From c5884b4e8261d8ad50d18596ada9c5cacbb059c4 Mon Sep 17 00:00:00 2001
From: Takamasa Horibe <horibe.takamasa@gmail.com>
Date: Tue, 12 Sep 2023 19:54:20 +0900
Subject: [PATCH] docs(node-diagram): add routing api (#450)

* docs(node-diagram): add routing api

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* update

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* update

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* update

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* update

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

---------

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
---
 ...-node-diagram-autoware-universe.drawio.svg | 5218 ++++++++++++++++-
 1 file changed, 5214 insertions(+), 4 deletions(-)

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 b531addd3c9..b61ab57d785 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 +1,5214 @@
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style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.75;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-51&quot; source=&quot;HlP1Fyv2lvvOLci_jDg2-121&quot; target=&quot;HlP1Fyv2lvvOLci_jDg2-117&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;Array as=&quot;points&quot;&gt;&#xA;              &lt;mxPoint x=&quot;-2100&quot; y=&quot;220&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;-2100&quot; y=&quot;400&quot; /&gt;&#xA;            &lt;/Array&gt;&#xA;            &lt;mxPoint x=&quot;-1970&quot; y=&quot;489&quot; as=&quot;targetPoint&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;pose_initializer&quot; tooltip=&quot;GNSS / Userからラフな初期位置を受け取り、NDT+モンテカルロ法で正確な自己位置を推定して出力する。NDTとはserviceでやり取りする。&quot; 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source=&quot;F5SEpTDf39VAK2Lenjye-9&quot; target=&quot;F5SEpTDf39VAK2Lenjye-29&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-0.8837&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;Array as=&quot;points&quot;&gt;&#xA;              &lt;mxPoint x=&quot;-429&quot; y=&quot;-840&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;-600&quot; y=&quot;-840&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;-600&quot; y=&quot;310&quot; /&gt;&#xA;            &lt;/Array&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-25&quot; value=&quot;motion_planning/obstacle_avoidance_planner/trajectory [Trajectory]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-20&quot; target=&quot;F5SEpTDf39VAK2Lenjye-21&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-0.4&quot; y=&quot;1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;obstacle_&amp;lt;br&amp;gt;avoidance_planner&quot; tooltip=&quot;車両形状や走行可能領域を考慮して、経路の平滑化を行う。障害物も避けるが、long historyで最近は回避機能はoffになっています。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_avoidance_planner&quot; id=&quot;F5SEpTDf39VAK2Lenjye-20&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;20&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA; 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id=&quot;F5SEpTDf39VAK2Lenjye-21&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-500&quot; y=&quot;110&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;obstacle_stop_&amp;lt;br&amp;gt;planner&quot; tooltip=&quot;障害物停止・前車追従・近傍障害物減速の複数の機能を持ち、機能に応じて経路上に速度を埋め込む。&amp;#xa;目標経路上に障害物点がある場合は停止、経路近くに障害物点群がある場合は減速、前方に車両が居る場合は前車追従。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_stop_planner&quot; id=&quot;F5SEpTDf39VAK2Lenjye-22&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-430&quot; y=&quot;-377&quot; width=&quot;120&quot; height=&quot;28&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;traffic_light&quot; tooltip=&quot;信号の色に応じて停止/発進の指示をします&quot; id=&quot;36&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-430&quot; y=&quot;-405&quot; width=&quot;120&quot; height=&quot;28&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;cross_walk&quot; tooltip=&quot;横断歩道に人が居る、もしくは侵入しようとしてきている場合に、横断歩道手前で停止します。近くに人が居る場合は徐行します。&quot; id=&quot;37&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; 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vertex=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-180&quot; y=&quot;-790&quot; width=&quot;80&quot; height=&quot;20&quot; as=&quot;geometry&quot; /&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;mxCell id=&quot;7zbXjBYCwGQrjjLUvmJF-47&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0, 0, 0); font-family: helvetica; font-size: 11px; font-style: normal; font-weight: 400; letter-spacing: normal; text-align: center; text-indent: 0px; text-transform: none; word-spacing: 0px; background-color: rgb(255, 255, 255); display: inline; float: none;&amp;quot;&amp;gt;parking/trajectory [Trajectory]&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.75;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-33&quot; target=&quot;F5SEpTDf39VAK2Lenjye-29&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;0.6614&quot; relative=&quot;1&quot; 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y=&quot;-320&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;virtual_traffic_light&quot; tooltip=&quot;信号の色に応じて停止/発進の指示をします&quot; id=&quot;iM43lsEIwqhlJ7BxjptO-53&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-550&quot; y=&quot;-377&quot; width=&quot;120&quot; height=&quot;28&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;speed_bump&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;iM43lsEIwqhlJ7BxjptO-54&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-550&quot; y=&quot;-290&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;&amp;lt;div&amp;gt;walkway&amp;lt;/div&amp;gt;&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;zEs4wxTr3dO1cdEekOQt-56&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-550&quot; y=&quot;-230&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;&amp;lt;div&amp;gt;out_of_lane&amp;lt;/div&amp;gt;&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;zEs4wxTr3dO1cdEekOQt-54&quot;&gt;&#xA; 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tooltip=&quot;交通ルールをもとに、経路上の最大速度を決定します。各モジュールは、自身の計算した最大速度と上段の結果を比較し、小さい速度を経路上に書き込みます。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/behavior_path_planner&quot; id=&quot;11&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;verticalAlign=top;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-530&quot; y=&quot;-790&quot; width=&quot;200&quot; height=&quot;241&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;side_shift&quot; tooltip=&quot;遠隔からの司令をもとに幅寄せを行います。&quot; id=&quot;14&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-672&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;lane_change&quot; tooltip=&quot;ルート情報や障害物情報をもとに、レーンチェンジを実行します。&quot; id=&quot;15&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-714&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;lane_following&quot; tooltip=&quot;ルート情報をもとに走行経路を作成します。&quot; id=&quot;16&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; 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style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;comic=0;jumpStyle=arc;exitX=0.75;exitY=1;exitDx=0;exitDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;11&quot; target=&quot;huNNO2pCuBcXr_yaQgU9-66&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;-230&quot; y=&quot;-580&quot; as=&quot;targetPoint&quot; /&gt;&#xA;            &lt;Array as=&quot;points&quot;&gt;&#xA;              &lt;mxPoint x=&quot;-380&quot; y=&quot;-520&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;-110&quot; y=&quot;-520&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;-110&quot; y=&quot;-295&quot; /&gt;&#xA;            &lt;/Array&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;mxCell id=&quot;UBmaC0zVdszHxL-9Y1sP-47&quot; value=&quot;/planning/turn_indicators_cmd&amp;amp;nbsp;[TurnIndicatorsCommand]&amp;lt;br&amp;gt;/planning/hazard_lights_cmd&amp;amp;nbsp;[HazardLightsCommand]&quot; style=&quot;edgeLabel;html=1;align=left;verticalAlign=middle;resizable=0;points=[];comic=0;labelBackgroundColor=none;&quot; parent=&quot;UBmaC0zVdszHxL-9Y1sP-46&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-0.0226&quot; y=&quot;1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;-141&quot; y=&quot;80&quot; as=&quot;offset&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;mxCell id=&quot;zEs4wxTr3dO1cdEekOQt-58&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; edge=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;zEs4wxTr3dO1cdEekOQt-57&quot; target=&quot;F5SEpTDf39VAK2Lenjye-20&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;mxCell id=&quot;zEs4wxTr3dO1cdEekOQt-59&quot; value=&quot;path_smoother/path&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];&quot; vertex=&quot;1&quot; connectable=&quot;0&quot; parent=&quot;zEs4wxTr3dO1cdEekOQt-58&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-0.3175&quot; y=&quot;2&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;path_smoother&quot; tooltip=&quot;車両形状や走行可能領域を考慮して、経路の平滑化を行う。障害物も避けるが、long historyで最近は回避機能はoffになっています。&quot; link=&quot;https://autowarefoundation.github.io/autoware.universe/main/planning/path_smoother/&quot; id=&quot;zEs4wxTr3dO1cdEekOQt-57&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-70&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; value=&quot;Control&quot; style=&quot;&quot; parent=&quot;0&quot; /&gt;&#xA;        &lt;mxCell id=&quot;pMXYhzgBW71XrXo-O7h1-50&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;labelBackgroundColor=none;fontColor=default;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; target=&quot;huNNO2pCuBcXr_yaQgU9-133&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;386&quot; y=&quot;-500&quot; as=&quot;sourcePoint&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;mxCell id=&quot;P3Th9qUTFY8M71-R8FQo-42&quot; value=&quot;trajectory_follower&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#ffe6cc;strokeColor=#d79b00;verticalAlign=top;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; vertex=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;80&quot; y=&quot;-850&quot; width=&quot;570&quot; height=&quot;350&quot; as=&quot;geometry&quot; /&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;Control&quot; link=&quot;data:action/json,{&amp;quot;actions&amp;quot;:[{&amp;quot;toggle&amp;quot;: {&amp;quot;cells&amp;quot;:[&amp;quot;huNNO2pCuBcXr_yaQgU9-10&amp;quot;]}}]}&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-50&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;293&quot; y=&quot;580&quot; width=&quot;120&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;huNNO2pCuBcXr_yaQgU9-64&quot; value=&quot;&amp;lt;div&amp;gt;&amp;amp;nbsp;/control/trajectory_follower/lateral/control_cmd&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;&amp;amp;nbsp;[AckermannLateralControlCommand]&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;&amp;lt;br&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;labelBackgroundColor=#ffe6cc;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; source=&quot;huNNO2pCuBcXr_yaQgU9-44&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-0.6739&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;Array