From bb5a714d9ba2e82966568b4b804f477648280ec7 Mon Sep 17 00:00:00 2001
From: eiki <53928021+N-Eiki@users.noreply.github.com>
Date: Fri, 1 Nov 2024 17:08:27 +0900
Subject: [PATCH] fix: add autoware prefix to ekf_localizer (#621)

add autoware prefix to diagram link

Signed-off-by: N-Eiki <eiki.nagata.2@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 961bc45ce3..997072778e 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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display: inline !important;&amp;quot;&amp;gt;pointcloud_map_filtered/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;labelBackgroundColor=none;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;krj0YX5Ew506tw86OF1e-43&quot; target=&quot;P3Th9qUTFY8M71-R8FQo-49&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.6667&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;mxCell id=&quot;_uGvnR129YdckunQ05wr-123&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;krj0YX5Ew506tw86OF1e-43&quot; target=&quot;_uGvnR129YdckunQ05wr-122&quot; edge=&quot;1&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;-1630&quot; y=&quot;-447&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-1505&quot; y=&quot;-447&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;compare_map_filter&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_compare_map_segmentation&quot; id=&quot;krj0YX5Ew506tw86OF1e-43&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#d5e8d4;strokeColor=#82b366;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1690&quot; y=&quot;-485&quot; width=&quot;120&quot; height=&quot;20&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;krj0YX5Ew506tw86OF1e-48&quot; value=&quot;&amp;lt;span style=&amp;quot;background-color: rgb(255, 255, 255);&amp;quot;&amp;gt;/perception/obstacle_segmentation/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;labelBackgroundColor=none;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;_uGvnR129YdckunQ05wr-132&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.6527&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1633&quot; y=&quot;-637&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-1629&quot; y=&quot;-769&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;y7-SZCdBJUUckgW5AFiH-47&quot; value=&quot;&amp;lt;span style=&amp;quot;&amp;quot;&amp;gt;map&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;labelBackgroundColor=none;entryX=0;entryY=0.5;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;krj0YX5Ew506tw86OF1e-43&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.821&quot; y=&quot;-5&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1980&quot; y=&quot;-479&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-1752&quot; y=&quot;-429&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-1975&quot; y=&quot;-479&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-233&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_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-131&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-132&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;y0lixSO8cwDmPpI5OSjV-234&quot; value=&quot;lanelet_filtered_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-233&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.1143&quot; y=&quot;5&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;object_lanelet_filter&quot; tooltip=&quot;The object_lanelet_filter is a node that filters detected object by using vector map. The objects only inside of the vector map will be published.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/perception/autoware_detected_object_validation/object-lanelet-filter.md&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-131&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;-204&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-150&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-132&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-149&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;y0lixSO8cwDmPpI5OSjV-151&quot; value=&quot;far_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-150&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.0824&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-5&quot; y=&quot;-30&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;radar_object_clustering&quot; tooltip=&quot;This package can make clustered objects from radar DetectedObjects, the objects which is converted from RadarTracks by radar_tracks_msgs_converter and is processed by noise filter. In other word, this package can combine multiple radar detections from one object into one and adjust class and size.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_object_clustering&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-132&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;-109&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-137&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-133&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-131&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;y0lixSO8cwDmPpI5OSjV-138&quot; value=&quot;far_high_speed_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-137&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.25&quot; y=&quot;4&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;object_range_splitter&quot; tooltip=&quot;object_range_splitter is a package to divide detected objects into two messages by the distance from the origin.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_object_range_splitter&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-133&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;-309&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-140&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_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-139&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-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;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-141&quot; value=&quot;high_speed_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-140&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.2&quot; y=&quot;-4&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;object_velocity_splitter&quot; tooltip=&quot;This package contains a object filter module for autoware_auto_perception_msgs/msg/DetectedObject. This package can split DetectedObjects into two messages by object&amp;#39;s speed.