From a25cbe07468136f255cb0bdf676c86702698ebf5 Mon Sep 17 00:00:00 2001
From: Mamoru Sobue <mamoru.sobue@tier4.jp>
Date: Mon, 11 Sep 2023 01:31:17 +0900
Subject: [PATCH] chore(build): remove
 tier4_autoware_utils.hpp/motion_utils.hpp from behavior_path_planner (#4936)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
---
 .../include/behavior_path_planner/data_manager.hpp          | 2 +-
 .../include/behavior_path_planner/marker_utils/utils.hpp    | 3 +--
 .../include/behavior_path_planner/planner_manager.hpp       | 1 +
 .../scene_module/scene_module_interface.hpp                 | 5 +++++
 .../utils/avoidance/avoidance_module_data.hpp               | 3 ++-
 .../include/behavior_path_planner/utils/utils.hpp           | 4 ++--
 .../src/behavior_path_planner_node.cpp                      | 2 +-
 .../src/marker_utils/avoidance/debug.cpp                    | 1 +
 planning/behavior_path_planner/src/marker_utils/utils.cpp   | 3 ++-
 planning/behavior_path_planner/src/planner_manager.cpp      | 1 +
 .../src/scene_module/avoidance/avoidance_module.cpp         | 5 ++++-
 .../src/scene_module/avoidance/manager.cpp                  | 3 +++
 .../dynamic_avoidance/dynamic_avoidance_module.cpp          | 2 +-
 .../src/scene_module/dynamic_avoidance/manager.cpp          | 2 ++
 .../src/scene_module/goal_planner/goal_planner_module.cpp   | 3 +--
 .../src/scene_module/goal_planner/manager.cpp               | 2 +-
 .../src/scene_module/lane_change/manager.cpp                | 3 +++
 .../src/scene_module/lane_change/normal.cpp                 | 1 +
 .../src/scene_module/side_shift/manager.cpp                 | 2 ++
 .../src/scene_module/start_planner/manager.cpp              | 2 ++
 .../src/scene_module/start_planner/start_planner_module.cpp | 1 -
 planning/behavior_path_planner/src/turn_signal_decider.cpp  | 6 +++++-
 .../behavior_path_planner/src/utils/avoidance/utils.cpp     | 6 +++++-
 .../geometric_parallel_parking.cpp                          | 3 ++-
 .../src/utils/goal_planner/freespace_pull_over.cpp          | 1 +
 .../src/utils/goal_planner/geometric_pull_over.cpp          | 1 +
 .../src/utils/goal_planner/goal_searcher.cpp                | 2 ++
 .../src/utils/goal_planner/shift_pull_over.cpp              | 1 +
 .../behavior_path_planner/src/utils/lane_change/utils.cpp   | 3 +++
 .../occupancy_grid_based_collision_detector.cpp             | 2 +-
 .../src/utils/path_safety_checker/objects_filtering.cpp     | 4 ++++
 .../src/utils/path_safety_checker/safety_check.cpp          | 2 ++
 .../src/utils/path_shifter/path_shifter.cpp                 | 2 +-
 planning/behavior_path_planner/src/utils/path_utils.cpp     | 4 +++-
 .../src/utils/start_goal_planner_common/utils.cpp           | 2 ++
 .../src/utils/start_planner/geometric_pull_out.cpp          | 1 +
 .../src/utils/start_planner/shift_pull_out.cpp              | 1 +
 .../behavior_path_planner/src/utils/start_planner/util.cpp  | 1 +
 planning/behavior_path_planner/src/utils/utils.cpp          | 3 +++
 .../behavior_path_planner/test/test_lane_change_utils.cpp   | 4 +++-
 planning/behavior_path_planner/test/test_safety_check.cpp   | 3 ++-
 planning/behavior_path_planner/test/test_turn_signal.cpp    | 2 ++
 planning/behavior_path_planner/test/test_utils.cpp          | 1 +
 43 files changed, 84 insertions(+), 22 deletions(-)

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp
index a144aa12704a8..78172c6fc0750 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp
@@ -18,8 +18,8 @@
 #include "behavior_path_planner/parameters.hpp"
 #include "behavior_path_planner/turn_signal_decider.hpp"
 #include "behavior_path_planner/utils/drivable_area_expansion/parameters.hpp"
+#include "motion_utils/trajectory/trajectory.hpp"
 
