/quick_start/installation.ja.md
index 24668bd71..54800ef74 100644
--- a/docs/quick_start/installation.ja.md
+++ b/docs/quick_start/installation.ja.md
@@ -5,13 +5,22 @@
 ## Requirements
 
 - CPU amd64
-- Ubuntu 22.04
-- ROS humble
-- Python 3.10
 - NVIDIA GPU (required if running perception)
 - [zstd](https://github.com/facebook/zstd)
   - sudo apt install zstd
 
+次のいずれかの環境セットを満たす必要がある。
+
+- Ubuntu 22.04
+- ROS Humble
+- Python 3.10
+
+or
+
+- Ubuntu 24.04
+- ROS Jazzy
+- Python 3.12
+
 ## ビルド方法
 
 1. Autoware workspace に移動する:
@@ -39,7 +48,7 @@
      simulator/vendor/ros2_numpy:
        type: git
        url: https://github.com/Box-Robotics/ros2_numpy.git
-       version: humble
+       version: humble  # or jazzy
      simulator/vendor/ros2bag_extensions:
        type: git
        url: https://github.com/tier4/ros2bag_extensions.git
diff --git a/driving_log_replayer_v2/CMakeLists.txt b/driving_log_replayer_v2/CMakeLists.txt
index f8429d7a4..f98926061 100644
--- a/driving_log_replayer_v2/CMakeLists.txt
+++ b/driving_log_replayer_v2/CMakeLists.txt
@@ -5,8 +5,20 @@ find_package(ament_cmake_python REQUIRED)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-set(ROS_REQUIREMENTS "${CMAKE_CURRENT_SOURCE_DIR}/../requirements.txt")
-execute_process(COMMAND bash -c "python3 -m pip install -r ${ROS_REQUIREMENTS}")
+find_package(Python3 REQUIRED COMPONENTS Interpreter)
+if(Python3_VERSION VERSION_GREATER_EQUAL "3.10" AND Python3_VERSION VERSION_LESS "3.12")
+  set(ROS_REQUIREMENTS "${CMAKE_CURRENT_SOURCE_DIR}/../requirements/humble.txt")
+  execute_process(COMMAND bash -c "python3 -m pip install -r ${ROS_REQUIREMENTS}")
+elseif(Python3_VERSION VERSION_GREATER_EQUAL "3.12")
+  set(ROS_REQUIREMENTS "${CMAKE_CURRENT_SOURCE_DIR}/../requirements/jazzy.txt")
+  execute_process(COMMAND bash -c "PIP_BREAK_SYSTEM_PACKAGES=1 python3 -m pip install --ignore-installed -r ${ROS_REQUIREMENTS}")
+else()
+  message(
+    FATAL_ERROR
+    "Python version ${Python3_VERSION} is not supported. "
+    "Use Python 3.10+ (3.10–3.11 or 3.12+ as configured for this build)."
+  )
+endif()
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -40,6 +52,9 @@ install(PROGRAMS
   DESTINATION lib/${PROJECT_NAME}
 )
 
+install(FILES "${ROS_REQUIREMENTS}"
+  DESTINATION share/${PROJECT_NAME})
+
 ament_auto_package(INSTALL_TO_SHARE
   launch
   config
diff --git a/driving_log_replayer_v2/driving_log_replayer_v2/ground_segmentation/runner.py b/driving_log_replayer_v2/driving_log_replayer_v2/ground_segmentation/runner.py
index 0ecf6d8c0..ce17460ca 100644
--- a/driving_log_replayer_v2/driving_log_replayer_v2/ground_segmentation/runner.py
+++ b/driving_log_replayer_v2/driving_log_replayer_v2/ground_segmentation/runner.py
@@ -20,7 +20,6 @@
 
 import numpy as np
 import ros2_numpy
-from rosbag2_py import TopicMetadata
 from std_msgs.msg import String
 
 from driving_log_replayer_v2.ground_segmentation.evaluation_manager import (
@@ -29,11 +28,13 @@
 from driving_log_replayer_v2.ground_segmentation.models import GroundSegmentationResult
 from driving_log_replayer_v2.ground_segmentation.models import GroundSegmentationScenario
 import driving_log_replayer_v2.perception_eval_conversions as eval_conversions
+from driving_log_replayer_v2.post_process.ros2_utils import get_topic_metadata
 from driving_log_replayer_v2.post_process.runner import ConvertedData
 from driving_log_replayer_v2.post_process.runner import Runner
 from driving_log_replayer_v2.post_process.runner import UseCaseInfo
 
 if TYPE_CHECKING:
+    from rosbag2_py import TopicMetadata
     from sensor_msgs.msg import PointCloud2
     from std_msgs.msg import Header
 