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_object_velocity_splitter&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-139&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;-409&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-143&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-142&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-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;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-144&quot; value=&quot;noise_filtered_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-143&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.5529&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint y=&quot;-14&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;radar_crossing_objects_&amp;lt;br&amp;gt;noise_filter&quot; tooltip=&quot;This package contains a radar noise filter module for autoware_auto_perception_msgs/msg/DetectedObject. This package can filter the noise objects which cross to the ego vehicle.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_crossing_objects_noise_filter&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-142&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;-499&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-147&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-142&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-149&quot; target=&quot;h2nIhsRq0HVOu7yzmkO7-113&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1380&quot; y=&quot;121&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-1166&quot; y=&quot;121&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-154&quot; value=&quot;far_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-153&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry y=&quot;3&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint y=&quot;7&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;multi_object_&amp;lt;br&amp;gt;tracker&quot; tooltip=&quot;クラス＋位置＋形状情報に対してtrackingを行う。（最近上流が速度情報も出せるようになってきたらしい）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_multi_object_tracker&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-38&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1868&quot; y=&quot;40&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;radar_object_tracker&quot; tooltip=&quot;This package provides a radar object tracking node that processes sequences of detected objects to assign consistent identities to them and estimate their velocities.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_object_tracker&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-149&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;36&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;h2nIhsRq0HVOu7yzmkO7-115&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_yaQgU9-40&quot; source=&quot;h2nIhsRq0HVOu7yzmkO7-113&quot; target=&quot;F5SEpTDf39VAK2Lenjye-45&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;decorative_tracking_&amp;lt;br&amp;gt;merger&quot; tooltip=&quot;This package try to merge two tracking objects from different sensor.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_tracking_object_merger&quot; id=&quot;h2nIhsRq0HVOu7yzmkO7-113&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1540&quot; y=&quot;101&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;zENOgqafKbGFrCYQh26c-113&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;h2nIhsRq0HVOu7yzmkO7-125&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1005&quot; y=&quot;-294&quot; as=&quot;sourcePoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;zENOgqafKbGFrCYQh26c-114&quot; value=&quot;/sensing/lidar/top/&amp;lt;br&amp;gt;pointcloud_raw&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];&quot; parent=&quot;zENOgqafKbGFrCYQh26c-113&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.1974&quot; y=&quot;-1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-28&quot; y=&quot;-20&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;&amp;lt;span style=&amp;quot;background-color: rgb(251, 251, 251);&amp;quot;&amp;gt;pedestrian/&amp;lt;/span&amp;gt;&amp;lt;br style=&amp;quot;border-color: var(--border-color); background-color: rgb(251, 251, 251);&amp;quot;&amp;gt;&amp;lt;span style=&amp;quot;background-color: rgb(251, 251, 251);&amp;quot;&amp;gt;traffic_light_classifier&amp;lt;/span&amp;gt;&quot; tooltip=&quot;画像に含まれる信号機の色を識別する&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_traffic_light_classifier&quot; id=&quot;113&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-755&quot; y=&quot;-399&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;122&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.75;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;labelBackgroundColor=none;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;F5SEpTDf39VAK2Lenjye-52&quot; target=&quot;113&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-830&quot; y=&quot;-429&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-830&quot; y=&quot;-394&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-805&quot; y=&quot;-419&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-695&quot; y=&quot;-419&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-207&quot; value=&quot;/map/vector_map&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;comic=0;labelBackgroundColor=none;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;F5SEpTDf39VAK2Lenjye-45&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.2053&quot; y=&quot;-14&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-1620&quot; y=&quot;196&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-1855&quot; y=&quot;196&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-210&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;huNNO2pCuBcXr_yaQgU9-38&quot; target=&quot;h2nIhsRq0HVOu7yzmkO7-113&quot; edge=&quot;1&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;-1795&quot; y=&quot;121&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint x=&quot;-1500&quot; y=&quot;121&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-246&quot; value=&quot;near_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-210&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.5133&quot; y=&quot;-4&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-58&quot; y=&quot;6&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-224&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0, 0, 0); font-family: Helvetica; font-size: 12px; font-style: normal; font-variant-ligatures: normal; 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as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1362.5238095238096&quot; y=&quot;-649&quot; as=&quot;sourcePoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-227&quot; value=&quot;/sensing/camera/&amp;lt;br style=&amp;quot;border-color: var(--border-color);&amp;quot;&amp;gt;camera*/image_rect_color&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-226&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.0539&quot; y=&quot;5&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-6&quot; y=&quot;-52&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;_uGvnR129YdckunQ05wr-126&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;_uGvnR129YdckunQ05wr-122&quot; target=&quot;_uGvnR129YdckunQ05wr-124&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;_uGvnR129YdckunQ05wr-131&quot; value=&quot;clustering/roi_cluster/&amp;lt;div&amp;gt;clusters&amp;lt;/div&amp;gt;&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];fontColor=default;labelBackgroundColor=none;&quot; parent=&quot;_uGvnR129YdckunQ05wr-126&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.4728&quot; y=&quot;1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-5&quot; y=&quot;-11&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;roi_pointcloud_fusion&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_euclidean_cluster&quot; 