From bc8a29e9f21ce041c72e3f015c7c84948bcbd731 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kaan=20=C3=87olak?= <kaancolak95@gmail.com>
Date: Sun, 12 Feb 2023 16:35:05 +0300
Subject: [PATCH] feat(design): update node diagram (#322)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* feat(design): update node diagram

Signed-off-by: Kaan Çolak <kaancolak95@gmail.com>

* feat(design): rm range splitter

Signed-off-by: Kaan Çolak <kaancolak95@gmail.com>

---------

Signed-off-by: Kaan Çolak <kaancolak95@gmail.com>
---
 .../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 9e8d9b9bfe5..b9e7844fef0 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 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!-- Do not edit this file with editors other than diagrams.net -->
 <!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
-<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="3600px" height="1791px" viewBox="-0.5 -0.5 3600 1791" content="&lt;mxfile host=&quot;app.diagrams.net&quot; modified=&quot;2023-01-27T05:30:02.281Z&quot; agent=&quot;5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/108.0.0.0 Safari/537.36&quot; etag=&quot;z3iJgoZfjjFfXGI0skrE&quot; version=&quot;20.8.11&quot; type=&quot;google&quot;&gt;&lt;diagram id=&quot;T6t2FfeAp1iw48vGkmOz&quot; name=&quot;Page-1&quot;&gt;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&lt;/diagram&gt;&lt;/mxfile&gt;" style="background-color: rgb(255, 255, 255);"><defs/><g><rect x="2390" y="1610" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2391px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">Planning</div></div></div></foreignObject><text x="2450" y="1644" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">Planning</text></switch></g><rect x="2543" y="1610" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2544px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">Control</div></div></div></foreignObject><text x="2603" y="1644" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">Control</text></switch></g><rect x="2237" y="1610" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2238px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">Perception</div></div></div></foreignObject><text x="2297" y="1644" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">Perception</text></switch></g><rect x="2983" y="1610" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2984px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">Vehicle</div></div></div></foreignObject><text x="3043" y="1644" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">Vehicle</text></switch></g><rect x="1930" y="1610" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 1931px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">Sensing</div></div></div></foreignObject><text x="1990" y="1644" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">Sensing</text></switch></g><rect x="2840" y="1610" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2841px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">VehicleInterface</div></div></div></foreignObject><text x="2900" y="1644" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">VehicleInterface</text></switch></g><rect x="2083" y="1610" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2084px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">Localization</div></div></div></foreignObject><text x="2143" y="1644" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">Localization</text></switch></g><rect x="2690" y="1610" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2691px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">System</div></div></div></foreignObject><text x="2750" y="1644" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">System</text></switch></g><path d="M 3419 1049 L 3324.53 1049 L 3236.37 1049.47" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 3231.12 1049.49 L 3238.1 1045.96 L 3236.37 1049.47 L 3238.14 1052.96 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1049px; margin-left: 3352px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/diagnostics</div></div></div></foreignObject><text x="3352" y="1052" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/diagnostics</text></switch></g><rect x="1932.5" y="1730" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1760px; margin-left: 1934px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">XX1</div></div></div></foreignObject><text x="1993" y="1764" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">XX1</text></switch></g><rect x="2081.25" y="1730" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1760px; margin-left: 2082px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">X2</div></div></div></foreignObject><text x="2141" y="1764" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">X2</text></switch></g><rect x="2232.5" y="1730" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1760px; margin-left: 2234px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">X1</div></div></div></foreignObject><text x="2293" y="1764" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">X1</text></switch></g><rect x="2372.5" y="1730" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1760px; margin-left: 2374px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">S1</div></div></div></foreignObject><text x="2433" y="1764" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">S1</text></switch></g><path d="M 60 1276.37 L 60 1510" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 60 1271.12 L 63.5 1278.12 L 60 1276.37 L 56.5 1278.12 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1390px; margin-left: 60px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/initialpose</div></div></div></foreignObject><text x="60" y="1393" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/initialpose</text></switch></g><path d="M 680 1123.63 L 680 1050" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 680 1128.88 L 676.5 1121.88 L 680 1123.63 L 683.5 1121.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1090px; margin-left: 680px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/vehicle/status/velocity_report</div></div></div></foreignObject><text x="680" y="1093" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/vehicle/status/velocity_report</text></switch></g><path d="M 120 1240 L 200 1240 L 200 1420 L 280 1420" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" stroke-dasharray="3 3" pointer-events="stroke"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1330px; margin-left: 200px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">&lt;pose_initializer_srv&gt;</div></div></div></foreignObject><text x="200" y="1333" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">&lt;pose_initializer_srv&gt;</text></switch></g><path d="M 3036.37 735 L 3440 735" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 3031.12 735 L 3038.12 731.5 L 3036.37 735 L 3038.12 738.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 720px; margin-left: 3280px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"><div style="text-align: left">/autoware/engage [Engage]</div><div style="text-align: left">/current_gate_mode [GateMode]</div></div></div></div></foreignObject><text x="3280" y="723" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/autoware/engage [Engage]...</text></switch></g><path d="M 609.37 1230 L 680 1230 L 680 1170" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 604.12 1230 L 611.12 1226.5 L 609.37 1230 L 611.12 1233.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1200px; margin-left: 680px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">vehicle_velocity_converter/<br />twist_with_covariance</div></div></div></foreignObject><text x="680" y="1204" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">vehicle_velocity_converter/...</text></switch></g><path d="M 1870 501 L 1870 520 L 2140 520 L 2140 735 L 2343.63 735" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2348.88 735 L 2341.88 738.5 L 2343.63 735 L 2341.88 731.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 1px; height: 1px; padding-top: 660px; margin-left: 2002px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;">/planning/turn_indicators_cmd [TurnIndicatorsCommand]<br />/planning/hazard_lights_cmd [HazardLightsCommand]</div></div></div></foreignObject><text x="2002" y="663" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px">/planning/turn_indicators_cmd [TurnIndicatorsCommand]...</text></switch></g><path d="M 1450 1650 L 1450 1456.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1450 1451.12 L 1453.5 1458.12 L 1450 1456.37 L 1446.5 1458.12 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1561px; margin-left: 1450px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/planning/scenario_planning/max_velocity_candidates<br />[tier4_planning_msgs/msg/VelocityLimit]</div></div></div></foreignObject><text x="1450" y="1565" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/planning/scenario_planning/max_velocity_candidates...</text></switch></g><path d="M 2726 1167 L 2726 1323.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2726 1328.88 L 2722.5 1321.88 L 2726 1323.63 L 2729.5 1321.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><rect x="0" y="1510" width="120" height="40" rx="6" ry="6" fill="#bac8d3" stroke="#23445d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1530px; margin-left: 1px;"><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;">HMI</div></div></div></foreignObject><text x="60" y="1534" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">HMI</text></switch></g><rect x="1390" y="1650" width="120" height="40" rx="6" ry="6" fill="#bac8d3" stroke="#23445d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1670px; margin-left: 1391px;"><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;">HMI</div></div></div></foreignObject><text x="1450" y="1674" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">HMI</text></switch></g><rect x="1761" y="0" width="120" height="40" rx="6" ry="6" fill="#bac8d3" stroke="#23445d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 20px; margin-left: 1762px;"><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;">HMI</div></div></div></foreignObject><text x="1821" y="24" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">HMI</text></switch></g><rect x="3440" y="715" width="120" height="40" rx="6" ry="6" fill="#bac8d3" stroke="#23445d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 735px; margin-left: 3441px;"><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;">HMI</div></div></div></foreignObject><text x="3500" y="739" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">HMI</text></switch></g><path d="M 3190 60 L 3190 243.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 3190 248.88 L 3186.5 241.88 L 3190 243.63 L 3193.5 241.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 131px; margin-left: 3189px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"><span style="text-align: left">/api/external/set/command/remote/control: [tier4_external_api_msgs/msg/ControlCommandStamped]</span><br style="text-align: left" /><span style="text-align: left">/api/external/set/command/remote/heartbeat: [tier4_external_api_msgs/msg/Heartbeat]</span><br style="text-align: left" /><span style="text-align: left">/api/external/set/command/remote/shift: [tier4_external_api_msgs/msg/GearShiftStamped]</span><br style="text-align: left" /><span style="text-align: left">/api/external/set/command/remote/turn_signal: [tier4_external_api_msgs/msg/TurnSignalStamped]</span></div></div></div></foreignObject><text x="3189" y="134" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/api/external/set/command/remote/control: [tier4_external_api_msgs/msg/ControlCommandStamped]...</text></switch></g><rect x="3130" y="20" width="120" height="40" rx="6" ry="6" fill="#bac8d3" stroke="#23445d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 40px; margin-left: 3131px;"><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;">HMI</div></div></div></foreignObject><text x="3190" y="44" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">HMI</text></switch></g><path d="M 2595.48 764.82 L 2595.53 840 L 2427 840 L 2427 863.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2427 868.88 L 2423.5 861.88 L 2427 863.63 L 2430.5 861.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><path d="M 2595 910 L 2595 970 L 2515 970 L 2515 890 L 2503.37 890" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2498.12 890 L 2505.12 886.5 L 2503.37 890 L 2505.12 893.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><path d="M 2650 1470 L 2650 1420 L 2569 1420 L 2569 1376.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2569 1371.12 L 2572.5 1378.12 L 2569 1376.37 L 2565.5 1378.12 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><path d="M 2650 1470 L 2650 1420 L 2726 1420 L 2726 1376.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2726 1371.12 L 2729.5 1378.12 L 2726 1376.37 L 2722.5 1378.12 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1441px; margin-left: 2650px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/vehicle/engage</div></div></div></foreignObject><text x="2650" y="1444" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/vehicle/engage</text></switch></g><rect x="2590" y="1470" width="120" height="40" rx="6" ry="6" fill="#bac8d3" stroke="#23445d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1490px; margin-left: 2591px;"><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;">HMI</div></div></div></foreignObject><text x="2650" y="1494" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">HMI</text></switch></g><path d="M 1821 120 L 1821 190 L 2270 190 L 2270 490 L 2363.63 490" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2368.88 490 L 2361.88 493.5 L 2363.63 490 L 2361.88 486.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><path d="M 3170 1117 L 3170 1173.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 3170 1178.88 L 3166.5 1171.88 L 3170 1173.63 L 3173.5 1171.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1148px; margin-left: 3170px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;">/diagnostics_err</div></div></div></foreignObject><text x="3170" y="1152" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/diagnostics_err</text></switch></g><path d="M 1119 500 L 1119 532.53 L 1140 532.53 L 1140 538.08" fill="none" stroke="rgb(0, 0, 0)" stroke-width="12" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1140 551.58 L 1131 533.58 L 1140 538.08 L 1149 533.58 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-width="12" stroke-miterlimit="10" pointer-events="all"/><rect x="2330" y="180" width="570" height="370" rx="55.5" ry="55.5" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 568px; height: 1px; padding-top: 187px; margin-left: 2331px;"><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;">trajectory_follower</div></div></div></foreignObject><text x="2615" y="199" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">trajectory_follower</text></switch></g><rect x="2543" y="1610" width="120" height="60" rx="9" ry="9" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2544px;"><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;">Control</div></div></div></foreignObject><text x="2603" y="1644" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Control</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/control/trajectory_follower_nodes/design/trajectory_follower-design.md"><rect x="2575" y="450" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 470px; margin-left: 2576px;"><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;">latlon_muxer</div></div></div></foreignObject><text x="2635" y="474" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">latlon_muxer</text></switch></g></a><path d="M 2591 310 L 2591 430 L 2635 430 L 2635 443.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2635 448.88 L 2631.5 441.88 L 2635 443.63 L 2638.5 441.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 352px; margin-left: 2610px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;"><div> /control/trajectory_follower/lateral/control_cmd</div><div> [AckermannLateralControlCommand]</div><div><br /></div></div></div></div></foreignObject><text x="2610" y="355" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/trajectory_follower/lateral/control_cmd...</text></switch></g><path d="M 2790 310 L 2790 430 L 2635 430 L 2635 443.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2635 448.88 L 2631.5 441.88 L 2635 443.63 L 2638.5 441.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 379px; margin-left: 2768px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;">/control/trajectory_follower/longitudinal/control_cmd<br />[LongitudinalControlCommand]</div></div></div></foreignObject><text x="2768" y="382" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/trajectory_follower/longitudinal/control_cmd...</text></switch></g><path d="M 2635 490 L 2635 570 L 2507.13 570 L 2507.08 698.21" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2507.08 703.46 L 2503.58 696.46 L 2507.08 698.21 L 2510.58 696.46 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 520px; margin-left: 2635px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;"><div>/control/trajectory_follower/control_cmd</div><div> [AckermannControlCommand]</div><div><br /></div></div></div></div></foreignObject><text x="2635" y="523" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/trajectory_follower/control_cmd...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/control/trajectory_follower/design/mpc_lateral_controller-design.md"><rect x="2531" y="270" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 290px; margin-left: 2532px;"><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;">lateral_controller</div></div></div></foreignObject><text x="2591" y="294" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">lateral_controller</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/control/trajectory_follower/design/pid_longitudinal_controller-design.md"><rect x="2710" y="270" width="160" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 290px; margin-left: 2711px;"><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;">longitudinal_controller</div></div></div></foreignObject><text x="2790" y="294" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">longitudinal_controller</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/vehicle_cmd_gate"><rect x="2350" y="705" width="680" height="60" rx="9" ry="9" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 678px; height: 1px; padding-top: 735px; margin-left: 2351px;"><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;">vehicle_cmd_gate</div></div></div></foreignObject><text x="2690" y="739" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">vehicle_cmd_gate</text></switch></g></a><path d="M 2596.08 765.66 L 2595 765.73 L 2595 863.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2595 868.88 L 2591.5 861.88 L 2595 863.63 L 2598.5 861.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 810px; margin-left: 2600px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">control/command/control_cmd<br /> [AckermannControlCommand]</div></div></div></foreignObject><text x="2600" y="813" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">control/command/control_cmd...</text></switch></g><path d="M 2635 628 L 2635 660 L 2634.93 698.33" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2634.92 703.58 L 2631.43 696.58 L 2634.93 698.33 L 2638.43 696.59 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 660px; margin-left: 2635px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/control/shift_decider/gear_cmd<br />[GearCommand]</div></div></div></foreignObject><text x="2635" y="663" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/shift_decider/gear_cmd...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/shift_decider"><rect x="2575" y="588" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 608px; margin-left: 2576px;"><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;">shift_decider</div></div></div></foreignObject><text x="2635" y="612" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">shift_decider</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/vehicle/external_cmd_converter"><rect x="3130" y="360" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 380px; margin-left: 3131px;"><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;">external_cmd_<br />converter</div></div></div></foreignObject><text x="3190" y="384" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">external_cmd_...</text></switch></g></a><path d="M 2591 230 L 2591 263.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2591 268.88 L 2587.5 261.88 L 2591 263.63 L 2594.5 261.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><path d="M 2430 510 L 2430 623.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2430 628.88 L 2426.5 621.88 L 2430 623.63 L 2433.5 621.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 570px; margin-left: 2430px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/diagnostics</div></div></div></foreignObject><text x="2430" y="573" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/diagnostics</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/lane_departure_checker"><rect x="2370" y="470" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 490px; margin-left: 2371px;"><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;">lane_departure_<br />checker</div></div></div></foreignObject><text x="2430" y="494" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">lane_departure_...</text></switch></g></a><path d="M 2531 290 L 2430 290 L 2430 463.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2430 468.88 L 2426.5 461.88 L 2430 463.63 L 2433.5 461.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 408px; margin-left: 2430px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;">predicted_trajectory</div></div></div></foreignObject><text x="2430" y="411" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">predicted_trajectory</text></switch></g><path d="M 3190 290 L 3190 353.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 3190 358.88 L 3186.5 351.88 L 3190 353.63 L 3193.5 351.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 325px; margin-left: 3190px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/external/selected/external_control_cmd<br /> [tier4_external_api_msgs/msg/ControlCommandStamped]</div></div></div></foreignObject><text x="3190" y="329" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/external/selected/external_control_cmd...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/external_cmd_selector"><rect x="3130" y="250" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 270px; margin-left: 3131px;"><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;">external_cmd_<br />selector</div></div></div></foreignObject><text x="3190" y="274" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">external_cmd_...</text></switch></g></a><path d="M 3130 270 L 2936.2 270 L 2936.16 699.29" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2936.16 704.54 L 2932.66 697.54 L 2936.16 699.29 L 2939.66 697.54 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 600px; margin-left: 2951px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: #FFFFFF; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"><div style="text-align: left"><font style="font-size: 11px">/api/external/set/command/remote/control <br /></font></div><div style="text-align: left"><font style="font-size: 11px">   [tier4_external_api_msgs/msg/ControlCommandStamped]</font></div><div style="text-align: left"><font style="font-size: 11px">/api/external/set/command/remote/shift</font></div><div style="text-align: left"><font style="font-size: 11px">   [tier4_external_api_msgs/msg/GearShiftStamped]</font></div><div style="text-align: left"><font style="font-size: 11px">/api/external/set/command/remote/turn_signal</font></div><div style="text-align: left"><font style="font-size: 11px">   [tier4_external_api_msgs/msg/TurnSignalStamped]</font></div></div></div></div></foreignObject><text x="2951" y="604" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/api/external/set/command/remote/control...</text></switch></g><path d="M 2635 490 L 2635 581.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2635 586.88 L 2631.5 579.88 L 2635 581.63 L 2638.5 579.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><path d="M 3190 400 L 3190 660 L 2993.33 660 L 2993.29 698.51" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2993.28 703.76 L 2989.79 696.76 L 2993.29 698.51 L 2996.79 696.77 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 440px; margin-left: 3210px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">z<div style="text-align: left"></div></div></div></div></foreignObject><text x="3210" y="443" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">z&#xa;</text></switch></g><path d="M 2860 765 L 2862.45 1103.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2862.49 1108.88 L 2858.94 1101.91 L 2862.45 1103.63 L 2865.94 1101.86 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 1px; height: 1px; padding-top: 871px; margin-left: 2808px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/current_gate_mode [GateMode]<div>/gear_cmd [GearCommand]</div><div>/turn_indicators_cmd  [TurnIndicatorCommand]</div><div><div>/hazard_lights_cmd  [HazardLightsCommand]</div></div><div>/vehicle_emergency_cmd [VehicleEmergencyStamped]</div></div></div></div></foreignObject><text x="2808" y="874" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px">/current_gate_mode [GateMode]...</text></switch></g><rect x="1705" y="220" width="230" height="760" rx="34.5" ry="34.5" fill="none" stroke="rgb(0, 0, 0)" stroke-dasharray="3 3" pointer-events="all"/><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/behavior_velocity_planner"><rect x="1720" y="570" width="200" height="390" rx="30" ry="30" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 577px; margin-left: 1721px;"><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_velocity_planner</div></div></div></foreignObject><text x="1820" y="589" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">behavior_velocity_planner</text></switch></g></a><rect x="2390" y="1610" width="120" height="60" rx="9" ry="9" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2391px;"><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;">Planning</div></div></div></foreignObject><text x="2450" y="1644" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Planning</text></switch></g><path d="M 1862.5 1450 L 1862.53 1510 L 2300 1510 L 2300 738 C 2303.9 738 2303.9 732 2300 732 L 2300 732 L 2300 493 C 2303.9 493 2303.9 487 2300 487 L 2300 487 L 2300 230 L 2790 230 L 2790 263.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2790 268.88 L 2786.5 261.88 L 2790 263.63 L 2793.5 261.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1481px; margin-left: 1863px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/planning/scenario_planning/trajectory [Trajectory]</div></div></div></foreignObject><text x="1863" y="1484" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/planning/scenario_planning/trajectory [Trajectory]</text></switch></g><path d="M 1821 120 L 1821 190 L 1650 190 L 1650 1340 L 1796.13 1340" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1801.38 1340 L 1794.38 1343.5 L 1796.13 1340 L 1794.38 1336.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><path d="M 1820 1080 L 1820 1113.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1820 1118.88 L 1816.5 1111.88 L 1820 1113.63 L 1823.5 1111.