From ca92b3aebaffc06361fd9e378c9c8ed9a29636f9 Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Thu, 31 Aug 2023 17:27:40 +0900
Subject: [PATCH] feat(node_diagram): update map module (#440)

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../overall-node-diagram-autoware-universe.drawio.svg           | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg b/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg
index 7023f2d0c67..1aa2d3f2c54 100644
--- a/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg
+++ b/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg
@@ -1,4 +1,4 @@
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source=&quot;P3Th9qUTFY8M71-R8FQo-70&quot; target=&quot;P3Th9qUTFY8M71-R8FQo-76&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.7906&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1090.0689655172414&quot; y=&quot;390&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;P3Th9qUTFY8M71-R8FQo-69&quot; value=&quot;range_cropped/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;startArrow=none;startFill=0;endArrow=classic;endFill=1;labelBackgroundColor=none;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;P3Th9qUTFY8M71-R8FQo-70&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.2727&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-9&quot; target=&quot;F5SEpTDf39VAK2Lenjye-29&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.8837&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-429&quot; y=&quot;-840&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-600&quot; y=&quot;-840&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-600&quot; y=&quot;310&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-25&quot; value=&quot;motion_planning/obstacle_avoidance_planner/trajectory [Trajectory]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-20&quot; target=&quot;F5SEpTDf39VAK2Lenjye-21&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.4&quot; y=&quot;1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;obstacle_&amp;lt;br&amp;gt;avoidance_planner&quot; tooltip=&quot;車両形状や走行可能領域を考慮して、経路の平滑化を行う。障害物も避けるが、long historyで最近は回避機能はoffになっています。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_avoidance_planner&quot; id=&quot;F5SEpTDf39VAK2Lenjye-20&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;10&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-26&quot; value=&quot;motion_planning/obstacle_velocity_limiter/trajectory [Trajectory]&quot; style=&quot;edgeStyle=none;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-21&quot; target=&quot;F5SEpTDf39VAK2Lenjye-22&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;obstacle_velocity_limiter&quot; tooltip=&quot;自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_velocity_limiter&quot; id=&quot;F5SEpTDf39VAK2Lenjye-21&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-500&quot; y=&quot;90&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;obstacle_stop_&amp;lt;br&amp;gt;planner&quot; tooltip=&quot;障害物停止・前車追従・近傍障害物減速の複数の機能を持ち、機能に応じて経路上に速度を埋め込む。&amp;#xa;目標経路上に障害物点がある場合は停止、経路近くに障害物点群がある場合は減速、前方に車両が居る場合は前車追従。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_stop_planner&quot; id=&quot;F5SEpTDf39VAK2Lenjye-22&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;170&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;costmap_generator&quot; tooltip=&quot;障害物点群や地図の走行可能エリアの情報から、駐車プランナー用のコストマップを生成する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/costmap_generator&quot; id=&quot;F5SEpTDf39VAK2Lenjye-34&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-210&quot; y=&quot;-640&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;external_velocity_&amp;lt;br&amp;gt;limit_selector&quot; tooltip=&quot;apiとautoware.iv内部から送られてくる制約付き減速指示を受け取り、整合性をとる&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/external_velocity_limit_selector&quot; id=&quot;GMkAwjkdd8HhiVTGiUsg-41&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-860&quot; y=&quot;380&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;GMkAwjkdd8HhiVTGiUsg-47&quot; value=&quot;/planning/scenario_planning/max_velocity&amp;lt;br&amp;gt;[tier4_planning_msgs/msg/VelocityLimit]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;startArrow=none;startFill=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;exitX=1;exitY=0.5;exitDx=0;exitDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;GMkAwjkdd8HhiVTGiUsg-41&quot; target=&quot;F5SEpTDf39VAK2Lenjye-30&quot; edge=&quot;1&quot;&gt;&#10; 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as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-430&quot; y=&quot;260&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-417&quot; y=&quot;260&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-41&quot; value=&quot;trajectory [Trajectory]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;startArrow=none;startFill=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-29&quot; target=&quot;F5SEpTDf39VAK2Lenjye-30&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;scenario_selector&quot; tooltip=&quot;いまのrouteおよび地図情報から、LaneDriving / Parkingのシナリオを判断し、どちらの経路を使うかを切り替える。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/scenario_selector&quot; id=&quot;F5SEpTDf39VAK2Lenjye-29&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-447.5&quot; y=&quot;290&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;46&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0, 0, 0); font-family: Helvetica; font-size: 11px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: center; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; background-color: rgb(255, 255, 255); text-decoration-thickness: initial; text-decoration-style: initial; text-decoration-color: initial; float: none; display: inline !important;&amp;quot;&amp;gt;/planning/scenario_planning/motion_velocity_smoother/trajectory [Trajectory]&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=none;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-30&quot; target=&quot;43&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;motion_velocity_&amp;lt;br&amp;gt;smoother&quot; tooltip=&quot;経路に埋め込まれた最大速度を超過しないように、うまい具合で速度を平滑化する。カーブでの減速もここで行う。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/motion_velocity_smoother&quot; id=&quot;F5SEpTDf39VAK2Lenjye-30&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-447.5&quot; y=&quot;380&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;17&quot; value=&quot;&quot; style=&quot;group;comic=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-528.5&quot; y=&quot;-680&quot; width=&quot;200&quot; height=&quot;241&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;behavior_path_planner&quot; tooltip=&quot;交通ルールをもとに、経路上の最大速度を決定します。各モジュールは、自身の計算した最大速度と上段の結果を比較し、小さい速度を経路上に書き込みます。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/behavior_path_planner&quot; id=&quot;11&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;verticalAlign=top;sketch=0;shadow=0;&quot; parent=&quot;17&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1.5&quot; y=&quot;-90&quot; width=&quot;200&quot; height=&quot;241&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;obstacle_avoidance&quot; tooltip=&quot;ルート情報や障害物情報をもとに、障害物回避を実行します。&quot; id=&quot;12&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;17&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;28&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;pull_over/out&quot; tooltip=&quot;ルート情報をもとに路肩への幅寄せ、路肩からの発進を行います。&quot; id=&quot;13&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;17&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;68&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;side_shift&quot; tooltip=&quot;遠隔からの司令をもとに幅寄せを行います。&quot; id=&quot;14&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;17&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;108&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;lane_change&quot; tooltip=&quot;ルート情報や障害物情報をもとに、レーンチェンジを実行します。&quot; id=&quot;15&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;17&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;-14&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;lane_following&quot; tooltip=&quot;ルート情報をもとに走行経路を作成します。&quot; id=&quot;16&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;17&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;-52&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;32&quot; value=&quot;&amp;amp;lt;Lane Driving&amp;amp;gt;&quot; style=&quot;text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;dashed=1;comic=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-420&quot; y=&quot;-800.0030303030303&quot; width=&quot;90&quot; height=&quot;20.303030303030305&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;no_stopping_area&quot; tooltip=&quot;停止禁止区域内で停止しないように、区域手前での進行・停止判断を行います。&quot; id=&quot;33&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-202&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;occlusion_spot&quot; tooltip=&quot;地図情報および動物体情報から、死角手前での減速を行います。&quot; id=&quot;34&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-237.00000000000006&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;intersection&quot; tooltip=&quot;地図情報および動物体情報から、交差点での停止/発進の判定を行います。&quot; id=&quot;35&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-271.00000000000006&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;traffic_light&quot; tooltip=&quot;信号の色に応じて停止/発進の指示をします&quot; id=&quot;36&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-337&quot; width=&quot;120&quot; height=&quot;28&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;cross_walk&quot; tooltip=&quot;横断歩道に人が居る、もしくは侵入しようとしてきている場合に、横断歩道手前で停止します。近くに人が居る場合は徐行します。&quot; id=&quot;37&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-374&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;blind_spot&quot; tooltip=&quot;右左折時に車両後方の巻き込み確認を行い、衝突の危険がある場合は停止します。&quot; id=&quot;38&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;detection_area&quot; tooltip=&quot;規定エリア内の障害物点群がある場合に、対応する位置で停止します&quot; id=&quot;39&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-445&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;stop_line&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;40&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-167&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;zZJK3J5Nfp7zSMjfmkQw-52&quot; style=&quot;rounded=0;jumpStyle=none;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-9&quot; target=&quot;11&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-38&quot; value=&quot;/planning/mission_planning/route&amp;lt;br&amp;gt;[autoware_auto_planning_msgs/HADMapRoute]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;jumpStyle=none;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-9&quot; target=&quot;F5SEpTDf39VAK2Lenjye-33&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.8417&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-429&quot; y=&quot;-840&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-230&quot; y=&quot;-840&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;mission_planner&quot; tooltip=&quot;高精度地図情報をもとに、自己位置からゴールまでのルートを計算します。