-#include <motion_utils/trajectory/trajectory.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <route_handler/route_handler.hpp>
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/marker_utils/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/marker_utils/utils.hpp
index ba8ddd9b19c46..c53735486efb0 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/marker_utils/utils.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/marker_utils/utils.hpp
@@ -17,9 +17,8 @@
 #include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
-#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
+#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_auto_perception_msgs/msg/predicted_path.hpp>
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
index b77ac16a9db61..4bdfc807aa7c4 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
@@ -19,6 +19,7 @@
 #include "behavior_path_planner/scene_module/scene_module_manager_interface.hpp"
 #include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
 #include "behavior_path_planner/utils/lane_following/module_data.hpp"
+#include "tier4_autoware_utils/system/stop_watch.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/rclcpp.hpp>
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
index 6acf5b945308f..077f7a3a763d5 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
@@ -22,10 +22,15 @@
 #include <behavior_path_planner/steering_factor_interface.hpp>
 #include <behavior_path_planner/turn_signal_decider.hpp>
 #include <magic_enum.hpp>
+#include <motion_utils/marker/marker_helper.hpp>
+#include <motion_utils/trajectory/path_with_lane_id.hpp>
+#include <motion_utils/trajectory/trajectory.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <route_handler/route_handler.hpp>
 #include <rtc_interface/rtc_interface.hpp>
+#include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
+#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/steering_factor_array.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp
index 3264ec1e9ddfd..215a8bfd97cc0 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp
@@ -20,10 +20,11 @@
 #include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
 
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
+#include <geometry_msgs/msg/transform_stamped.hpp>
 #include <tier4_planning_msgs/msg/avoidance_debug_msg_array.hpp>
 
 #include <lanelet2_core/geometry/Lanelet.h>
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
index 0caa79ba5d062..d5e1d22fdcc88 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
@@ -22,11 +22,11 @@
 #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
 #include "behavior_path_planner/utils/start_planner/pull_out_path.hpp"
-#include "motion_utils/motion_utils.hpp"
+#include "motion_utils/trajectory/trajectory.hpp"
 #include "object_recognition_utils/predicted_path_utils.hpp"
 
 #include <route_handler/route_handler.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_auto_perception_msgs/msg/object_classification.hpp>
 #include <autoware_auto_perception_msgs/msg/predicted_object.hpp>
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
index a9b137e54e90f..41df95378c52f 100644
--- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
+++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -19,7 +19,7 @@
 #include "behavior_path_planner/utils/drivable_area_expansion/map_utils.hpp"
 #include "behavior_path_planner/utils/path_utils.hpp"
 
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/ros/update_param.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <tier4_planning_msgs/msg/path_change_module_id.hpp>
diff --git a/planning/behavior_path_planner/src/marker_utils/avoidance/debug.cpp b/planning/behavior_path_planner/src/marker_utils/avoidance/debug.cpp
index bea1447b0d95a..b2c326fda7a69 100644
--- a/planning/behavior_path_planner/src/marker_utils/avoidance/debug.cpp
+++ b/planning/behavior_path_planner/src/marker_utils/avoidance/debug.cpp
@@ -16,6 +16,7 @@
 
 #include "behavior_path_planner/utils/path_utils.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
+#include "motion_utils/trajectory/path_with_lane_id.hpp"
 
 #include <magic_enum.hpp>
 
diff --git a/planning/behavior_path_planner/src/marker_utils/utils.cpp b/planning/behavior_path_planner/src/marker_utils/utils.cpp
index d6a237079448f..b51fc585ce935 100644
--- a/planning/behavior_path_planner/src/marker_utils/utils.cpp
+++ b/planning/behavior_path_planner/src/marker_utils/utils.cpp
@@ -19,8 +19,9 @@
 #include "behavior_path_planner/utils/path_utils.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
 
+#include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
-
+#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 namespace marker_utils
 {
 using behavior_path_planner::ShiftLine;
diff --git a/planning/behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/src/planner_manager.cpp
index 7708fd8ac116e..ee9c445e9fd2f 100644
--- a/planning/behavior_path_planner/src/planner_manager.cpp
+++ b/planning/behavior_path_planner/src/planner_manager.cpp
@@ -16,6 +16,7 @@
 