as=&quot;points&quot;&gt;&#xA;              &lt;mxPoint x=&quot;341&quot; y=&quot;-600&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;385&quot; y=&quot;-600&quot; /&gt;&#xA;            &lt;/Array&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;            &lt;mxPoint x=&quot;385&quot; y=&quot;-580&quot; as=&quot;targetPoint&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;mxCell id=&quot;huNNO2pCuBcXr_yaQgU9-65&quot; value=&quot;/control/trajectory_follower/longitudinal/control_cmd&amp;lt;br&amp;gt;[LongitudinalControlCommand]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;labelBackgroundColor=#FFE6CC;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; source=&quot;huNNO2pCuBcXr_yaQgU9-45&quot; target=&quot;huNNO2pCuBcXr_yaQgU9-133&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-0.6739&quot; y=&quot;-20&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;385&quot; y=&quot;-580&quot; as=&quot;targetPoint&quot; /&gt;&#xA;            &lt;Array as=&quot;points&quot;&gt;&#xA;              &lt;mxPoint x=&quot;540&quot; y=&quot;-600&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;385&quot; y=&quot;-600&quot; /&gt;&#xA;            &lt;/Array&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;mxCell id=&quot;huNNO2pCuBcXr_yaQgU9-67&quot; value=&quot;&amp;lt;div&amp;gt;&amp;lt;span style=&amp;quot;&amp;quot;&amp;gt;/control/trajectory_follower/control_cmd&amp;lt;/span&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;&amp;lt;span style=&amp;quot;&amp;quot;&amp;gt;&amp;amp;nbsp;[AckermannControlCommand]&amp;lt;/span&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;&amp;lt;span style=&amp;quot;&amp;quot;&amp;gt;&amp;lt;br&amp;gt;&amp;lt;/span&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.231;entryY=-0.007;entryDx=0;entryDy=0;entryPerimeter=0;exitX=0.538;exitY=1.004;exitDx=0;exitDy=0;fillColor=none;fontColor=default;labelBackgroundColor=default;exitPerimeter=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; source=&quot;P3Th9qUTFY8M71-R8FQo-42&quot; target=&quot;huNNO2pCuBcXr_yaQgU9-66&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-0.7667&quot; y=&quot;2&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;385&quot; y=&quot;-540&quot; as=&quot;sourcePoint&quot; /&gt;&#xA;            &lt;mxPoint x=&quot;431&quot; y=&quot;-390&quot; as=&quot;targetPoint&quot; /&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;            &lt;Array as=&quot;points&quot;&gt;&#xA;              &lt;mxPoint x=&quot;385&quot; y=&quot;-478&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;385&quot; y=&quot;-430&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;257&quot; y=&quot;-430&quot; /&gt;&#xA;            &lt;/Array&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;lateral_controller&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/control/trajectory_follower/design/mpc_lateral_controller-design.md&quot; tooltip=&quot;経路追従のための目標ステア角とステア角速度を計算します。目標速度と加速度は経路に埋め込まれた値をそのまま出力します。&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-44&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;281&quot; y=&quot;-760&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;longitudinal_controller&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/control/trajectory_follower/design/pid_longitudinal_controller-design.md&quot; tooltip=&quot;経路の目標速度に沿うための目標加速度を計算します。遅延補正や停止時のブレーキ抜き操作も行います。&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-45&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;460&quot; y=&quot;-760&quot; width=&quot;160&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;vehicle_cmd_gate&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/control/vehicle_cmd_gate&quot; tooltip=&quot;指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-66&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;&quot; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; source=&quot;huNNO2pCuBcXr_yaQgU9-133&quot; target=&quot;huNNO2pCuBcXr_yaQgU9-66&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-0.1656&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;Array as=&quot;points&quot;&gt;&#xA;              &lt;mxPoint x=&quot;385&quot; y=&quot;-370&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;385&quot; y=&quot;-370&quot; /&gt;&#xA;            &lt;/Array&gt;&#xA;            &lt;mxPoint x=&quot;440&quot; y=&quot;-320&quot; as=&quot;targetPoint&quot; /&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;shift_decider&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/control/shift_decider&quot; tooltip=&quot;制御出力に応じてギア変更のコマンドを出力します&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-133&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;325&quot; y=&quot;-415&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;external_cmd_&amp;lt;br&amp;gt;converter&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/vehicle/external_cmd_converter&quot; tooltip=&quot;遠隔から来たコマンド（アクセル/ブレーキ）を目標速度/加速度の信号に変換します&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-137&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;880&quot; y=&quot;-670&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA; 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style=&quot;endArrow=classic;html=1;exitX=0.121;exitY=0.011;exitDx=0;exitDy=0;exitPerimeter=0;comic=0;align=left;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-73&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-0.0831&quot; y=&quot;65&quot; width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;175.01999999999862&quot; y=&quot;80.76999999999998&quot; as=&quot;sourcePoint&quot; /&gt;&#xA;            &lt;mxPoint x=&quot;174&quot; y=&quot;-60&quot; as=&quot;targetPoint&quot; /&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;object label=&quot;&amp;amp;nbsp; &amp;amp;nbsp; vehicle_interface&quot; tooltip=&quot;Autowareと車両のinterfaceです。データの変換が主なタスクです。&quot; id=&quot;F5SEpTDf39VAK2Lenjye-6&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#b0e3e6;strokeColor=#0e8088;align=left;comic=0;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-73&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;110&quot; y=&quot;80&quot; width=&quot;670&quot; height=&quot;70&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/object&gt;&#xA;        &lt;UserObject label=&quot;accel_map_calibrator&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator&quot; id=&quot;pMXYhzgBW71XrXo-O7h1-52&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#b0e3e6;strokeColor=#0e8088;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-73&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;107&quot; y=&quot;-160&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;object label=&quot;Vehicle&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-74&quot;&gt;&#xA; 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target=&quot;huNNO2pCuBcXr_yaQgU9-105&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;JapanTaxi&quot; tooltip=&quot;ASといろいろあったよ&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-105&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#f5f5f5;strokeColor=#666666;fontColor=#333333;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-74&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;259&quot; y=&quot;300&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;pacmod3&quot; link=&quot;http://wiki.ros.org/pacmod3&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-106&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#f5f5f5;strokeColor=#666666;fontColor=#333333;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-74&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;259&quot; y=&quot;220&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;YMC GolfCart&quot; tooltip=&quot;ゴルフカート！！&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-118&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#f5f5f5;strokeColor=#666666;fontColor=#333333;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-74&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;416&quot; y=&quot;300&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;object label=&quot;Sensing&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-89&quot;&gt;&#xA;          &lt;mxCell style=&quot;locked=1;&quot; parent=&quot;0&quot; /&gt;&#xA; 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vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-730&quot; width=&quot;120&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-132&quot; value=&quot;top/rectified/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-133&quot; target=&quot;F5SEpTDf39VAK2Lenjye-140&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;fix_distortion&quot; tooltip=&quot;自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-133&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-134&quot; value=&quot;top/pointcloud_raw&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-135&quot; target=&quot;F5SEpTDf39VAK2Lenjye-137&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;-1830&quot; y=&quot;-560&quot; as=&quot;targetPoint&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;packets_to_&amp;lt;br&amp;gt;pointcloud&quot; tooltip=&quot;velodyneのpacketをpointcloud型に変更する&quot; id=&quot;F5SEpTDf39VAK2Lenjye-135&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-620&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-136&quot; value=&quot;top/self_cropped/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-137&quot; target=&quot;F5SEpTDf39VAK2Lenjye-139&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_self&quot; tooltip=&quot;自車の領域内にある点群を除去する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-137&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-550&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-138&quot; value=&quot;top/mirror_cropped/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-139&quot; target=&quot;F5SEpTDf39VAK2Lenjye-133&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_mirror&quot; tooltip=&quot;自車のサイドミラーの部分に当たった点群を除去する&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-139&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-480&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;ring_outlier_filter&quot; tooltip=&quot;点群のノイズ処理を行う&amp;#xa;（同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-140&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-340&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-148&quot; target=&quot;F5SEpTDf39VAK2Lenjye-150&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_self&quot; tooltip=&quot;自車の領域内にある点群を除去する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-148&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-550&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-149&quot; 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text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><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: 2756px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><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="2815" y="1644" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Control</text></switch></g><path d="M 2803 310 L 2803 430 L 2847 430 L 2847 443.