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/mission_planner&quot; id=&quot;F5SEpTDf39VAK2Lenjye-9&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-489&quot; y=&quot;-950&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-27&quot; value=&quot;behavior_planning/path_with_lane_id&quot; style=&quot;edgeStyle=none;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;11&quot; target=&quot;41&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-446.5&quot; y=&quot;-507&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-446.5&quot; y=&quot;-457&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-23&quot; value=&quot;behavior_planning/path&quot; style=&quot;edgeStyle=none;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;startArrow=none;startFill=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;31&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-430&quot; y=&quot;-30&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-430&quot; y=&quot;10&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;freespace_planner&quot; tooltip=&quot;コストマップとゴールから、自車の走行ルートを計算する。いまはHA*を使ってる。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/freespace_planner&quot; id=&quot;F5SEpTDf39VAK2Lenjye-33&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-290&quot; y=&quot;-730&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-37&quot; value=&quot;costmap_generator/occupancy_grid&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;startArrow=none;startFill=0;orthogonal=1;entryX=1;entryY=0.5;entryDx=0;entryDy=0;exitX=0.5;exitY=0;exitDx=0;exitDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-34&quot; target=&quot;F5SEpTDf39VAK2Lenjye-33&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.3333&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-180&quot; y=&quot;-635&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;tmBeVgWS9Ey0ylgM02iM-4&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;dashed=1;fillColor=none;strokeWidth=1;comic=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-300&quot; y=&quot;-810&quot; width=&quot;230&quot; height=&quot;250&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-43&quot; value=&quot;goal&quot; style=&quot;endArrow=classic;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;comic=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;pMXYhzgBW71XrXo-O7h1-44&quot; target=&quot;F5SEpTDf39VAK2Lenjye-9&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-310&quot; y=&quot;-960&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-385.5&quot; y=&quot;-1010&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;iM43lsEIwqhlJ7BxjptO-47&quot; value=&quot;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;7zbXjBYCwGQrjjLUvmJF-41&quot; target=&quot;F5SEpTDf39VAK2Lenjye-20&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;no_drivable_lane&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;7zbXjBYCwGQrjjLUvmJF-41&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-64&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;XJpLpE4-N4LtLg8lOPLy-45&quot; value=&quot;&amp;amp;lt;Parking&amp;amp;gt;&quot; style=&quot;text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;dashed=1;comic=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-180&quot; y=&quot;-790&quot; width=&quot;80&quot; height=&quot;20&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;7zbXjBYCwGQrjjLUvmJF-47&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0, 0, 0); font-family: helvetica; font-size: 11px; font-style: normal; font-weight: 400; letter-spacing: normal; text-align: center; text-indent: 0px; text-transform: none; word-spacing: 0px; background-color: rgb(255, 255, 255); display: inline; float: none;&amp;quot;&amp;gt;parking/trajectory [Trajectory]&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.75;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-33&quot; target=&quot;F5SEpTDf39VAK2Lenjye-29&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.6614&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-230&quot; y=&quot;-310&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-230&quot; y=&quot;260&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-357&quot; y=&quot;260&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;surround_obstacle_checker&quot; tooltip=&quot;自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/surround_obstacle_checker&quot; id=&quot;K7M4AEPT0enKUQUD1kn6-43&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-880&quot; y=&quot;110&quot; width=&quot;160&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;K7M4AEPT0enKUQUD1kn6-44&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;K7M4AEPT0enKUQUD1kn6-43&quot; target=&quot;GMkAwjkdd8HhiVTGiUsg-41&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;run_out&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;iM43lsEIwqhlJ7BxjptO-52&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-132&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;virtual_traffic_light&quot; tooltip=&quot;信号の色に応じて停止/発進の指示をします&quot; id=&quot;iM43lsEIwqhlJ7BxjptO-53&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-304&quot; 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y=&quot;300&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;pacmod3&quot; link=&quot;http://wiki.ros.org/pacmod3&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-106&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#f5f5f5;strokeColor=#666666;fontColor=#333333;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-74&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;259&quot; y=&quot;220&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;YMC GolfCart&quot; tooltip=&quot;ゴルフカート！！&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-118&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#f5f5f5;strokeColor=#666666;fontColor=#333333;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-74&quot; 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/&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;lidar_driver&quot; tooltip=&quot;velodyneのdriverです。VLP16, VLP32, VLS128, Livoxなどなど、たくさん種類があります。&quot; id=&quot;F5SEpTDf39VAK2Lenjye-131&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;strokeColor=#9673a6;fillColor=#e1d5e7;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-730&quot; width=&quot;120&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-132&quot; value=&quot;top/rectified/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-133&quot; target=&quot;F5SEpTDf39VAK2Lenjye-140&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;fix_distortion&quot; tooltip=&quot;自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-133&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-134&quot; value=&quot;top/pointcloud_raw&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-135&quot; target=&quot;F5SEpTDf39VAK2Lenjye-137&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1830&quot; y=&quot;-560&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;packets_to_&amp;lt;br&amp;gt;pointcloud&quot; tooltip=&quot;velodyneのpacketをpointcloud型に変更する&quot; id=&quot;F5SEpTDf39VAK2Lenjye-135&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-620&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-136&quot; value=&quot;top/self_cropped/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-137&quot; target=&quot;F5SEpTDf39VAK2Lenjye-139&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_self&quot; tooltip=&quot;自車の領域内にある点群を除去する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-137&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-550&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-138&quot; value=&quot;top/mirror_cropped/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-139&quot; target=&quot;F5SEpTDf39VAK2Lenjye-133&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_mirror&quot; tooltip=&quot;自車のサイドミラーの部分に当たった点群を除去する&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-139&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-480&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;ring_outlier_filter&quot; tooltip=&quot;点群のノイズ処理を行う&amp;#xa;（同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-140&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-340&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-141&quot; value=&quot;lidar/*/velodyne_packets&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-142&quot; target=&quot;F5SEpTDf39VAK2Lenjye-146&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-142&quot; value=&quot;lidar_drivers&amp;lt;br&amp;gt;(left,right,front_right, front_left,rear)&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;strokeColor=#9673a6;fillColor=#e1d5e7;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-730&quot; width=&quot;120&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-143&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/rectified/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-144&quot; target=&quot;F5SEpTDf39VAK2Lenjye-151&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;fix_distortion&quot; tooltip=&quot;自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-144&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-145&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/pointcloud_raw&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-146&quot; target=&quot;F5SEpTDf39VAK2Lenjye-148&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-2000&quot; y=&quot;-560&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;packets_to_&amp;lt;br&amp;gt;pointcloud&quot; tooltip=&quot;velodyneのpacketをpointcloud型に変更する&quot; id=&quot;F5SEpTDf39VAK2Lenjye-146&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-620&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-147&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/self_cropped/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-148&quot; target=&quot;F5SEpTDf39VAK2Lenjye-150&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_self&quot; tooltip=&quot;自車の領域内にある点群を除去する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-148&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-550&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-149&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/mirror_cropped/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-150&quot; target=&quot;F5SEpTDf39VAK2Lenjye-144&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_mirror&quot; tooltip=&quot;自車のサイドミラーの部分に当たった点群を除去する&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-150&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-480&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;ring_outlier_filter&quot; tooltip=&quot;点群のノイズ処理を行う&amp;#xa;（同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-151&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-340&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-120&quot; value=&quot;concatenated/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-89&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.2727&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-1930&quot; y=&quot;-220&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-1930&quot; y=&quot;-175&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;concat_filter&quot; tooltip=&quot;複数のLiDAR点群をまとめて1つにする&quot; 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as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-2&quot; y=&quot;-28&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-44&quot; value=&quot;voxel_grid_downsample/pointcloud&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-1&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-45&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-51&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;voxel_grid_&amp;lt;br&amp;gt;downsample_filter&quot; tooltip=&quot;立体格子の点群密度が一様になるように点群を間引く。