 #include "behavior_path_planner/utils/path_utils.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
+#include "tier4_autoware_utils/system/stop_watch.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <magic_enum.hpp>
diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
index 3b005c1b2242d..e5374efd0a5b5 100644
--- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -23,7 +23,10 @@
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
+#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <tier4_autoware_utils/ros/marker_helper.hpp>
+#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
 #include <tier4_planning_msgs/msg/avoidance_debug_factor.hpp>
 #include <tier4_planning_msgs/msg/avoidance_debug_msg.hpp>
diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp
index 8900e2b3e827c..912f867fd5701 100644
--- a/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp
+++ b/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp
@@ -14,6 +14,9 @@
 
 #include "behavior_path_planner/scene_module/avoidance/manager.hpp"
 
+#include "tier4_autoware_utils/ros/parameter.hpp"
+#include "tier4_autoware_utils/ros/update_param.hpp"
+
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>
diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp
index da98c0478e580..b5ecffbcc9791 100644
--- a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp
@@ -20,7 +20,7 @@
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 
 #include <algorithm>
 #include <limits>
diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp
index 82ebf59ea5bb2..616194ea66ac7 100644
--- a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp
+++ b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp
@@ -14,6 +14,8 @@
 
 #include "behavior_path_planner/scene_module/dynamic_avoidance/manager.hpp"
 
+#include "tier4_autoware_utils/ros/update_param.hpp"
+
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>
diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
index cfdc968656353..d55b3c173cc83 100644
--- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
@@ -21,13 +21,12 @@
 #include "behavior_path_planner/utils/path_utils.hpp"
 #include "behavior_path_planner/utils/start_goal_planner_common/utils.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
+#include "tier4_autoware_utils/math/unit_conversion.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <magic_enum.hpp>
-#include <motion_utils/motion_utils.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <algorithm>
 #include <limits>
diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/manager.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/manager.cpp
index 7e2975a73aa44..ba147a28173c3 100644
--- a/planning/behavior_path_planner/src/scene_module/goal_planner/manager.cpp
+++ b/planning/behavior_path_planner/src/scene_module/goal_planner/manager.cpp
@@ -15,8 +15,8 @@
 #include "behavior_path_planner/scene_module/goal_planner/manager.hpp"
 
 #include "behavior_path_planner/utils/goal_planner/util.hpp"
+#include "tier4_autoware_utils/ros/update_param.hpp"
 
-#include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp
index 27f44433c6d4e..f4a75daa6c764 100644
--- a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp
+++ b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp
@@ -14,6 +14,9 @@
 
 #include "behavior_path_planner/scene_module/lane_change/manager.hpp"
 
+#include "tier4_autoware_utils/ros/parameter.hpp"
+#include "tier4_autoware_utils/ros/update_param.hpp"
+
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
index 8deee76656dca..a81f6227e4064 100644
--- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
+++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
@@ -23,6 +23,7 @@
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
+#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 
 #include <algorithm>
 #include <limits>
diff --git a/planning/behavior_path_planner/src/scene_module/side_shift/manager.cpp b/planning/behavior_path_planner/src/scene_module/side_shift/manager.cpp
index 5a039a98f2e52..288d9d44aee54 100644
--- a/planning/behavior_path_planner/src/scene_module/side_shift/manager.cpp
+++ b/planning/behavior_path_planner/src/scene_module/side_shift/manager.cpp
@@ -14,6 +14,8 @@
 
 #include "behavior_path_planner/scene_module/side_shift/manager.hpp"
 
+#include "tier4_autoware_utils/ros/update_param.hpp"
+
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>
diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp
index 5f4b57d9c6367..09166cd72a83e 100644
--- a/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp
+++ b/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp
@@ -14,6 +14,8 @@
 
 #include "behavior_path_planner/scene_module/start_planner/manager.hpp"
 