@@ -105,11 +106,9 @@ def _get_use_case_info_list(
 
     def _get_external_record_topics(self) -> list[TopicMetadata]:
         return [
-            TopicMetadata(
+            get_topic_metadata(
                 name="/driving_log_replayer_v2/ground_segmentation/results",
-                type="std_msgs/msg/String",
-                serialization_format="cdr",
-                offered_qos_profiles="",
+                topic_type="std_msgs/msg/String",
             ),
         ]
 
diff --git a/driving_log_replayer_v2/driving_log_replayer_v2/perception/runner.py b/driving_log_replayer_v2/driving_log_replayer_v2/perception/runner.py
index 4091962be..e74cec552 100644
--- a/driving_log_replayer_v2/driving_log_replayer_v2/perception/runner.py
+++ b/driving_log_replayer_v2/driving_log_replayer_v2/perception/runner.py
@@ -24,7 +24,6 @@
 from autoware_perception_msgs.msg import DetectedObjects
 from autoware_perception_msgs.msg import PredictedObjects
 from autoware_perception_msgs.msg import TrackedObjects
-from rosbag2_py import TopicMetadata
 from std_msgs.msg import Header
 from std_msgs.msg import String
 
@@ -40,6 +39,7 @@
 from driving_log_replayer_v2.perception.topics import load_evaluation_topics
 import driving_log_replayer_v2.perception_eval_conversions as eval_conversions
 from driving_log_replayer_v2.planning_control import PlanningFactorResult
+from driving_log_replayer_v2.post_process.ros2_utils import get_topic_metadata
 from driving_log_replayer_v2.post_process.ros2_utils import lookup_transform
 from driving_log_replayer_v2.post_process.runner import ConvertedData
 from driving_log_replayer_v2.post_process.runner import Runner
@@ -51,6 +51,7 @@
     from perception_eval.config import PerceptionEvaluationConfig
     from perception_eval.evaluation.result.perception_frame_result import PerceptionFrameResult
     from perception_eval.tool import PerceptionAnalyzer3D
+    from rosbag2_py import TopicMetadata
     from visualization_msgs.msg import MarkerArray
 
     from driving_log_replayer_v2.post_process.evaluator import FrameResult
@@ -187,29 +188,21 @@ def _get_use_case_info_list(
 
     def _get_external_record_topics(self) -> list[TopicMetadata]:
         return [
-            TopicMetadata(
+            get_topic_metadata(
                 name="/driving_log_replayer_v2/marker/ground_truth",
-                type="visualization_msgs/MarkerArray",
-                serialization_format="cdr",
-                offered_qos_profiles="",
+                topic_type="visualization_msgs/msg/MarkerArray",
             ),
-            TopicMetadata(
+            get_topic_metadata(
                 name="/driving_log_replayer_v2/marker/results",
-                type="visualization_msgs/MarkerArray",
-                serialization_format="cdr",
-                offered_qos_profiles="",
+                topic_type="visualization_msgs/msg/MarkerArray",
             ),
-            TopicMetadata(
+            get_topic_metadata(
                 name="/driving_log_replayer_v2/perception/results",
-                type="std_msgs/String",
-                serialization_format="cdr",
-                offered_qos_profiles="",
+                topic_type="std_msgs/String",
             ),
-            TopicMetadata(
+            get_topic_metadata(
                 name="/driving_log_replayer_v2/planning_factor/results",
-                type="std_msgs/String",
-                serialization_format="cdr",
-                offered_qos_profiles="",
+                topic_type="std_msgs/String",
             ),
         ]
 
diff --git a/driving_log_replayer_v2/driving_log_replayer_v2/perception_fp/runner.py b/driving_log_replayer_v2/driving_log_replayer_v2/perception_fp/runner.py
index 292dc5efe..7848445bb 100644
--- a/driving_log_replayer_v2/driving_log_replayer_v2/perception_fp/runner.py
+++ b/driving_log_replayer_v2/driving_log_replayer_v2/perception_fp/runner.py
@@ -31,7 +31,6 @@
 from perception_eval.common.object import DynamicObject
 from perception_eval.config import PerceptionEvaluationConfig
 from rclpy.time import Duration
-from rosbag2_py import TopicMetadata
 from sensor_msgs.msg import PointCloud2
 from std_msgs.msg import ColorRGBA
 from std_msgs.msg import Header
@@ -48,12 +47,15 @@
 from driving_log_replayer_v2.perception_fp.models import PerceptionFPScenario
 from driving_log_replayer_v2.perception_fp.models import Polygon3D
 from driving_log_replayer_v2.post_process.ros2_utils import convert_to_homogeneous_matrix
+from driving_log_replayer_v2.post_process.ros2_utils import get_topic_metadata
 from driving_log_replayer_v2.post_process.ros2_utils import lookup_transform
 from driving_log_replayer_v2.post_process.runner import ConvertedData
 from driving_log_replayer_v2.post_process.runner import Runner
 from driving_log_replayer_v2.post_process.runner import UseCaseInfo
 
 if TYPE_CHECKING:
+    from rosbag2_py import TopicMetadata
+
     from driving_log_replayer_v2.post_process.evaluator import FrameResult
     from driving_log_replayer_v2.result import ResultWriter
 