点群密度が正規化されるため、NDTのロバスト化に一役買っている。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-45&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#dae8fc;strokeColor=#6c8ebf;sketch=0;&quot; 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/&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;ekf_localizer&quot; tooltip=&quot;Estimate ego vehicle&amp;#39;s position, orientation, and velocity by EKF algorithm.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/localization/ekf_localizer&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-47&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#dae8fc;strokeColor=#6c8ebf;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1970&quot; y=&quot;469&quot; width=&quot;310&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-48&quot; value=&quot;pose_estimator/&amp;lt;br&amp;gt;pose_with_covariance&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.734;exitY=1.054;exitDx=0;exitDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;entryX=0.192;entryY=-0.017;entryDx=0;entryDy=0;entryPerimeter=0;elbow=vertical;exitPerimeter=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-1&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-49&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-47&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.3197&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1580.8600000000001&quot; y=&quot;449&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;ndt_scan_matcher&quot; tooltip=&quot;LiDARの点群とpointcloud_mapとのマッチングを行い、自己位置を計算する&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/localization/ndt_scan_matcher&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-49&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#dae8fc;strokeColor=#6c8ebf;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2080&quot; y=&quot;370&quot; width=&quot;230&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-50&quot; value=&quot;downsample/pointcloud&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;startArrow=none;startFill=0;entryX=0.74;entryY=-0.011;entryDx=0;entryDy=0;entryPerimeter=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-1&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-51&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-49&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;random_&amp;lt;br&amp;gt;downsample_filter&quot; tooltip=&quot;点群数が一定以下になるようにランダムに間引く。基本的にはvoxel grid filterで丁度いいくらい点群数になるように調整してあり、点群数のlimiter的な立ち位置が強い&amp;#xa;&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-51&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#dae8fc;strokeColor=#6c8ebf;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1970&quot; y=&quot;280&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-52&quot; value=&quot;/initialpose3d&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.75;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-1&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-53&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-49&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-2100&quot; y=&quot;220&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-2100&quot; y=&quot;400&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint x=&quot;-1970&quot; y=&quot;489&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;pose_initializer&quot; tooltip=&quot;GNSS / Userからラフな初期位置を受け取り、NDT+モンテカルロ法で正確な自己位置を推定して出力する。NDTとはserviceでやり取りする。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/localization/pose_initializer&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-53&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#dae8fc;strokeColor=#6c8ebf;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2250&quot; y=&quot;200&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-54&quot; value=&quot;twist_estimator/twist_with_covariance&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;startArrow=none;startFill=0;endArrow=classic;endFill=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.853;entryY=-0.036;entryDx=0;entryDy=0;entryPerimeter=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-1&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-55&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.3811&quot; y=&quot;1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1705.5700000000002&quot; y=&quot;467.5599999999995&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-1707&quot; y=&quot;170&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-1706&quot; y=&quot;170&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-1706&quot; y=&quot;390&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10; 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source=&quot;Pjof6qbQSnyucxmTkPQx-57&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-45&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_filter_&amp;lt;br&amp;gt;measurement_range&quot; tooltip=&quot;一定範囲内のLiDAR点群のみを切り取って出力する。ホントは遠くまで見たいけど、歪みの影響が大きくなったり、そもそも遠方の点群地図がなかったりするので、近くだけを見てる。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-57&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#dae8fc;strokeColor=#6c8ebf;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1970&quot; y=&quot;110&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;vehicle_velocity_converter&quot; tooltip=&quot;車両速度とimuを統合する。いまは確か、ただ単にvx=vehicle, wz=imuだった気がする。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-58&quot;&gt;&#10; 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value=&quot;&amp;lt;div&amp;gt;/perception/object_recognition/detection/&amp;lt;br&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#d5e8d4;strokeColor=#82b366;verticalAlign=top;align=center;labelBackgroundColor=none;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-70&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-1275&quot; y=&quot;-885&quot; width=&quot;250&quot; height=&quot;574&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-77&quot; value=&quot;clustering/downsampled/pointcloud&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;labelBackgroundColor=none;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-70&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-78&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-80&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10; 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value=&quot;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-179&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-158&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.8837&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-429&quot; y=&quot;-840&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-600&quot; y=&quot;-840&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-600&quot; y=&quot;310&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-147&quot; value=&quot;motion_planning/obstacle_avoidance_planner/trajectory [Trajectory]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-148&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-150&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.4&quot; y=&quot;1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;obstacle_&amp;lt;br&amp;gt;avoidance_planner&quot; tooltip=&quot;車両形状や走行可能領域を考慮して、経路の平滑化を行う。障害物も避けるが、long historyで最近は回避機能はoffになっています。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_avoidance_planner&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-148&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; 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link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_velocity_limiter&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-150&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-500&quot; y=&quot;90&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;obstacle_stop_&amp;lt;br&amp;gt;planner&quot; tooltip=&quot;障害物停止・前車追従・近傍障害物減速の複数の機能を持ち、機能に応じて経路上に速度を埋め込む。&amp;#xa;目標経路上に障害物点がある場合は停止、経路近くに障害物点群がある場合は減速、前方に車両が居る場合は前車追従。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_stop_planner&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-151&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;170&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;costmap_generator&quot; tooltip=&quot;障害物点群や地図の走行可能エリアの情報から、駐車プランナー用のコストマップを生成する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/costmap_generator&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-152&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-210&quot; y=&quot;-640&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;external_velocity_&amp;lt;br&amp;gt;limit_selector&quot; tooltip=&quot;apiとautoware.iv内部から送られてくる制約付き減速指示を受け取り、整合性をとる&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/external_velocity_limit_selector&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-153&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-860&quot; y=&quot;380&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-154&quot; value=&quot;/planning/scenario_planning/max_velocity&amp;lt;br&amp;gt;[tier4_planning_msgs/msg/VelocityLimit]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;startArrow=none;startFill=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;exitX=1;exitY=0.5;exitDx=0;exitDy=0;&quot; 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target=&quot;Pjof6qbQSnyucxmTkPQx-153&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.4&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-597.5&quot; y=&quot;330&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-830&quot; y=&quot;330&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-800&quot; y=&quot;190&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-156&quot; value=&quot;lane_driving/trajectory [Trajectory]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.25;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; 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/&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;scenario_selector&quot; tooltip=&quot;いまのrouteおよび地図情報から、LaneDriving / Parkingのシナリオを判断し、どちらの経路を使うかを切り替える。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/scenario_selector&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-158&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-447.5&quot; y=&quot;290&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-159&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0, 0, 0); font-family: Helvetica; font-size: 11px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; 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id=&quot;Pjof6qbQSnyucxmTkPQx-160&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-447.5&quot; y=&quot;380&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-161&quot; value=&quot;&quot; style=&quot;group;comic=0;&quot; vertex=&quot;1&quot; connectable=&quot;0&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-528.5&quot; y=&quot;-680&quot; width=&quot;200&quot; height=&quot;241&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;behavior_path_planner&quot; tooltip=&quot;交通ルールをもとに、経路上の最大速度を決定します。各モジュールは、自身の計算した最大速度と上段の結果を比較し、小さい速度を経路上に書き込みます。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/behavior_path_planner&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-162&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;verticalAlign=top;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-161&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1.5&quot; y=&quot;-90&quot; width=&quot;200&quot; height=&quot;241&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;obstacle_avoidance&quot; tooltip=&quot;ルート情報や障害物情報をもとに、障害物回避を実行します。