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1092px; margin-left: 1821px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">motion_planning/obstacle_avoidance_planner/trajectory [Trajectory]</div></div></div></foreignObject><text x="1821" y="1095" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">motion_planning/obstacle_avoidance_planner/trajectory [Trajectory]</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_avoidance_planner"><rect x="1760" y="1040" width="120" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1060px; margin-left: 1761px;"><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_<br />avoidance_planner</div></div></div></foreignObject><text x="1820" y="1064" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">obstacle_...</text></switch></g></a><path d="M 1820 1160 L 1820 1193.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1820 1198.88 L 1816.5 1191.88 L 1820 1193.63 L 1823.5 1191.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1180px; margin-left: 1820px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">motion_planning/obstacle_velocity_limiter/trajectory [Trajectory]</div></div></div></foreignObject><text x="1820" y="1183" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">motion_planning/obstacle_velocity_limiter/trajectory [Trajectory]</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_velocity_limiter"><rect x="1750" y="1120" width="140" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 138px; height: 1px; padding-top: 1140px; margin-left: 1751px;"><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_velocity_limiter</div></div></div></foreignObject><text x="1820" y="1144" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">obstacle_velocity_limit...</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_stop_planner"><rect x="1760" y="1200" width="120" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1220px; margin-left: 1761px;"><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_stop_<br />planner</div></div></div></foreignObject><text x="1820" y="1224" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">obstacle_stop_...</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/costmap_generator"><rect x="2040" y="390" width="120" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 410px; margin-left: 2041px;"><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;">costmap_generator</div></div></div></foreignObject><text x="2100" y="414" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">costmap_generator</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/external_velocity_limit_selector"><rect x="1390" y="1410" width="120" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1430px; margin-left: 1391px;"><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;">external_velocity_<br />limit_selector</div></div></div></foreignObject><text x="1450" y="1434" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">external_velocity_...</text></switch></g></a><path d="M 1510 1430 L 1796.13 1430" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1801.38 1430 L 1794.38 1433.5 L 1796.13 1430 L 1794.38 1426.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1430px; margin-left: 1656px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/planning/scenario_planning/max_velocity<br />[tier4_planning_msgs/msg/VelocityLimit]</div></div></div></foreignObject><text x="1656" y="1433" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/planning/scenario_planning/max_velocity...</text></switch></g><path d="M 1760 1220 L 1653 1220 C 1653 1216.1 1647 1216.1 1647 1220 L 1647 1220 L 1450 1220 L 1450 1403.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1450 1408.88 L 1446.5 1401.88 L 1450 1403.63 L 1453.5 1401.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1260px; margin-left: 1450px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/planning/scenario_planning/max_velocity_candidates<br />[tier4_planning_msgs/msg/VelocityLimit]</div></div></div></foreignObject><text x="1450" y="1263" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/planning/scenario_planning/max_velocity_candidates...</text></switch></g><path d="M 1820 1240 L 1820 1290 L 1832.53 1290 L 1832.51 1313.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1832.5 1318.88 L 1829.01 1311.88 L 1832.51 1313.63 L 1836.01 1311.89 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1260px; margin-left: 1820px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">lane_driving/trajectory [Trajectory]</div></div></div></foreignObject><text x="1820" y="1263" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">lane_driving/trajectory [Trajectory]</text></switch></g><path d="M 1862.5 1360 L 1862.5 1403.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1862.5 1408.88 L 1859 1401.88 L 1862.5 1403.63 L 1866 1401.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1385px; margin-left: 1863px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">trajectory [Trajectory]</div></div></div></foreignObject><text x="1863" y="1389" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">trajectory [Trajectory]</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/scenario_selector"><rect x="1802.5" y="1320" width="120" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1340px; margin-left: 1804px;"><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;">scenario_selector</div></div></div></foreignObject><text x="1863" y="1344" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">scenario_selector</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/motion_velocity_smoother"><rect x="1802.5" y="1410" width="120" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1430px; margin-left: 1804px;"><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;">motion_velocity_<br />smoother</div></div></div></foreignObject><text x="1863" y="1434" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">motion_velocity_...</text></switch></g></a><rect x="1721.5" y="350" width="200" height="241" fill="none" stroke="none"/><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/behavior_path_planner"><rect x="1720" y="260" width="200" height="241" rx="30" ry="30" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 267px; margin-left: 1721px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">behavior_path_planner</div></div></div></foreignObject><text x="1820" y="279" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">behavior_path_planner</text></switch></g></a><rect x="1760" y="378" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 393px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">obstacle_avoidance</div></div></div></foreignObject><text x="1820" y="397" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">obstacle_avoidance</text></switch></g><rect x="1760" y="418" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 433px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">pull_over/out</div></div></div></foreignObject><text x="1820" y="437" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">pull_over/out</text></switch></g><rect x="1760" y="458" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 473px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">side_shift</div></div></div></foreignObject><text x="1820" y="477" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">side_shift</text></switch></g><rect x="1760" y="336" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 351px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">lane_change</div></div></div></foreignObject><text x="1820" y="355" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">lane_change</text></switch></g><rect x="1760" y="298" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 313px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">lane_following</div></div></div></foreignObject><text x="1820" y="317" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">lane_following</text></switch></g><rect x="1830" y="230" width="90" height="20.3" fill="none" stroke="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 88px; height: 1px; padding-top: 240px; margin-left: 1831px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">&lt;Lane Driving&gt;</div></div></div></foreignObject><text x="1875" y="244" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">&lt;Lane Driving&gt;</text></switch></g><rect x="1760" y="840" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 855px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">no_stopping_area</div></div></div></foreignObject><text x="1820" y="859" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">no_stopping_area</text></switch></g><rect x="1760" y="800" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 815px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">occlusion_spot</div></div></div></foreignObject><text x="1820" y="819" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">occlusion_spot</text></switch></g><rect x="1760" y="760" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 775px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">intersection</div></div></div></foreignObject><text x="1820" y="779" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">intersection</text></switch></g><rect x="1760" y="720" width="120" height="28" rx="4.2" ry="4.2" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 734px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">traffic_light</div></div></div></foreignObject><text x="1820" y="738" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">traffic_light</text></switch></g><rect x="1760" y="680" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 695px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">cross_walk</div></div></div></foreignObject><text x="1820" y="699" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">cross_walk</text></switch></g><rect x="1760" y="640" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 655px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">blind_spot</div></div></div></foreignObject><text x="1820" y="659" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">blind_spot</text></switch></g><rect x="1760" y="600" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 615px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">detection_area</div></div></div></foreignObject><text x="1820" y="619" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">detection_area</text></switch></g><rect x="1760" y="880" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 895px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">stop_line</div></div></div></foreignObject><text x="1820" y="899" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">stop_line</text></switch></g><path d="M 1820.93 120 L 1820.45 253.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1820.43 258.88 L 1816.96 251.87 L 1820.45 253.63 L 1823.96 251.89 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1821 120 L 1821 190 L 2020 190 L 2020 293.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 2020 298.88 L 2016.5 291.88 L 2020 293.63 L 2023.5 291.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 150px; margin-left: 1821px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/planning/mission_planning/route<br />[autoware_auto_planning_msgs/HADMapRoute]</div></div></div></foreignObject><text x="1821" y="153" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/planning/mission_planning/route...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/mission_planner"><rect x="1761" y="80" width="120" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 100px; margin-left: 1762px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">mission_planner</div></div></div></foreignObject><text x="1821" y="104" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">mission_planner</text></switch></g></a><path d="M 1820 501 L 1820 563.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1820 568.88 L 1816.5 561.88 L 1820 563.63 L 1823.5 561.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 536px; margin-left: 1820px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">behavior_planning/path_with_lane_id</div></div></div></foreignObject><text x="1820" y="539" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">behavior_planning/path_with_lane_id</text></switch></g><path d="M 1820 980 L 1820 1033.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1820 1038.88 L 1816.5 1031.88 L 1820 1033.63 L 1823.5 1031.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1010px; margin-left: 1820px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">behavior_planning/path</div></div></div></foreignObject><text x="1820" y="1013" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">behavior_planning/path</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/freespace_planner"><rect x="1960" y="300" width="120" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 320px; margin-left: 1961px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">freespace_planner</div></div></div></foreignObject><text x="2020" y="324" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">freespace_planner</text></switch></g></a><path d="M 2100 390 L 2100 320 L 2086.37 320" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 2081.12 320 L 2088.12 316.5 L 2086.37 320 L 2088.12 323.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 360px; margin-left: 2100px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">costmap_generator/occupancy_grid</div></div></div></foreignObject><text x="2100" y="363" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">costmap_generator/occupancy_grid</text></switch></g><rect x="1950" y="220" width="230" height="250" rx="34.5" ry="34.5" fill="none" stroke="rgb(0, 0, 0)" stroke-dasharray="3 3"/><path d="M 1821 40 L 1821 73.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1821 78.88 L 1817.5 71.88 L 1821 73.63 L 1824.5 71.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 60px; margin-left: 1821px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">goal</div></div></div></foreignObject><text x="1821" y="63" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">goal</text></switch></g><rect x="1760" y="920" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 935px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">virtual_stop_line</div></div></div></foreignObject><text x="1820" y="939" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">virtual_stop_line</text></switch></g><rect x="2070" y="240" width="80" height="20" fill="none" stroke="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 250px; margin-left: 2071px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">&lt;Parking&gt;</div></div></div></foreignObject><text x="2110" y="254" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">&lt;Parking&gt;</text></switch></g><path d="M 2020 340 L 2020 1290 L 1892.53 1290 L 1892.51 1313.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1892.5 1318.88 L 1889.01 1311.88 L 1892.51 1313.63 L 1896.01 1311.89 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1260px; margin-left: 2020px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;"><span style="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;">parking/trajectory [Trajectory]</span></div></div></div></foreignObject><text x="2020" y="1263" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">parking/trajectory [Trajectory]</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/surround_obstacle_checker"><rect x="1370" y="1140" width="160" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 1160px; margin-left: 1371px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">surround_obstacle_checker</div></div></div></foreignObject><text x="1450" y="1164" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">surround_obstacle_checker</text></switch></g></a><path d="M 1450 1180 L 1450 1403.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1450 1408.88 L 1446.5 1401.88 L 1450 1403.63 L 1453.5 1401.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><rect x="2237" y="1610" width="120" height="60" rx="9" ry="9" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2238px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">Perception</div></div></div></foreignObject><text x="2297" y="1644" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Perception</text></switch></g><path d="M 901 1042.5 L 901 1123.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 901 1128.88 L 897.5 1121.88 L 901 1123.63 L 904.5 1121.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1087px; margin-left: 901px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/perception/object_recognition/objects</div></div></div></foreignObject><text x="901" y="1090" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/perception/object_recognition/objects</text></switch></g><path d="M 1500 610 L 1500 734 L 1647 734 C 1647 730.1 1653 730.1 1653 734 L 1653 734 L 1753.63 734" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1758.88 734 L 1751.88 737.5 L 1753.63 734 L 1751.88 730.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 716px; margin-left: 1500px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">traffic_light_states</div></div></div></foreignObject><text x="1500" y="719" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">traffic_light_states</text></switch></g><rect x="1420" y="340" width="160" height="330" rx="24" ry="24" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 347px; margin-left: 1421px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div>/perception/traffic_light_recognition/<br /></div></div></div></div></foreignObject><text x="1500" y="359" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">/perception/traffic_light_...</text></switch></g><rect x="685" y="120" width="700" height="932.5" rx="105" ry="105" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 698px; height: 1px; padding-top: 127px; margin-left: 686px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div>/perception/object_recognition/<br /></div></div></div></div></foreignObject><text x="1035" y="139" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">/perception/object_recognition/&#xa;</text></switch></g><rect x="975" y="145" width="250" height="574" rx="37.5" ry="37.5" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 248px; height: 1px; padding-top: 152px; margin-left: 976px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div>/perception/object_recognition/detection/<br /></div></div></div></div></foreignObject><text x="1100" y="164" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">/perception/object_recognition/detection/&#xa;</text></switch></g><path d="M 1119 289 L 1119 309 L 1119 298 L 1119 311.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1119 316.88 L 1115.5 309.88 L 1119 311.63 L 1122.5 309.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 304px; margin-left: 1119px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">clustering/downsampled/pointcloud</div></div></div></foreignObject><text x="1119" y="307" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">clustering/downsampled/pointcloud</text></switch></g><rect x="1059" y="249" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 269px; margin-left: 1060px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">voxel_grid_filter</div></div></div></foreignObject><text x="1119" y="273" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">voxel_grid_filter</text></switch></g><path d="M 1119 425 L 1119 445 L 1119 440 L 1119 453.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1119 458.88 L 1115.5 451.88 L 1119 453.63 L 1122.5 451.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 442px; margin-left: 1119px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">clustering/downsampled/concatenated/pointcloud</div></div></div></foreignObject><text x="1119" y="446" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">clustering/downsampled/concatenated/pointcloud</text></switch></g><rect x="1059" y="318" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 338px; margin-left: 1060px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">outlier_filter</div></div></div></foreignObject><text x="1119" y="342" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">outlier_filter</text></switch></g><path d="M 1119 500 L 1119 572.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1119 577.88 L 1115.5 570.88 L 1119 572.63 L 1122.5 570.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 553px; margin-left: 1087px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">clustering/cluster</div></div></div></foreignObject><text x="1087" y="557" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">clustering/cluster</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/euclidean_cluster"><rect x="1059" y="460" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 480px; margin-left: 1060px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">euclidean_cluster</div></div></div></foreignObject><text x="1119" y="484" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">euclidean_cluster</text></switch></g></a><path d="M 1119.73 215 L 1119.36 242.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1119.29 247.88 L 1115.88 240.84 L 1119.36 242.63 L 1122.88 240.93 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 230px; margin-left: 1120px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">clustering/short_range/pointcloud</div></div></div></foreignObject><text x="1120" y="233" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">clustering...</text></switch></g><path d="M 1059 846 L 961.37 847" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 956.12 847 L 963.12 843.5 L 961.37 847 L 963.12 850.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 1px; height: 1px; padding-top: 827px; margin-left: 971px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><p style="line-height: 100%;">detection_by<br />_tracker/objects</p></div></div></div></foreignObject><text x="971" y="830" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px">detection_by...</text></switch></g><path d="M 900 990 L 1119 990 L 1119 872.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1119 867.12 L 1122.5 874.12 L 1119 872.37 L 1115.5 874.12 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1500 520 L 1500 563.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1500 568.88 L 1496.5 561.88 L 1500 563.63 L 1503.5 561.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 900 623 L 900 693 L 900 713.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 900 718.88 L 896.5 711.88 L 900 713.63 L 903.5 711.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 690px; margin-left: 900px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">centerpoint/validation/objects</div></div></div></foreignObject><text x="900" y="694" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">centerpoint/validation/objects</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/lidar_centerpoint"><rect x="830" y="520" width="140" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 138px; height: 1px; padding-top: 540px; margin-left: 831px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">lidar_centerpoint</div></div></div></foreignObject><text x="900" y="544" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">lidar_centerpoint</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/map_based_prediction"><rect x="840" y="1002.5" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1023px; margin-left: 841px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">map_based_<br />prediction</div></div></div></foreignObject><text x="900" y="1026" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">map_based_...</text></switch></g></a><path d="M 1500 430 L 1500 473.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1500 478.88 L 1496.5 471.88 L 1500 473.63 L 1503.5 471.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 455px; margin-left: 1500px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">traffic_light_detection/rough/rois</div></div></div></foreignObject><text x="1500" y="459" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">traffic_light_detection/rough/rois</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/traffic_light_map_based_detector"><rect x="1440" y="390" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 410px; margin-left: 1441px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">traffic_light_map_<br />based_detector</div></div></div></foreignObject><text x="1500" y="414" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">traffic_light_map_...</text></switch></g></a><path d="M 900 921 L 900 938.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 900 943.88 L 896.5 936.88 L 900 938.63 L 903.5 936.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 933px; margin-left: 900px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">detection/objects</div></div></div></foreignObject><text x="900" y="936" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">detection/objects</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/traffic_light_classifier"><rect x="1440" y="570" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 590px; margin-left: 1441px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">traffic_light_<br />classifier</div></div></div></foreignObject><text x="1500" y="594" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">traffic_light_...</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/traffic_light_ssd_fine_detector"><rect x="1440" y="480" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 500px; margin-left: 1441px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">traffic_light_<br />ssd_fine_detector</div></div></div></foreignObject><text x="1500" y="504" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">traffic_light_...</text></switch></g></a><path d="M 900 985 L 900 996.13" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 900 1001.38 L 896.5 994.38 L 900 996.13 L 903.5 994.38 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1500 210 L 1500 383.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1500 388.88 L 1496.5 381.88 L 1500 383.63 L 1503.5 381.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 272px; margin-left: 1500px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">route,<br />vector_map</div></div></div></foreignObject><text x="1500" y="275" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">route,...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/multi_object_tracker"><rect x="840" y="945" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 965px; margin-left: 841px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">multi_object_<br />tracker</div></div></div></foreignObject><text x="900" y="969" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">multi_object_...</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/object_merger"><rect x="845" y="720" width="110" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 108px; height: 1px; padding-top: 740px; margin-left: 846px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">object_association<br />_merger</div></div></div></foreignObject><text x="900" y="744" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">object_association...