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2847 448.88 L 2843.5 441.88 L 2847 443.63 L 2850.5 441.88 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 style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><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: 340px; margin-left: 2803px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); background-color: #ffe6cc; "><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, 230, 204); white-space: nowrap;"><div> /control/trajectory_follower/lateral/control_cmd</div><div> [AckermannLateralControlCommand]</div><div><br /></div></div></div></div></foreignObject><text x="2803" y="343" 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 3002 310 L 3002 430 L 2847 430 L 2847 608.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2847 613.88 L 2843.5 606.88 L 2847 608.63 L 2850.5 606.88 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 style="overflow: visible; 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text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><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: 2849px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); "><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><span style="">/control/trajectory_follower/control_cmd</span></div><div><span style=""> [AckermannControlCommand]</span></div><div><span style=""><br /></span></div></div></div></div></foreignObject><text x="2849" y="568" 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="2743" y="270" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"><title>経路追従のための目標ステア角とステア角速度を計算します。目標速度と加速度は経路に埋め込まれた値をそのまま出力します。</title></rect><g transform="translate(-0.5 -0.5)"><title>経路追従のための目標ステア角とステア角速度を計算します。目標速度と加速度は経路に埋め込まれた値をそのまま出力します。</title><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><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: 2744px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><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="2803" 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="2922" y="270" width="160" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"><title>経路の目標速度に沿うための目標加速度を計算します。遅延補正や停止時のブレーキ抜き操作も行います。</title></rect><g transform="translate(-0.5 -0.5)"><title>経路の目標速度に沿うための目標加速度を計算します。遅延補正や停止時のブレーキ抜き操作も行います。</title><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><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: 2923px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><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="3002" 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="2562" y="705" width="680" height="60" rx="9" ry="9" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"><title>指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。</title></rect><g transform="translate(-0.5 -0.5)"><title>指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。</title><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><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: 2563px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><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="2902" 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 2808.08 765.66 L 2807 765.67 L 2807 863.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2807 868.88 L 2803.5 861.88 L 2807 863.63 L 2810.5 861.88 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 style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><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: 2812px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); "><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="2812" 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 2847 655 L 2847 660 L 2846.93 698.33" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2846.92 703.58 L 2843.43 696.58 L 2846.93 698.33 L 2850.43 696.59 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 style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><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: 676px; margin-left: 2847px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); "><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="2847" y="679" 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="2787" y="615" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"><title>制御出力に応じてギア変更のコマンドを出力します</title></rect><g transform="translate(-0.5 -0.5)"><title>制御出力に応じてギア変更のコマンドを出力します</title><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><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: 2788px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><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="2847" y="639" 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="3342" y="360" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"><title>遠隔から来たコマンド（アクセル/ブレーキ）を目標速度/加速度の信号に変換します</title></rect><g transform="translate(-0.5 -0.5)"><title>遠隔から来たコマンド（アクセル/ブレーキ）を目標速度/加速度の信号に変換します</title><switch><foreignObject style="overflow: visible; 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text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><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: 2642px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); "><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="2642" 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="2582" y="470" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"><title>MPCの出す予測経路と、laneletのレーン情報を用いて、車両がレーン外に出ようとしているかどうかを判定する。diag出力をerror_monitorに送り、逸脱判断字は停止する（option）</title></rect><g transform="translate(-0.5 -0.5)"><title>MPCの出す予測経路と、laneletのレーン情報を用いて、車両がレーン外に出ようとしているかどうかを判定する。diag出力をerror_monitorに送り、逸脱判断字は停止する（option）</title><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><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: 2583px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><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="2642" 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 2743 290 L 2642 290 L 2642 463.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2642 468.88 L 2638.5 461.88 L 2642 463.63 L 2645.5 461.88 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 style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><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: 407px; margin-left: 2642px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); background-color: #FFE6CC; "><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, 230, 204); white-space: nowrap;">predicted_trajectory</div></div></div></foreignObject><text x="2642" y="411" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">predicted_trajectory</text></switch></g><path d="M 3402 290 L 3402 353.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 3402 358.88 L 3398.5 351.88 L 3402 353.63 L 3405.5 351.88 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 style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><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: 3402px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); "><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="3402" y="328" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/external/selected/external_control_cmd...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/external_cmd_selector"><rect x="3342" 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 style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><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: 3343px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><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="3402" 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 3342 270 L 3148.17 270 L 3148.16 699.29" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 3148.16 704.54 L 3144.66 697.54 L 3148.16 699.29 L 3151.66 697.54 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 style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><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: 3163px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); background-color: #FFFFFF; "><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="3163" 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 3402 400 L 3402 660 L 3205.33 660 L 3205.29 698.51" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 3205.28 703.76 L 3201.79 696.76 L 3205.29 698.51 L 3208.79 696.77 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 style="overflow: visible; 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+                                Control
+                            </div>
+                        </div>
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+                                Perception
+                            </div>
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+                                Vehicle
+                            </div>
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+                                Sensing
+                            </div>
+                        </div>
+                    </div>
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+                    Sensing
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+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                        <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>
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+                <text x="3950" y="2375" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    VehicleInterface
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+                        <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="3193" y="2375" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    Localization
+                </text>
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+        </g>
+        <rect x="3740" y="2341" width="120" height="60" rx="9" ry="9" fill="#647687" stroke="#314354" pointer-events="all"/>
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+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 2371px; margin-left: 3741px;">
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+                                System
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="3800" y="2375" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    System
+                </text>
+            </switch>