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-163&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-161&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;28&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;pull_over/out&quot; tooltip=&quot;ルート情報をもとに路肩への幅寄せ、路肩からの発進を行います。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-164&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-161&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;68&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;side_shift&quot; tooltip=&quot;遠隔からの司令をもとに幅寄せを行います。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-165&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-161&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;108&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;lane_change&quot; tooltip=&quot;ルート情報や障害物情報をもとに、レーンチェンジを実行します。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-166&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-161&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;-14&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;lane_following&quot; tooltip=&quot;ルート情報をもとに走行経路を作成します。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-167&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-161&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;-52&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-168&quot; value=&quot;&amp;amp;lt;Lane Driving&amp;amp;gt;&quot; style=&quot;text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;dashed=1;comic=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-420&quot; y=&quot;-800.0030303030303&quot; width=&quot;90&quot; height=&quot;20.303030303030305&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;no_stopping_area&quot; tooltip=&quot;停止禁止区域内で停止しないように、区域手前での進行・停止判断を行います。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-169&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; 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         &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-271.00000000000006&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;traffic_light&quot; tooltip=&quot;信号の色に応じて停止/発進の指示をします&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-172&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-337&quot; width=&quot;120&quot; height=&quot;28&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;cross_walk&quot; tooltip=&quot;横断歩道に人が居る、もしくは侵入しようとしてきている場合に、横断歩道手前で停止します。近くに人が居る場合は徐行します。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-173&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-374&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;blind_spot&quot; tooltip=&quot;右左折時に車両後方の巻き込み確認を行い、衝突の危険がある場合は停止します。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-174&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;detection_area&quot; tooltip=&quot;規定エリア内の障害物点群がある場合に、対応する位置で停止します&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-175&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-445&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;stop_line&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-176&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10; 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edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-179&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-182&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.8417&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-429&quot; y=&quot;-840&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-230&quot; y=&quot;-840&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;mission_planner&quot; tooltip=&quot;高精度地図情報をもとに、自己位置からゴールまでのルートを計算します。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/mission_planner&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-179&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-489&quot; y=&quot;-950&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-180&quot; value=&quot;behavior_planning/path_with_lane_id&quot; style=&quot;edgeStyle=none;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-162&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-142&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-446.5&quot; y=&quot;-507&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-446.5&quot; y=&quot;-457&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-181&quot; value=&quot;behavior_planning/path&quot; style=&quot;edgeStyle=none;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;startArrow=none;startFill=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-141&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-430&quot; y=&quot;-30&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-430&quot; y=&quot;10&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;freespace_planner&quot; tooltip=&quot;コストマップとゴールから、自車の走行ルートを計算する。いまはHA*を使ってる。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/freespace_planner&quot; 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vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-64&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-188&quot; value=&quot;&amp;amp;lt;Parking&amp;amp;gt;&quot; style=&quot;text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;dashed=1;comic=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-180&quot; y=&quot;-790&quot; width=&quot;80&quot; height=&quot;20&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-189&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0, 0, 0); font-family: helvetica; font-size: 11px; font-style: normal; font-weight: 400; letter-spacing: normal; text-align: center; text-indent: 0px; text-transform: none; word-spacing: 0px; background-color: rgb(255, 255, 255); display: inline; float: none;&amp;quot;&amp;gt;parking/trajectory [Trajectory]&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.75;entryY=0;entryDx=0;entryDy=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-182&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-158&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.6614&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-230&quot; y=&quot;-310&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-230&quot; y=&quot;260&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-357&quot; y=&quot;260&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10; 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source=&quot;Pjof6qbQSnyucxmTkPQx-190&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-153&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;run_out&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-192&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-132&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;virtual_traffic_light&quot; tooltip=&quot;信号の色に応じて停止/発進の指示をします&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-193&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-304&quot; width=&quot;120&quot; height=&quot;28&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;speed_bump&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-194&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-98&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-195&quot; value=&quot;Control&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-0&quot; /&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-196&quot; 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tooltip=&quot;経路の目標速度に沿うための目標加速度を計算します。遅延補正や停止時のブレーキ抜き操作も行います。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-203&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-195&quot;&gt;&#10;            &lt;mxGeometry x=&quot;460&quot; y=&quot;-760&quot; width=&quot;160&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;vehicle_cmd_gate&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/control/vehicle_cmd_gate&quot; tooltip=&quot;指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-204&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-195&quot;&gt;&#10; 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edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-243&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-250&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;fix_distortion&quot; tooltip=&quot;自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-243&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-244&quot; 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vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-620&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-246&quot; value=&quot;top/self_cropped/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-247&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-249&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_self&quot; tooltip=&quot;自車の領域内にある点群を除去する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-247&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-550&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-248&quot; value=&quot;top/mirror_cropped/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-249&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-243&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_mirror&quot; tooltip=&quot;自車のサイドミラーの部分に当たった点群を除去する&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-249&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-480&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;ring_outlier_filter&quot; tooltip=&quot;点群のノイズ処理を行う&amp;#xa;（同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-250&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-340&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-251&quot; value=&quot;lidar/*/velodyne_packets&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-252&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-256&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-252&quot; value=&quot;lidar_drivers&amp;lt;br&amp;gt;(left,right,front_right, front_left,rear)&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;strokeColor=#9673a6;fillColor=#e1d5e7;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-730&quot; width=&quot;120&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-253&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/rectified/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-254&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-261&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;fix_distortion&quot; tooltip=&quot;自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-254&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-255&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/pointcloud_raw&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-256&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-258&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-2000&quot; y=&quot;-560&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;packets_to_&amp;lt;br&amp;gt;pointcloud&quot; tooltip=&quot;velodyneのpacketをpointcloud型に変更する&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-256&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-620&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-257&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/self_cropped/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-258&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-260&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_self&quot; tooltip=&quot;自車の領域内にある点群を除去する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-258&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-550&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-259&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/mirror_cropped/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-260&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-254&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_mirror&quot; tooltip=&quot;自車のサイドミラーの部分に当たった点群を除去する&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-260&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-480&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;ring_outlier_filter&quot; tooltip=&quot;点群のノイズ処理を行う&amp;#xa;（同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-261&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-340&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10; 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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 1160px; margin-left: 1581px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">surround_obstacle_checker</div></div></div></foreignObject><text x="1660" y="1164" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">surround_obstacle_checker</text></switch></g></a><path d="M 1660 1180 L 1660 1403.