diff --git a/openslam_gmapping.spec b/openslam-gmapping.spec
similarity index 69%
rename from openslam_gmapping.spec
rename to openslam-gmapping.spec
index d58aa0da47ec1369f3aa92c33f4d169ccb251abf..324d4ae6757e7f37bfbf1c1645e8acd4c8eeb834 100644
--- a/openslam_gmapping.spec
+++ b/openslam-gmapping.spec
@@ -6,45 +6,19 @@
 %global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$
 
 %define RosPkgName      openslam-gmapping
+%define with_tests 0
 
 Name:           ros-%{ros_distro}-%{RosPkgName}
 Version:        0.2.1
 Release:        1%{?dist}%{?release_suffix}
-Summary:        This package provides ROS specific hooks for openslam-gmapping
+Summary:        The catkinized verseion of openslam_gmapping package (https://github.com/OpenSLAM-org/openslam_gmapping/tree/79ef0b0e6d9a12d6390ae64c4c00d37d776abefb)
 
-Url:            http://ros.org/wiki/openslam_gmapping
+Url:            http://openslam.org/gmapping
 License:        BSD
 Source0:        %{name}_%{version}.orig.tar.gz
 
-Requires: ros-%{ros_distro}-rosidl-default-runtime
-Requires: boost-devel
-Requires: ros-%{ros_distro}-geometry-msgs
-Requires: ros-%{ros_distro}-nav-msgs
-Requires: ros-%{ros_distro}-rclcpp
-Requires: ros-%{ros_distro}-rclcpp-components
-Requires: ros-%{ros_distro}-sensor-msgs
-Requires: stage-devel
-Requires: ros-%{ros_distro}-std-msgs
-Requires: ros-%{ros_distro}-std-srvs
-Requires: ros-%{ros_distro}-ros-workspace
-Requires: libXext-devel
-
-BuildRequires: ros-%{ros_distro}-rosidl-default-generators
-BuildRequires: boost-devel
-BuildRequires: ros-%{ros_distro}-geometry-msgs
-BuildRequires: ros-%{ros_distro}-nav-msgs
-BuildRequires: ros-%{ros_distro}-rclcpp
-BuildRequires: ros-%{ros_distro}-rclcpp-components
-BuildRequires: ros-%{ros_distro}-sensor-msgs
-BuildRequires: stage-devel
-BuildRequires: ros-%{ros_distro}-std-msgs
-BuildRequires: ros-%{ros_distro}-std-srvs
-BuildRequires: ros-%{ros_distro}-tf2-ros
-BuildRequires: ros-%{ros_distro}-tf2-geometry-msgs
-BuildRequires: ros-%{ros_distro}-tf2-kdl
-BuildRequires: ros-%{ros_distro}-ament-cmake
-BuildRequires: ros-%{ros_distro}-ros-workspace
-BuildRequires: libXext-devel
+
+BuildRequires: ros-%{ros_distro}-catkin
 
 %if 0%{?with_tests}
 %endif
@@ -54,7 +28,7 @@ Provides:       %{name}-doc = %{version}-%{release}
 Provides:       %{name}-runtime = %{version}-%{release}
 
 %description
-This package provides ROS specific hooks for stage
+The catkinized verseion of openslam_gmapping package (https://github.com/OpenSLAM-org/openslam_gmapping/tree/79ef0b0e6d9a12d6390ae64c4c00d37d776abefb)
 
 %prep
 %autosetup -p1
@@ -63,6 +37,9 @@ This package provides ROS specific hooks for stage
 # Needed to bootstrap since the ros_workspace package does not yet exist.
 export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages
 
+export ROS_DISTRO=%{ros_distro}
+export ROS_PYTHON_VERSION=%{python3_version}
+
 # In case we're installing to a non-standard location, look for a setup.sh
 # in the install tree and source it.  It will set things like
 # CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
@@ -77,6 +54,7 @@ mkdir -p .obj-%{_target_platform} && cd .obj-%{_target_platform}
     -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
     -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \
     -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \
+    -DCMAKE_INSTALL_LIBDIR="/opt/ros/%{ros_distro}/lib" \
     -DSETUPTOOLS_DEB_LAYOUT=OFF \
 %if !0%{?with_tests}
     -DBUILD_TESTING=OFF \
@@ -116,5 +94,5 @@ else echo "RPM TESTS SKIPPED"; fi
 /opt/ros/%{ros_distro}
 
 %changelog
-* Thu May 04 2023 William Woodall william@osrfoundation.org - 1.8.0-1
+* 三 1月 10 2024 ROS Orphaned Package Maintainers ros-orphaned-packages@googlegroups.com - 0.2.1-1
 - Autogenerated by ros-porting-tools
diff --git a/ros-humble-openslam-gmapping_0.2.1.orig.tar.gz b/ros-humble-openslam-gmapping_0.2.1.orig.tar.gz
deleted file mode 100644
index 5b93e7d3a6a22fc2f698f40ba97e4840688ca150..0000000000000000000000000000000000000000
Binary files a/ros-humble-openslam-gmapping_0.2.1.orig.tar.gz and /dev/null differ
diff --git a/ros-noetic-openslam-gmapping_0.2.1.orig.tar.gz b/ros-noetic-openslam-gmapping_0.2.1.orig.tar.gz
new file mode 100644
index 0000000000000000000000000000000000000000..9ea44b1a16c454eb19fb3c81ac8a584da90f454b
Binary files /dev/null and b/ros-noetic-openslam-gmapping_0.2.1.orig.tar.gz differ