+#include "tier4_autoware_utils/ros/update_param.hpp"
+
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>
diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
index 7be05561aa34a..afea96a8aa883 100644
--- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
@@ -24,7 +24,6 @@
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <magic_enum.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <algorithm>
 #include <memory>
diff --git a/planning/behavior_path_planner/src/turn_signal_decider.cpp b/planning/behavior_path_planner/src/turn_signal_decider.cpp
index fa661aef06681..65e3e8343f49c 100644
--- a/planning/behavior_path_planner/src/turn_signal_decider.cpp
+++ b/planning/behavior_path_planner/src/turn_signal_decider.cpp
@@ -18,9 +18,13 @@
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
+#include <motion_utils/constants.hpp>
 #include <motion_utils/resample/resample.hpp>
+#include <motion_utils/trajectory/path_with_lane_id.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <tier4_autoware_utils/math/normalization.hpp>
+#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <limits>
 #include <string>
diff --git a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp
index b60abbddf6632..4afe5381daa64 100644
--- a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp
+++ b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp
@@ -17,10 +17,14 @@
 #include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
 #include "behavior_path_planner/utils/avoidance/utils.hpp"
 #include "behavior_path_planner/utils/path_utils.hpp"
+#include "motion_utils/trajectory/path_with_lane_id.hpp"
+#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 
 #include <autoware_auto_tf2/tf2_autoware_auto_msgs.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <motion_utils/trajectory/interpolation.hpp>
+#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
 #include <tier4_planning_msgs/msg/avoidance_debug_factor.hpp>
 
diff --git a/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp b/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp
index 99d109dd0bece..5b054de43ef74 100644
--- a/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp
+++ b/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp
@@ -17,12 +17,13 @@
 #include "behavior_path_planner/utils/path_utils.hpp"
 #include "behavior_path_planner/utils/start_planner/util.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
+#include "motion_utils/trajectory/path_with_lane_id.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "tier4_autoware_utils/math/unit_conversion.hpp"
 
 #include <interpolation/spline_interpolation.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_eigen/tf2_eigen.h>
diff --git a/planning/behavior_path_planner/src/utils/goal_planner/freespace_pull_over.cpp b/planning/behavior_path_planner/src/utils/goal_planner/freespace_pull_over.cpp
index 9322350877ad1..5bb4e924b6d89 100644
--- a/planning/behavior_path_planner/src/utils/goal_planner/freespace_pull_over.cpp
+++ b/planning/behavior_path_planner/src/utils/goal_planner/freespace_pull_over.cpp
@@ -17,6 +17,7 @@
 #include "behavior_path_planner/utils/goal_planner/util.hpp"
 #include "behavior_path_planner/utils/path_utils.hpp"
 #include "behavior_path_planner/utils/start_goal_planner_common/utils.hpp"
+#include "tier4_autoware_utils/geometry/path_with_lane_id_geometry.hpp"
 
 #include <memory>
 #include <vector>
diff --git a/planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp b/planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp
index ed0106d891bb4..f350262cf4b80 100644
--- a/planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp
+++ b/planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp
@@ -16,6 +16,7 @@
 
 #include "behavior_path_planner/utils/goal_planner/util.hpp"
 #include "behavior_path_planner/utils/path_utils.hpp"
+#include "motion_utils/trajectory/path_with_lane_id.hpp"
 
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
diff --git a/planning/behavior_path_planner/src/utils/goal_planner/goal_searcher.cpp b/planning/behavior_path_planner/src/utils/goal_planner/goal_searcher.cpp
index 19dec4d3c97d1..2dd81eba7e6c7 100644
--- a/planning/behavior_path_planner/src/utils/goal_planner/goal_searcher.cpp
+++ b/planning/behavior_path_planner/src/utils/goal_planner/goal_searcher.cpp
@@ -18,7 +18,9 @@
 #include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp"
 #include "behavior_path_planner/utils/path_utils.hpp"
 #include "lanelet2_extension/utility/utilities.hpp"
+#include "motion_utils/trajectory/path_with_lane_id.hpp"
 
+#include <boost/geometry/algorithms/union.hpp>
 #include <boost/optional.hpp>
 
 #include <memory>
diff --git a/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp b/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp
index aeb28d74e5f95..b7ece14035265 100644
--- a/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp
+++ b/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp
@@ -16,6 +16,7 @@
 
 #include "behavior_path_planner/utils/goal_planner/util.hpp"
 #include "behavior_path_planner/utils/path_utils.hpp"
+#include "motion_utils/trajectory/path_with_lane_id.hpp"
 