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tooltip=&quot;clustering結果に画像のdetection結果をprojectionしてlabelを付与する&quot; link=&quot;https://github.com/badai-nguyen/autoware.universe/blob/e517f09cb16ba96513219cd7f389cc671a78c6dc/perception/raindrop_cluster_filter/raindrop_cluster_filter.md#low_intensity_cluster_filter&quot; id=&quot;tti8n0GrwWFmY_eOm1F0-122&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=none;strokeColor=#82b366;sketch=0;labelBackgroundColor=none;fontSize=8;fontColor=default;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1433&quot; y=&quot;-281&quot; width=&quot;140&quot; height=&quot;23&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; value=&quot;Planning&quot; style=&quot;&quot; parent=&quot;0&quot; /&gt;&#10;        &lt;mxCell id=&quot;31&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;dashed=1;fillColor=none;strokeWidth=1;comic=0;&quot; 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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; 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;-428&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/1a8fbc432614a35d41cff0c969a6e69e0586eafc/planning/autoware_path_optimizer&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; 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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/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module&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;110&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/autoware_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;205&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; 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/&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/autoware_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;-882&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;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;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-530&quot; y=&quot;-790&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;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;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-592&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;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-632&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10; 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id=&quot;zEs4wxTr3dO1cdEekOQt-54&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-543&quot; y=&quot;-249&quot; width=&quot;110&quot; height=&quot;25&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;traffic_light_&amp;lt;br&amp;gt;multi_camera_fusion&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_traffic_light_multi_camera_fusion&quot; tooltip=&quot;traffic_light_multi_camera_fusion performs traffic light signal fusion which can be summarized as the following two tasks:&amp;#xa;&amp;#xa;Multi-Camera-Fusion: performed on single traffic light signal detected by different cameras.&amp;#xa;Group-Fusion: performed on traffic light signals within the same group, which means traffic lights sharing the same regulatory element id defined in lanelet2 map.&quot; 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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;-2327&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;-2267&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;-2327&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/autoware_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;-2327&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/autoware_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;-2327&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;-2327&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; 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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;-2497&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;-2437&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;-2497&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/autoware_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;-2497&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/autoware_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;-2497&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;-2497&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;/sensing/lidar&amp;lt;br&amp;gt;/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;entryX=0.5;entryY=0;entryDx=0;entryDy=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-89&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-187&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.0341&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-2355&quot; y=&quot;-147&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-2367&quot; y=&quot;-175&quot; as=&quot;targetPoint&quot; /&gt;&#10; 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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_yaQgU9-89&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-261&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-258&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;y0lixSO8cwDmPpI5OSjV-263&quot; value=&quot;*/filtered_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-262&quot; connectable=&quot;0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.2513&quot; y=&quot;-2&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;2&quot; y=&quot;-6&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;radar_tracks_&amp;lt;br&amp;gt;noise_filter&quot; 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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 602px; margin-left: 2526px;"><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: all; white-space: normal; overflow-wrap: normal;">behavior_path_planner</div></div></div></foreignObject><text x="2625" y="614" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">behavior_path_planner</text></switch></g></g></a></g><g data-cell-id="14"><g><rect x="2565" y="793" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656" pointer-events="all"><title>遠隔からの司令をもとに幅寄せを行います。</title></rect></g><g><g transform="translate(-0.5 -0.5)"><title>遠隔からの司令をもとに幅寄せを行います。