</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/shape_estimation"><rect x="1049" y="579" width="140" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 138px; height: 1px; padding-top: 599px; margin-left: 1050px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">shape_estimation</div></div></div></foreignObject><text x="1119" y="603" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">shape_estimation</text></switch></g></a><rect x="830" y="1370" width="200" height="260" rx="30" ry="30" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 1377px; margin-left: 831px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div>/perception/occupancy_grid_map/<br /></div></div></div></div></foreignObject><text x="930" y="1389" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">/perception/occupancy_grid_map/&#xa;</text></switch></g><rect x="1050" y="1200" width="230" height="430" rx="34.5" ry="34.5" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 228px; height: 1px; padding-top: 1207px; margin-left: 1051px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div>/perception/obstacle_segmentation/<br /></div></div></div></div></foreignObject><text x="1165" y="1219" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">/perception/obstacle_segmentation/&#xa;</text></switch></g><path d="M 1160 1290 L 1160 1190 L 800 1190 L 800 1500 L 863.63 1499.97" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 868.88 1499.97 L 861.88 1503.47 L 863.63 1499.97 L 861.88 1496.47 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1160 1385 L 1160 1500 L 996.37 1499.97" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 991.12 1499.97 L 998.12 1496.47 L 996.37 1499.97 L 998.12 1503.47 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1160 1385 L 1160 1543.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1160 1548.88 L 1156.5 1541.88 L 1160 1543.63 L 1163.5 1541.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1402px; margin-left: 1160px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">no_ground/oneshot/pointcloud</div></div></div></foreignObject><text x="1160" y="1406" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">no_ground/oneshot/pointcloud</text></switch></g><path d="M 1160 1290 L 1160 1338.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1160 1343.88 L 1156.5 1336.88 L 1160 1338.63 L 1163.5 1336.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1310px; margin-left: 1160px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">range_cropped/pointcloud</div></div></div></foreignObject><text x="1160" y="1313" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">range_cropped/pointcloud</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/perception/ground_segmentation/docs/scan-ground-filter.md"><rect x="1100" y="1345" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1365px; margin-left: 1101px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">common_<br />ground_filter</div></div></div></foreignObject><text x="1160" y="1369" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">common_...</text></switch></g></a><path d="M 930 1519.97 L 930 1570 L 1083.63 1570" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1088.88 1570 L 1081.88 1573.5 L 1083.63 1570 L 1081.88 1566.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1550px; margin-left: 930px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">occupancy_grid</div></div></div></foreignObject><text x="930" y="1554" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">occupancy_grid</text></switch></g><path d="M 930 1519.97 L 930.23 1703.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 930.25 1708.88 L 926.73 1701.89 L 930.23 1703.63 L 933.73 1701.87 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1670px; margin-left: 930px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/perception/occupancy_grid_map/map</div></div></div></foreignObject><text x="930" y="1674" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/perception/occupancy_grid_map/map</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/perception/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md"><rect x="870" y="1479.97" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1500px; margin-left: 871px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">probabilistic_<br />occupancy_grid_map</div></div></div></foreignObject><text x="930" y="1504" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">probabilistic_...</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/occupancy_grid_map_outlier_filter"><rect x="1090" y="1550" width="140" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 138px; height: 1px; padding-top: 1570px; margin-left: 1091px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">occupancy_grid_<br />map_based_outlier_filter</div></div></div></foreignObject><text x="1160" y="1574" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">occupancy_grid_...</text></switch></g></a><path d="M 1160 1590 L 1160 1703.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1160 1708.88 L 1156.5 1701.88 L 1160 1703.63 L 1163.5 1701.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1670px; margin-left: 1160px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/perception/obstacle_segmentation/pointcloud</div></div></div></foreignObject><text x="1160" y="1673" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/perception/obstacle_segmentation/pointcloud</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md"><rect x="1100" y="1250" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1270px; margin-left: 1101px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">crop_box_filter</div></div></div></foreignObject><text x="1160" y="1274" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">crop_box_filter</text></switch></g></a><path d="M 1160 1140 L 1160 1243.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1160 1248.88 L 1156.5 1241.88 L 1160 1243.63 L 1163.5 1241.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1180px; margin-left: 1160px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/concatenated/pointcloud</div></div></div></foreignObject><text x="1160" y="1183" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/concatena...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/perception/detected_object_validation/obstacle-pointcloud-based-validator.md"><rect x="830" y="583" width="140" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 138px; height: 1px; padding-top: 603px; margin-left: 831px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">obstacle_pointcloud _based_validator</div></div></div></foreignObject><text x="900" y="607" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">obstacle_pointcloud _ba...</text></switch></g></a><path d="M 900 560 L 900 576.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 900 581.88 L 896.5 574.88 L 900 576.63 L 903.5 574.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/object_merger"><rect x="845" y="827" width="110" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 108px; height: 1px; padding-top: 847px; margin-left: 846px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">object_association<br />_merger</div></div></div></foreignObject><text x="900" y="851" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">object_association...</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/object_merger"><rect x="845" y="773" width="110" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 108px; height: 1px; padding-top: 793px; margin-left: 846px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">object_association<br />_merger</div></div></div></foreignObject><text x="900" y="797" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">object_association...</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/tensorrt_yolo"><rect x="1239" y="270" width="140" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 138px; height: 1px; padding-top: 290px; margin-left: 1240px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">tensorrt_yolo</div></div></div></foreignObject><text x="1309" y="294" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">tensorrt_yolo</text></switch></g></a><path d="M 530 603 L 823.63 603" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 828.88 603 L 821.88 606.5 L 823.63 603 L 821.88 599.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 618px; margin-left: 677px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/perception/obstacle_segmentation/pointcloud</div></div></div></foreignObject><text x="677" y="621" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/perception/obstacle_segmentation/pointcloud</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/perception/image_projection_based_fusion/docs/roi-cluster-fusion.md"><rect x="1239" y="515" width="140" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 138px; height: 1px; padding-top: 535px; margin-left: 1240px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">roi_cluster_fusion</div></div></div></foreignObject><text x="1309" y="539" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">roi_cluster_fusion</text></switch></g></a><path d="M 1119 500 L 1119 535 L 1232.63 535" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1237.88 535 L 1230.88 538.5 L 1232.63 535 L 1230.88 531.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1309 310 L 1309 508.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1309 513.88 L 1305.5 506.88 L 1309 508.63 L 1312.5 506.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 425px; margin-left: 1284px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/rois*</div></div></div></foreignObject><text x="1284" y="429" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/rois*</text></switch></g><path d="M 1309 617 L 1309 637 L 1309 635 L 1309 648.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1309 653.88 L 1305.5 646.88 L 1309 648.63 L 1312.5 646.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/shape_estimation"><rect x="1239" y="577" width="140" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 138px; height: 1px; padding-top: 597px; margin-left: 1240px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">shape_estimation</div></div></div></foreignObject><text x="1309" y="601" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">shape_estimation</text></switch></g></a><path d="M 900 813 L 900 820.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 900 825.88 L 896.5 818.88 L 900 820.63 L 903.5 818.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 900 760 L 900 766.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 900 771.88 L 896.5 764.88 L 900 766.63 L 903.5 764.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/detection_by_tracker"><rect x="1059" y="826" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 846px; margin-left: 1060px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">detection_by_<br />tracker_node</div></div></div></foreignObject><text x="1119" y="850" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">detection_by_...</text></switch></g></a><path d="M 1119 619 L 1119 819.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1119 824.88 L 1115.5 817.88 L 1119 819.63 L 1122.5 817.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1313 695 L 1309 695 L 1309 740 L 961.37 740" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 956.12 740 L 963.12 736.5 L 961.37 740 L 963.12 743.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 755px; margin-left: 1323px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">clustering/camera_lidar_fusion<br />/short_range_objects</div></div></div></foreignObject><text x="1323" y="759" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">clustering/camera_lidar_fusion...</text></switch></g><path d="M 1309 555 L 1309 571.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1309 576.88 L 1305.5 569.88 L 1309 571.63 L 1312.5 569.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1309 210 L 1309 263.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1309 268.88 L 1305.5 261.88 L 1309 263.63 L 1312.5 261.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 240px; margin-left: 1309px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/sensing/camera/<br />camera*/image_rect_color</div></div></div></foreignObject><text x="1309" y="243" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/sensing/camera/...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/perception/detected_object_validation/object-lanelet-filter.md"><rect x="840" y="881" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 901px; margin-left: 841px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">object_lanelet_filter</div></div></div></foreignObject><text x="900" y="905" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">object_lanelet_filter</text></switch></g></a><path d="M 900 867 L 900 874.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 900 879.88 L 896.5 872.88 L 900 874.63 L 903.5 872.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 765 901 L 833.63 901" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 838.88 901 L 831.88 904.5 L 833.63 901 L 831.88 897.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 915px; margin-left: 795px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/map/vector_map</div></div></div></foreignObject><text x="795" y="918" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/map/vector_map</text></switch></g><path d="M 765 1023 L 802.53 1023 L 833.63 1022.58" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 838.88 1022.51 L 831.93 1026.11 L 833.63 1022.58 L 831.84 1019.11 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1035px; margin-left: 795px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/map/vector_map</div></div></div></foreignObject><text x="795" y="1038" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/map/vector_map</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/object_range_splitter"><rect x="1239" y="655" width="140" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 138px; height: 1px; padding-top: 675px; margin-left: 1240px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">object_range_splitter</div></div></div></foreignObject><text x="1309" y="679" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">object_range_splitter</text></switch></g></a><path d="M 1118 619 L 1119 619 L 1119 792 L 961.37 792" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 956.12 792 L 963.12 788.5 L 961.37 792 L 963.12 795.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 660px; margin-left: 1165px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">clustering/objects</div></div></div></foreignObject><text x="1165" y="664" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">clustering/objects</text></switch></g><rect x="1059" y="175" width="122" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 120px; height: 1px; padding-top: 195px; margin-left: 1060px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">outliter_cropbox_filter</div></div></div></foreignObject><text x="1120" y="199" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">outliter_cropbox_fil...</text></switch></g><path d="M 1120 75 L 1120 168.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1120 173.88 L 1116.5 166.88 L 1120 168.63 L 1123.5 166.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 95px; margin-left: 1120px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/perception/obstacle_segmentation/pointcloud</div></div></div></foreignObject><text x="1120" y="98" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/perception/obstacle_segmentation/pointcloud</text></switch></g><rect x="1060" y="385" width="118" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 116px; height: 1px; padding-top: 405px; margin-left: 1061px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">concat_filter</div></div></div></foreignObject><text x="1119" y="409" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">concat_filter</text></switch></g><path d="M 1119 358 L 1119 378.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1119 383.88 L 1115.5 376.88 L 1119 378.63 L 1122.5 376.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 371px; margin-left: 1119px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">clustering/outlier_filter/pointcloud</div></div></div></foreignObject><text x="1119" y="375" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">clustering/outlier_filter/pointcloud</text></switch></g><path d="M 1059 195 L 1005 195 L 1005 405 L 1053.63 405" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1058.88 405 L 1051.88 408.5 L 1053.63 405 L 1051.88 401.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 220px; margin-left: 990px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">clustering/long_range/pointcloud</div></div></div></foreignObject><text x="990" y="224" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">clustering/long_range/pointcloud</text></switch></g><rect x="2666" y="1127" width="120" height="40" rx="6" ry="6" fill="#b0e3e6" stroke="#0e8088"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1147px; margin-left: 2667px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">g30_interface</div></div></div></foreignObject><text x="2726" y="1151" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">g30_interface</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/vehicle/raw_vehicle_cmd_converter"><rect x="2535" y="870" width="120" height="40" rx="6" ry="6" fill="#b0e3e6" stroke="#0e8088"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 890px; margin-left: 2536px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">raw_vehicle_cmd_<br />converter</div></div></div></foreignObject><text x="2595" y="894" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">raw_vehicle_cmd_...</text></switch></g></a><path d="M 2595 910 L 2595 1010 L 2595 1103.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 2595 1108.88 L 2591.5 1101.88 L 2595 1103.63 L 2598.5 1101.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 949px; margin-left: 2615px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/vehicle/command/actuation_cmd</div></div></div></foreignObject><text x="2615" y="952" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/vehicle/command/actuation_cmd</text></switch></g><a xlink:href="https://github.com/tier4/pacmod_interface"><rect x="2510" y="1127" width="120" height="40" rx="6" ry="6" fill="#b0e3e6" stroke="#0e8088"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1147px; margin-left: 2511px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">pacmod_interface</div></div></div></foreignObject><text x="2570" y="1151" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">pacmod_interface</text></switch></g></a><rect x="2840" y="1610" width="120" height="60" rx="9" ry="9" fill="#b0e3e6" stroke="#0e8088"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2841px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">VehicleInterface</div></div></div></foreignObject><text x="2900" y="1644" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">VehicleInterface</text></switch></g><path d="M 2425.02 1110.77 L 2424.05 976.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 2424.01 971.12 L 2427.56 978.09 L 2424.05 976.37 L 2420.56 978.14 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 1px; height: 1px; padding-top: 1047px; margin-left: 2362px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/vehicle/status/velocity_status<br />/vehicle/status/steering_status<br />/vehicle/status/turn_indicators_status<br />/vehicle/status/gear_status<br />/vehicle/status/control_mode<br />/vehicle/status/<span style="text-align: center">actuation_status</span></div></div></div></foreignObject><text x="2362" y="1050" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px">/vehicle/s...</text></switch></g><rect x="2360" y="1110" width="670" height="70" rx="10.5" ry="10.5" fill="#b0e3e6" stroke="#0e8088"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 668px; height: 1px; padding-top: 1145px; margin-left: 2362px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">    vehicle_interface</div></div></div></foreignObject><text x="2362" y="1149" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">    vehicle_interface</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator"><rect x="2357" y="870" width="140" height="40" rx="6" ry="6" fill="#b0e3e6" stroke="#0e8088"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 138px; height: 1px; padding-top: 890px; margin-left: 2358px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">accel_map_calibrator</div></div></div></foreignObject><text x="2427" y="894" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">accel_map_calibrator</text></switch></g></a><path d="M 2570 1173.37 L 2570 1208.53 L 2569 1208.53 L 2569 1243.63" fill="none" stroke="#666666" stroke-miterlimit="10"/><path d="M 2570 1168.12 L 2573.5 1175.12 L 2570 1173.37 L 2566.5 1175.12 Z" fill="#666666" stroke="#666666" stroke-miterlimit="10"/><path d="M 2569 1248.88 L 2565.5 1241.88 L 2569 1243.63 L 2572.5 1241.88 Z" fill="#666666" stroke="#666666" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1214px; margin-left: 2569px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/pacmod/**</div></div></div></foreignObject><text x="2569" y="1217" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/pacmod/**</text></switch></g><rect x="2983" y="1610" width="120" height="60" rx="9" ry="9" fill="#f5f5f5" stroke="#666666"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2984px;"><div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">Vehicle</div></div></div></foreignObject><text x="3043" y="1644" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle">Vehicle</text></switch></g><path d="M 2569 1290 L 2569 1323.63" fill="none" stroke="#666666" stroke-miterlimit="10"/><path d="M 2569 1328.88 L 2565.5 1321.88 L 2569 1323.63 L 2572.5 1321.88 Z" fill="#666666" stroke="#666666" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1310px; margin-left: 2569px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">&lt;CAN&gt;</div></div></div></foreignObject><text x="2569" y="1313" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">&lt;CAN&gt;</text></switch></g><rect x="2509" y="1330" width="120" height="40" rx="6" ry="6" fill="#f5f5f5" stroke="#666666"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1350px; margin-left: 2510px;"><div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">JapanTaxi</div></div></div></foreignObject><text x="2569" y="1354" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle">JapanTaxi</text></switch></g><a xlink:href="http://wiki.ros.org/pacmod3"><rect x="2509" y="1250" width="120" height="40" rx="6" ry="6" fill="#f5f5f5" stroke="#666666"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1270px; margin-left: 2510px;"><div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">pacmod3</div></div></div></foreignObject><text x="2569" y="1274" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle">pacmod3</text></switch></g></a><rect x="2666" y="1330" width="120" height="40" rx="6" ry="6" fill="#f5f5f5" stroke="#666666"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1350px; margin-left: 2667px;"><div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">YMC GolfCart</div></div></div></foreignObject><text x="2726" y="1354" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle">YMC GolfCart</text></switch></g><path d="M 420 350 L 420 403.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 420 408.88 L 416.5 401.88 L 420 403.63 L 423.5 401.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 380px; margin-left: 420px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">top/velodyne_packets</div></div></div></foreignObject><text x="420" y="383" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">top/velodyne_packets</text></switch></g><rect x="360" y="300" width="120" height="50" rx="7.5" ry="7.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 325px; margin-left: 361px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">lidar_driver</div></div></div></foreignObject><text x="420" y="329" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">lidar_driver</text></switch></g><path d="M 420 650 L 420 683.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 420 688.88 L 416.5 681.88 L 420 683.63 L 423.5 681.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 670px; margin-left: 420px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">top/rectified/pointcloud</div></div></div></foreignObject><text x="420" y="673" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">top/rectified/pointcloud</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md"><rect x="360" y="620" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 635px; margin-left: 361px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">fix_distortion</div></div></div></foreignObject><text x="420" y="639" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">fix_distortion</text></switch></g></a><path d="M 420 440 L 420 473.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 420 478.88 L 416.5 471.88 L 420 473.63 L 423.5 471.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 460px; margin-left: 420px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">top/pointcloud_raw</div></div></div></foreignObject><text x="420" y="463" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">top/pointcloud_raw</text></switch></g><rect x="360" y="410" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 425px; margin-left: 361px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">packets_to_<br />pointcloud</div></div></div></foreignObject><text x="420" y="429" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">packets_to_...</text></switch></g><path d="M 420 510 L 420 543.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 420 548.88 L 416.5 541.88 L 420 543.63 L 423.5 541.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 530px; margin-left: 420px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">top/self_cropped/pointcloud</div></div></div></foreignObject><text x="420" y="533" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">top/self_cropped/pointcloud</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md"><rect x="360" y="480" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 495px; margin-left: 361px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">crop_box_<br />filter_self</div></div></div></foreignObject><text x="420" y="499" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">crop_box_...</text></switch></g></a><path d="M 420 580 L 420 613.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 420 618.88 L 416.5 611.88 L 420 613.63 L 423.5 611.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 600px; margin-left: 420px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">top/mirror_cropped/pointcloud</div></div></div></foreignObject><text x="420" y="603" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">top/mirror_cropped/pointcloud</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md"><rect x="360" y="550" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 565px; margin-left: 361px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">crop_box_<br />filter_mirror</div></div></div></foreignObject><text x="420" y="569" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">crop_box_...</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md"><rect x="360" y="690" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 705px; margin-left: 361px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">ring_outlier_filter</div></div></div></foreignObject><text x="420" y="709" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">ring_outlier_filter</text></switch></g></a><path d="M 250 350 L 250 403.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 250 408.88 L 246.5 401.88 L 250 403.63 L 253.5 401.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 380px; margin-left: 250px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">lidar/*/velodyne_packets</div></div></div></foreignObject><text x="250" y="383" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">lidar/*/velodyne_packets</text></switch></g><rect x="190" y="300" width="120" height="50" rx="7.5" ry="7.