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
diff --git a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp
index f3a1260eecadc..ffd5116a5d2dd 100644
--- a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp
+++ b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp
@@ -25,8 +25,11 @@
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
+#include <motion_utils/trajectory/interpolation.hpp>
+#include <motion_utils/trajectory/path_with_lane_id.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 
 #include <lanelet2_core/LaneletMap.h>
 #include <tf2/utils.h>
diff --git a/planning/behavior_path_planner/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp b/planning/behavior_path_planner/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp
index d244d08abf99b..0f87c68e38289 100644
--- a/planning/behavior_path_planner/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp
+++ b/planning/behavior_path_planner/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp
@@ -15,7 +15,7 @@
 #include "behavior_path_planner/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
 
 #include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/math/normalization.hpp>
 
 #include <vector>
 
diff --git a/planning/behavior_path_planner/src/utils/path_safety_checker/objects_filtering.cpp b/planning/behavior_path_planner/src/utils/path_safety_checker/objects_filtering.cpp
index 23016b01cb9ab..7205b273ff281 100644
--- a/planning/behavior_path_planner/src/utils/path_safety_checker/objects_filtering.cpp
+++ b/planning/behavior_path_planner/src/utils/path_safety_checker/objects_filtering.cpp
@@ -16,6 +16,10 @@
 
 #include "behavior_path_planner/utils/utils.hpp"
 
+#include <motion_utils/trajectory/interpolation.hpp>
+#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
+#include <tier4_autoware_utils/geometry/path_with_lane_id_geometry.hpp>
+
 namespace behavior_path_planner::utils::path_safety_checker
 {
 
diff --git a/planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp
index 1838dc6bdc07b..dddcc672e7107 100644
--- a/planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp
+++ b/planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp
@@ -16,8 +16,10 @@
 
 #include "behavior_path_planner/marker_utils/utils.hpp"
 #include "interpolation/linear_interpolation.hpp"
+#include "motion_utils/trajectory/path_with_lane_id.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "object_recognition_utils/predicted_path_utils.hpp"
+#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 
 namespace behavior_path_planner::utils::path_safety_checker
 {
diff --git a/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp b/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp
index 9ca083af35c92..44ba6bd364bc4 100644
--- a/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp
+++ b/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp
@@ -19,7 +19,7 @@
 
 #include <interpolation/spline_interpolation.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <motion_utils/trajectory/path_with_lane_id.hpp>
 
 #include <limits>
 #include <string>
diff --git a/planning/behavior_path_planner/src/utils/path_utils.cpp b/planning/behavior_path_planner/src/utils/path_utils.cpp
index c4bfb62276d42..112c7e49c7c86 100644
--- a/planning/behavior_path_planner/src/utils/path_utils.cpp
+++ b/planning/behavior_path_planner/src/utils/path_utils.cpp
@@ -15,11 +15,13 @@
 #include "behavior_path_planner/utils/path_utils.hpp"
 
 #include "behavior_path_planner/utils/utils.hpp"
+#include "motion_utils/trajectory/path_with_lane_id.hpp"
 
 #include <interpolation/spline_interpolation.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <motion_utils/resample/resample.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <motion_utils/trajectory/interpolation.hpp>
+#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <tf2/utils.h>
 
diff --git a/planning/behavior_path_planner/src/utils/start_goal_planner_common/utils.cpp b/planning/behavior_path_planner/src/utils/start_goal_planner_common/utils.cpp
index 830860de484b6..d07a2f54a5e8a 100644
--- a/planning/behavior_path_planner/src/utils/start_goal_planner_common/utils.cpp
+++ b/planning/behavior_path_planner/src/utils/start_goal_planner_common/utils.cpp
@@ -14,6 +14,8 @@
 
 #include "behavior_path_planner/utils/start_goal_planner_common/utils.hpp"
 