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+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                                /diagnostics
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="3741" y="1407" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
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+                                XX1
+                            </div>
+                        </div>
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+                    <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: 2491px; margin-left: 3132px;">
+                        <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>
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+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                            <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="3342" y="2495" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    X1
+                </text>
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+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                        <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="3482" y="2495" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    S1
+                </text>
+            </switch>
+        </g>
+        <path d="M 1070.02 1478.63 L 1070 1405" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 1070 1483.88 L 1066.52 1476.87 L 1070.02 1478.63 L 1073.52 1476.89 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: 1445px; margin-left: 1070px;">
+                        <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="1070" y="1448" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /vehicle/status/velocity_report
+                </text>
+            </switch>
+        </g>
+        <path d="M 3426.37 896 L 4385 896" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
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+                                <div style="text-align: left">
+                                    /autoware/engage [Engage]
+                                </div>
+                                <div style="text-align: left">
+                                    /current_gate_mode [GateMode]
+                                </div>
+                            </div>
+                        </div>
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+                                /planning/scenario_planning/max_velocity_candidates
+                                <br/>
+                                [tier4_planning_msgs/msg/VelocityLimit]
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+                                HMI
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="1840" y="2154" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    HMI
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+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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
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+                            <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="3580" y="332" 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="3520" y="125" 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: 145px; margin-left: 3521px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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="3580" y="149" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    HMI
+                </text>
+            </switch>
+        </g>
+        <path d="M 2985.48 925.82 L 2985.46 1195 L 2817 1195 L 2817 1218.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 2817 1223.88 L 2813.5 1216.88 L 2817 1218.63 L 2820.5 1216.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <path d="M 2985 1265 L 2985 1325 L 2905 1325 L 2905 1245 L 2893.37 1245" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 2888.12 1245 L 2895.12 1241.5 L 2893.37 1245 L 2895.12 1248.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <path d="M 3035 2195 L 3035 2170.08 L 2959 2170.08 L 2959 2151.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 2959 2146.12 L 2962.5 2153.12 L 2959 2151.37 L 2955.5 2153.12 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <path d="M 3035 2195 L 3035 2167.46 L 3115 2167.46 L 3115 2146.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 3115 2141.12 L 3118.5 2148.12 L 3115 2146.37 L 3111.5 2148.12 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: 2172px; margin-left: 3035px;">
+                        <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="3035" y="2175" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /vehicle/engage
+                </text>
+            </switch>
+        </g>
+        <rect x="2975" y="2195" 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: 2215px; margin-left: 2976px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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="3035" y="2219" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    HMI
+                </text>
+            </switch>
+        </g>
+        <path d="M 3560 1472 L 3560 1528.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 3560 1533.88 L 3556.5 1526.88 L 3560 1528.63 L 3563.5 1526.88 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: 1503px; margin-left: 3560px;">
+                        <div data-drawio-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="3560" y="1506" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /diagnostics_err
+                </text>
+            </switch>
+        </g>
+        <path d="M 1509 855 L 1509 887.46 L 1530.08 887.46 L 1530.06 893.08" fill="none" stroke="rgb(0, 0, 0)" stroke-width="12" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 1530.03 906.58 L 1521.07 888.56 L 1530.06 893.08 L 1539.07 888.61 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-width="12" stroke-miterlimit="10" pointer-events="all"/>
+        <path d="M 383.63 1605 L 120 1605" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 388.88 1605 L 381.88 1608.5 L 383.63 1605 L 381.88 1601.5 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: 1605px; margin-left: 255px;">
+                        <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="255" y="1608" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /initialpose
+                </text>
+            </switch>
+        </g>
+        <path d="M 510 1595 L 590.08 1595 L 590.08 1775 L 589.44 1753.92" 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: 1655px; margin-left: 590px;">
+                        <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
+                                <br/>
+                                _srv&gt;
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="590" y="1658" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    &lt;pose_initializer...
+                </text>
+            </switch>
+        </g>
+        <path d="M 999.37 1585 L 1070.08 1585 L 1070 1525" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 994.12 1585 L 1001.12 1581.5 L 999.37 1585 L 1001.12 1588.5 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: 1554px; margin-left: 1070px;">
+                        <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="1070" y="1558" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    vehicle_velocity_converter/...
+                </text>
+            </switch>
+        </g>
+        <rect x="0" y="1585" 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: 1605px; 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="1609" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    HMI
+                </text>
+            </switch>
+        </g>
+        <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/map/map_loader">
+            <rect x="178.75" y="1450" width="121.25" height="40" rx="6" ry="6" fill="#badc98" stroke="#2d7600" 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: 119px; height: 1px; padding-top: 1470px; margin-left: 180px;">
+                            <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;">
+                                    <font color="#000000">
+                                        pointcloud_map_
+                                        <br/>
+                                        loader
+                                        <br/>
+                                    </font>
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="239" y="1474" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        pointcloud_map_...
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 632.91 1753 L 632.85 1460.08 L 300 1460" 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: 1455px; margin-left: 561px;">
+                        <div data-drawio-colors="color: #000000; 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;differential_map_
+                                <br/>
+                                loader_srv&gt;
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="561" y="1459" fill="#000000" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    &lt;differential_map_...
+                </text>
+            </switch>
+        </g>
+        <path d="M 420 1585 L 420.08 1480.08 L 300 1480" 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: 1521px; margin-left: 381px;">
+                        <div data-drawio-colors="color: #000000; 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;partial_map_
+                                <br/>
+                                loader_srv&gt;
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="381" y="1524" fill="#000000" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    &lt;partial_map_...
+                </text>
+            </switch>
+        </g>
+        <path d="M 730 1623 L 730 1658.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 730 1663.88 L 726.5 1656.88 L 730 1658.63 L 733.5 1656.88 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: 1645px; margin-left: 730px;">
+                        <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;">
+                                voxel_grid_downsample/pointcloud
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="730" y="1648" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    voxel_grid_downsample/pointcloud
+                </text>
+            </switch>
+        </g>
+        <rect x="670" y="1583" width="120" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf" 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: 1603px; margin-left: 671px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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;">
+                                voxel_grid_
+                                <br/>
+                                downsample_filter
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="730" y="1607" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    voxel_grid_...