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 325px; margin-left: 191px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">lidar_drivers<br />(left,right,front_right, front_left,rear)</div></div></div></foreignObject><text x="250" y="329" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">lidar_drivers...</text></switch></g><path d="M 250 650 L 250 683.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 250 688.88 L 246.5 681.88 L 250 683.63 L 253.5 681.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 670px; margin-left: 250px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;"><span style="color: rgb(0 , 0 , 0) ; font-family: &quot;helvetica&quot; ; 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">*/rectified/pointcloud</span></div></div></div></foreignObject><text x="250" y="673" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">*/rectified/pointcloud</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md"><rect x="190" y="620" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 635px; margin-left: 191px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">fix_distortion</div></div></div></foreignObject><text x="250" y="639" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">fix_distortion</text></switch></g></a><path d="M 250 440 L 250 473.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 250 478.88 L 246.5 471.88 L 250 473.63 L 253.5 471.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 460px; margin-left: 250px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;"><span style="color: rgb(0 , 0 , 0) ; font-family: &quot;helvetica&quot; ; 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">*/pointcloud_raw</span></div></div></div></foreignObject><text x="250" y="463" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">*/pointcloud_raw</text></switch></g><rect x="190" y="410" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 425px; margin-left: 191px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">packets_to_<br />pointcloud</div></div></div></foreignObject><text x="250" y="429" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">packets_to_...</text></switch></g><path d="M 250 510 L 250 543.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 250 548.88 L 246.5 541.88 L 250 543.63 L 253.5 541.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 530px; margin-left: 250px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;"><span style="color: rgb(0 , 0 , 0) ; font-family: &quot;helvetica&quot; ; 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">*/self_cropped/pointcloud</span></div></div></div></foreignObject><text x="250" y="533" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">*/self_cropped/pointcloud</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md"><rect x="190" y="480" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 495px; margin-left: 191px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">crop_box_<br />filter_self</div></div></div></foreignObject><text x="250" y="499" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">crop_box_...</text></switch></g></a><path d="M 250 580 L 250 613.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 250 618.88 L 246.5 611.88 L 250 613.63 L 253.5 611.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 600px; margin-left: 250px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;"><span style="color: rgb(0 , 0 , 0) ; font-family: &quot;helvetica&quot; ; 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">*/mirror_cropped/pointcloud</span></div></div></div></foreignObject><text x="250" y="603" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">*/mirror_cropped/pointcloud</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md"><rect x="190" y="550" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 565px; margin-left: 191px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">crop_box_<br />filter_mirror</div></div></div></foreignObject><text x="250" y="569" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">crop_box_...</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md"><rect x="190" y="690" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 705px; margin-left: 191px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">ring_outlier_filter</div></div></div></foreignObject><text x="250" y="709" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">ring_outlier_filter</text></switch></g></a><path d="M 320 800 L 320 848.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 320 853.88 L 316.5 846.88 L 320 848.63 L 323.5 846.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 820px; margin-left: 320px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">concatenated/pointcloud</div></div></div></foreignObject><text x="320" y="823" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">concatenated/pointcloud</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/concatenate-data.md"><rect x="260" y="760" width="120" height="40" rx="6" ry="6" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 780px; margin-left: 261px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">concat_filter</div></div></div></foreignObject><text x="320" y="784" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">concat_filter</text></switch></g></a><path d="M 250 720 L 250 740.33 L 320 740.33 L 320 753.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 320 758.88 L 316.5 751.88 L 320 753.63 L 323.5 751.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 400 720 L 400 740.33 L 320 740.33 L 320 753.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 320 758.88 L 316.5 751.88 L 320 753.63 L 323.5 751.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/gnss_poser"><rect x="0" y="850" width="120" height="40" rx="6" ry="6" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 870px; margin-left: 1px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">gnss_poser</div></div></div></foreignObject><text x="60" y="874" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">gnss_poser</text></switch></g></a><path d="M 60 800 L 60 843.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 60 848.88 L 56.5 841.88 L 60 843.63 L 63.5 841.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><rect x="0" y="760" width="120" height="40" rx="6" ry="6" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 780px; margin-left: 1px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">gnss_driver</div></div></div></foreignObject><text x="60" y="784" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">gnss_driver</text></switch></g><rect x="483" y="770" width="120" height="40" rx="6" ry="6" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 790px; margin-left: 484px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">imu_driver</div></div></div></foreignObject><text x="543" y="794" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">imu_driver</text></switch></g><path d="M 543 810 L 543 883.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 543 888.88 L 539.5 881.88 L 543 883.63 L 546.5 881.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 850px; margin-left: 543px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/sensing/imu/imu_raw</div></div></div></foreignObject><text x="543" y="853" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/sensing/imu/imu_raw</text></switch></g><path d="M 420 720 L 420 930 L 340 930 L 340 1133.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 340 1138.88 L 336.5 1131.88 L 340 1133.63 L 343.5 1131.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 981px; margin-left: 340px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/sensing/lidar/pointcloud</div></div></div></foreignObject><text x="340" y="984" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/sensing/lidar/pointcloud</text></switch></g><path d="M 530 540 L 823.63 540" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 828.88 540 L 821.88 543.5 L 823.63 540 L 821.88 536.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 565px; margin-left: 609px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;"><span style="color: rgb(0 , 0 , 0) ; font-family: &quot;helvetica&quot; ; 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">/sensing/lidar/<br />concatenated/pointcloud</span></div></div></div></foreignObject><text x="609" y="568" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/sensing/lidar/...</text></switch></g><path d="M 60 890 L 60 1223.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 60 1228.88 L 56.5 1221.88 L 60 1223.63 L 63.5 1221.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1060px; margin-left: 60px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/sensing/gnss/<br />pose_with_covariance</div></div></div></foreignObject><text x="60" y="1063" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/sensing/gnss/...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/imu_corrector"><rect x="483" y="890" width="120" height="40" rx="6" ry="6" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 910px; margin-left: 484px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">imu_corrector</div></div></div></foreignObject><text x="543" y="914" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">imu_corrector</text></switch></g></a><path d="M 543 930 L 543 1203.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 543 1208.88 L 539.5 1201.88 L 543 1203.63 L 546.5 1201.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1070px; margin-left: 543px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/sensing/imu/imu_data</div></div></div></foreignObject><text x="543" y="1073" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/sensing/imu/imu_data</text></switch></g><rect x="1930" y="1610" width="120" height="60" rx="9" ry="9" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 1931px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">Sensing</div></div></div></foreignObject><text x="1990" y="1644" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Sensing</text></switch></g><rect x="2083" y="1610" width="120" height="60" rx="9" ry="9" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2084px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">Localization</div></div></div></foreignObject><text x="2143" y="1644" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Localization</text></switch></g><path d="M 340 1268 L 340 1303.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 340 1308.88 L 336.5 1301.88 L 340 1303.63 L 343.5 1301.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1289px; margin-left: 340px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">voxel_grid_downsample/pointcloud</div></div></div></foreignObject><text x="340" y="1293" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">voxel_grid_downsample/pointcloud</text></switch></g><rect x="280" y="1228" width="120" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1248px; margin-left: 281px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">voxel_grid_<br />downsample_filter</div></div></div></foreignObject><text x="340" y="1252" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">voxel_grid_...</text></switch></g><path d="M 483.36 1499.56 L 483.4 1420 L 406.37 1420" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 401.12 1420 L 408.12 1416.5 L 406.37 1420 L 408.12 1423.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1466px; margin-left: 470px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">pose_twist_fusion_filter/<br />pose_with_covariance_<br />no_yawbias</div></div></div></foreignObject><text x="470" y="1469" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">pose_twist_fusion_filter/...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/localization/ekf_localizer"><rect x="280" y="1499" width="310" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 308px; height: 1px; padding-top: 1519px; margin-left: 281px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">ekf_localizer</div></div></div></foreignObject><text x="435" y="1523" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">ekf_localizer</text></switch></g></a><path d="M 340 1440 L 339.62 1491.95" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 339.54 1497.2 L 336.15 1490.15 L 339.62 1491.95 L 343.15 1490.26 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1460px; margin-left: 340px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">pose_estimator/<br />pose_with_covariance</div></div></div></foreignObject><text x="340" y="1463" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">pose_estimator/...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/localization/ndt_scan_matcher"><rect x="280" y="1400" width="120" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1420px; margin-left: 281px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">ndt_scan_matcher</div></div></div></foreignObject><text x="340" y="1424" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">ndt_scan_matcher</text></switch></g></a><path d="M 340 1350 L 340 1393.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 340 1398.88 L 336.5 1391.88 L 340 1393.63 L 343.5 1391.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1375px; margin-left: 340px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">downsample/pointcloud</div></div></div></foreignObject><text x="340" y="1379" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">downsample/pointcloud</text></switch></g><rect x="280" y="1310" width="120" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1330px; margin-left: 281px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">random_<br />downsample_filter</div></div></div></foreignObject><text x="340" y="1334" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">random_...</text></switch></g><path d="M 120 1250 L 150 1250 L 150 1430 L 273.63 1430" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 278.88 1430 L 271.88 1433.5 L 273.63 1430 L 271.88 1426.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1390px; margin-left: 150px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/initialpose3d</div></div></div></foreignObject><text x="150" y="1393" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/initialpose3d</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/localization/pose_initializer"><rect x="0" y="1230" width="120" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1250px; margin-left: 1px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">pose_initializer</div></div></div></foreignObject><text x="60" y="1254" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">pose_initializer</text></switch></g></a><path d="M 543 1250 L 544 1200 L 544.39 1491.19" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 544.42 1496.44 L 540.89 1489.46 L 544.39 1491.19 L 547.88 1489.42 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1390px; margin-left: 545px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">twist_estimator/twist_with_covariance</div></div></div></foreignObject><text x="545" y="1393" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">twist_estimator/twist_with_covariance</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/localization/gyro_odometer"><rect x="483" y="1210" width="120" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1230px; margin-left: 484px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">gyro_odometer</div></div></div></foreignObject><text x="543" y="1234" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">gyro_odometer</text></switch></g></a><path d="M 340 1180 L 340 1221.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 340 1226.88 L 336.5 1219.88 L 340 1221.63 L 343.5 1219.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1204px; margin-left: 340px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">measurement_range/pointcloud</div></div></div></foreignObject><text x="340" y="1207" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">measurement_range/pointcloud</text></switch></g><rect x="280" y="1140" width="120" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1160px; margin-left: 281px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">crop_box_filter_<br />measurement_range</div></div></div></foreignObject><text x="340" y="1164" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">crop_box_filter_...</text></switch></g><rect x="600" y="1130" width="160" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 1150px; margin-left: 601px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">vehicle_velocity_converter</div></div></div></foreignObject><text x="680" y="1154" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">vehicle_velocity_converter</text></switch></g><path d="M 336 1540 L 336 1703.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 336 1708.88 L 332.5 1701.88 L 336 1703.63 L 339.5 1701.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1585px; margin-left: 340px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/tf<br />(map to base_link)</div></div></div></foreignObject><text x="340" y="1589" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/tf...</text></switch></g><path d="M 440 1640 L 440 1710 L 440 1713.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 440 1718.88 L 436.5 1711.88 L 440 1713.63 L 443.5 1711.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1680px; margin-left: 440px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/localization/kinematic_state<br />[nav_msgs/msg/Odometry]</div></div></div></foreignObject><text x="440" y="1683" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/localization/kinematic_state...</text></switch></g><rect x="380" y="1600" width="120" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1620px; margin-left: 381px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">stop_filter</div></div></div></foreignObject><text x="440" y="1624" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">stop_filter</text></switch></g><rect x="600" y="1590" width="160" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 1610px; margin-left: 601px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">localization_error_monitor</div></div></div></foreignObject><text x="680" y="1614" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">localization_error_monitor</text></switch></g><path d="M 590 1519 L 680 1519 L 680 1583.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 680 1588.88 L 676.5 1581.88 L 680 1583.63 L 683.5 1581.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1532px; margin-left: 680px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">pose_twist_fusion_filter/<br />pose_with_covariance</div></div></div></foreignObject><text x="680" y="1536" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">pose_twist_fusion_filter/...</text></switch></g><path d="M 680 1630 L 680 1703.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 680 1708.88 L 676.5 1701.88 L 680 1703.63 L 683.5 1701.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1670px; margin-left: 680px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/diagnostics</div></div></div></foreignObject><text x="680" y="1673" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/diagnostics</text></switch></g><path d="M 435 1539 L 435 1569.53 L 440 1569.53 L 440 1593.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 440 1598.88 L 436.5 1591.88 L 440 1593.63 L 443.5 1591.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1570px; margin-left: 438px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">pose_twist_fusion_filter/<br />kinematic_state</div></div></div></foreignObject><text x="438" y="1573" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">pose_twist_fusion_filter/...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/system/system_monitor"><rect x="3419" y="874" width="180" height="350" rx="27" ry="27" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 178px; height: 1px; padding-top: 881px; margin-left: 3420px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">system_monitors</div></div></div></foreignObject><text x="3509" y="893" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">system_monitors</text></switch></g></a><rect x="2690" y="1610" width="120" height="60" rx="9" ry="9" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2691px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">System</div></div></div></foreignObject><text x="2750" y="1644" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">System</text></switch></g><rect x="3449" y="904" width="120" height="40" rx="6" ry="6" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 924px; margin-left: 3450px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">autoware_process_<br />monitor</div></div></div></foreignObject><text x="3509" y="928" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">autoware_process_...</text></switch></g><rect x="3449" y="954" width="120" height="40" rx="6" ry="6" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 974px; margin-left: 3450px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">autoware_gpu_<br />monitor</div></div></div></foreignObject><text x="3509" y="978" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">autoware_gpu_...</text></switch></g><rect x="3449" y="1004" width="120" height="40" rx="6" ry="6" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1024px; margin-left: 3450px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">autoware_mem_<br />monitor</div></div></div></foreignObject><text x="3509" y="1028" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">autoware_mem_...</text></switch></g><rect x="3449" y="1058.5" width="120" height="40" rx="6" ry="6" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1079px; margin-left: 3450px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">autoware_hdd_<br />monitor</div></div></div></foreignObject><text x="3509" y="1082" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">autoware_hdd_...</text></switch></g><rect x="3449" y="1109" width="120" height="40" rx="6" ry="6" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1129px; margin-left: 3450px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">autoware_net_<br />monitor</div></div></div></foreignObject><text x="3509" y="1133" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">autoware_net_...</text></switch></g><rect x="3449" y="1164" width="120" height="40" rx="6" ry="6" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1184px; margin-left: 3450px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">autoware_ntp_<br />monitor</div></div></div></foreignObject><text x="3509" y="1188" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">autoware_ntp_...</text></switch></g><path d="M 3170 1027 L 3170 970 L 3170 960.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 3170 955.12 L 3173.5 962.12 L 3170 960.37 L 3166.5 962.12 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 993px; margin-left: 3170px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/system/emergency/hazard_status</div></div></div></foreignObject><text x="3170" y="996" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/system/emergency/hazard_status</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/system/system_error_monitor"><rect x="3110" y="1027" width="120" height="90" rx="13.5" ry="13.5" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1072px; margin-left: 3111px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">system_error_<br />monitor</div></div></div></foreignObject><text x="3170" y="1076" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">system_error_...</text></switch></g></a><path d="M 3170 914 L 3170 750 L 3036.37 750" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 3031.12 750 L 3038.12 746.5 L 3036.37 750 L 3038.12 753.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 1px; height: 1px; padding-top: 830px; margin-left: 3114px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;"><div>/system/emergency/control_cmd [AckermannControlCommand]</div><div>/system/emergency/gear_cmd [GearCommand]</div><div>/system/emergency/hazard_lights_cmd [HazardLightsCommand]</div>/system/emergency/emergency_state [EmergencyStateStamped]</div></div></div></foreignObject><text x="3114" y="833" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px">/system/emergency/control_cmd [AckermannControlCommand]...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/system/emergency_handler"><rect x="3110" y="914" width="120" height="40" rx="6" ry="6" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 934px; margin-left: 3111px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">emergency_handler</div></div></div></foreignObject><text x="3170" y="938" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">emergency_handler</text></switch></g></a><path d="M 3170 1420 L 3170 1489.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 3170 1494.88 L 3166.5 1487.88 L 3170 1489.63 L 3173.5 1487.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1458px; margin-left: 3170px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/autoware/state</div></div></div></foreignObject><text x="3170" y="1461" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/autoware/state</text></switch></g><path d="M 3230 1400 L 3270 1400 L 3270 1489.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 3270 1494.88 L 3266.5 1487.88 L 3270 1489.63 L 3273.5 1487.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1456px; margin-left: 3270px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/diagnostics</div></div></div></foreignObject><text x="3270" y="1460" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/diagnostics</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/system/ad_service_state_monitor"><rect x="3110" y="1380" width="120" height="40" rx="6" ry="6" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1400px; margin-left: 3111px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">ad_service_<br />state_monitor</div></div></div></foreignObject><text x="3170" y="1404" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">ad_service_...</text></switch></g></a><path d="M 3320 1180 L 3320 1100 L 3236.37 1100" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 3231.12 1100 L 3238.12 1096.5 L 3236.37 1100 L 3238.12 1103.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1151px; margin-left: 3320px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><div style="text-align: left"><span>/control/current_gate_mode</span></div><div style="text-align: left"><span>/vehicle/status/control_mode</span></div><div style="text-align: left"><span>/autoware/state</span></div></div></div></div></foreignObject><text x="3320" y="1154" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/c...</text></switch></g><path d="M 3540 1320 L 3170 1320 L 3170 1373.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 3170 1378.88 L 3166.5 1371.88 L 3170 1373.63 L 3173.5 1371.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1350px; margin-left: 3390px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">    /control/command/control_cmd<br />    /control/trajectory_follower/control_cmd<br />    /initialpose2d<br />    /localization/kinematic_state<br />    /map/pointcloud_map<br />    /map/vector_map<br />    /perception/object_recognition/objects<br />    /planning/mission_planning/route<br />    /planning/scenario_planning/trajectory<br />    /system/emergency/control_cmd<br />    /vehicle/status/control_mode<br />    /vehicle/status/steering_status<br />    /vehicle/status/velocity_status</div></div></div></foreignObject><text x="3390" y="1353" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/contr...</text></switch></g><path d="M 3110 1400 L 3080 1400 L 3080 1489.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 3080 1494.88 L 3076.5 1487.88 L 3080 1489.63 L 3083.5 1487.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1456px; margin-left: 3070px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/autoware/engage</div></div></div></foreignObject><text x="3070" y="1459" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/autoware/engage</text></switch></g></g><switch><g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/><a transform="translate(0,-5)" xlink:href="https://www.diagrams.net/doc/faq/svg-export-text-problems" target="_blank"><text text-anchor="middle" font-size="10px" x="50%" y="100%">Text is not SVG - cannot display</text></a></switch></svg>