@@ -299,23 +301,17 @@ def _get_use_case_info_list(
 
     def _get_external_record_topics(self) -> list[TopicMetadata]:
         return [
-            TopicMetadata(
+            get_topic_metadata(
                 name="/driving_log_replayer_v2/perception_fp/results",
-                type="std_msgs/msg/String",
-                serialization_format="cdr",
-                offered_qos_profiles="",
+                topic_type="std_msgs/msg/String",
             ),
-            TopicMetadata(
+            get_topic_metadata(
                 name="/driving_log_replayer_v2/perception_fp/non_detection_area",
-                type="visualization_msgs/msg/MarkerArray",
-                serialization_format="cdr",
-                offered_qos_profiles="",
+                topic_type="visualization_msgs/msg/MarkerArray",
             ),
-            TopicMetadata(
+            get_topic_metadata(
                 name="/driving_log_replayer_v2/perception_fp/fp_objects",
-                type="visualization_msgs/msg/MarkerArray",
-                serialization_format="cdr",
-                offered_qos_profiles="",
+                topic_type="visualization_msgs/msg/MarkerArray",
             ),
         ]
 
diff --git a/driving_log_replayer_v2/driving_log_replayer_v2/post_process/ros2_utils.py b/driving_log_replayer_v2/driving_log_replayer_v2/post_process/ros2_utils.py
index 0aa3b854c..2b8292f45 100644
--- a/driving_log_replayer_v2/driving_log_replayer_v2/post_process/ros2_utils.py
+++ b/driving_log_replayer_v2/driving_log_replayer_v2/post_process/ros2_utils.py
@@ -357,3 +357,22 @@ def convert_to_homogeneous_matrix(transform: TransformStamped) -> np.ndarray:
     matrix[0:3, 3] = [translation.x, translation.y, translation.z]
     matrix[0:3, 0:3] = quaternion.rotation_matrix
     return matrix
+
+
+# TODO: remove this function after ROS Jazzy is supported
+def get_topic_metadata(name: str, topic_type: str) -> TopicMetadata:
+    # for humble
+    try:
+        return TopicMetadata(
+            name=name,
+            type=topic_type,
+            serialization_format="cdr",
+        )
+    # for jazzy
+    except TypeError:
+        return TopicMetadata(
+            id=0,
+            name=name,
+            type=topic_type,
+            serialization_format="cdr",
+        )
diff --git a/driving_log_replayer_v2/package.xml b/driving_log_replayer_v2/package.xml
index ac20e4344..6422085bb 100644
--- a/driving_log_replayer_v2/package.xml
+++ b/driving_log_replayer_v2/package.xml
@@ -48,6 +48,7 @@
   <exec_depend>python3-pandas</exec_depend>
   <exec_depend>python3-simplejson</exec_depend>
   <exec_depend>python3-termcolor</exec_depend>
+  <exec_depend>python3-transforms3d</exec_depend>
   <exec_depend>python3-yaml</exec_depend>
   <exec_depend>rclpy</exec_depend>
   <exec_depend>ros2_numpy</exec_depend>
diff --git a/pyproject.toml b/pyproject.toml
index 905b3c8af..de6edaa09 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -21,7 +21,7 @@ dependencies = [
     "kaleido>=0.2.1",
 ]
 readme = "README.md"
-requires-python = ">=3.10,<3.11"
+requires-python = ">=3.10,<3.13"
 license = "Apache-2.0"
 
 [project.scripts]
diff --git a/requirements.txt b/requirements/humble.txt
similarity index 100%
rename from requirements.txt
rename to requirements/humble.txt
diff --git a/requirements/jazzy.txt b/requirements/jazzy.txt
new file mode 100644
index 000000000..089b4ade2
--- /dev/null
+++ b/requirements/jazzy.txt
@@ -0,0 +1,2 @@
+# This file is for force overwriting the Python libraries to ensure ROS execution
+pydantic>=2.5.1 # python3-pydantic is old (1.10.14)
diff --git a/uv.lock b/uv.lock
index 420ba3ddd..a95686276 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,6 +1,11 @@
 version = 1
-revision = 3
-requires-python = "==3.10.*"
+revision = 2
+requires-python = ">=3.10, <3.13"
+resolution-markers = [
+    "python_full_version >= '3.12'",
+    "python_full_version == '3.11.*'",
+    "python_full_version < '3.11'",
+]
 
 [manifest]
 constraints = [{ name = "kaleido", specifier = "!=0.2.1.post1" }]
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+    { url = "https://files.pythonhosted.org/packages/68/77/02839016f6fbbf808e8b38601df6e0e66c17bbab76dff4613f7511413597/charset_normalizer-3.3.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:802fe99cca7457642125a8a88a084cef28ff0cf9407060f7b93dca5aa25480db", size = 191647, upload-time = "2023-11-01T04:02:55.329Z" },
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@@ -88,7 +123,7 @@ wheels = [
 
 [[package]]
 name = "driving-log-replayer-v2"
-version = "3.13.3"
+version = "3.17.4"
 source = { editable = "." }
 dependencies = [
     { name = "click" },
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