+                </text>
+            </switch>
+        </g>
+        <path d="M 873.36 1854.56 L 873.46 1775 L 796.37 1775" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 791.12 1775 L 798.12 1771.5 L 796.37 1775 L 798.12 1778.5 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: 1821px; margin-left: 860px;">
+                        <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;">
+                                pose_twist_fusion_filter/
+                                <br/>
+                                pose_with_covariance_
+                                <br/>
+                                no_yawbias
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="860" y="1824" 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="670" y="1854" width="310" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf" 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: 308px; height: 1px; padding-top: 1874px; margin-left: 671px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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;">
+                                    ekf_localizer
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="825" y="1878" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        ekf_localizer
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 728.82 1797.16 L 729.36 1846.95" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 729.49 1852.2 L 725.82 1845.29 L 729.36 1846.95 L 732.82 1845.12 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: 1817px; margin-left: 729px;">
+                        <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;">
+                                pose_estimator/
+                                <br/>
+                                pose_with_covariance
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="729" y="1820" 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="560" y="1755" width="230" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf" 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: 228px; height: 1px; padding-top: 1775px; margin-left: 561px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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;">
+                                    ndt_scan_matcher
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="675" y="1779" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        ndt_scan_matcher
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 730.08 1705 L 730.17 1748.19" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 730.19 1753.44 L 726.66 1746.46 L 730.17 1748.19 L 733.66 1746.42 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: 1729px; margin-left: 730px;">
+                        <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;">
+                                downsample/pointcloud
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="730" y="1733" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    downsample/pointcloud
+                </text>
+            </switch>
+        </g>
+        <rect x="670" y="1665" width="120" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf" 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: 1685px; margin-left: 671px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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;">
+                                random_
+                                <br/>
+                                downsample_filter
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="730" y="1689" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    random_...
+                </text>
+            </switch>
+        </g>
+        <path d="M 510 1605 L 540.08 1605 L 540.08 1785 L 553.63 1785" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 558.88 1785 L 551.88 1788.5 L 553.63 1785 L 551.88 1781.5 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: 1690px; margin-left: 540px;">
+                        <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;">
+                                /initialpose3d
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="540" y="1694" 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="390" y="1585" width="120" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf" 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: 1605px; margin-left: 391px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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;">
+                                    pose_initializer
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="450" y="1609" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        pose_initializer
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 933 1605 L 933 1555 L 934.4 1846.19" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 934.42 1851.44 L 930.89 1844.46 L 934.4 1846.19 L 937.89 1844.43 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: 1745px; margin-left: 935px;">
+                        <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;">
+                                twist_estimator/twist_with_covariance
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="935" y="1748" 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="873" y="1565" width="120" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf" 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: 1585px; margin-left: 874px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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;">
+                                    gyro_odometer
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="933" y="1589" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        gyro_odometer
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 730 1535 L 730 1576.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 730 1581.88 L 726.5 1574.88 L 730 1576.63 L 733.5 1574.88 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: 1560px; margin-left: 730px;">
+                        <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;">
+                                measurement_range/pointcloud
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="730" y="1563" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    measurement_range/pointcloud
+                </text>
+            </switch>
+        </g>
+        <rect x="670" y="1495" width="120" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf" 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: 1515px; margin-left: 671px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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;">
+                                crop_box_filter_
+                                <br/>
+                                measurement_range
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="730" y="1519" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    crop_box_filter_...
+                </text>
+            </switch>
+        </g>
+        <rect x="990" y="1485" width="160" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf" 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: 1505px; margin-left: 991px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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_velocity_converter
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="1070" y="1509" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    vehicle_velocity_converter
+                </text>
+            </switch>
+        </g>
+        <path d="M 726 1895 L 726 2058.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 726 2063.88 L 722.5 2056.88 L 726 2058.63 L 729.5 2056.88 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: 1940px; margin-left: 730px;">
+                        <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;">
+                                /tf
+                                <br/>
+                                (map to base_link)
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="730" y="1943" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /tf...
+                </text>
+            </switch>
+        </g>
+        <path d="M 830 1995 L 830.07 2058.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 830.08 2063.88 L 826.57 2056.89 L 830.07 2058.63 L 833.57 2056.88 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: 2030px; margin-left: 830px;">
+                        <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;">
+                                /localization/kinematic_state
+                                <br/>
+                                [nav_msgs/msg/Odometry]
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="830" y="2034" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /localization/kinematic_state...
+                </text>
+            </switch>
+        </g>
+        <rect x="770" y="1955" width="120" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf" 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: 1975px; margin-left: 771px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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;">
+                                stop_filter
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="830" y="1979" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    stop_filter
+                </text>
+            </switch>
+        </g>
+        <rect x="990" y="1945" width="160" height="40" rx="6" ry="6" fill="#dae8fc" stroke="#6c8ebf" 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: 1965px; margin-left: 991px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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;">
+                                localization_error_monitor
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="1070" y="1969" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    localization_error_monitor
+                </text>
+            </switch>
+        </g>
+        <path d="M 980 1874 L 1070.08 1874.08 L 1070.01 1938.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 1070 1943.88 L 1066.51 1936.88 L 1070.01 1938.63 L 1073.51 1936.89 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: 1899px; margin-left: 1070px;">
+                        <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;">
+                                pose_twist_fusion_filter/
+                                <br/>
+                                pose_with_covariance
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="1070" y="1903" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    pose_twist_fusion_filter/...
+                </text>
+            </switch>
+        </g>
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+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                        <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="1070" y="2028" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /diagnostics
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+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                        <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;">
+                                pose_twist_fusion_filter/
+                                <br/>
+                                kinematic_state
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="827" y="1928" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    pose_twist_fusion_filter/...
+                </text>
+            </switch>
+        </g>
+        <rect x="4180" y="2341" width="120" height="60" rx="9" ry="9" fill="#badc98" stroke="#2d7600" pointer-events="all"/>
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+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 2371px; margin-left: 4181px;">
+                        <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;">
+                                <font color="#000000">
+                                    Map
+                                    <br/>
+                                </font>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="4240" y="2375" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    Map
+                </text>
+            </switch>
+        </g>
+        <path d="M 298.75 1380 L 388.63 1380" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
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+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 1381px; margin-left: 345px;">
+                        <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;">
+                                /map
+                                <br/>
+                                /vector_map
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="345" y="1384" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /map...
+                </text>
+            </switch>
+        </g>
+        <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/map/map_loader">
+            <rect x="178.75" y="1360" width="120" height="40" rx="6" ry="6" fill="#badc98" stroke="#2d7600" 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: 1380px; margin-left: 180px;">
+                            <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;">
+                                    <font color="#000000">
+                                        lanelet2_map_loader
+                                        <br/>
+                                    </font>
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="239" y="1384" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        lanelet2_map_loader
+                    </text>
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+        </a>
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+        <path d="M 300 1295 L 345 1295 L 345 1225 L 383.63 1225" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 388.88 1225 L 381.88 1228.5 L 383.63 1225 L 381.88 1221.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
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+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                        <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;">
+                                /map/
+                                <br/>
+                                map_projector_info
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="356" y="1279" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /map/...
+                </text>
+            </switch>
+        </g>
+        <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/map/map_projection_loader">
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+                    <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 121px; height: 1px; padding-top: 1295px; margin-left: 179px;">
+                            <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;">
+                                    <font color="#000000">
+                                        map_projection_
+                                        <br/>
+                                        loader
+                                        <br/>
+                                    </font>
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="239" y="1299" fill="#ffffff" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        map_projection_...
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 2055 296 L 2000 296 L 2000 77.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
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+        <g transform="translate(-0.5 -0.5)">
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+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 102px; margin-left: 2000px;">
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+                                /api/routing/route
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2000" y="105" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /api/routing/route
+                </text>
+            </switch>
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+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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;">
+                                /default_ad_api/node/routing
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2212" y="300" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    /default_ad_api/node/routing
+                </text>
+            </switch>
+        </g>
+        <path d="M 2620 390 L 2337 390 L 2336.79 428.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" stroke-dasharray="3 3" pointer-events="stroke"/>
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+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                        <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;">
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+                                /planning/mission_planning/mission_planner/srv/set_mrm_route,
+                                <br/>
+                                <span style="font-size: 11px;">
+                                    /planning/mission_planning/mission_planner/srv/clear_mrm_route
+                                </span>
+                                <br/>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
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+                    /planning/mission_planning/mission_planner/srv/set_mrm_route,...