\ No newline at end of file
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="3600px" height="1791px" viewBox="-0.5 -0.5 3600 1791" content="&lt;mxfile host=&quot;app.diagrams.net&quot; modified=&quot;2023-02-08T15:43:22.921Z&quot; agent=&quot;5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/109.0.0.0 Safari/537.36&quot; etag=&quot;hmpPbVW3KTZ5mXhYgBKz&quot; version=&quot;20.8.5&quot; type=&quot;google&quot;&gt;&lt;diagram id=&quot;T6t2FfeAp1iw48vGkmOz&quot; name=&quot;Page-1&quot;&gt;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&lt;/diagram&gt;&lt;/mxfile&gt;" style="background-color: rgb(255, 255, 255);"><defs/><g><rect x="2390" y="1610" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2391px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">Planning</div></div></div></foreignObject><text x="2450" y="1644" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">Planning</text></switch></g><rect x="2543" y="1610" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2544px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">Control</div></div></div></foreignObject><text x="2603" y="1644" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">Control</text></switch></g><rect x="2237" y="1610" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2238px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">Perception</div></div></div></foreignObject><text x="2297" y="1644" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">Perception</text></switch></g><rect x="2983" y="1610" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2984px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">Vehicle</div></div></div></foreignObject><text x="3043" y="1644" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">Vehicle</text></switch></g><rect x="1930" y="1610" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 1931px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">Sensing</div></div></div></foreignObject><text x="1990" y="1644" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">Sensing</text></switch></g><rect x="2840" y="1610" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2841px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">VehicleInterface</div></div></div></foreignObject><text x="2900" y="1644" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">VehicleInterface</text></switch></g><rect x="2083" y="1610" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2084px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">Localization</div></div></div></foreignObject><text x="2143" y="1644" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">Localization</text></switch></g><rect x="2690" y="1610" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2691px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">System</div></div></div></foreignObject><text x="2750" y="1644" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">System</text></switch></g><path d="M 3419 1049 L 3324.47 1049 L 3236.37 1049.47" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 3231.12 1049.49 L 3238.1 1045.96 L 3236.37 1049.47 L 3238.14 1052.96 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1049px; margin-left: 3352px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/diagnostics</div></div></div></foreignObject><text x="3352" y="1052" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/diagnostics</text></switch></g><rect x="1932.5" y="1730" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1760px; margin-left: 1934px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">XX1</div></div></div></foreignObject><text x="1993" y="1764" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">XX1</text></switch></g><rect x="2081.25" y="1730" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1760px; margin-left: 2082px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">X2</div></div></div></foreignObject><text x="2141" y="1764" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">X2</text></switch></g><rect x="2232.5" y="1730" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1760px; margin-left: 2234px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">X1</div></div></div></foreignObject><text x="2293" y="1764" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">X1</text></switch></g><rect x="2372.5" y="1730" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1760px; margin-left: 2374px;"><div data-drawio-colors="color: #ffffff; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(255, 255, 255); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">S1</div></div></div></foreignObject><text x="2433" y="1764" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">S1</text></switch></g><path d="M 60 1276.37 L 60 1510" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 60 1271.12 L 63.5 1278.12 L 60 1276.37 L 56.5 1278.12 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1390px; margin-left: 60px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/initialpose</div></div></div></foreignObject><text x="60" y="1393" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/initialpose</text></switch></g><path d="M 680 1123.63 L 680 1050" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 680 1128.88 L 676.5 1121.88 L 680 1123.63 L 683.5 1121.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1090px; margin-left: 680px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/vehicle/status/velocity_report</div></div></div></foreignObject><text x="680" y="1093" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/vehicle/status/velocity_report</text></switch></g><path d="M 120 1240 L 200 1240.06 L 200 1420.06 L 280 1420" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" stroke-dasharray="3 3" pointer-events="stroke"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1331px; margin-left: 200px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">&lt;pose_initializer_srv&gt;</div></div></div></foreignObject><text x="200" y="1334" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">&lt;pose_initializer_srv&gt;</text></switch></g><path d="M 3036.37 735 L 3440 735" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 3031.12 735 L 3038.12 731.5 L 3036.37 735 L 3038.12 738.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 720px; margin-left: 3281px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"><div style="text-align: left">/autoware/engage [Engage]</div><div style="text-align: left">/current_gate_mode [GateMode]</div></div></div></div></foreignObject><text x="3281" y="723" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/autoware/engage [Engage]...</text></switch></g><path d="M 609.37 1230 L 680 1230.06 L 680 1170" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 604.12 1230 L 611.12 1226.51 L 609.37 1230 L 611.12 1233.51 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1200px; margin-left: 680px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">vehicle_velocity_converter/<br />twist_with_covariance</div></div></div></foreignObject><text x="680" y="1203" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">vehicle_velocity_converter/...</text></switch></g><path d="M 1870 501 L 1870 520.06 L 2140 520.06 L 2140 735 L 2343.63 735" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2348.88 735 L 2341.88 738.5 L 2343.63 735 L 2341.88 731.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 1px; height: 1px; padding-top: 661px; margin-left: 2002px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;">/planning/turn_indicators_cmd [TurnIndicatorsCommand]<br />/planning/hazard_lights_cmd [HazardLightsCommand]</div></div></div></foreignObject><text x="2002" y="664" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px">/planning/turn_indicators_cmd [TurnIndicatorsCommand]...</text></switch></g><path d="M 1450 1650 L 1450 1456.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1450 1451.12 L 1453.5 1458.12 L 1450 1456.37 L 1446.5 1458.12 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1561px; margin-left: 1450px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/planning/scenario_planning/max_velocity_candidates<br />[tier4_planning_msgs/msg/VelocityLimit]</div></div></div></foreignObject><text x="1450" y="1564" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/planning/scenario_planning/max_velocity_candidates...</text></switch></g><path d="M 2726 1167 L 2726 1323.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2726 1328.88 L 2722.5 1321.88 L 2726 1323.63 L 2729.5 1321.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><rect x="0" y="1510" width="120" height="40" rx="6" ry="6" fill="#bac8d3" stroke="#23445d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1530px; margin-left: 1px;"><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;">HMI</div></div></div></foreignObject><text x="60" y="1534" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">HMI</text></switch></g><rect x="1390" y="1650" width="120" height="40" rx="6" ry="6" fill="#bac8d3" stroke="#23445d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1670px; margin-left: 1391px;"><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;">HMI</div></div></div></foreignObject><text x="1450" y="1674" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">HMI</text></switch></g><rect x="1761" y="0" width="120" height="40" rx="6" ry="6" fill="#bac8d3" stroke="#23445d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 20px; margin-left: 1762px;"><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;">HMI</div></div></div></foreignObject><text x="1821" y="24" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">HMI</text></switch></g><rect x="3440" y="715" width="120" height="40" rx="6" ry="6" fill="#bac8d3" stroke="#23445d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 735px; margin-left: 3441px;"><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;">HMI</div></div></div></foreignObject><text x="3500" y="739" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">HMI</text></switch></g><path d="M 3190 60 L 3190 243.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 3190 248.88 L 3186.5 241.88 L 3190 243.63 L 3193.5 241.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 131px; margin-left: 3190px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"><span style="text-align: left">/api/external/set/command/remote/control: [tier4_external_api_msgs/msg/ControlCommandStamped]</span><br style="text-align: left" /><span style="text-align: left">/api/external/set/command/remote/heartbeat: [tier4_external_api_msgs/msg/Heartbeat]</span><br style="text-align: left" /><span style="text-align: left">/api/external/set/command/remote/shift: [tier4_external_api_msgs/msg/GearShiftStamped]</span><br style="text-align: left" /><span style="text-align: left">/api/external/set/command/remote/turn_signal: [tier4_external_api_msgs/msg/TurnSignalStamped]</span></div></div></div></foreignObject><text x="3190" y="134" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/api/external/set/command/remote/control: [tier4_external_api_msgs/msg/ControlCommandStamped]...</text></switch></g><rect x="3130" y="20" width="120" height="40" rx="6" ry="6" fill="#bac8d3" stroke="#23445d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 40px; margin-left: 3131px;"><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;">HMI</div></div></div></foreignObject><text x="3190" y="44" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">HMI</text></switch></g><path d="M 2595.48 764.82 L 2595.53 840.06 L 2427.06 840.06 L 2427.01 863.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2427 868.88 L 2423.52 861.88 L 2427.01 863.63 L 2430.52 861.89 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><path d="M 2595 910 L 2595.06 970.06 L 2515.06 970.06 L 2515.06 890.06 L 2503.37 890.02" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2498.12 890 L 2505.13 886.53 L 2503.37 890.02 L 2505.11 893.53 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><path d="M 2650 1470 L 2650 1420.06 L 2569.06 1420.06 L 2569.01 1376.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2569 1371.12 L 2572.51 1378.11 L 2569.01 1376.37 L 2565.51 1378.12 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><path d="M 2650 1470 L 2650 1420.06 L 2726 1420.06 L 2726 1376.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2726 1371.12 L 2729.5 1378.12 L 2726 1376.37 L 2722.5 1378.12 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1441px; margin-left: 2650px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/vehicle/engage</div></div></div></foreignObject><text x="2650" y="1444" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/vehicle/engage</text></switch></g><rect x="2590" y="1470" width="120" height="40" rx="6" ry="6" fill="#bac8d3" stroke="#23445d" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1490px; margin-left: 2591px;"><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;">HMI</div></div></div></foreignObject><text x="2650" y="1494" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">HMI</text></switch></g><path d="M 1821 120 L 1821 190 L 2270 190 L 2270 490 L 2363.63 490" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2368.88 490 L 2361.88 493.5 L 2363.63 490 L 2361.88 486.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><path d="M 3170 1117 L 3170 1173.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 3170 1178.88 L 3166.5 1171.88 L 3170 1173.63 L 3173.5 1171.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1149px; margin-left: 3170px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;">/diagnostics_err</div></div></div></foreignObject><text x="3170" y="1152" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/diagnostics_err</text></switch></g><path d="M 1119 500 L 1119.06 532.53 L 1140 532.53 L 1140 538.08" fill="none" stroke="rgb(0, 0, 0)" stroke-width="12" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1140 551.58 L 1131 533.58 L 1140 538.08 L 1149 533.58 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-width="12" stroke-miterlimit="10" pointer-events="all"/><rect x="2330" y="180" width="570" height="370" rx="55.5" ry="55.5" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 568px; height: 1px; padding-top: 187px; margin-left: 2331px;"><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;">trajectory_follower</div></div></div></foreignObject><text x="2615" y="199" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">trajectory_follower</text></switch></g><rect x="2543" y="1610" width="120" height="60" rx="9" ry="9" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2544px;"><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;">Control</div></div></div></foreignObject><text x="2603" y="1644" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Control</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/control/trajectory_follower_nodes/design/trajectory_follower-design.md"><rect x="2575" y="450" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 470px; margin-left: 2576px;"><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;">latlon_muxer</div></div></div></foreignObject><text x="2635" y="474" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">latlon_muxer</text></switch></g></a><path d="M 2591.06 310 L 2591.06 430.06 L 2635.06 430.06 L 2635.02 443.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2635 448.88 L 2631.52 441.87 L 2635.02 443.63 L 2638.52 441.89 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 352px; margin-left: 2610px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;"><div> /control/trajectory_follower/lateral/control_cmd</div><div> [AckermannLateralControlCommand]</div><div><br /></div></div></div></div></foreignObject><text x="2610" y="356" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/trajectory_follower/lateral/control_cmd...</text></switch></g><path d="M 2790 310 L 2790 430.06 L 2635.06 430.06 L 2635.02 443.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2635 448.88 L 2631.52 441.87 L 2635.02 443.63 L 2638.52 441.89 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 378px; margin-left: 2768px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;">/control/trajectory_follower/longitudinal/control_cmd<br />[LongitudinalControlCommand]</div></div></div></foreignObject><text x="2768" y="382" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/trajectory_follower/longitudinal/control_cmd...</text></switch></g><path d="M 2635 490 L 2635.06 570.06 L 2507.06 570.06 L 2507.08 698.21" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2507.08 703.46 L 2503.58 696.46 L 2507.08 698.21 L 2510.58 696.46 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 521px; margin-left: 2635px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;"><div>/control/trajectory_follower/control_cmd</div><div> [AckermannControlCommand]</div><div><br /></div></div></div></div></foreignObject><text x="2635" y="524" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/trajectory_follower/control_cmd...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/control/trajectory_follower/design/mpc_lateral_controller-design.md"><rect x="2531" y="270" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 290px; margin-left: 2532px;"><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;">lateral_controller</div></div></div></foreignObject><text x="2591" y="294" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">lateral_controller</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/control/trajectory_follower/design/pid_longitudinal_controller-design.md"><rect x="2710" y="270" width="160" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 290px; margin-left: 2711px;"><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;">longitudinal_controller</div></div></div></foreignObject><text x="2790" y="294" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">longitudinal_controller</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/vehicle_cmd_gate"><rect x="2350" y="705" width="680" height="60" rx="9" ry="9" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 678px; height: 1px; padding-top: 735px; margin-left: 2351px;"><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;">vehicle_cmd_gate</div></div></div></foreignObject><text x="2690" y="739" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">vehicle_cmd_gate</text></switch></g></a><path d="M 2596.08 765.66 L 2595.07 863.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2595.01 868.88 L 2591.58 861.85 L 2595.07 863.63 L 2598.58 861.92 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 811px; margin-left: 2601px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">control/command/control_cmd<br /> [AckermannControlCommand]</div></div></div></foreignObject><text x="2601" y="814" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">control/command/control_cmd...</text></switch></g><path d="M 2635 628 L 2635.06 660.06 L 2634.94 698.33" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2634.92 703.58 L 2631.45 696.57 L 2634.94 698.33 L 2638.45 696.59 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 660px; margin-left: 2635px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/control/shift_decider/gear_cmd<br />[GearCommand]</div></div></div></foreignObject><text x="2635" y="663" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/shift_decider/gear_cmd...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/shift_decider"><rect x="2575" y="588" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 608px; margin-left: 2576px;"><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;">shift_decider</div></div></div></foreignObject><text x="2635" y="612" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">shift_decider</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/vehicle/external_cmd_converter"><rect x="3130" y="360" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 380px; margin-left: 3131px;"><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;">external_cmd_<br />converter</div></div></div></foreignObject><text x="3190" y="384" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">external_cmd_...</text></switch></g></a><path d="M 2591 230 L 2591 263.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2591 268.88 L 2587.5 261.88 L 2591 263.63 L 2594.5 261.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><path d="M 2430 510 L 2430 623.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2430 628.88 L 2426.5 621.88 L 2430 623.63 L 2433.5 621.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 570px; margin-left: 2430px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/diagnostics</div></div></div></foreignObject><text x="2430" y="573" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/diagnostics</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/lane_departure_checker"><rect x="2370" y="470" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 490px; margin-left: 2371px;"><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;">lane_departure_<br />checker</div></div></div></foreignObject><text x="2430" y="494" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">lane_departure_...</text></switch></g></a><path d="M 2531 290 L 2430 290.06 L 2430 463.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2430 468.88 L 2426.5 461.88 L 2430 463.63 L 2433.5 461.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 408px; margin-left: 2430px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;">predicted_trajectory</div></div></div></foreignObject><text x="2430" y="411" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">predicted_trajectory</text></switch></g><path d="M 3190 290 L 3190 353.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 3190 358.88 L 3186.5 351.88 L 3190 353.63 L 3193.5 351.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 325px; margin-left: 3190px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/external/selected/external_control_cmd<br /> [tier4_external_api_msgs/msg/ControlCommandStamped]</div></div></div></foreignObject><text x="3190" y="329" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/external/selected/external_control_cmd...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/external_cmd_selector"><rect x="3130" y="250" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 270px; margin-left: 3131px;"><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;">external_cmd_<br />selector</div></div></div></foreignObject><text x="3190" y="274" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">external_cmd_...</text></switch></g></a><path d="M 3130 270.06 L 2936.24 270.06 L 2936.16 699.29" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2936.16 704.54 L 2932.66 697.54 L 2936.16 699.29 L 2939.66 697.54 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 600px; margin-left: 2951px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: #FFFFFF; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"><div style="text-align: left"><font style="font-size: 11px">/api/external/set/command/remote/control <br /></font></div><div style="text-align: left"><font style="font-size: 11px">   [tier4_external_api_msgs/msg/ControlCommandStamped]</font></div><div style="text-align: left"><font style="font-size: 11px">/api/external/set/command/remote/shift</font></div><div style="text-align: left"><font style="font-size: 11px">   [tier4_external_api_msgs/msg/GearShiftStamped]</font></div><div style="text-align: left"><font style="font-size: 11px">/api/external/set/command/remote/turn_signal</font></div><div style="text-align: left"><font style="font-size: 11px">   [tier4_external_api_msgs/msg/TurnSignalStamped]</font></div></div></div></div></foreignObject><text x="2951" y="604" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/api/external/set/command/remote/control...</text></switch></g><path d="M 2635 490 L 2635 581.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2635 586.88 L 2631.5 579.88 L 2635 581.63 L 2638.5 579.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><path d="M 3190 400 L 3190 660.06 L 2993.29 660.06 L 2993.28 698.51" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2993.28 703.76 L 2989.78 696.76 L 2993.28 698.51 L 2996.78 696.76 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 441px; margin-left: 3211px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">z<div style="text-align: left"></div></div></div></div></foreignObject><text x="3211" y="444" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">z&#xa;</text></switch></g><path d="M 2860 765 L 2862.45 1103.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2862.49 1108.88 L 2858.94 1101.91 L 2862.45 1103.63 L 2865.94 1101.86 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 1px; height: 1px; padding-top: 871px; margin-left: 2808px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/current_gate_mode [GateMode]<div>/gear_cmd [GearCommand]</div><div>/turn_indicators_cmd  [TurnIndicatorCommand]</div><div><div>/hazard_lights_cmd  [HazardLightsCommand]</div></div><div>/vehicle_emergency_cmd [VehicleEmergencyStamped]</div></div></div></div></foreignObject><text x="2808" y="875" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px">/current_gate_mode [GateMode]...</text></switch></g><rect x="1705" y="220" width="230" height="760" rx="34.5" ry="34.5" fill="none" stroke="rgb(0, 0, 0)" stroke-dasharray="3 3" pointer-events="all"/><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/behavior_velocity_planner"><rect x="1720" y="570" width="200" height="390" rx="30" ry="30" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 577px; margin-left: 1721px;"><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_velocity_planner</div></div></div></foreignObject><text x="1820" y="589" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">behavior_velocity_planner</text></switch></g></a><rect x="2390" y="1610" width="120" height="60" rx="9" ry="9" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2391px;"><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;">Planning</div></div></div></foreignObject><text x="2450" y="1644" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Planning</text></switch></g><path d="M 1862.5 1450 L 1862.47 1510.06 L 2300 1510.06 L 2300 738 C 2303.9 738 2303.9 732 2300 732 L 2300 732 L 2300 493 C 2303.9 493 2303.9 487 2300 487 L 2300 487 L 2300 230.06 L 2790 230.06 L 2790 263.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2790 268.88 L 2786.5 261.88 L 2790 263.63 L 2793.5 261.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1480px; margin-left: 1862px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/planning/scenario_planning/trajectory [Trajectory]</div></div></div></foreignObject><text x="1862" y="1484" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/planning/scenario_planning/trajectory [Trajectory]</text></switch></g><path d="M 1821 120 L 1821.06 190.06 L 1650 190.06 L 1650 1340.06 L 1796.13 1340" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1801.38 1340 L 1794.38 1343.5 L 1796.13 1340 L 1794.38 1336.