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1660 1408.88 L 1656.5 1401.88 L 1660 1403.63 L 1663.5 1401.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><rect x="1970" y="898" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"><title>規定された停止線で一時停止を行います</title></rect><g transform="translate(-0.5 -0.5)"><title>規定された停止線で一時停止を行います</title><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 913px; margin-left: 1971px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">run_out</div></div></div></foreignObject><text x="2030" y="917" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">run_out</text></switch></g><rect x="1970" y="726" width="120" height="28" rx="4.2" ry="4.2" fill="#fff2cc" stroke="#d6b656"><title>信号の色に応じて停止/発進の指示をします</title></rect><g transform="translate(-0.5 -0.5)"><title>信号の色に応じて停止/発進の指示をします</title><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 740px; margin-left: 1971px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">virtual_traffic_light</div></div></div></foreignObject><text x="2030" y="744" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">virtual_traffic_light</text></switch></g><rect x="1970" y="932" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"><title>規定された停止線で一時停止を行います</title></rect><g transform="translate(-0.5 -0.5)"><title>規定された停止線で一時停止を行います</title><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 947px; margin-left: 1971px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">speed_bump</div></div></div></foreignObject><text x="2030" y="951" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">speed_bump</text></switch></g><rect x="2540" y="180" width="570" height="370" rx="55.5" ry="55.5" fill="#ffe6cc" stroke="#d79b00"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 568px; height: 1px; padding-top: 187px; margin-left: 2541px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">trajectory_follower</div></div></div></foreignObject><text x="2825" y="199" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">trajectory_follower</text></switch></g><rect x="2753" y="1610" width="120" height="60" rx="9" ry="9" fill="#ffe6cc" stroke="#d79b00"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2754px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">Control</div></div></div></foreignObject><text x="2813" y="1644" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Control</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/control/trajectory_follower_nodes/design/trajectory_follower-design.md"><rect x="2785" y="450" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00"><title>縦横を分けて計算された制御コマンドを統合して出力します</title></rect><g transform="translate(-0.5 -0.5)"><title>縦横を分けて計算された制御コマンドを統合して出力します</title><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 470px; margin-left: 2786px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">latlon_muxer</div></div></div></foreignObject><text x="2845" y="474" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">latlon_muxer</text></switch></g></a><path d="M 2801 310 L 2801 430 L 2845 430 L 2845 443.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 2845 448.88 L 2841.5 441.88 L 2845 443.63 L 2848.5 441.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 352px; margin-left: 2820px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><div> /control/trajectory_follower/lateral/control_cmd</div><div> [AckermannLateralControlCommand]</div><div><br /></div></div></div></div></foreignObject><text x="2820" y="356" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/trajectory_follower/lateral/control_cmd...</text></switch></g><path d="M 3000 310 L 3000 430 L 2845 430 L 2845 443.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 2845 448.88 L 2841.5 441.88 L 2845 443.63 L 2848.5 441.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 379px; margin-left: 2978px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/control/trajectory_follower/longitudinal/control_cmd<br />[LongitudinalControlCommand]</div></div></div></foreignObject><text x="2978" y="382" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/trajectory_follower/longitudinal/control_cmd...</text></switch></g><path d="M 2845 490 L 2845 570 L 2717.1 570 L 2717.08 698.21" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 2717.08 703.46 L 2713.58 696.46 L 2717.08 698.21 L 2720.58 696.46 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 520px; margin-left: 2845px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><div>/control/trajectory_follower/control_cmd</div><div> [AckermannControlCommand]</div><div><br /></div></div></div></div></foreignObject><text x="2845" y="523" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/trajectory_follower/control_cmd...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/control/trajectory_follower/design/mpc_lateral_controller-design.md"><rect x="2741" y="270" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00"><title>経路追従のための目標ステア角とステア角速度を計算します。目標速度と加速度は経路に埋め込まれた値をそのまま出力します。</title></rect><g transform="translate(-0.5 -0.5)"><title>経路追従のための目標ステア角とステア角速度を計算します。目標速度と加速度は経路に埋め込まれた値をそのまま出力します。</title><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 290px; margin-left: 2742px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">lateral_controller</div></div></div></foreignObject><text x="2801" y="294" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">lateral_controller</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/control/trajectory_follower/design/pid_longitudinal_controller-design.md"><rect x="2920" y="270" width="160" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00"><title>経路の目標速度に沿うための目標加速度を計算します。遅延補正や停止時のブレーキ抜き操作も行います。</title></rect><g transform="translate(-0.5 -0.5)"><title>経路の目標速度に沿うための目標加速度を計算します。遅延補正や停止時のブレーキ抜き操作も行います。</title><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 290px; margin-left: 2921px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">longitudinal_controller</div></div></div></foreignObject><text x="3000" y="294" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">longitudinal_controller</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/vehicle_cmd_gate"><rect x="2560" y="705" width="680" height="60" rx="9" ry="9" fill="#ffe6cc" stroke="#d79b00"><title>指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。</title></rect><g transform="translate(-0.5 -0.5)"><title>指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。</title><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 678px; height: 1px; padding-top: 735px; margin-left: 2561px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">vehicle_cmd_gate</div></div></div></foreignObject><text x="2900" y="739" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">vehicle_cmd_gate</text></switch></g></a><path d="M 2806.08 765.66 L 2805 765.71 L 2805 863.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 2805 868.88 L 2801.5 861.88 L 2805 863.63 L 2808.5 861.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; 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tooltip=&quot;一定範囲内のLiDAR点群のみを切り取って出力する。ホントは遠くまで見たいけど、歪みの影響が大きくなったり、そもそも遠方の点群地図がなかったりするので、近くだけを見てる。&quot; id=&quot;HlP1Fyv2lvvOLci_jDg2-125&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#dae8fc;strokeColor=#6c8ebf;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-51&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1970&quot; y=&quot;110&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;vehicle_velocity_converter&quot; tooltip=&quot;車両速度とimuを統合する。いまは確か、ただ単にvx=vehicle, wz=imuだった気がする。&quot; id=&quot;HlP1Fyv2lvvOLci_jDg2-126&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#dae8fc;strokeColor=#6c8ebf;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-51&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1650&quot; y=&quot;100&quot; 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tooltip=&quot;障害物停止・前車追従・近傍障害物減速の複数の機能を持ち、機能に応じて経路上に速度を埋め込む。&amp;#xa;目標経路上に障害物点がある場合は停止、経路近くに障害物点群がある場合は減速、前方に車両が居る場合は前車追従。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_stop_planner&quot; id=&quot;F5SEpTDf39VAK2Lenjye-22&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;170&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;costmap_generator&quot; tooltip=&quot;障害物点群や地図の走行可能エリアの情報から、駐車プランナー用のコストマップを生成する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/costmap_generator&quot; id=&quot;F5SEpTDf39VAK2Lenjye-34&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; 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vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-271.00000000000006&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;traffic_light&quot; tooltip=&quot;信号の色に応じて停止/発進の指示をします&quot; id=&quot;36&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-337&quot; width=&quot;120&quot; height=&quot;28&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;cross_walk&quot; tooltip=&quot;横断歩道に人が居る、もしくは侵入しようとしてきている場合に、横断歩道手前で停止します。近くに人が居る場合は徐行します。&quot; id=&quot;37&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-374&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;blind_spot&quot; tooltip=&quot;右左折時に車両後方の巻き込み確認を行い、衝突の危険がある場合は停止します。&quot; id=&quot;38&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;detection_area&quot; tooltip=&quot;規定エリア内の障害物点群がある場合に、対応する位置で停止します&quot; id=&quot;39&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-445&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;stop_line&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;40&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-167&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;zZJK3J5Nfp7zSMjfmkQw-52&quot; style=&quot;rounded=0;jumpStyle=none;orthogonalLoop=1;jettySize=auto;html=1;&quot; edge=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; 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as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;lidar_driver&quot; tooltip=&quot;velodyneのdriverです。VLP16, VLP32, VLS128, Livoxなどなど、たくさん種類があります。