</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: 808px; margin-left: 2566px;"><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: all; white-space: normal; overflow-wrap: normal;">side_shift</div></div></div></foreignObject><text x="2625" y="812" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">side_shift</text></switch></g></g></g><g data-cell-id="13"><g><rect x="2565" y="753" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656" pointer-events="all"><title>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。</title></rect></g><g><g transform="translate(-0.5 -0.5)"><title>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。</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: 768px; margin-left: 2566px;"><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: all; white-space: normal; overflow-wrap: normal;">pull_over/out</div></div></div></foreignObject><text x="2625" y="772" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">pull_over/out</text></switch></g></g></g><g data-cell-id="12"><g><rect x="2565" y="713" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656" pointer-events="all"><title>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。</title></rect></g><g><g transform="translate(-0.5 -0.5)"><title>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。</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: 728px; margin-left: 2566px;"><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: all; white-space: normal; overflow-wrap: normal;">obstacle_avoidance</div></div></div></foreignObject><text x="2625" y="732" fill="rgb(0, 0, 0)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">obstacle_avoidance</text></switch></g></g></g><g data-cell-id="15"><g><rect x="2565" y="671" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656" pointer-events="all"><title>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。</title></rect></g><g><g transform="translate(-0.5 -0.5)"><title>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。</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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edge=&quot;1&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;-1368&quot; y=&quot;-165&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-230&quot; value=&quot;clustering/camera_lidar_fusion&amp;lt;br style=&amp;quot;border-color: var(--border-color);&amp;quot;&amp;gt;/objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-229&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.0051&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;shape_estimation&quot; 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text-align: left;&amp;quot;&amp;gt;objects&amp;lt;/span&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-212&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.067&quot; y=&quot;-1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint y=&quot;5&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;detection_by_&amp;lt;br&amp;gt;tracker_node&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_detection_by_tracker&quot; tooltip=&quot;tracker内部のclusterをマージし，shape fittingしたbboxを出力する&quot; id=&quot;P3Th9qUTFY8M71-R8FQo-60&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#d5e8d4;strokeColor=#82b366;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; 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y=&quot;-154&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-1630&quot; y=&quot;-154&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;object_lanelet_filter&quot; tooltip=&quot;vector mapの情報を用いて，unknown objectをfilterする．lane内のunknown objectのみを残す．&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/perception/autoware_detected_object_validation/object-lanelet-filter.md&quot; id=&quot;kswE7VCqYpqteZK-cnUp-42&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1868&quot; y=&quot;-54&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;kswE7VCqYpqteZK-cnUp-45&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;comic=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;uCiBF-YE_VgSiZF1pRap-62&quot; target=&quot;kswE7VCqYpqteZK-cnUp-42&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1807&quot; y=&quot;-37&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-1807&quot; y=&quot;-23&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;sD1GUEGzJ8wIkTYBXg-_-41&quot; value=&quot;/map/vector_map&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;comic=0;labelBackgroundColor=none;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;kswE7VCqYpqteZK-cnUp-42&quot; 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display: inline !important;&amp;quot;&amp;gt;pointcloud_map_filtered/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;labelBackgroundColor=none;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;krj0YX5Ew506tw86OF1e-43&quot; target=&quot;P3Th9qUTFY8M71-R8FQo-49&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.6667&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;mxCell id=&quot;_uGvnR129YdckunQ05wr-123&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;krj0YX5Ew506tw86OF1e-43&quot; target=&quot;_uGvnR129YdckunQ05wr-122&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;krj0YX5Ew506tw86OF1e-43&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.821&quot; y=&quot;-5&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1980&quot; y=&quot;-479&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-1752&quot; y=&quot;-429&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-1975&quot; y=&quot;-479&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-233&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_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-131&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-132&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;y0lixSO8cwDmPpI5OSjV-234&quot; value=&quot;lanelet_filtered_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-233&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.1143&quot; y=&quot;5&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;object_lanelet_filter&quot; tooltip=&quot;The object_lanelet_filter is a node that filters detected object by using vector map. The objects only inside of the vector map will be published.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/perception/autoware_detected_object_validation/object-lanelet-filter.md&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-131&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;-204&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-150&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-132&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-149&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;y0lixSO8cwDmPpI5OSjV-151&quot; value=&quot;far_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-150&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.0824&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-5&quot; y=&quot;-30&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;radar_object_clustering&quot; tooltip=&quot;This package can make clustered objects from radar DetectedObjects, the objects which is converted from RadarTracks by radar_tracks_msgs_converter and is processed by noise filter. In other word, this package can combine multiple radar detections from one object into one and adjust class and size.