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+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
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+                                Perception
+                            </div>
+                        </div>
+                    </div>
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+        <g transform="translate(-0.5 -0.5)">
+            <switch>
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+                            <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;">
+                                /perception/object_recognition/objects
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="1291" y="1444" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
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+                            <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;">
+                                traffic_light_states
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
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+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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;">
+                                <div>
+                                    /perception/traffic_light_recognition/
+                                    <br/>
+                                </div>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="1890" y="714" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
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+                            <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;">
+                                <div>
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+                                    <br/>
+                                </div>
+                            </div>
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+                                <div>
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+                                    <br/>
+                                </div>
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+                                range_cropped/pointcloud
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+                                    <br/>
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+                            </div>
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+                                    occupancy_grid_
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+                                /sensing/camera/
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+                                    /planning/scenario_planning/trajectory [Trajectory]
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+                                motion_planning/obstacle_avoidance_planner/trajectory [Trajectory]
+                            </div>
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+                </foreignObject>
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+                    motion_planning/obstacle_avoidance_planner/trajectory [Trajectory]
+                </text>
+            </switch>
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+                                    obstacle_
+                                    <br/>
+                                    avoidance_planner
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
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+                    </text>
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+        </a>
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+                                motion_planning/obstacle_velocity_limiter/trajectory [Trajectory]
+                            </div>
+                        </div>
+                    </div>
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+                    motion_planning/obstacle_velocity_limiter/trajectory [Trajectory]
+                </text>
+            </switch>
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+        <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_velocity_limiter">
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+                                    obstacle_velocity_limiter
+                                </div>
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+                        obstacle_velocity_limit...
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+                                    obstacle_stop_
+                                    <br/>
+                                    planner
+                                </div>
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+                                </div>
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+                                    <br/>
+                                    limit_selector
+                                </div>
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+                                /planning/scenario_planning/max_velocity
+                                <br/>
+                                [tier4_planning_msgs/msg/VelocityLimit]
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+                                /planning/scenario_planning/max_velocity_candidates
+                                <br/>
+                                [tier4_planning_msgs/msg/VelocityLimit]
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+                                lane_driving/trajectory [Trajectory]
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+                    lane_driving/trajectory [Trajectory]
+                </text>
+            </switch>
+        </g>
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+                                trajectory [Trajectory]
+                            </div>
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+                    trajectory [Trajectory]
+                </text>
+            </switch>
+        </g>
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+                                </div>
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+                    <text x="2252" y="1699" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        scenario_selector
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 2252.5 1805 L 2252.5 1838.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 2252.5 1843.88 L 2249 1836.88 L 2252.5 1838.63 L 2256 1836.88 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: 1825px; margin-left: 2252px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">
+                                <span style="color: rgb(0, 0, 0); font-family: Helvetica; font-size: 11px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: center; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; background-color: rgb(255, 255, 255); text-decoration-thickness: initial; text-decoration-style: initial; text-decoration-color: initial; float: none; display: inline !important;">
+                                    /planning/scenario_planning/motion_velocity_smoother/trajectory [Trajectory]
+                                </span>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2252" y="1828" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /planning/scenario_planning/motion_velocity_smoother/trajectory [Trajectory]
+                </text>
+            </switch>
+        </g>
+        <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/motion_velocity_smoother">
+            <rect x="2192.5" y="1765" 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: 1785px; margin-left: 2193px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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="2252" y="1789" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        motion_velocity_...
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <rect x="2220" y="575" width="90" height="20.3" fill="none" stroke="none" 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: 88px; height: 1px; padding-top: 585px; margin-left: 2221px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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;">
+                                &lt;Lane Driving&gt;
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2265" y="589" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    &lt;Lane Driving&gt;
+                </text>
+            </switch>
+        </g>
+        <path d="M 2211.38 475 L 2210.73 588.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 2210.7 593.88 L 2207.24 586.86 L 2210.73 588.63 L 2214.24 586.9 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
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+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 504px; margin-left: 2211px;">
+                        <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;">
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+                                /planning/mission_planning/route
+                                <br/>
+                                [autoware_auto_planning_msgs/HADMapRoute]
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2211" y="508" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /planning/mission_planning/route...
+                </text>
+            </switch>
+        </g>
+        <path d="M 2381.26 454.74 L 2485 455" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
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+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 2519px;">
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+                            <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="font-size: 11px;">
+                                    /planning/scenario_planning/modified_goal
+                                </span>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2519" y="444" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /planning/scenario_planning/modified_goal
+                </text>
+            </switch>
+        </g>
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+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                                /planning/mission_planning/goal,
+                                <br/>
+                                <span style="font-size: 11px;">
+                                    /planning/mission_planning/checkpoint
+                                </span>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="1896" y="345" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
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+                </text>
+            </switch>
+        </g>
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+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 405px; margin-left: 2000px;">
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+                                /planning/mission_planning/
+                                <br/>
+                                route_state
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2000" y="409" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /planning/mission_planning/...
+                </text>
+            </switch>
+        </g>
+        <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/mission_planner">
+            <rect x="2051" y="435" width="321" height="40" rx="6" ry="6" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/>
+            <g transform="translate(-0.5 -0.5)">
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+                    <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 319px; height: 1px; padding-top: 455px; margin-left: 2052px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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;">
+                                    mission_planner
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="2212" y="459" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        mission_planner
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 2210 836 L 2210 908.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
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+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                        <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;">
+                                behavior_planning/path_with_lane_id
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2210" y="879" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    behavior_planning/path_with_lane_id
+                </text>
+            </switch>
+        </g>
+        <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/freespace_planner">
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+            <g transform="translate(-0.5 -0.5)">
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+                    <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 675px; 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;">
+                                    freespace_planner
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="2410" y="679" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        freespace_planner
+                    </text>
+                </switch>
+            </g>
+        </a>
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+                                costmap_generator/occupancy_grid
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2490" y="718" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
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+                </text>
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+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                                behavior_planning/path
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2210" y="1279" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
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+                </text>
+            </switch>
+        </g>
+        <rect x="2460" y="595" width="80" height="20" fill="none" stroke="none" 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: 78px; height: 1px; padding-top: 605px; margin-left: 2461px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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;">
+                                &lt;Parking&gt;
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2500" y="609" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    &lt;Parking&gt;
+                </text>
+            </switch>
+        </g>
+        <path d="M 2410.08 695 L 2410.08 1645 L 2282.54 1645 L 2282.51 1668.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
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+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 1615px; margin-left: 2410px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">
+                                <span style="color: rgb(0, 0, 0); font-family: helvetica; font-size: 11px; font-style: normal; font-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="2410" y="1618" 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">
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+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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;">
+                                    surround_obstacle_checker
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="1840" y="1519" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        surround_obstacle_checker
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 1840 1535 L 1840 1758.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 1840 1763.88 L 1836.5 1756.88 L 1840 1758.63 L 1843.5 1756.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/behavior_path_planner">
+            <rect x="2110" y="595" width="200" height="241" rx="30" ry="30" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/>
+            <g transform="translate(-0.5 -0.5)">
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+                    <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/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: 602px; margin-left: 2111px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                                <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                    behavior_path_planner
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="2210" y="614" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        behavior_path_planner
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <rect x="2150" y="793" width="120" height="30" rx="4.5" ry="4.5" 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: 808px; margin-left: 2151px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                side_shift
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2210" y="812" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    side_shift
+                </text>
+            </switch>
+        </g>
+        <rect x="2150" y="753" width="120" height="30" rx="4.5" ry="4.5" 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: 768px; margin-left: 2151px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                pull_over/out
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2210" y="772" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    pull_over/out
+                </text>
+            </switch>
+        </g>
+        <rect x="2150" y="713" width="120" height="30" rx="4.5" ry="4.5" 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: 728px; margin-left: 2151px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                obstacle_avoidance
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2210" y="732" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    obstacle_avoidance
+                </text>
+            </switch>
+        </g>
+        <rect x="2150" y="671" width="120" height="30" rx="4.5" ry="4.5" 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: 686px; margin-left: 2151px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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_change
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2210" y="690" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    lane_change
+                </text>
+            </switch>
+        </g>
+        <rect x="2150" y="633" width="120" height="30" rx="4.5" ry="4.5" 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: 648px; margin-left: 2151px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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_following
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2210" y="652" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    lane_following
+                </text>
+            </switch>
+        </g>
+        <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/planning_validator">
+            <rect x="2192.5" y="1845" 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: 1865px; margin-left: 2193px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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_validator
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="2252" y="1869" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        planning_validator
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 2260 836 L 2260.08 896.08 L 2407.08 896.05 C 2407.08 892.15 2413.08 892.15 2413.08 896.05 L 2413.08 896.05 L 2687.08 896.01 C 2687.08 892.11 2693.08 892.11 2693.08 896.01 L 2693.08 896.01 L 2733.63 896" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 2738.88 896 L 2731.88 899.5 L 2733.63 896 L 2731.88 892.5 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: 957px; margin-left: 2412px;">
+                        <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="2412" y="960" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px">
+                    /planning/turn_indicators_cmd [TurnIndicatorsCommand]...