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><path d="M 1820 1080 L 1820 1113.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1820 1118.88 L 1816.5 1111.88 L 1820 1113.63 L 1823.5 1111.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1092px; margin-left: 1821px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">motion_planning/obstacle_avoidance_planner/trajectory [Trajectory]</div></div></div></foreignObject><text x="1821" y="1095" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">motion_planning/obstacle_avoidance_planner/trajectory [Trajectory]</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_avoidance_planner"><rect x="1760" y="1040" width="120" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1060px; margin-left: 1761px;"><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_<br />avoidance_planner</div></div></div></foreignObject><text x="1820" y="1064" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">obstacle_...</text></switch></g></a><path d="M 1820 1160 L 1820 1193.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1820 1198.88 L 1816.5 1191.88 L 1820 1193.63 L 1823.5 1191.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1180px; margin-left: 1820px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">motion_planning/obstacle_velocity_limiter/trajectory [Trajectory]</div></div></div></foreignObject><text x="1820" y="1183" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">motion_planning/obstacle_velocity_limiter/trajectory [Trajectory]</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_velocity_limiter"><rect x="1750" y="1120" width="140" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 138px; height: 1px; padding-top: 1140px; margin-left: 1751px;"><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_velocity_limiter</div></div></div></foreignObject><text x="1820" y="1144" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">obstacle_velocity_limit...</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_stop_planner"><rect x="1760" y="1200" width="120" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1220px; margin-left: 1761px;"><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_stop_<br />planner</div></div></div></foreignObject><text x="1820" y="1224" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">obstacle_stop_...</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/costmap_generator"><rect x="2040" y="390" width="120" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 410px; margin-left: 2041px;"><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;">costmap_generator</div></div></div></foreignObject><text x="2100" y="414" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">costmap_generator</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/external_velocity_limit_selector"><rect x="1390" y="1410" width="120" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1430px; margin-left: 1391px;"><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;">external_velocity_<br />limit_selector</div></div></div></foreignObject><text x="1450" y="1434" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">external_velocity_...</text></switch></g></a><path d="M 1510 1430 L 1796.13 1430" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1801.38 1430 L 1794.38 1433.5 L 1796.13 1430 L 1794.38 1426.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1430px; margin-left: 1656px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/planning/scenario_planning/max_velocity<br />[tier4_planning_msgs/msg/VelocityLimit]</div></div></div></foreignObject><text x="1656" y="1433" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/planning/scenario_planning/max_velocity...</text></switch></g><path d="M 1760 1220 L 1653 1220.02 C 1653 1216.12 1647 1216.12 1647 1220.02 L 1647 1220.02 L 1450 1220.06 L 1450 1403.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1450 1408.88 L 1446.5 1401.88 L 1450 1403.63 L 1453.5 1401.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1259px; margin-left: 1450px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/planning/scenario_planning/max_velocity_candidates<br />[tier4_planning_msgs/msg/VelocityLimit]</div></div></div></foreignObject><text x="1450" y="1263" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/planning/scenario_planning/max_velocity_candidates...</text></switch></g><path d="M 1820 1240 L 1820 1290.06 L 1832.47 1290.06 L 1832.49 1313.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1832.5 1318.88 L 1828.99 1311.89 L 1832.49 1313.63 L 1835.99 1311.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1260px; margin-left: 1820px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">lane_driving/trajectory [Trajectory]</div></div></div></foreignObject><text x="1820" y="1263" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">lane_driving/trajectory [Trajectory]</text></switch></g><path d="M 1862.5 1360 L 1862.5 1403.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 1862.5 1408.88 L 1859 1401.88 L 1862.5 1403.63 L 1866 1401.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1385px; margin-left: 1863px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">trajectory [Trajectory]</div></div></div></foreignObject><text x="1863" y="1388" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">trajectory [Trajectory]</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/scenario_selector"><rect x="1802.5" y="1320" width="120" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1340px; margin-left: 1804px;"><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;">scenario_selector</div></div></div></foreignObject><text x="1863" y="1344" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">scenario_selector</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/motion_velocity_smoother"><rect x="1802.5" y="1410" width="120" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1430px; margin-left: 1804px;"><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;">motion_velocity_<br />smoother</div></div></div></foreignObject><text x="1863" y="1434" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">motion_velocity_...</text></switch></g></a><rect x="1721.5" y="350" width="200" height="241" fill="none" stroke="none"/><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/behavior_path_planner"><rect x="1720" y="260" width="200" height="241" rx="30" ry="30" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 267px; margin-left: 1721px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">behavior_path_planner</div></div></div></foreignObject><text x="1820" y="279" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">behavior_path_planner</text></switch></g></a><rect x="1760" y="378" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 393px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">obstacle_avoidance</div></div></div></foreignObject><text x="1820" y="397" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">obstacle_avoidance</text></switch></g><rect x="1760" y="418" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 433px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">pull_over/out</div></div></div></foreignObject><text x="1820" y="437" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">pull_over/out</text></switch></g><rect x="1760" y="458" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 473px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">side_shift</div></div></div></foreignObject><text x="1820" y="477" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">side_shift</text></switch></g><rect x="1760" y="336" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 351px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">lane_change</div></div></div></foreignObject><text x="1820" y="355" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">lane_change</text></switch></g><rect x="1760" y="298" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 313px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">lane_following</div></div></div></foreignObject><text x="1820" y="317" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">lane_following</text></switch></g><rect x="1830" y="230" width="90" height="20.3" fill="none" stroke="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 88px; height: 1px; padding-top: 240px; margin-left: 1831px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">&lt;Lane Driving&gt;</div></div></div></foreignObject><text x="1875" y="244" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">&lt;Lane Driving&gt;</text></switch></g><rect x="1760" y="840" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 855px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">no_stopping_area</div></div></div></foreignObject><text x="1820" y="859" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">no_stopping_area</text></switch></g><rect x="1760" y="800" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 815px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">occlusion_spot</div></div></div></foreignObject><text x="1820" y="819" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">occlusion_spot</text></switch></g><rect x="1760" y="760" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 775px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">intersection</div></div></div></foreignObject><text x="1820" y="779" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">intersection</text></switch></g><rect x="1760" y="720" width="120" height="28" rx="4.2" ry="4.2" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 734px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">traffic_light</div></div></div></foreignObject><text x="1820" y="738" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">traffic_light</text></switch></g><rect x="1760" y="680" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 695px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">cross_walk</div></div></div></foreignObject><text x="1820" y="699" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">cross_walk</text></switch></g><rect x="1760" y="640" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 655px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">blind_spot</div></div></div></foreignObject><text x="1820" y="659" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">blind_spot</text></switch></g><rect x="1760" y="600" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 615px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">detection_area</div></div></div></foreignObject><text x="1820" y="619" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">detection_area</text></switch></g><rect x="1760" y="880" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 895px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">stop_line</div></div></div></foreignObject><text x="1820" y="899" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">stop_line</text></switch></g><path d="M 1820.93 120 L 1820.45 253.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1820.43 258.88 L 1816.96 251.87 L 1820.45 253.63 L 1823.96 251.89 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1821 120 L 1821.06 190.06 L 2020 190.06 L 2020 293.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 2020 298.88 L 2016.5 291.88 L 2020 293.63 L 2023.5 291.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 149px; margin-left: 1821px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/planning/mission_planning/route<br />[autoware_auto_planning_msgs/HADMapRoute]</div></div></div></foreignObject><text x="1821" y="153" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/planning/mission_planning/route...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/mission_planner"><rect x="1761" y="80" width="120" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 100px; margin-left: 1762px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">mission_planner</div></div></div></foreignObject><text x="1821" y="104" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">mission_planner</text></switch></g></a><path d="M 1820 501 L 1820 563.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1820 568.88 L 1816.5 561.88 L 1820 563.63 L 1823.5 561.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 535px; margin-left: 1820px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">behavior_planning/path_with_lane_id</div></div></div></foreignObject><text x="1820" y="538" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">behavior_planning/path_with_lane_id</text></switch></g><path d="M 1820 980 L 1820 1033.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1820 1038.88 L 1816.5 1031.88 L 1820 1033.63 L 1823.5 1031.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1011px; margin-left: 1820px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">behavior_planning/path</div></div></div></foreignObject><text x="1820" y="1014" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">behavior_planning/path</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/freespace_planner"><rect x="1960" y="300" width="120" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 320px; margin-left: 1961px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">freespace_planner</div></div></div></foreignObject><text x="2020" y="324" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">freespace_planner</text></switch></g></a><path d="M 2100 390 L 2100 320.06 L 2086.37 320.02" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 2081.12 320 L 2088.13 316.52 L 2086.37 320.02 L 2088.11 323.52 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 361px; margin-left: 2100px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">costmap_generator/occupancy_grid</div></div></div></foreignObject><text x="2100" y="364" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">costmap_generator/occupancy_grid</text></switch></g><rect x="1950" y="220" width="230" height="250" rx="34.5" ry="34.5" fill="none" stroke="rgb(0, 0, 0)" stroke-dasharray="3 3"/><path d="M 1821 40 L 1821 73.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1821 78.88 L 1817.5 71.88 L 1821 73.63 L 1824.5 71.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 60px; margin-left: 1821px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">goal</div></div></div></foreignObject><text x="1821" y="63" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">goal</text></switch></g><rect x="1760" y="920" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 935px; margin-left: 1761px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">virtual_stop_line</div></div></div></foreignObject><text x="1820" y="939" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">virtual_stop_line</text></switch></g><rect x="2070" y="240" width="80" height="20" fill="none" stroke="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 250px; margin-left: 2071px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">&lt;Parking&gt;</div></div></div></foreignObject><text x="2110" y="254" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">&lt;Parking&gt;</text></switch></g><path d="M 2020 340 L 2020 1290.06 L 1892.47 1290.06 L 1892.49 1313.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1892.5 1318.88 L 1888.99 1311.89 L 1892.49 1313.63 L 1895.99 1311.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1260px; margin-left: 2020px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;"><span style="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;">parking/trajectory [Trajectory]</span></div></div></div></foreignObject><text x="2020" y="1263" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">parking/trajectory [Trajectory]</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/surround_obstacle_checker"><rect x="1370" y="1140" width="160" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 1160px; margin-left: 1371px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">surround_obstacle_checker</div></div></div></foreignObject><text x="1450" y="1164" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">surround_obstacle_checker</text></switch></g></a><path d="M 1450 1180 L 1450 1403.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1450 1408.88 L 1446.5 1401.88 L 1450 1403.63 L 1453.5 1401.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><rect x="2237" y="1610" width="120" height="60" rx="9" ry="9" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2238px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">Perception</div></div></div></foreignObject><text x="2297" y="1644" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Perception</text></switch></g><path d="M 901 1042.5 L 901.05 1123.69" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 901.06 1128.94 L 897.55 1121.94 L 901.05 1123.69 L 904.55 1121.94 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1086px; margin-left: 901px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/perception/object_recognition/objects</div></div></div></foreignObject><text x="901" y="1089" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/perception/object_recognition/objects</text></switch></g><path d="M 1500 610 L 1500 733.94 L 1647 733.97 C 1647 730.07 1653 730.08 1653 733.98 L 1653 733.98 L 1753.63 734" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1758.88 734 L 1751.88 737.5 L 1753.63 734 L 1751.88 730.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 716px; margin-left: 1500px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">traffic_light_states</div></div></div></foreignObject><text x="1500" y="719" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">traffic_light_states</text></switch></g><rect x="1420" y="340" width="160" height="330" rx="24" ry="24" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 347px; margin-left: 1421px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div>/perception/traffic_light_recognition/<br /></div></div></div></div></foreignObject><text x="1500" y="359" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">/perception/traffic_light_...</text></switch></g><rect x="685" y="120" width="700" height="932.5" rx="105" ry="105" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 698px; height: 1px; padding-top: 127px; margin-left: 686px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div>/perception/object_recognition/<br /></div></div></div></div></foreignObject><text x="1035" y="139" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">/perception/object_recognition/&#xa;</text></switch></g><rect x="975" y="145" width="250" height="574" rx="37.5" ry="37.5" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 248px; height: 1px; padding-top: 152px; margin-left: 976px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div>/perception/object_recognition/detection/<br /></div></div></div></div></foreignObject><text x="1100" y="164" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">/perception/object_recognition/detection/&#xa;</text></switch></g><path d="M 1119.06 289 L 1119.06 309 L 1119.06 298.06 L 1119.06 311.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1119.06 316.88 L 1115.56 309.88 L 1119.06 311.63 L 1122.56 309.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 303px; margin-left: 1119px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">clustering/downsampled/pointcloud</div></div></div></foreignObject><text x="1119" y="306" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">clustering/downsampled/pointcloud</text></switch></g><rect x="1059" y="249" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 269px; margin-left: 1060px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">voxel_grid_filter</div></div></div></foreignObject><text x="1119" y="273" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">voxel_grid_filter</text></switch></g><path d="M 1119.06 425 L 1119.06 445 L 1119.06 440.06 L 1119.02 453.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1119 458.88 L 1115.52 451.87 L 1119.02 453.63 L 1122.52 451.89 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 443px; margin-left: 1119px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">clustering/downsampled/concatenated/pointcloud</div></div></div></foreignObject><text x="1119" y="446" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">clustering/downsampled/concatenated/pointcloud</text></switch></g><rect x="1059" y="318" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 338px; margin-left: 1060px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">outlier_filter</div></div></div></foreignObject><text x="1119" y="342" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">outlier_filter</text></switch></g><path d="M 1119.06 500 L 1119.04 520.04 C 1122.94 520.04 1122.94 526.04 1119.04 526.04 L 1119.04 526.04 L 1119.01 572.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1119 577.88 L 1115.51 570.88 L 1119.01 572.63 L 1122.51 570.89 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 553px; margin-left: 1087px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">clustering/cluster</div></div></div></foreignObject><text x="1087" y="556" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">clustering/cluster</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/euclidean_cluster"><rect x="1059" y="460" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 480px; margin-left: 1060px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">euclidean_cluster</div></div></div></foreignObject><text x="1119" y="484" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">euclidean_cluster</text></switch></g></a><path d="M 1119.73 215 L 1119.36 242.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1119.29 247.88 L 1115.88 240.84 L 1119.36 242.63 L 1122.88 240.93 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 230px; margin-left: 1120px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">clustering/short_range/pointcloud</div></div></div></foreignObject><text x="1120" y="234" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">clustering...</text></switch></g><path d="M 1059 810 L 961.37 810.94" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 956.12 810.99 L 963.08 807.42 L 961.37 810.94 L 963.15 814.42 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 1px; height: 1px; padding-top: 791px; margin-left: 971px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><p style="line-height: 100%;">detection_by<br />_tracker/objects</p></div></div></div></foreignObject><text x="971" y="794" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px">detection_by...</text></switch></g><path d="M 900 990 L 1119.06 990.06 L 1119 836.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1119 831.12 L 1122.5 838.12 L 1119 836.37 L 1115.5 838.12 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1500 520 L 1500 563.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1500 568.88 L 1496.5 561.88 L 1500 563.63 L 1503.5 561.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 900 623 L 900 693 L 900 713.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 900 718.88 L 896.5 711.88 L 900 713.63 L 903.5 711.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 690px; margin-left: 900px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">centerpoint/validation/objects</div></div></div></foreignObject><text x="900" y="693" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">centerpoint/validation/objects</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/lidar_centerpoint"><rect x="830" y="520" width="140" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 138px; height: 1px; padding-top: 540px; margin-left: 831px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">lidar_centerpoint</div></div></div></foreignObject><text x="900" y="544" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">lidar_centerpoint</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/map_based_prediction"><rect x="840" y="1002.5" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1023px; margin-left: 841px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">map_based_<br />prediction</div></div></div></foreignObject><text x="900" y="1026" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">map_based_...</text></switch></g></a><path d="M 1500 430 L 1500 473.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1500 478.88 L 1496.5 471.88 L 1500 473.63 L 1503.5 471.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 455px; margin-left: 1500px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">traffic_light_detection/rough/rois</div></div></div></foreignObject><text x="1500" y="458" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">traffic_light_detection/rough/rois</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/traffic_light_map_based_detector"><rect x="1440" y="390" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 410px; margin-left: 1441px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">traffic_light_map_<br />based_detector</div></div></div></foreignObject><text x="1500" y="414" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">traffic_light_map_...</text></switch></g></a><path d="M 900 905 L 900 938.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 900 943.88 L 896.5 936.88 L 900 938.63 L 903.5 936.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 925px; margin-left: 900px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">detection/objects</div></div></div></foreignObject><text x="900" y="928" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">detection/objects</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/traffic_light_classifier"><rect x="1440" y="570" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 590px; margin-left: 1441px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">traffic_light_<br />classifier</div></div></div></foreignObject><text x="1500" y="594" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">traffic_light_...</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/traffic_light_ssd_fine_detector"><rect x="1440" y="480" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 500px; margin-left: 1441px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">traffic_light_<br />ssd_fine_detector</div></div></div></foreignObject><text x="1500" y="504" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">traffic_light_...</text></switch></g></a><path d="M 900 985 L 900 996.13" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 900 1001.38 L 896.5 994.38 L 900 996.13 L 903.5 994.38 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1500 210 L 1500 383.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1500 388.88 L 1496.5 381.88 L 1500 383.63 L 1503.5 381.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 272px; margin-left: 1500px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">route,<br />vector_map</div></div></div></foreignObject><text x="1500" y="276" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">route,...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/multi_object_tracker"><rect x="840" y="945" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 965px; margin-left: 841px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">multi_object_<br />tracker</div></div></div></foreignObject><text x="900" y="969" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">multi_object_...</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/object_merger"><rect x="845" y="720" width="110" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 108px; height: 1px; padding-top: 740px; margin-left: 846px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">object_association<br />_merger</div></div></div></foreignObject><text x="900" y="744" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">object_association...