&quot; id=&quot;F5SEpTDf39VAK2Lenjye-131&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;strokeColor=#9673a6;fillColor=#e1d5e7;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-730&quot; width=&quot;120&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-132&quot; value=&quot;top/rectified/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-133&quot; target=&quot;F5SEpTDf39VAK2Lenjye-140&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;fix_distortion&quot; tooltip=&quot;自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-133&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-134&quot; value=&quot;top/pointcloud_raw&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-135&quot; target=&quot;F5SEpTDf39VAK2Lenjye-137&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1830&quot; y=&quot;-560&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;packets_to_&amp;lt;br&amp;gt;pointcloud&quot; tooltip=&quot;velodyneのpacketをpointcloud型に変更する&quot; id=&quot;F5SEpTDf39VAK2Lenjye-135&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-620&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-136&quot; value=&quot;top/self_cropped/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-137&quot; target=&quot;F5SEpTDf39VAK2Lenjye-139&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_self&quot; tooltip=&quot;自車の領域内にある点群を除去する。&quot; 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source=&quot;F5SEpTDf39VAK2Lenjye-139&quot; target=&quot;F5SEpTDf39VAK2Lenjye-133&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_mirror&quot; tooltip=&quot;自車のサイドミラーの部分に当たった点群を除去する&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-139&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-480&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;ring_outlier_filter&quot; tooltip=&quot;点群のノイズ処理を行う&amp;#xa;（同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-140&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-340&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-141&quot; value=&quot;lidar/*/velodyne_packets&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-142&quot; target=&quot;F5SEpTDf39VAK2Lenjye-146&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-142&quot; value=&quot;lidar_drivers&amp;lt;br&amp;gt;(left,right,front_right, front_left,rear)&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;strokeColor=#9673a6;fillColor=#e1d5e7;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-730&quot; width=&quot;120&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-143&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; 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edge=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-146&quot; target=&quot;F5SEpTDf39VAK2Lenjye-148&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-2000&quot; y=&quot;-560&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;packets_to_&amp;lt;br&amp;gt;pointcloud&quot; tooltip=&quot;velodyneのpacketをpointcloud型に変更する&quot; id=&quot;F5SEpTDf39VAK2Lenjye-146&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-620&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-147&quot; 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tooltip=&quot;自車の領域内にある点群を除去する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-148&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-550&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-149&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/mirror_cropped/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-150&quot; target=&quot;F5SEpTDf39VAK2Lenjye-144&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_mirror&quot; tooltip=&quot;自車のサイドミラーの部分に当たった点群を除去する&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-150&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; 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as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-2&quot; y=&quot;-28&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-44&quot; value=&quot;voxel_grid_downsample/pointcloud&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-1&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-45&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-51&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;voxel_grid_&amp;lt;br&amp;gt;downsample_filter&quot; tooltip=&quot;立体格子の点群密度が一様になるように点群を間引く。点群密度が正規化されるため、NDTのロバスト化に一役買っている。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-45&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#dae8fc;strokeColor=#6c8ebf;sketch=0;&quot; 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/&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;ekf_localizer&quot; tooltip=&quot;Estimate ego vehicle&amp;#39;s position, orientation, and velocity by EKF algorithm.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/localization/ekf_localizer&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-47&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#dae8fc;strokeColor=#6c8ebf;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1970&quot; y=&quot;469&quot; width=&quot;310&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-48&quot; value=&quot;pose_estimator/&amp;lt;br&amp;gt;pose_with_covariance&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.734;exitY=1.054;exitDx=0;exitDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;entryX=0.192;entryY=-0.017;entryDx=0;entryDy=0;entryPerimeter=0;elbow=vertical;exitPerimeter=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-1&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-49&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-47&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.3197&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1580.8600000000001&quot; y=&quot;449&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;ndt_scan_matcher&quot; tooltip=&quot;LiDARの点群とpointcloud_mapとのマッチングを行い、自己位置を計算する&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/localization/ndt_scan_matcher&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-49&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#dae8fc;strokeColor=#6c8ebf;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2080&quot; y=&quot;370&quot; width=&quot;230&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-50&quot; value=&quot;downsample/pointcloud&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;startArrow=none;startFill=0;entryX=0.74;entryY=-0.011;entryDx=0;entryDy=0;entryPerimeter=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-1&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-51&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-49&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;random_&amp;lt;br&amp;gt;downsample_filter&quot; tooltip=&quot;点群数が一定以下になるようにランダムに間引く。基本的にはvoxel grid filterで丁度いいくらい点群数になるように調整してあり、点群数のlimiter的な立ち位置が強い&amp;#xa;&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-51&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#dae8fc;strokeColor=#6c8ebf;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1970&quot; y=&quot;280&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-52&quot; value=&quot;/initialpose3d&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.75;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-1&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-53&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-49&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-2100&quot; y=&quot;220&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-2100&quot; y=&quot;400&quot; 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value=&quot;&amp;lt;div&amp;gt;/perception/object_recognition/detection/&amp;lt;br&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#d5e8d4;strokeColor=#82b366;verticalAlign=top;align=center;labelBackgroundColor=none;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-70&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-1275&quot; y=&quot;-885&quot; width=&quot;250&quot; height=&quot;574&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-77&quot; value=&quot;clustering/downsampled/pointcloud&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;labelBackgroundColor=none;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-70&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-78&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-80&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10; 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value=&quot;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-179&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-158&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.8837&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-429&quot; y=&quot;-840&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-600&quot; y=&quot;-840&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-600&quot; y=&quot;310&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-147&quot; value=&quot;motion_planning/obstacle_avoidance_planner/trajectory [Trajectory]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-148&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-150&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.4&quot; y=&quot;1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;obstacle_&amp;lt;br&amp;gt;avoidance_planner&quot; tooltip=&quot;車両形状や走行可能領域を考慮して、経路の平滑化を行う。障害物も避けるが、long historyで最近は回避機能はoffになっています。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_avoidance_planner&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-148&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; 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link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_velocity_limiter&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-150&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-500&quot; y=&quot;90&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;obstacle_stop_&amp;lt;br&amp;gt;planner&quot; tooltip=&quot;障害物停止・前車追従・近傍障害物減速の複数の機能を持ち、機能に応じて経路上に速度を埋め込む。&amp;#xa;目標経路上に障害物点がある場合は停止、経路近くに障害物点群がある場合は減速、前方に車両が居る場合は前車追従。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_stop_planner&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-151&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;170&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;costmap_generator&quot; tooltip=&quot;障害物点群や地図の走行可能エリアの情報から、駐車プランナー用のコストマップを生成する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/costmap_generator&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-152&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-210&quot; y=&quot;-640&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;external_velocity_&amp;lt;br&amp;gt;limit_selector&quot; tooltip=&quot;apiとautoware.iv内部から送られてくる制約付き減速指示を受け取り、整合性をとる&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/external_velocity_limit_selector&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-153&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-860&quot; y=&quot;380&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-154&quot; value=&quot;/planning/scenario_planning/max_velocity&amp;lt;br&amp;gt;[tier4_planning_msgs/msg/VelocityLimit]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;startArrow=none;startFill=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;exitX=1;exitY=0.5;exitDx=0;exitDy=0;&quot; 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target=&quot;Pjof6qbQSnyucxmTkPQx-153&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.4&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-597.5&quot; y=&quot;330&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-830&quot; y=&quot;330&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-800&quot; y=&quot;190&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-156&quot; value=&quot;lane_driving/trajectory [Trajectory]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.25;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; 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/&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;scenario_selector&quot; tooltip=&quot;いまのrouteおよび地図情報から、LaneDriving / Parkingのシナリオを判断し、どちらの経路を使うかを切り替える。