+                </text>
+            </switch>
+        </g>
+        <path d="M 2210 1355 L 2210 1398.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 2210 1403.88 L 2206.5 1396.88 L 2210 1398.63 L 2213.5 1396.88 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: 1373px; margin-left: 2213px;">
+                        <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;">
+                                path_smoother/path
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2213" y="1376" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    path_smoother/path
+                </text>
+            </switch>
+        </g>
+        <a xlink:href="https://autowarefoundation.github.io/autoware.universe/main/planning/path_smoother/">
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+            <g transform="translate(-0.5 -0.5)">
+                <switch>
+                    <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 1335px; margin-left: 2151px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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;">
+                                    path_smoother
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="2210" y="1339" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        path_smoother
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <rect x="2055" y="121" width="199" height="40" rx="6" ry="6" fill="#eeeeee" stroke="#36393d" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
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+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 197px; height: 1px; padding-top: 141px; margin-left: 2056px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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;">
+                                /default_ad_api/helpers/
+                                <br/>
+                                routing_adaptor
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2155" y="145" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    /default_ad_api/helpers/...
+                </text>
+            </switch>
+        </g>
+        <path d="M 2140.05 316.04 L 2140 429.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" stroke-dasharray="3 3" pointer-events="stroke"/>
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+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 355px; margin-left: 2140px;">
+                        <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/mission_planning/set_route,
+                                <br/>
+                                <span style="font-size: 11px;">
+                                    /planning/mission_planning/set_route_points,
+                                    <br/>
+                                </span>
+                                /planning/mission_planning/clear_route
+                                <span style="font-size: 11px;">
+                                    <br/>
+                                </span>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2140" y="358" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /planning/...
+                </text>
+            </switch>
+        </g>
+        <path d="M 2291.25 316 L 2291.72 428.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" stroke-dasharray="3 3" pointer-events="stroke"/>
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+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 350px; margin-left: 2385px;">
+                        <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/mission_planning/change_route,
+                                <br/>
+                                <span style="font-size: 11px;">
+                                    /planning/mission_planning/change_route_points
+                                </span>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2385" y="353" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /planning/mission_planning/change_route,...
+                </text>
+            </switch>
+        </g>
+        <path d="M 2345 124 L 2345 269.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" stroke-dasharray="3 3" pointer-events="stroke"/>
+        <ellipse cx="2345" cy="121" rx="3" ry="3" fill="none" stroke="rgb(0, 0, 0)" pointer-events="all"/>
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+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 221px; margin-left: 2345px;">
+                        <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;">
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+                                <span style="font-size: 11px;">
+                                    /api/routing/set_route
+                                    <br/>
+                                </span>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2345" y="224" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /api/routi...
+                </text>
+            </switch>
+        </g>
+        <path d="M 2285 124 L 2285 269.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" stroke-dasharray="3 3" pointer-events="stroke"/>
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+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 187px; margin-left: 2285px;">
+                        <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;">
+                                /api/routing/change_route
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2285" y="190" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
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+                </text>
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+                            </div>
+                        </div>
+                    </div>
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+                </text>
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+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                            <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>
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+                <text x="2152" y="1060" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
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+                </text>
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+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                            <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="2152" y="999" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
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+                </text>
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+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                            <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="2152" y="968" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    detection_area
+                </text>
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+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 1088px; margin-left: 2098px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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="2152" y="1091" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    stop_line
+                </text>
+            </switch>
+        </g>
+        <rect x="2097" y="1013" width="110" height="25" rx="3.75" ry="3.75" fill="#fff2cc" stroke="#d6b656" transform="translate(2152,0)scale(-1,1)translate(-2152,0)"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 1026px; margin-left: 2098px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">
+                                virtual_traffic_light
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2152" y="1029" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    virtual_traffic_li...
+                </text>
+            </switch>
+        </g>
+        <rect x="2097" y="1106" width="110" height="25" rx="3.75" ry="3.75" fill="#fff2cc" stroke="#d6b656" transform="translate(2152,0)scale(-1,1)translate(-2152,0)"/>
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+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 1118px; margin-left: 2098px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">
+                                speed_bump
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2152" y="1122" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    speed_bump
+                </text>
+            </switch>
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+        <rect x="2097" y="1167.06" width="110" height="25" rx="3.75" ry="3.75" fill="#fff2cc" stroke="#d6b656" transform="translate(2152,0)scale(-1,1)translate(-2152,0)"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 1180px; margin-left: 2098px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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>
+                                    walkway
+                                </div>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2152" y="1183" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    walkway
+                </text>
+            </switch>
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+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 1148px; margin-left: 2098px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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>
+                                    out_of_lane
+                                </div>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2152" y="1152" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    out_of_lane
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+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">
+                                trajectory_follower
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="3134" y="604" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    trajectory_follower
+                </text>
+            </switch>
+        </g>
+        <rect x="3593" y="2341" width="120" height="60" rx="9" ry="9" fill="#ffe6cc" stroke="#d79b00"/>
+        <g transform="translate(-0.5 -0.5)">
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+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 2371px; margin-left: 3594px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">
+                                Control
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="3653" y="2375" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    Control
+                </text>
+            </switch>
+        </g>
+        <path d="M 3133.5 670 L 3133.46 767.46 L 3133.96 858.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 3133.99 863.88 L 3130.46 856.9 L 3133.96 858.63 L 3137.46 856.86 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: 699px; margin-left: 3130px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">
+                                /control/trajectory_follower/control_cmd
+                                <br/>
+                                [AckermannControlCommand]
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="3130" y="703" 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="2980" y="614" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00"/>
+            <g transform="translate(-0.5 -0.5)">
+                <switch>
+                    <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; 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: 634px; margin-left: 2981px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                                <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">
+                                    lateral_controller
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="3040" y="638" 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">
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+                    <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                                <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">
+                                    longitudinal_controller
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="3210" y="638" 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="2740" y="866" width="680" height="60" rx="9" ry="9" fill="#ffe6cc" stroke="#d79b00"/>
+            <g transform="translate(-0.5 -0.5)">
+                <switch>
+                    <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 678px; height: 1px; padding-top: 896px; margin-left: 2741px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                                <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">
+                                    vehicle_cmd_gate
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="3080" y="900" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        vehicle_cmd_gate
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 2985 1195 L 2985 1218.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 2985 1223.88 L 2981.5 1216.88 L 2985 1218.63 L 2988.5 1216.88 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: 1071px; margin-left: 2986px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">
+                                control/command/control_cmd
+                                <br/>
+                                [AckermannControlCommand]
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2986" y="1074" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    control/command/control_cmd...