</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/shape_estimation"><rect x="1049" y="579" width="140" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 138px; height: 1px; padding-top: 599px; margin-left: 1050px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">shape_estimation</div></div></div></foreignObject><text x="1119" y="603" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">shape_estimation</text></switch></g></a><rect x="830" y="1370" width="200" height="260" rx="30" ry="30" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 1377px; margin-left: 831px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div>/perception/occupancy_grid_map/<br /></div></div></div></div></foreignObject><text x="930" y="1389" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">/perception/occupancy_grid_map/&#xa;</text></switch></g><rect x="1050" y="1200" width="230" height="430" rx="34.5" ry="34.5" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 228px; height: 1px; padding-top: 1207px; margin-left: 1051px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div>/perception/obstacle_segmentation/<br /></div></div></div></div></foreignObject><text x="1165" y="1219" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">/perception/obstacle_segmentation/&#xa;</text></switch></g><path d="M 1160 1290 L 1160 1190.06 L 800 1190.06 L 800 1500.06 L 863.63 1499.98" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 868.88 1499.97 L 861.89 1503.48 L 863.63 1499.98 L 861.88 1496.48 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1160 1385 L 1160 1500.06 L 996.37 1499.97" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 991.12 1499.97 L 998.12 1496.47 L 996.37 1499.97 L 998.12 1503.47 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1160 1385 L 1160 1543.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1160 1548.88 L 1156.5 1541.88 L 1160 1543.63 L 1163.5 1541.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1403px; margin-left: 1160px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">no_ground/oneshot/pointcloud</div></div></div></foreignObject><text x="1160" y="1406" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">no_ground/oneshot/pointcloud</text></switch></g><path d="M 1160 1290 L 1160 1338.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1160 1343.88 L 1156.5 1336.88 L 1160 1338.63 L 1163.5 1336.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1310px; margin-left: 1160px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">range_cropped/pointcloud</div></div></div></foreignObject><text x="1160" y="1313" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">range_cropped/pointcloud</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/perception/ground_segmentation/docs/scan-ground-filter.md"><rect x="1100" y="1345" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1365px; margin-left: 1101px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">common_<br />ground_filter</div></div></div></foreignObject><text x="1160" y="1369" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">common_...</text></switch></g></a><path d="M 930 1519.97 L 930 1570.06 L 1083.63 1570" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1088.88 1570 L 1081.88 1573.5 L 1083.63 1570 L 1081.88 1566.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1551px; margin-left: 930px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">occupancy_grid</div></div></div></foreignObject><text x="930" y="1554" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">occupancy_grid</text></switch></g><path d="M 930 1519.97 L 930.23 1703.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 930.25 1708.88 L 926.73 1701.89 L 930.23 1703.63 L 933.73 1701.87 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1670px; margin-left: 930px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/perception/occupancy_grid_map/map</div></div></div></foreignObject><text x="930" y="1674" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/perception/occupancy_grid_map/map</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/perception/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md"><rect x="870" y="1479.97" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1500px; margin-left: 871px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">probabilistic_<br />occupancy_grid_map</div></div></div></foreignObject><text x="930" y="1504" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">probabilistic_...</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/occupancy_grid_map_outlier_filter"><rect x="1090" y="1550" width="140" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 138px; height: 1px; padding-top: 1570px; margin-left: 1091px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">occupancy_grid_<br />map_based_outlier_filter</div></div></div></foreignObject><text x="1160" y="1574" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">occupancy_grid_...</text></switch></g></a><path d="M 1160 1590 L 1160 1703.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1160 1708.88 L 1156.5 1701.88 L 1160 1703.63 L 1163.5 1701.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1670px; margin-left: 1160px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/perception/obstacle_segmentation/pointcloud</div></div></div></foreignObject><text x="1160" y="1673" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/perception/obstacle_segmentation/pointcloud</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md"><rect x="1100" y="1250" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1270px; margin-left: 1101px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">crop_box_filter</div></div></div></foreignObject><text x="1160" y="1274" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">crop_box_filter</text></switch></g></a><path d="M 1160 1140 L 1160 1243.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1160 1248.88 L 1156.5 1241.88 L 1160 1243.63 L 1163.5 1241.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1180px; margin-left: 1160px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/concatenated/pointcloud</div></div></div></foreignObject><text x="1160" y="1183" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/concatena...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/perception/detected_object_validation/obstacle-pointcloud-based-validator.md"><rect x="830" y="583" width="140" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 138px; height: 1px; padding-top: 603px; margin-left: 831px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">obstacle_pointcloud _based_validator</div></div></div></foreignObject><text x="900" y="607" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">obstacle_pointcloud _ba...</text></switch></g></a><path d="M 900 560 L 900 576.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 900 581.88 L 896.5 574.88 L 900 576.63 L 903.5 574.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/object_merger"><rect x="845" y="791" width="110" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 108px; height: 1px; padding-top: 811px; margin-left: 846px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">object_association<br />_merger</div></div></div></foreignObject><text x="900" y="815" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">object_association...</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/tensorrt_yolo"><rect x="1239" y="270" width="140" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 138px; height: 1px; padding-top: 290px; margin-left: 1240px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">tensorrt_yolo</div></div></div></foreignObject><text x="1309" y="294" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">tensorrt_yolo</text></switch></g></a><path d="M 530 603 L 823.63 603" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 828.88 603 L 821.88 606.5 L 823.63 603 L 821.88 599.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 618px; margin-left: 676px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/perception/obstacle_segmentation/pointcloud</div></div></div></foreignObject><text x="676" y="621" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/perception/obstacle_segmentation/pointcloud</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/perception/image_projection_based_fusion/docs/roi-cluster-fusion.md"><rect x="1239" y="515" width="140" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 138px; height: 1px; padding-top: 535px; margin-left: 1240px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">roi_cluster_fusion</div></div></div></foreignObject><text x="1309" y="539" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">roi_cluster_fusion</text></switch></g></a><path d="M 1119 500 L 1119.06 535 L 1232.63 535" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1237.88 535 L 1230.88 538.5 L 1232.63 535 L 1230.88 531.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1309 310 L 1309 508.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1309 513.88 L 1305.5 506.88 L 1309 508.63 L 1312.5 506.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 425px; margin-left: 1284px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/rois*</div></div></div></foreignObject><text x="1284" y="429" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/rois*</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/shape_estimation"><rect x="1239" y="577" width="140" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 138px; height: 1px; padding-top: 597px; margin-left: 1240px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">shape_estimation</div></div></div></foreignObject><text x="1309" y="601" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">shape_estimation</text></switch></g></a><path d="M 900 760 L 900 780.06 L 900 771 L 900 784.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 900 789.88 L 896.5 782.88 L 900 784.63 L 903.5 782.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/detection_by_tracker"><rect x="1059" y="790" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 810px; margin-left: 1060px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">detection_by_<br />tracker_node</div></div></div></foreignObject><text x="1119" y="814" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">detection_by_...</text></switch></g></a><path d="M 1119 619 L 1119 783.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1119 788.88 L 1115.5 781.88 L 1119 783.63 L 1122.5 781.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1309.06 617 L 1309.06 740.06 L 961.37 740" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 956.12 740 L 963.12 736.5 L 961.37 740 L 963.12 743.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 761px; margin-left: 1301px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">clustering/camera_lidar_fusion<br />/objects</div></div></div></foreignObject><text x="1301" y="764" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">clustering/camera_lidar_fusion...</text></switch></g><path d="M 1309 555 L 1309 571.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1309 576.88 L 1305.5 569.88 L 1309 571.63 L 1312.5 569.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1309 210 L 1309 263.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1309 268.88 L 1305.5 261.88 L 1309 263.63 L 1312.5 261.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 241px; margin-left: 1309px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/sensing/camera/<br />camera*/image_rect_color</div></div></div></foreignObject><text x="1309" y="244" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/sensing/camera/...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/perception/detected_object_validation/object-lanelet-filter.md"><rect x="840" y="865" width="120" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 885px; margin-left: 841px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">object_lanelet_filter</div></div></div></foreignObject><text x="900" y="889" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">object_lanelet_filter</text></switch></g></a><path d="M 900 831 L 900 858.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 900 863.88 L 896.5 856.88 L 900 858.63 L 903.5 856.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 765 885 L 833.63 885" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 838.88 885 L 831.88 888.5 L 833.63 885 L 831.88 881.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 899px; margin-left: 796px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/map/vector_map</div></div></div></foreignObject><text x="796" y="902" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/map/vector_map</text></switch></g><path d="M 765 1023 L 802.47 1023 L 833.63 1022.58" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 838.88 1022.51 L 831.93 1026.11 L 833.63 1022.58 L 831.84 1019.11 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1035px; margin-left: 794px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/map/vector_map</div></div></div></foreignObject><text x="794" y="1038" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/map/vector_map</text></switch></g><rect x="1059" y="175" width="122" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 120px; height: 1px; padding-top: 195px; margin-left: 1060px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">outliter_cropbox_filter</div></div></div></foreignObject><text x="1120" y="199" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">outliter_cropbox_fil...</text></switch></g><path d="M 1120 75 L 1120 168.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1120 173.88 L 1116.5 166.88 L 1120 168.63 L 1123.5 166.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 95px; margin-left: 1120px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/perception/obstacle_segmentation/pointcloud</div></div></div></foreignObject><text x="1120" y="98" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/perception/obstacle_segmentation/pointcloud</text></switch></g><rect x="1060" y="385" width="118" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 116px; height: 1px; padding-top: 405px; margin-left: 1061px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">concat_filter</div></div></div></foreignObject><text x="1119" y="409" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">concat_filter</text></switch></g><path d="M 1119 358 L 1119 378.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1119 383.88 L 1115.5 376.88 L 1119 378.63 L 1122.5 376.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 371px; margin-left: 1119px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">clustering/outlier_filter/pointcloud</div></div></div></foreignObject><text x="1119" y="374" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">clustering/outlier_filter/pointcloud</text></switch></g><path d="M 1059 195 L 1005.06 195 L 1005.06 405 L 1053.63 405" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1058.88 405 L 1051.88 408.5 L 1053.63 405 L 1051.88 401.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 220px; margin-left: 990px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">clustering/long_range/pointcloud</div></div></div></foreignObject><text x="990" y="223" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">clustering/long_range/pointcloud</text></switch></g><rect x="2666" y="1127" width="120" height="40" rx="6" ry="6" fill="#b0e3e6" stroke="#0e8088"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1147px; margin-left: 2667px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">g30_interface</div></div></div></foreignObject><text x="2726" y="1151" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">g30_interface</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/vehicle/raw_vehicle_cmd_converter"><rect x="2535" y="870" width="120" height="40" rx="6" ry="6" fill="#b0e3e6" stroke="#0e8088"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 890px; margin-left: 2536px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">raw_vehicle_cmd_<br />converter</div></div></div></foreignObject><text x="2595" y="894" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">raw_vehicle_cmd_...</text></switch></g></a><path d="M 2595 910 L 2595.06 1010.06 L 2595 1103.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 2595 1108.88 L 2591.5 1101.88 L 2595 1103.63 L 2598.5 1101.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 949px; margin-left: 2615px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/vehicle/command/actuation_cmd</div></div></div></foreignObject><text x="2615" y="952" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/vehicle/command/actuation_cmd</text></switch></g><a xlink:href="https://github.com/tier4/pacmod_interface"><rect x="2510" y="1127" width="120" height="40" rx="6" ry="6" fill="#b0e3e6" stroke="#0e8088"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1147px; margin-left: 2511px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">pacmod_interface</div></div></div></foreignObject><text x="2570" y="1151" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">pacmod_interface</text></switch></g></a><rect x="2840" y="1610" width="120" height="60" rx="9" ry="9" fill="#b0e3e6" stroke="#0e8088"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2841px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">VehicleInterface</div></div></div></foreignObject><text x="2900" y="1644" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">VehicleInterface</text></switch></g><path d="M 2425.02 1110.77 L 2424.05 976.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 2424.01 971.12 L 2427.56 978.09 L 2424.05 976.37 L 2420.56 978.14 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 1px; height: 1px; padding-top: 1047px; margin-left: 2362px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/vehicle/status/velocity_status<br />/vehicle/status/steering_status<br />/vehicle/status/turn_indicators_status<br />/vehicle/status/gear_status<br />/vehicle/status/control_mode<br />/vehicle/status/<span style="text-align: center">actuation_status</span></div></div></div></foreignObject><text x="2362" y="1050" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px">/vehicle/s...</text></switch></g><rect x="2360" y="1110" width="670" height="70" rx="10.5" ry="10.5" fill="#b0e3e6" stroke="#0e8088"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 668px; height: 1px; padding-top: 1145px; margin-left: 2362px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">    vehicle_interface</div></div></div></foreignObject><text x="2362" y="1149" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">    vehicle_interface</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator"><rect x="2357" y="870" width="140" height="40" rx="6" ry="6" fill="#b0e3e6" stroke="#0e8088"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 138px; height: 1px; padding-top: 890px; margin-left: 2358px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">accel_map_calibrator</div></div></div></foreignObject><text x="2427" y="894" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">accel_map_calibrator</text></switch></g></a><path d="M 2570 1173.37 L 2570 1208.53 L 2569.15 1243.63" fill="none" stroke="#666666" stroke-miterlimit="10"/><path d="M 2570 1168.12 L 2573.5 1175.12 L 2570 1173.37 L 2566.5 1175.12 Z" fill="#666666" stroke="#666666" stroke-miterlimit="10"/><path d="M 2569.03 1248.88 L 2565.7 1241.8 L 2569.15 1243.63 L 2572.69 1241.97 Z" fill="#666666" stroke="#666666" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1214px; margin-left: 2569px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/pacmod/**</div></div></div></foreignObject><text x="2569" y="1218" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/pacmod/**</text></switch></g><rect x="2983" y="1610" width="120" height="60" rx="9" ry="9" fill="#f5f5f5" stroke="#666666"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2984px;"><div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">Vehicle</div></div></div></foreignObject><text x="3043" y="1644" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle">Vehicle</text></switch></g><path d="M 2569 1290 L 2569 1323.63" fill="none" stroke="#666666" stroke-miterlimit="10"/><path d="M 2569 1328.88 L 2565.5 1321.88 L 2569 1323.63 L 2572.5 1321.88 Z" fill="#666666" stroke="#666666" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1310px; margin-left: 2569px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">&lt;CAN&gt;</div></div></div></foreignObject><text x="2569" y="1313" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">&lt;CAN&gt;</text></switch></g><rect x="2509" y="1330" width="120" height="40" rx="6" ry="6" fill="#f5f5f5" stroke="#666666"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1350px; margin-left: 2510px;"><div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">JapanTaxi</div></div></div></foreignObject><text x="2569" y="1354" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle">JapanTaxi</text></switch></g><a xlink:href="http://wiki.ros.org/pacmod3"><rect x="2509" y="1250" width="120" height="40" rx="6" ry="6" fill="#f5f5f5" stroke="#666666"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1270px; margin-left: 2510px;"><div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">pacmod3</div></div></div></foreignObject><text x="2569" y="1274" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle">pacmod3</text></switch></g></a><rect x="2666" y="1330" width="120" height="40" rx="6" ry="6" fill="#f5f5f5" stroke="#666666"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1350px; margin-left: 2667px;"><div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">YMC GolfCart</div></div></div></foreignObject><text x="2726" y="1354" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle">YMC GolfCart</text></switch></g><path d="M 420 350 L 420 403.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 420 408.88 L 416.5 401.88 L 420 403.63 L 423.5 401.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 381px; margin-left: 420px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">top/velodyne_packets</div></div></div></foreignObject><text x="420" y="384" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">top/velodyne_packets</text></switch></g><rect x="360" y="300" width="120" height="50" rx="7.5" ry="7.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 325px; margin-left: 361px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">lidar_driver</div></div></div></foreignObject><text x="420" y="329" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">lidar_driver</text></switch></g><path d="M 420 650 L 420 683.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 420 688.88 L 416.5 681.88 L 420 683.63 L 423.5 681.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 670px; margin-left: 420px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">top/rectified/pointcloud</div></div></div></foreignObject><text x="420" y="673" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">top/rectified/pointcloud</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md"><rect x="360" y="620" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 635px; margin-left: 361px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">fix_distortion</div></div></div></foreignObject><text x="420" y="639" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">fix_distortion</text></switch></g></a><path d="M 420 440 L 420 473.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 420 478.88 L 416.5 471.88 L 420 473.63 L 423.5 471.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 460px; margin-left: 420px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">top/pointcloud_raw</div></div></div></foreignObject><text x="420" y="463" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">top/pointcloud_raw</text></switch></g><rect x="360" y="410" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 425px; margin-left: 361px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">packets_to_<br />pointcloud</div></div></div></foreignObject><text x="420" y="429" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">packets_to_...</text></switch></g><path d="M 420 510 L 420 543.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 420 548.88 L 416.5 541.88 L 420 543.63 L 423.5 541.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 530px; margin-left: 420px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">top/self_cropped/pointcloud</div></div></div></foreignObject><text x="420" y="533" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">top/self_cropped/pointcloud</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md"><rect x="360" y="480" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 495px; margin-left: 361px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">crop_box_<br />filter_self</div></div></div></foreignObject><text x="420" y="499" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">crop_box_...</text></switch></g></a><path d="M 420 580 L 420 613.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 420 618.88 L 416.5 611.88 L 420 613.63 L 423.5 611.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 600px; margin-left: 420px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">top/mirror_cropped/pointcloud</div></div></div></foreignObject><text x="420" y="603" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">top/mirror_cropped/pointcloud</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md"><rect x="360" y="550" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 565px; margin-left: 361px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">crop_box_<br />filter_mirror</div></div></div></foreignObject><text x="420" y="569" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">crop_box_...</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md"><rect x="360" y="690" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 705px; margin-left: 361px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">ring_outlier_filter</div></div></div></foreignObject><text x="420" y="709" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">ring_outlier_filter</text></switch></g></a><path d="M 250 350 L 250 403.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 250 408.88 L 246.5 401.88 L 250 403.63 L 253.5 401.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 381px; margin-left: 250px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">lidar/*/velodyne_packets</div></div></div></foreignObject><text x="250" y="384" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">lidar/*/velodyne_packets</text></switch></g><rect x="190" y="300" width="120" height="50" rx="7.5" ry="7.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 325px; margin-left: 191px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">lidar_drivers<br />(left,right,front_right, front_left,rear)</div></div></div></foreignObject><text x="250" y="329" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">lidar_drivers...</text></switch></g><path d="M 250 650 L 250 683.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 250 688.88 L 246.5 681.88 L 250 683.63 L 253.5 681.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 670px; margin-left: 250px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;"><span style="color: rgb(0 , 0 , 0) ; font-family: &quot;helvetica&quot; ; 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">*/rectified/pointcloud</span></div></div></div></foreignObject><text x="250" y="673" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">*/rectified/pointcloud</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md"><rect x="190" y="620" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 635px; margin-left: 191px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">fix_distortion</div></div></div></foreignObject><text x="250" y="639" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">fix_distortion</text></switch></g></a><path d="M 250 440 L 250 473.