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/scenario_selector&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-158&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-447.5&quot; y=&quot;290&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-159&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0, 0, 0); font-family: Helvetica; font-size: 11px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; 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id=&quot;Pjof6qbQSnyucxmTkPQx-160&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-447.5&quot; y=&quot;380&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-161&quot; value=&quot;&quot; style=&quot;group;comic=0;&quot; vertex=&quot;1&quot; connectable=&quot;0&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-528.5&quot; y=&quot;-680&quot; width=&quot;200&quot; height=&quot;241&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;behavior_path_planner&quot; tooltip=&quot;交通ルールをもとに、経路上の最大速度を決定します。各モジュールは、自身の計算した最大速度と上段の結果を比較し、小さい速度を経路上に書き込みます。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/behavior_path_planner&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-162&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;verticalAlign=top;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-161&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1.5&quot; y=&quot;-90&quot; width=&quot;200&quot; height=&quot;241&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;obstacle_avoidance&quot; tooltip=&quot;ルート情報や障害物情報をもとに、障害物回避を実行します。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-163&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-161&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;28&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;pull_over/out&quot; tooltip=&quot;ルート情報をもとに路肩への幅寄せ、路肩からの発進を行います。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-164&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-161&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;68&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;side_shift&quot; tooltip=&quot;遠隔からの司令をもとに幅寄せを行います。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-165&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-161&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;108&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;lane_change&quot; tooltip=&quot;ルート情報や障害物情報をもとに、レーンチェンジを実行します。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-166&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-161&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;-14&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;lane_following&quot; tooltip=&quot;ルート情報をもとに走行経路を作成します。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-167&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-161&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;-52&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-168&quot; value=&quot;&amp;amp;lt;Lane Driving&amp;amp;gt;&quot; style=&quot;text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;dashed=1;comic=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-420&quot; y=&quot;-800.0030303030303&quot; width=&quot;90&quot; height=&quot;20.303030303030305&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;no_stopping_area&quot; tooltip=&quot;停止禁止区域内で停止しないように、区域手前での進行・停止判断を行います。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-169&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; 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         &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-271.00000000000006&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;traffic_light&quot; tooltip=&quot;信号の色に応じて停止/発進の指示をします&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-172&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-337&quot; width=&quot;120&quot; height=&quot;28&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;cross_walk&quot; tooltip=&quot;横断歩道に人が居る、もしくは侵入しようとしてきている場合に、横断歩道手前で停止します。近くに人が居る場合は徐行します。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-173&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-374&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;blind_spot&quot; tooltip=&quot;右左折時に車両後方の巻き込み確認を行い、衝突の危険がある場合は停止します。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-174&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;detection_area&quot; tooltip=&quot;規定エリア内の障害物点群がある場合に、対応する位置で停止します&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-175&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-445&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;stop_line&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-176&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10; 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edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-179&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-182&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.8417&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-429&quot; y=&quot;-840&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-230&quot; y=&quot;-840&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;mission_planner&quot; tooltip=&quot;高精度地図情報をもとに、自己位置からゴールまでのルートを計算します。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/mission_planner&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-179&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-489&quot; y=&quot;-950&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-180&quot; value=&quot;behavior_planning/path_with_lane_id&quot; style=&quot;edgeStyle=none;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-162&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-142&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-446.5&quot; y=&quot;-507&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-446.5&quot; y=&quot;-457&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-181&quot; value=&quot;behavior_planning/path&quot; style=&quot;edgeStyle=none;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;startArrow=none;startFill=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-141&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-430&quot; y=&quot;-30&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-430&quot; y=&quot;10&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;freespace_planner&quot; tooltip=&quot;コストマップとゴールから、自車の走行ルートを計算する。いまはHA*を使ってる。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/freespace_planner&quot; 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vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-64&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-188&quot; value=&quot;&amp;amp;lt;Parking&amp;amp;gt;&quot; style=&quot;text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;dashed=1;comic=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-180&quot; y=&quot;-790&quot; width=&quot;80&quot; height=&quot;20&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-189&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0, 0, 0); font-family: helvetica; font-size: 11px; font-style: normal; font-weight: 400; letter-spacing: normal; text-align: center; text-indent: 0px; text-transform: none; word-spacing: 0px; background-color: rgb(255, 255, 255); display: inline; float: none;&amp;quot;&amp;gt;parking/trajectory [Trajectory]&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.75;entryY=0;entryDx=0;entryDy=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-182&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-158&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.6614&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-230&quot; y=&quot;-310&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-230&quot; y=&quot;260&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-357&quot; y=&quot;260&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10; 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source=&quot;Pjof6qbQSnyucxmTkPQx-190&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-153&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;run_out&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-192&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-132&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;virtual_traffic_light&quot; tooltip=&quot;信号の色に応じて停止/発進の指示をします&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-193&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-304&quot; width=&quot;120&quot; height=&quot;28&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;speed_bump&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-194&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-98&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-195&quot; value=&quot;Control&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-0&quot; /&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-196&quot; 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tooltip=&quot;経路の目標速度に沿うための目標加速度を計算します。遅延補正や停止時のブレーキ抜き操作も行います。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-203&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-195&quot;&gt;&#10;            &lt;mxGeometry x=&quot;460&quot; y=&quot;-760&quot; width=&quot;160&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;vehicle_cmd_gate&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/control/vehicle_cmd_gate&quot; tooltip=&quot;指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-204&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-195&quot;&gt;&#10; 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edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-243&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-250&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;fix_distortion&quot; tooltip=&quot;自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-243&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-244&quot; 