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_object_clustering&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-132&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;-109&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-137&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-133&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-131&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;y0lixSO8cwDmPpI5OSjV-138&quot; value=&quot;far_high_speed_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-137&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.25&quot; y=&quot;4&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;object_range_splitter&quot; tooltip=&quot;object_range_splitter is a package to divide detected objects into two messages by the distance from the origin.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_object_range_splitter&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-133&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;-309&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-140&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_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-139&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-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;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-141&quot; value=&quot;high_speed_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-140&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.2&quot; y=&quot;-4&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;object_velocity_splitter&quot; tooltip=&quot;This package contains a object filter module for autoware_auto_perception_msgs/msg/DetectedObject. This package can split DetectedObjects into two messages by object&amp;#39;s speed.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_object_velocity_splitter&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-139&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;-409&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-143&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-142&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-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;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-144&quot; value=&quot;noise_filtered_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-143&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.5529&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint y=&quot;-14&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;radar_crossing_objects_&amp;lt;br&amp;gt;noise_filter&quot; tooltip=&quot;This package contains a radar noise filter module for autoware_auto_perception_msgs/msg/DetectedObject. This package can filter the noise objects which cross to the ego vehicle.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_crossing_objects_noise_filter&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-142&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;-499&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-147&quot; value=&quot;&quot; style=&quot;endArrow=classic;html=1;rounded=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;y0lixSO8cwDmPpI5OSjV-142&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;-1166&quot; y=&quot;-644&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-1221&quot; y=&quot;-524&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-148&quot; value=&quot;/sensing/radar/detected_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=default;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-147&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.25&quot; y=&quot;1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1&quot; y=&quot;-25&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-153&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=1;entryY=0.5;entryDx=0;entryDy=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;y0lixSO8cwDmPpI5OSjV-149&quot; target=&quot;h2nIhsRq0HVOu7yzmkO7-113&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1380&quot; y=&quot;121&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-1166&quot; y=&quot;121&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-154&quot; value=&quot;far_objects&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;y0lixSO8cwDmPpI5OSjV-153&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry y=&quot;3&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint y=&quot;7&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;multi_object_&amp;lt;br&amp;gt;tracker&quot; tooltip=&quot;クラス＋位置＋形状情報に対してtrackingを行う。（最近上流が速度情報も出せるようになってきたらしい）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_multi_object_tracker&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-38&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1868&quot; y=&quot;40&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;radar_object_tracker&quot; tooltip=&quot;This package provides a radar object tracking node that processes sequences of detected objects to assign consistent identities to them and estimate their velocities.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_object_tracker&quot; id=&quot;y0lixSO8cwDmPpI5OSjV-149&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1236&quot; y=&quot;36&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;h2nIhsRq0HVOu7yzmkO7-115&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_yaQgU9-40&quot; source=&quot;h2nIhsRq0HVOu7yzmkO7-113&quot; target=&quot;F5SEpTDf39VAK2Lenjye-45&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;decorative_tracking_&amp;lt;br&amp;gt;merger&quot; tooltip=&quot;This package try to merge two tracking objects from different sensor.