+#include <tier4_autoware_utils/geometry/path_with_lane_id_geometry.hpp>
+
 namespace behavior_path_planner::utils::start_goal_planner_common
 {
 
diff --git a/planning/behavior_path_planner/src/utils/start_planner/geometric_pull_out.cpp b/planning/behavior_path_planner/src/utils/start_planner/geometric_pull_out.cpp
index 628f1cfd7e421..0d75391f9d4a6 100644
--- a/planning/behavior_path_planner/src/utils/start_planner/geometric_pull_out.cpp
+++ b/planning/behavior_path_planner/src/utils/start_planner/geometric_pull_out.cpp
@@ -19,6 +19,7 @@
 #include "behavior_path_planner/utils/utils.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
+#include <tier4_autoware_utils/geometry/path_with_lane_id_geometry.hpp>
 
 using lanelet::utils::getArcCoordinates;
 using motion_utils::findNearestIndex;
diff --git a/planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp b/planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp
index f76aca793d571..f86f9d3d90a07 100644
--- a/planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp
+++ b/planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp
@@ -18,6 +18,7 @@
 #include "behavior_path_planner/utils/path_utils.hpp"
 #include "behavior_path_planner/utils/start_planner/util.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
+#include "motion_utils/trajectory/path_with_lane_id.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
 
diff --git a/planning/behavior_path_planner/src/utils/start_planner/util.cpp b/planning/behavior_path_planner/src/utils/start_planner/util.cpp
index 9ee0491ca017e..f5b4c9b979ee3 100644
--- a/planning/behavior_path_planner/src/utils/start_planner/util.cpp
+++ b/planning/behavior_path_planner/src/utils/start_planner/util.cpp
@@ -20,6 +20,7 @@
 #include "behavior_path_planner/utils/utils.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
+#include <motion_utils/trajectory/path_with_lane_id.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp
index da23d818cf59a..617d4a224fdd5 100644
--- a/planning/behavior_path_planner/src/utils/utils.cpp
+++ b/planning/behavior_path_planner/src/utils/utils.cpp
@@ -20,6 +20,9 @@
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
+#include <motion_utils/resample/resample.hpp>
+#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
+#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include "autoware_auto_perception_msgs/msg/predicted_object.hpp"
 #include "autoware_auto_perception_msgs/msg/predicted_path.hpp"
diff --git a/planning/behavior_path_planner/test/test_lane_change_utils.cpp b/planning/behavior_path_planner/test/test_lane_change_utils.cpp
index 3a809509641f4..ad64a7ae3feb5 100644
--- a/planning/behavior_path_planner/test/test_lane_change_utils.cpp
+++ b/planning/behavior_path_planner/test/test_lane_change_utils.cpp
@@ -12,7 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 #include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
-#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
+
+#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
diff --git a/planning/behavior_path_planner/test/test_safety_check.cpp b/planning/behavior_path_planner/test/test_safety_check.cpp
index 9dfcef487cc81..39e831bd5565b 100644
--- a/planning/behavior_path_planner/test/test_safety_check.cpp
+++ b/planning/behavior_path_planner/test/test_safety_check.cpp
@@ -15,7 +15,8 @@
 #include "behavior_path_planner/marker_utils/utils.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
-#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
+
+#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <geometry_msgs/msg/pose.hpp>
 
diff --git a/planning/behavior_path_planner/test/test_turn_signal.cpp b/planning/behavior_path_planner/test/test_turn_signal.cpp
index a48c8a6b0d976..4917443064e78 100644
--- a/planning/behavior_path_planner/test/test_turn_signal.cpp
+++ b/planning/behavior_path_planner/test/test_turn_signal.cpp
@@ -12,12 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 #include "behavior_path_planner/turn_signal_decider.hpp"
+#include "motion_utils/trajectory/path_with_lane_id.hpp"
 
 #include <motion_utils/trajectory/trajectory.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <tier4_autoware_utils/geometry/path_with_lane_id_geometry.hpp>
 
 #include "autoware_auto_planning_msgs/msg/path_point.hpp"
+#include <geometry_msgs/msg/twist.hpp>
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
diff --git a/planning/behavior_path_planner/test/test_utils.cpp b/planning/behavior_path_planner/test/test_utils.cpp
index b9e2727ebaa13..1452e45980793 100644
--- a/planning/behavior_path_planner/test/test_utils.cpp
+++ b/planning/behavior_path_planner/test/test_utils.cpp
@@ -16,6 +16,7 @@
 #include "lanelet2_core/Attribute.h"
 #include "lanelet2_core/geometry/Point.h"
 #include "lanelet2_core/primitives/Lanelet.h"
+#include "motion_utils/trajectory/path_with_lane_id.hpp"
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>