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 250 478.88 L 246.5 471.88 L 250 473.63 L 253.5 471.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 460px; margin-left: 250px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;"><span style="color: rgb(0 , 0 , 0) ; font-family: &quot;helvetica&quot; ; 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">*/pointcloud_raw</span></div></div></div></foreignObject><text x="250" y="463" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">*/pointcloud_raw</text></switch></g><rect x="190" y="410" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 425px; margin-left: 191px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">packets_to_<br />pointcloud</div></div></div></foreignObject><text x="250" y="429" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">packets_to_...</text></switch></g><path d="M 250 510 L 250 543.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 250 548.88 L 246.5 541.88 L 250 543.63 L 253.5 541.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 530px; margin-left: 250px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;"><span style="color: rgb(0 , 0 , 0) ; font-family: &quot;helvetica&quot; ; 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">*/self_cropped/pointcloud</span></div></div></div></foreignObject><text x="250" y="533" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">*/self_cropped/pointcloud</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md"><rect x="190" y="480" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 495px; margin-left: 191px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">crop_box_<br />filter_self</div></div></div></foreignObject><text x="250" y="499" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">crop_box_...</text></switch></g></a><path d="M 250 580 L 250 613.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 250 618.88 L 246.5 611.88 L 250 613.63 L 253.5 611.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 600px; margin-left: 250px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;"><span style="color: rgb(0 , 0 , 0) ; font-family: &quot;helvetica&quot; ; 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">*/mirror_cropped/pointcloud</span></div></div></div></foreignObject><text x="250" y="603" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">*/mirror_cropped/pointcloud</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md"><rect x="190" y="550" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 565px; margin-left: 191px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">crop_box_<br />filter_mirror</div></div></div></foreignObject><text x="250" y="569" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">crop_box_...</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md"><rect x="190" y="690" width="120" height="30" rx="4.5" ry="4.5" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 705px; margin-left: 191px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">ring_outlier_filter</div></div></div></foreignObject><text x="250" y="709" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">ring_outlier_filter</text></switch></g></a><path d="M 320 800 L 320 848.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 320 853.88 L 316.5 846.88 L 320 848.63 L 323.5 846.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 820px; margin-left: 320px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">concatenated/pointcloud</div></div></div></foreignObject><text x="320" y="823" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">concatenated/pointcloud</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/concatenate-data.md"><rect x="260" y="760" width="120" height="40" rx="6" ry="6" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 780px; margin-left: 261px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">concat_filter</div></div></div></foreignObject><text x="320" y="784" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">concat_filter</text></switch></g></a><path d="M 250 720 L 250 739.71 L 320 739.71 L 320 753.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 320 758.88 L 316.5 751.88 L 320 753.63 L 323.5 751.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 400 720 L 400 739.71 L 320 739.71 L 320 753.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 320 758.88 L 316.5 751.88 L 320 753.63 L 323.5 751.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/gnss_poser"><rect x="0" y="850" width="120" height="40" rx="6" ry="6" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 870px; margin-left: 1px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">gnss_poser</div></div></div></foreignObject><text x="60" y="874" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">gnss_poser</text></switch></g></a><path d="M 60 800 L 60 843.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 60 848.88 L 56.5 841.88 L 60 843.63 L 63.5 841.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><rect x="0" y="760" width="120" height="40" rx="6" ry="6" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 780px; margin-left: 1px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">gnss_driver</div></div></div></foreignObject><text x="60" y="784" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">gnss_driver</text></switch></g><rect x="483" y="770" width="120" height="40" rx="6" ry="6" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 790px; margin-left: 484px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">imu_driver</div></div></div></foreignObject><text x="543" y="794" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">imu_driver</text></switch></g><path d="M 543 810 L 543 883.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 543 888.88 L 539.5 881.88 L 543 883.63 L 546.5 881.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 850px; margin-left: 543px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/sensing/imu/imu_raw</div></div></div></foreignObject><text x="543" y="853" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/sensing/imu/imu_raw</text></switch></g><path d="M 420 720 L 420 930 L 340 930 L 340 1133.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 340 1138.88 L 336.5 1131.88 L 340 1133.63 L 343.5 1131.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 981px; margin-left: 340px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/sensing/lidar/pointcloud</div></div></div></foreignObject><text x="340" y="984" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/sensing/lidar/pointcloud</text></switch></g><path d="M 530 540 L 823.63 540" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 828.88 540 L 821.88 543.5 L 823.63 540 L 821.88 536.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 565px; margin-left: 609px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;"><span style="color: rgb(0 , 0 , 0) ; font-family: &quot;helvetica&quot; ; 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">/sensing/lidar/<br />concatenated/pointcloud</span></div></div></div></foreignObject><text x="609" y="568" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/sensing/lidar/...</text></switch></g><path d="M 60 890 L 60 1223.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 60 1228.88 L 56.5 1221.88 L 60 1223.63 L 63.5 1221.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1061px; margin-left: 60px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/sensing/gnss/<br />pose_with_covariance</div></div></div></foreignObject><text x="60" y="1064" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/sensing/gnss/...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/imu_corrector"><rect x="483" y="890" width="120" height="40" rx="6" ry="6" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 910px; margin-left: 484px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">imu_corrector</div></div></div></foreignObject><text x="543" y="914" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">imu_corrector</text></switch></g></a><path d="M 543 930 L 543 1203.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 543 1208.88 L 539.5 1201.88 L 543 1203.63 L 546.5 1201.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1070px; margin-left: 543px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/sensing/imu/imu_data</div></div></div></foreignObject><text x="543" y="1073" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/sensing/imu/imu_data</text></switch></g><rect x="1930" y="1610" width="120" height="60" rx="9" ry="9" fill="#e1d5e7" stroke="#9673a6"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 1931px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">Sensing</div></div></div></foreignObject><text x="1990" y="1644" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Sensing</text></switch></g><rect x="2083" y="1610" width="120" height="60" rx="9" ry="9" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2084px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">Localization</div></div></div></foreignObject><text x="2143" y="1644" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Localization</text></switch></g><path d="M 340 1268 L 340 1303.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 340 1308.88 L 336.5 1301.88 L 340 1303.63 L 343.5 1301.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1289px; margin-left: 340px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">voxel_grid_downsample/pointcloud</div></div></div></foreignObject><text x="340" y="1292" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">voxel_grid_downsample/pointcloud</text></switch></g><rect x="280" y="1228" width="120" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1248px; margin-left: 281px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">voxel_grid_<br />downsample_filter</div></div></div></foreignObject><text x="340" y="1252" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">voxel_grid_...</text></switch></g><path d="M 483.36 1499.56 L 483.41 1420.06 L 406.37 1420" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 401.12 1420 L 408.12 1416.51 L 406.37 1420 L 408.12 1423.51 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1465px; margin-left: 470px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">pose_twist_fusion_filter/<br />pose_with_covariance_<br />no_yawbias</div></div></div></foreignObject><text x="470" y="1469" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">pose_twist_fusion_filter/...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/localization/ekf_localizer"><rect x="280" y="1499" width="310" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 308px; height: 1px; padding-top: 1519px; margin-left: 281px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">ekf_localizer</div></div></div></foreignObject><text x="435" y="1523" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">ekf_localizer</text></switch></g></a><path d="M 340 1440 L 339.62 1491.95" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 339.54 1497.2 L 336.15 1490.15 L 339.62 1491.95 L 343.15 1490.26 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1460px; margin-left: 340px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">pose_estimator/<br />pose_with_covariance</div></div></div></foreignObject><text x="340" y="1463" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">pose_estimator/...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/localization/ndt_scan_matcher"><rect x="280" y="1400" width="120" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1420px; margin-left: 281px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">ndt_scan_matcher</div></div></div></foreignObject><text x="340" y="1424" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">ndt_scan_matcher</text></switch></g></a><path d="M 340 1350 L 340 1393.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 340 1398.88 L 336.5 1391.88 L 340 1393.63 L 343.5 1391.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1375px; margin-left: 340px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">downsample/pointcloud</div></div></div></foreignObject><text x="340" y="1378" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">downsample/pointcloud</text></switch></g><rect x="280" y="1310" width="120" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1330px; margin-left: 281px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">random_<br />downsample_filter</div></div></div></foreignObject><text x="340" y="1334" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">random_...</text></switch></g><path d="M 120 1250.06 L 150 1250.06 L 150 1430.06 L 273.63 1430" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 278.88 1430 L 271.88 1433.5 L 273.63 1430 L 271.88 1426.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1391px; margin-left: 150px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/initialpose3d</div></div></div></foreignObject><text x="150" y="1394" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/initialpose3d</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/localization/pose_initializer"><rect x="0" y="1230" width="120" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1250px; margin-left: 1px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">pose_initializer</div></div></div></foreignObject><text x="60" y="1254" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">pose_initializer</text></switch></g></a><path d="M 543 1250 L 543.06 1200.06 L 544.39 1491.19" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 544.42 1496.44 L 540.89 1489.46 L 544.39 1491.19 L 547.88 1489.42 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1390px; margin-left: 545px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">twist_estimator/twist_with_covariance</div></div></div></foreignObject><text x="545" y="1393" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">twist_estimator/twist_with_covariance</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/localization/gyro_odometer"><rect x="483" y="1210" width="120" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1230px; margin-left: 484px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">gyro_odometer</div></div></div></foreignObject><text x="543" y="1234" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">gyro_odometer</text></switch></g></a><path d="M 340 1180 L 340 1221.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 340 1226.88 L 336.5 1219.88 L 340 1221.63 L 343.5 1219.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1204px; margin-left: 340px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">measurement_range/pointcloud</div></div></div></foreignObject><text x="340" y="1207" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">measurement_range/pointcloud</text></switch></g><rect x="280" y="1140" width="120" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1160px; margin-left: 281px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">crop_box_filter_<br />measurement_range</div></div></div></foreignObject><text x="340" y="1164" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">crop_box_filter_...</text></switch></g><rect x="600" y="1130" width="160" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 1150px; margin-left: 601px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">vehicle_velocity_converter</div></div></div></foreignObject><text x="680" y="1154" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">vehicle_velocity_converter</text></switch></g><path d="M 336 1540 L 336 1703.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 336 1708.88 L 332.5 1701.88 L 336 1703.63 L 339.5 1701.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1586px; margin-left: 340px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/tf<br />(map to base_link)</div></div></div></foreignObject><text x="340" y="1589" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/tf...</text></switch></g><path d="M 440 1640 L 440 1710.06 L 440 1713.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 440 1718.88 L 436.5 1711.88 L 440 1713.63 L 443.5 1711.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1680px; margin-left: 440px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/localization/kinematic_state<br />[nav_msgs/msg/Odometry]</div></div></div></foreignObject><text x="440" y="1683" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/localization/kinematic_state...</text></switch></g><rect x="380" y="1600" width="120" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1620px; margin-left: 381px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">stop_filter</div></div></div></foreignObject><text x="440" y="1624" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">stop_filter</text></switch></g><rect x="600" y="1590" width="160" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 1610px; margin-left: 601px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">localization_error_monitor</div></div></div></foreignObject><text x="680" y="1614" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">localization_error_monitor</text></switch></g><path d="M 590 1519 L 680 1519 L 680 1583.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 680 1588.88 L 676.5 1581.88 L 680 1583.63 L 683.5 1581.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1533px; margin-left: 680px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">pose_twist_fusion_filter/<br />pose_with_covariance</div></div></div></foreignObject><text x="680" y="1536" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">pose_twist_fusion_filter/...</text></switch></g><path d="M 680 1630 L 680 1703.69" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 680 1708.94 L 676.5 1701.94 L 680 1703.69 L 683.5 1701.94 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1670px; margin-left: 680px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/diagnostics</div></div></div></foreignObject><text x="680" y="1673" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/diagnostics</text></switch></g><path d="M 435 1539 L 435.06 1569.47 L 440 1569.47 L 440 1593.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 440 1598.88 L 436.5 1591.88 L 440 1593.63 L 443.5 1591.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1569px; margin-left: 438px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">pose_twist_fusion_filter/<br />kinematic_state</div></div></div></foreignObject><text x="438" y="1573" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">pose_twist_fusion_filter/...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/system/system_monitor"><rect x="3419" y="874" width="180" height="350" rx="27" ry="27" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe center; width: 178px; height: 1px; padding-top: 881px; margin-left: 3420px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">system_monitors</div></div></div></foreignObject><text x="3509" y="893" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">system_monitors</text></switch></g></a><rect x="2690" y="1610" width="120" height="60" rx="9" ry="9" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2691px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">System</div></div></div></foreignObject><text x="2750" y="1644" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">System</text></switch></g><rect x="3449" y="904" width="120" height="40" rx="6" ry="6" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 924px; margin-left: 3450px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">autoware_process_<br />monitor</div></div></div></foreignObject><text x="3509" y="928" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">autoware_process_...</text></switch></g><rect x="3449" y="954" width="120" height="40" rx="6" ry="6" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 974px; margin-left: 3450px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">autoware_gpu_<br />monitor</div></div></div></foreignObject><text x="3509" y="978" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">autoware_gpu_...</text></switch></g><rect x="3449" y="1004" width="120" height="40" rx="6" ry="6" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1024px; margin-left: 3450px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">autoware_mem_<br />monitor</div></div></div></foreignObject><text x="3509" y="1028" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">autoware_mem_...</text></switch></g><rect x="3449" y="1058.5" width="120" height="40" rx="6" ry="6" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1079px; margin-left: 3450px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">autoware_hdd_<br />monitor</div></div></div></foreignObject><text x="3509" y="1082" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">autoware_hdd_...</text></switch></g><rect x="3449" y="1109" width="120" height="40" rx="6" ry="6" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1129px; margin-left: 3450px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">autoware_net_<br />monitor</div></div></div></foreignObject><text x="3509" y="1133" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">autoware_net_...</text></switch></g><rect x="3449" y="1164" width="120" height="40" rx="6" ry="6" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1184px; margin-left: 3450px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">autoware_ntp_<br />monitor</div></div></div></foreignObject><text x="3509" y="1188" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">autoware_ntp_...</text></switch></g><path d="M 3170 1027 L 3170 970.06 L 3170 960.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 3170 955.12 L 3173.5 962.12 L 3170 960.37 L 3166.5 962.12 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 993px; margin-left: 3170px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/system/emergency/hazard_status</div></div></div></foreignObject><text x="3170" y="996" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/system/emergency/hazard_status</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/system/system_error_monitor"><rect x="3110" y="1027" width="120" height="90" rx="13.5" ry="13.5" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1072px; margin-left: 3111px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">system_error_<br />monitor</div></div></div></foreignObject><text x="3170" y="1076" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">system_error_...</text></switch></g></a><path d="M 3170 914 L 3170 750.06 L 3036.37 750" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 3031.12 750 L 3038.12 746.5 L 3036.37 750 L 3038.12 753.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 1px; height: 1px; padding-top: 830px; margin-left: 3114px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;"><div>/system/emergency/control_cmd [AckermannControlCommand]</div><div>/system/emergency/gear_cmd [GearCommand]</div><div>/system/emergency/hazard_lights_cmd [HazardLightsCommand]</div>/system/emergency/emergency_state [EmergencyStateStamped]</div></div></div></foreignObject><text x="3114" y="833" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px">/system/emergency/control_cmd [AckermannControlCommand]...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/system/emergency_handler"><rect x="3110" y="914" width="120" height="40" rx="6" ry="6" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 934px; margin-left: 3111px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">emergency_handler</div></div></div></foreignObject><text x="3170" y="938" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">emergency_handler</text></switch></g></a><path d="M 3170 1420 L 3170 1489.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 3170 1494.88 L 3166.5 1487.88 L 3170 1489.63 L 3173.5 1487.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1458px; margin-left: 3170px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/autoware/state</div></div></div></foreignObject><text x="3170" y="1461" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/autoware/state</text></switch></g><path d="M 3230 1400.06 L 3270 1400.06 L 3270 1489.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 3270 1494.88 L 3266.5 1487.88 L 3270 1489.63 L 3273.5 1487.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1456px; margin-left: 3271px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/diagnostics</div></div></div></foreignObject><text x="3271" y="1459" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/diagnostics</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/system/ad_service_state_monitor"><rect x="3110" y="1380" width="120" height="40" rx="6" ry="6" fill="#f8cecc" stroke="#b85450"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1400px; margin-left: 3111px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">ad_service_<br />state_monitor</div></div></div></foreignObject><text x="3170" y="1404" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">ad_service_...</text></switch></g></a><path d="M 3320 1180 L 3320 1100 L 3236.37 1100" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 3231.12 1100 L 3238.12 1096.5 L 3236.37 1100 L 3238.12 1103.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1151px; margin-left: 3320px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><div style="text-align: left"><span>/control/current_gate_mode</span></div><div style="text-align: left"><span>/vehicle/status/control_mode</span></div><div style="text-align: left"><span>/autoware/state</span></div></div></div></div></foreignObject><text x="3320" y="1154" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/c...</text></switch></g><path d="M 3540 1320 L 3170 1320 L 3170 1373.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 3170 1378.88 L 3166.5 1371.88 L 3170 1373.63 L 3173.5 1371.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1350px; margin-left: 3389px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">    /control/command/control_cmd<br />    /control/trajectory_follower/control_cmd<br />    /initialpose2d<br />    /localization/kinematic_state<br />    /map/pointcloud_map<br />    /map/vector_map<br />    /perception/object_recognition/objects<br />    /planning/mission_planning/route<br />    /planning/scenario_planning/trajectory<br />    /system/emergency/control_cmd<br />    /vehicle/status/control_mode<br />    /vehicle/status/steering_status<br />    /vehicle/status/velocity_status</div></div></div></foreignObject><text x="3389" y="1353" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/contr...</text></switch></g><path d="M 3110 1400 L 3080 1400.06 L 3080 1489.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 3080 1494.88 L 3076.5 1487.88 L 3080 1489.63 L 3083.5 1487.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1456px; margin-left: 3070px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">/autoware/engage</div></div></div></foreignObject><text x="3070" y="1459" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/autoware/engage</text></switch></g></g><switch><g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/><a transform="translate(0,-5)" xlink:href="https://www.diagrams.net/doc/faq/svg-export-text-problems" target="_blank"><text text-anchor="middle" font-size="10px" x="50%" y="100%">Text is not SVG - cannot display</text></a></switch></svg>
\ No newline at end of file