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_tracking_object_merger&quot; id=&quot;h2nIhsRq0HVOu7yzmkO7-113&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1540&quot; y=&quot;101&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;zENOgqafKbGFrCYQh26c-113&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; target=&quot;h2nIhsRq0HVOu7yzmkO7-125&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1005&quot; y=&quot;-294&quot; as=&quot;sourcePoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;zENOgqafKbGFrCYQh26c-114&quot; value=&quot;/sensing/lidar/top/&amp;lt;br&amp;gt;pointcloud_raw&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];&quot; parent=&quot;zENOgqafKbGFrCYQh26c-113&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.1974&quot; y=&quot;-1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-28&quot; y=&quot;-20&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;&amp;lt;span style=&amp;quot;background-color: rgb(251, 251, 251);&amp;quot;&amp;gt;pedestrian/&amp;lt;/span&amp;gt;&amp;lt;br style=&amp;quot;border-color: var(--border-color); background-color: rgb(251, 251, 251);&amp;quot;&amp;gt;&amp;lt;span style=&amp;quot;background-color: rgb(251, 251, 251);&amp;quot;&amp;gt;traffic_light_classifier&amp;lt;/span&amp;gt;&quot; tooltip=&quot;画像に含まれる信号機の色を識別する&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_traffic_light_classifier&quot; id=&quot;113&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#d5e8d4;strokeColor=#82b366;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-755&quot; y=&quot;-399&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;122&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.75;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;labelBackgroundColor=none;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; source=&quot;F5SEpTDf39VAK2Lenjye-52&quot; target=&quot;113&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-830&quot; y=&quot;-429&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-830&quot; y=&quot;-394&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-805&quot; y=&quot;-419&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-695&quot; y=&quot;-419&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-207&quot; value=&quot;/map/vector_map&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;comic=0;labelBackgroundColor=none;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-40&quot; 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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/1a8fbc432614a35d41cff0c969a6e69e0586eafc/planning/autoware_path_optimizer&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; 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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/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module&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;110&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/autoware_obstacle_stop_planner&quot; 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/&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;85&quot; value=&quot;/planning/mission_planning/&amp;lt;br&amp;gt;route_state&quot; style=&quot;edgeStyle=none;rounded=0;jumpStyle=arc;html=1;exitX=0;exitY=0.25;exitDx=0;exitDy=0;entryX=0;entryY=0.75;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classicThin;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-9&quot; target=&quot;48&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.2571&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-640&quot; y=&quot;-940&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-640&quot; y=&quot;-1079&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/autoware_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;-589&quot; y=&quot;-950&quot; width=&quot;321&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;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;-295&quot; y=&quot;-810&quot; width=&quot;225&quot; height=&quot;250&quot; as=&quot;geometry&quot; /&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;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;41&quot; target=&quot;zEs4wxTr3dO1cdEekOQt-57&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;-70&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;zEs4wxTr3dO1cdEekOQt-49&quot; value=&quot;behavior_planning/path&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];&quot; parent=&quot;iM43lsEIwqhlJ7BxjptO-47&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.206&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;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/autoware_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;-882&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;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;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-530&quot; y=&quot;-790&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;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;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-592&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;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-632&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;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;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-672&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;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-714&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;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-752&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;planning_validator&quot; tooltip=&quot;Check the trajectory and stop publishing it if it is unsafe.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/autoware_planning_validator&quot; id=&quot;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;-447.5&quot; y=&quot;460&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;UBmaC0zVdszHxL-9Y1sP-46&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;comic=0;jumpStyle=arc;exitX=0.75;exitY=1;exitDx=0;exitDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;11&quot; target=&quot;huNNO2pCuBcXr_yaQgU9-66&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-230&quot; y=&quot;-580&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;UBmaC0zVdszHxL-9Y1sP-47&quot; value=&quot;/planning/turn_indicators_cmd&amp;amp;nbsp;[TurnIndicatorsCommand]&amp;lt;br&amp;gt;/planning/hazard_lights_cmd&amp;amp;nbsp;[HazardLightsCommand]&quot; style=&quot;edgeLabel;html=1;align=left;verticalAlign=middle;resizable=0;points=[];comic=0;labelBackgroundColor=none;&quot; parent=&quot;UBmaC0zVdszHxL-9Y1sP-46&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.0226&quot; y=&quot;1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-55&quot; y=&quot;61&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;zEs4wxTr3dO1cdEekOQt-58&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;zEs4wxTr3dO1cdEekOQt-57&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;mxCell id=&quot;zEs4wxTr3dO1cdEekOQt-59&quot; 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id=&quot;zEs4wxTr3dO1cdEekOQt-54&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-543&quot; y=&quot;-249&quot; width=&quot;110&quot; height=&quot;25&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;traffic_light_&amp;lt;br&amp;gt;multi_camera_fusion&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_traffic_light_multi_camera_fusion&quot; tooltip=&quot;traffic_light_multi_camera_fusion performs traffic light signal fusion which can be summarized as the following two tasks:&amp;#xa;&amp;#xa;Multi-Camera-Fusion: performed on single traffic light signal detected by different cameras.&amp;#xa;Group-Fusion: performed on traffic light signals within the same group, which means traffic lights sharing the same regulatory element id defined in lanelet2 map.