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vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-620&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-246&quot; value=&quot;top/self_cropped/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-247&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-249&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_self&quot; tooltip=&quot;自車の領域内にある点群を除去する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-247&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-550&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-248&quot; value=&quot;top/mirror_cropped/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-249&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-243&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_mirror&quot; tooltip=&quot;自車のサイドミラーの部分に当たった点群を除去する&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-249&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-480&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;ring_outlier_filter&quot; tooltip=&quot;点群のノイズ処理を行う&amp;#xa;（同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-250&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-340&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-251&quot; value=&quot;lidar/*/velodyne_packets&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-252&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-256&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-252&quot; value=&quot;lidar_drivers&amp;lt;br&amp;gt;(left,right,front_right, front_left,rear)&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;strokeColor=#9673a6;fillColor=#e1d5e7;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-730&quot; width=&quot;120&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-253&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/rectified/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-254&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-261&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;fix_distortion&quot; tooltip=&quot;自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-254&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-255&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/pointcloud_raw&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-256&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-258&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-2000&quot; y=&quot;-560&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;packets_to_&amp;lt;br&amp;gt;pointcloud&quot; tooltip=&quot;velodyneのpacketをpointcloud型に変更する&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-256&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-620&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-257&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/self_cropped/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-258&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-260&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_self&quot; tooltip=&quot;自車の領域内にある点群を除去する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-258&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-550&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-259&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/mirror_cropped/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-260&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-254&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_mirror&quot; tooltip=&quot;自車のサイドミラーの部分に当たった点群を除去する&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-260&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-480&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;ring_outlier_filter&quot; tooltip=&quot;点群のノイズ処理を行う&amp;#xa;（同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-261&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-340&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10; 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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1470px; margin-left: 2076px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"><span style="color: rgb(0, 0, 0); font-family: Helvetica; font-size: 11px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: center; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; background-color: rgb(255, 255, 255); text-decoration-thickness: initial; text-decoration-style: initial; text-decoration-color: initial; 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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 352px; margin-left: 2823px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><div> /control/trajectory_follower/lateral/control_cmd</div><div> [AckermannLateralControlCommand]</div><div><br /></div></div></div></div></foreignObject><text x="2823" y="355" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/trajectory_follower/lateral/control_cmd...</text></switch></g><path d="M 3003 310 L 3003 430 L 2848 430 L 2848 443.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 2848 448.88 L 2844.5 441.88 L 2848 443.63 L 2851.5 441.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; 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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 520px; margin-left: 2848px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><div>/control/trajectory_follower/control_cmd</div><div> [AckermannControlCommand]</div><div><br /></div></div></div></div></foreignObject><text x="2848" y="523" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/trajectory_follower/control_cmd...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/control/trajectory_follower/design/mpc_lateral_controller-design.md"><rect x="2744" y="270" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00"><title>経路追従のための目標ステア角とステア角速度を計算します。目標速度と加速度は経路に埋め込まれた値をそのまま出力します。</title></rect><g transform="translate(-0.5 -0.5)"><title>経路追従のための目標ステア角とステア角速度を計算します。目標速度と加速度は経路に埋め込まれた値をそのまま出力します。</title><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 290px; margin-left: 2745px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">lateral_controller</div></div></div></foreignObject><text x="2804" y="294" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">lateral_controller</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/control/trajectory_follower/design/pid_longitudinal_controller-design.md"><rect x="2923" y="270" width="160" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00"><title>経路の目標速度に沿うための目標加速度を計算します。遅延補正や停止時のブレーキ抜き操作も行います。</title></rect><g transform="translate(-0.5 -0.5)"><title>経路の目標速度に沿うための目標加速度を計算します。遅延補正や停止時のブレーキ抜き操作も行います。</title><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 290px; margin-left: 2924px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">longitudinal_controller</div></div></div></foreignObject><text x="3003" y="294" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">longitudinal_controller</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/vehicle_cmd_gate"><rect x="2563" y="705" width="680" height="60" rx="9" ry="9" fill="#ffe6cc" stroke="#d79b00"><title>指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。</title></rect><g transform="translate(-0.5 -0.5)"><title>指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。</title><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 678px; height: 1px; padding-top: 735px; margin-left: 2564px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">vehicle_cmd_gate</div></div></div></foreignObject><text x="2903" y="739" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">vehicle_cmd_gate</text></switch></g></a><path d="M 2809.08 765.66 L 2808 765.7 L 2808 863.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 2808 868.88 L 2804.5 861.88 L 2808 863.63 L 2811.5 861.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 810px; margin-left: 2814px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">control/command/control_cmd<br /> [AckermannControlCommand]</div></div></div></foreignObject><text x="2814" y="813" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">control/command/control_cmd...</text></switch></g><path d="M 2848 628 L 2848 660 L 2847.93 698.33" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 2847.92 703.58 L 2844.43 696.58 L 2847.93 698.33 L 2851.43 696.59 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 660px; margin-left: 2848px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/control/shift_decider/gear_cmd<br />[GearCommand]</div></div></div></foreignObject><text x="2848" y="663" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/shift_decider/gear_cmd...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/shift_decider"><rect x="2788" y="588" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00"><title>制御出力に応じてギア変更のコマンドを出力します</title></rect><g transform="translate(-0.5 -0.5)"><title>制御出力に応じてギア変更のコマンドを出力します</title><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; 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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 570px; margin-left: 2643px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/diagnostics</div></div></div></foreignObject><text x="2643" y="573" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/diagnostics</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/lane_departure_checker"><rect x="2583" y="470" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00"><title>MPCの出す予測経路と、laneletのレーン情報を用いて、車両がレーン外に出ようとしているかどうかを判定する。diag出力をerror_monitorに送り、逸脱判断字は停止する（option）</title></rect><g transform="translate(-0.5 -0.5)"><title>MPCの出す予測経路と、laneletのレーン情報を用いて、車両がレーン外に出ようとしているかどうかを判定する。diag出力をerror_monitorに送り、逸脱判断字は停止する（option）</title><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; 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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 408px; margin-left: 2643px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">predicted_trajectory</div></div></div></foreignObject><text x="2643" y="411" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">predicted_trajectory</text></switch></g><path d="M 3403 290 L 3403 353.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 3403 358.88 L 3399.5 351.88 L 3403 353.63 L 3406.5 351.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 325px; margin-left: 3403px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/external/selected/external_control_cmd<br /> [tier4_external_api_msgs/msg/ControlCommandStamped]</div></div></div></foreignObject><text x="3403" y="328" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/external/selected/external_control_cmd...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/external_cmd_selector"><rect x="3343" y="250" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; 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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 600px; margin-left: 3164px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: #FFFFFF; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;"><div style="text-align: left"><font style="font-size: 11px">/api/external/set/command/remote/control <br /></font></div><div style="text-align: left"><font style="font-size: 11px">   [tier4_external_api_msgs/msg/ControlCommandStamped]</font></div><div style="text-align: left"><font style="font-size: 11px">/api/external/set/command/remote/shift</font></div><div style="text-align: left"><font style="font-size: 11px">   [tier4_external_api_msgs/msg/GearShiftStamped]</font></div><div style="text-align: left"><font style="font-size: 11px">/api/external/set/command/remote/turn_signal</font></div><div style="text-align: left"><font style="font-size: 11px">   [tier4_external_api_msgs/msg/TurnSignalStamped]</font></div></div></div></div></foreignObject><text x="3164" y="603" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/api/external/set/command/remote/control...</text></switch></g><path d="M 2848 490 L 2848 581.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 2848 586.88 L 2844.5 579.88 L 2848 581.63 L 2851.5 579.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 3403 400 L 3403 660 L 3206.3 660 L 3206.28 698.51" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 3206.28 703.76 L 3202.78 696.76 L 3206.28 698.51 L 3209.78 696.76 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; 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