&quot; 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parent=&quot;119&quot; connectable=&quot;0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.6831&quot; y=&quot;1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;49&quot; y=&quot;-10&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; value=&quot;Control&quot; style=&quot;&quot; parent=&quot;0&quot; /&gt;&#10;        &lt;mxCell id=&quot;P3Th9qUTFY8M71-R8FQo-42&quot; value=&quot;trajectory_follower&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#ffe6cc;strokeColor=#d79b00;verticalAlign=top;arcSize=11;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;321&quot; y=&quot;-800&quot; width=&quot;345&quot; height=&quot;85&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;Control&quot; link=&quot;data:action/json,{&amp;quot;actions&amp;quot;:[{&amp;quot;toggle&amp;quot;: {&amp;quot;cells&amp;quot;:[&amp;quot;huNNO2pCuBcXr_yaQgU9-10&amp;quot;]}}]}&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-50&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;953&quot; y=&quot;956&quot; width=&quot;120&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;huNNO2pCuBcXr_yaQgU9-65&quot; value=&quot;/control/trajectory_follower/control_cmd&amp;lt;br&amp;gt;[AckermannControlCommand]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;labelBackgroundColor=default;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; source=&quot;P3Th9qUTFY8M71-R8FQo-42&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.7073&quot; y=&quot;-3&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10; 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link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/control/autoware_pid_longitudinal_controller&quot; 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;huNNO2pCuBcXr_yaQgU9-45&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; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;490&quot; y=&quot;-771&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/autoware_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;huNNO2pCuBcXr_yaQgU9-66&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; 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/&gt;&#10;              &lt;mxPoint x=&quot;345&quot; y=&quot;-190&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;nmZh4Kjo_N_rVAYmAN_G-41&quot; value=&quot;control/command/control_cmd&amp;lt;br&amp;gt;&amp;amp;nbsp;[AckermannControlCommand]&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];comic=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-77&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.7105&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint y=&quot;-151&quot; as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;huNNO2pCuBcXr_yaQgU9-140&quot; value=&quot;/control/shift_decider/gear_cmd&amp;lt;br&amp;gt;[GearCommand]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; source=&quot;103&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;335&quot; y=&quot;-520&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;440&quot; y=&quot;-412&quot; as=&quot;sourcePoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;external_cmd_&amp;lt;br&amp;gt;converter&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/vehicle/autoware_external_cmd_converter&quot; tooltip=&quot;遠隔から来たコマンド（アクセル/ブレーキ）を目標速度/加速度の信号に変換します&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-137&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; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;880&quot; y=&quot;-670&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;huNNO2pCuBcXr_yaQgU9-147&quot; value=&quot;/external/selected/external_control_cmd&amp;lt;br&amp;gt;&amp;amp;nbsp;[tier4_external_api_msgs/msg/ControlCommandStamped]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; source=&quot;huNNO2pCuBcXr_yaQgU9-145&quot; target=&quot;huNNO2pCuBcXr_yaQgU9-137&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;1001&quot; y=&quot;-340&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;external_cmd_&amp;lt;br&amp;gt;selector&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/control/autoware_external_cmd_selector&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-145&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; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;880&quot; y=&quot;-780&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;pMXYhzgBW71XrXo-O7h1-57&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.862;entryY=0.011;entryDx=0;entryDy=0;entryPerimeter=0;labelBackgroundColor=default;fontColor=default;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; source=&quot;huNNO2pCuBcXr_yaQgU9-145&quot; target=&quot;huNNO2pCuBcXr_yaQgU9-66&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;pMXYhzgBW71XrXo-O7h1-60&quot; value=&quot;&amp;lt;div style=&amp;quot;text-align: left&amp;quot;&amp;gt;&amp;lt;font style=&amp;quot;font-size: 11px&amp;quot;&amp;gt;/api/external/set/command/remote/control&amp;amp;nbsp;&amp;lt;br&amp;gt;&amp;lt;/font&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div style=&amp;quot;text-align: left&amp;quot;&amp;gt;&amp;lt;font style=&amp;quot;font-size: 11px&amp;quot;&amp;gt;&amp;amp;nbsp; &amp;amp;nbsp;[tier4_external_api_msgs/msg/ControlCommandStamped]&amp;lt;/font&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div style=&amp;quot;text-align: left&amp;quot;&amp;gt;&amp;lt;font style=&amp;quot;font-size: 11px&amp;quot;&amp;gt;/api/external/set/command/remote/shift&amp;lt;/font&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div style=&amp;quot;text-align: left&amp;quot;&amp;gt;&amp;lt;font style=&amp;quot;font-size: 11px&amp;quot;&amp;gt;&amp;amp;nbsp; &amp;amp;nbsp;[tier4_external_api_msgs/msg/GearShiftStamped]&amp;lt;/font&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div style=&amp;quot;text-align: left&amp;quot;&amp;gt;&amp;lt;font style=&amp;quot;font-size: 11px&amp;quot;&amp;gt;/api/external/set/command/remote/turn_signal&amp;lt;/font&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div style=&amp;quot;text-align: left&amp;quot;&amp;gt;&amp;lt;font style=&amp;quot;font-size: 11px&amp;quot;&amp;gt;&amp;amp;nbsp; &amp;amp;nbsp;[tier4_external_api_msgs/msg/TurnSignalStamped]&amp;lt;/font&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];fontColor=default;labelBackgroundColor=#FFFFFF;&quot; parent=&quot;pMXYhzgBW71XrXo-O7h1-57&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.0689&quot; y=&quot;3&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;1&quot; y=&quot;111&quot; as=&quot;offset&quot; /&gt;&#10; 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value=&quot;/current_gate_mode&amp;amp;nbsp;[GateMode]&amp;lt;div&amp;gt;/gear_cmd [GearCommand]&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;/turn_indicators_cmd&amp;amp;nbsp; [TurnIndicatorCommand]&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;&amp;lt;div&amp;gt;/hazard_lights_cmd&amp;amp;nbsp; [HazardLightsCommand]&amp;lt;/div&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;/vehicle_emergency_cmd [VehicleEmergencyStamped]&amp;lt;/div&amp;gt;&quot; style=&quot;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;align=left;labelBackgroundColor=default;exitX=0.75;exitY=1;exitDx=0;exitDy=0;entryX=0.75;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; source=&quot;huNNO2pCuBcXr_yaQgU9-66&quot; target=&quot;F5SEpTDf39VAK2Lenjye-6&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.3878&quot; y=&quot;-55&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;            &lt;mxPoint x=&quot;620&quot; y=&quot;80&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;577.8331640019246&quot; y=&quot;-265&quot; as=&quot;sourcePoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;huNNO2pCuBcXr_yaQgU9-49&quot; value=&quot;Topics&quot; style=&quot;&quot; parent=&quot;0&quot; /&gt;&#10;        &lt;object label=&quot;VehicleInterface&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-73&quot;&gt;&#10;          &lt;mxCell style=&quot;&quot; parent=&quot;0&quot; /&gt;&#10;        &lt;/object&gt;&#10;        &lt;object label=&quot;g30_interface&quot; tooltip=&quot;ヤマハのGCとのインターフェース&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-71&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#b0e3e6;strokeColor=#0e8088;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-73&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;416&quot; y=&quot;97&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/object&gt;&#10;        &lt;UserObject label=&quot;raw_vehicle_cmd_&amp;lt;br&amp;gt;converter&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/vehicle/autoware_raw_vehicle_cmd_converter&quot; tooltip=&quot;速度・加速度の目標値を、車両特有の制御信号（アクセル/ブレーキ等）に変換します&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-75&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#b0e3e6;strokeColor=#0e8088;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-73&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;285&quot; y=&quot;-160&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;huNNO2pCuBcXr_yaQgU9-79&quot; value=&quot;/vehicle/command/actuation_cmd&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-73&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;260&quot; y=&quot;97&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;VehicleInterface&quot; link=&quot;data:action/json,{&amp;quot;actions&amp;quot;:[{&amp;quot;toggle&amp;quot;:{&amp;quot;cells&amp;quot;:[&amp;quot;huNNO2pCuBcXr_yaQgU9-73&amp;quot;]}}]}&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-60&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#b0e3e6;strokeColor=#0e8088;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-73&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;1250&quot; y=&quot;956&quot; width=&quot;120&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-7&quot; 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/&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;object label=&quot;&amp;amp;nbsp; &amp;amp;nbsp; vehicle_interface&quot; tooltip=&quot;Autowareと車両のinterfaceです。データの変換が主なタスクです。&quot; id=&quot;F5SEpTDf39VAK2Lenjye-6&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#b0e3e6;strokeColor=#0e8088;align=left;comic=0;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-73&quot; vertex=&quot;1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;110&quot; y=&quot;80&quot; width=&quot;670&quot; height=&quot;70&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/object&gt;&#10;        &lt;UserObject label=&quot;accel_map_calibrator&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/vehicle/autoware_accel_brake_map_calibrator&quot; id=&quot;pMXYhzgBW71XrXo-O7h1-52&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#b0e3e6;strokeColor=#0e8088;&quot; 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y=&quot;735&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;h2nIhsRq0HVOu7yzmkO7-153&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-74&quot; target=&quot;h2nIhsRq0HVOu7yzmkO7-135&quot; edge=&quot;1&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1005&quot; y=&quot;-122&quot; as=&quot;sourcePoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;h2nIhsRq0HVOu7yzmkO7-154&quot; value=&quot;external/traffic_signals&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];labelBackgroundColor=none;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-74&quot; connectable=&quot;0&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-955&quot; y=&quot;-131.00444444444435&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;object label=&quot;Sensing&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-89&quot;&gt;&#10;          &lt;mxCell style=&quot;&quot; parent=&quot;0&quot; /&gt;&#10;        &lt;/object&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-271&quot; value=&quot;&amp;lt;div&amp;gt;&amp;lt;b style=&amp;quot;&amp;quot;&amp;gt;Radar sensing pipeline&amp;lt;/b&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=none;strokeColor=#000000;verticalAlign=top;align=center;labelBackgroundColor=none;arcSize=3;movable=1;resizable=1;rotatable=1;deletable=1;editable=1;locked=0;connectable=1;dashed=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-2722&quot; y=&quot;-775&quot; width=&quot;190&quot; height=&quot;345&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;y0lixSO8cwDmPpI5OSjV-274&quot; value=&quot;&amp;lt;div&amp;gt;&amp;lt;b style=&amp;quot;&amp;quot;&amp;gt;Camera sensing pipeline&amp;lt;/b&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=none;strokeColor=#000000;verticalAlign=top;align=center;labelBackgroundColor=none;arcSize=3;movable=1;resizable=1;rotatable=1;deletable=1;editable=1;locked=0;connectable=1;dashed=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-2720&quot; y=&quot;-1040&quot; width=&quot;190&quot; height=&quot;205&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-130&quot; value=&quot;top/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-131&quot; target=&quot;F5SEpTDf39VAK2Lenjye-135&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;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;-2327&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;-2327&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;-2267&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;-2327&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/autoware_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;-2327&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/autoware_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;-2327&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;-2327&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; 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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;-2497&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; 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