+                </text>
+            </switch>
+        </g>
+        <path d="M 2975 760 L 2975 858.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 2975 863.88 L 2971.5 856.88 L 2975 858.63 L 2978.5 856.88 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: 812px; margin-left: 2975px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">
+                                /control/shift_decider/gear_cmd
+                                <br/>
+                                [GearCommand]
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2975" y="816" 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/vehicle/external_cmd_converter">
+            <rect x="3520" y="715" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00"/>
+            <g transform="translate(-0.5 -0.5)">
+                <switch>
+                    <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; 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: 3521px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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;">
+                                    external_cmd_
+                                    <br/>
+                                    converter
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="3580" y="739" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        external_cmd_...
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 3580 645 L 3580 708.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 3580 713.88 L 3576.5 706.88 L 3580 708.63 L 3583.5 706.88 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: 680px; margin-left: 3580px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">
+                                /external/selected/external_control_cmd
+                                <br/>
+                                [tier4_external_api_msgs/msg/ControlCommandStamped]
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="3580" y="684" 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="3520" y="605" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00"/>
+            <g transform="translate(-0.5 -0.5)">
+                <switch>
+                    <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; 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: 625px; margin-left: 3521px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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;">
+                                    external_cmd_
+                                    <br/>
+                                    selector
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="3580" y="629" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        external_cmd_...
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 3520 625 L 3326.23 625 L 3326.16 860.29" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 3326.16 865.54 L 3322.66 858.54 L 3326.16 860.29 L 3329.66 858.54 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: 775px; margin-left: 3331px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); background-color: #FFFFFF; " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">
+                                <div style="text-align: left">
+                                    <font style="font-size: 11px">
+                                        /api/external/set/command/remote/control
+                                        <br/>
+                                    </font>
+                                </div>
+                                <div style="text-align: left">
+                                    <font style="font-size: 11px">
+                                        [tier4_external_api_msgs/msg/ControlCommandStamped]
+                                    </font>
+                                </div>
+                                <div style="text-align: left">
+                                    <font style="font-size: 11px">
+                                        /api/external/set/command/remote/shift
+                                    </font>
+                                </div>
+                                <div style="text-align: left">
+                                    <font style="font-size: 11px">
+                                        [tier4_external_api_msgs/msg/GearShiftStamped]
+                                    </font>
+                                </div>
+                                <div style="text-align: left">
+                                    <font style="font-size: 11px">
+                                        /api/external/set/command/remote/turn_signal
+                                    </font>
+                                </div>
+                                <div style="text-align: left">
+                                    <font style="font-size: 11px">
+                                        [tier4_external_api_msgs/msg/TurnSignalStamped]
+                                    </font>
+                                </div>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="3331" y="779" 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 3580.08 755 L 3580.08 845 L 3383.31 845 L 3383.29 859.51" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 3383.28 864.76 L 3379.79 857.76 L 3383.29 859.51 L 3386.79 857.77 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 3250 926 L 3252.47 1458.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 3252.49 1463.88 L 3248.96 1456.9 L 3252.47 1458.63 L 3255.96 1456.87 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 flex-start; width: 1px; height: 1px; padding-top: 1091px; margin-left: 3198px;">
+                        <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;">
+                                /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="3198" y="1094" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px">
+                    /current_gate_mode [GateMode]...
+                </text>
+            </switch>
+        </g>
+        <rect x="3056" y="1482" 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: 1502px; margin-left: 3057px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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="3116" y="1506" 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="2925" y="1225" width="120" height="40" rx="6" ry="6" fill="#b0e3e6" stroke="#0e8088"/>
+            <g transform="translate(-0.5 -0.5)">
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+                    <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 1245px; margin-left: 2926px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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="2985" y="1249" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        raw_vehicle_cmd_...
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 2985 1265 L 2985 1365 L 2985 1458.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 2985 1463.88 L 2981.5 1456.88 L 2985 1458.63 L 2988.5 1456.88 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: 1303px; margin-left: 3005px;">
+                        <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="3005" y="1307" 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="2900" y="1482" 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: 1502px; margin-left: 2901px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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="2960" y="1506" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        pacmod_interface
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <rect x="3890" y="2341" 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: 2371px; margin-left: 3891px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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="3950" y="2375" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    VehicleInterface
+                </text>
+            </switch>
+        </g>
+        <path d="M 2815.02 1465.77 L 2814.05 1331.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 2814.01 1326.12 L 2817.56 1333.09 L 2814.05 1331.37 L 2810.56 1333.14 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: 1402px; margin-left: 2752px;">
+                        <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="2752" y="1405" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px">
+                    /vehicle/s...
+                </text>
+            </switch>
+        </g>
+        <rect x="2750" y="1465" 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: 1500px; margin-left: 2752px;">
+                        <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="2752" y="1504" 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="2747" y="1225" 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: 1245px; margin-left: 2748px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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="2817" y="1249" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        accel_map_calibrator
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 2960 1528.37 L 2960 1948.63" fill="none" stroke="#666666" stroke-miterlimit="10"/>
+        <path d="M 2960 1523.12 L 2963.5 1530.12 L 2960 1528.37 L 2956.5 1530.12 Z" fill="#666666" stroke="#666666" stroke-miterlimit="10"/>
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+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 1770px; margin-left: 2960px;">
+                        <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="2960" y="1773" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /pacmod/**
+                </text>
+            </switch>
+        </g>
+        <rect x="4033" y="2341" 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: 2371px; margin-left: 4034px;">
+                        <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="4093" y="2375" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    Vehicle
+                </text>
+            </switch>
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+                                YMC GolfCart
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="3115" y="2124" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    YMC GolfCart
+                </text>
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+                                top/velodyne_packets
+                            </div>
+                        </div>
+                    </div>
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+                                lidar_driver
+                            </div>
+                        </div>
+                    </div>
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+                </text>
+            </switch>
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+                            </div>
+                        </div>
+                    </div>
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+                </text>
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+                                <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>
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+                                top/pointcloud_raw
+                            </div>
+                        </div>
+                    </div>
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+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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>
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+                                top/self_cropped/pointcloud
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="810" y="888" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
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+        </g>
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+                                <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>
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+                                top/mirror_cropped/pointcloud
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
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+                    top/mirror_cropped/pointcloud
+                </text>
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+                                    <br/>
+                                    filter_mirror
+                                </div>
+                            </div>
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+        </a>
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+                                lidar/*/velodyne_packets
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+                                lidar_drivers
+                                <br/>
+                                (left,right,front_right, front_left,rear)
+                            </div>
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+                    </div>
+                </foreignObject>
+                <text x="640" y="684" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    lidar_drivers...
+                </text>
+            </switch>
+        </g>
+        <path d="M 640 1005 L 640 1038.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 640 1043.88 L 636.5 1036.88 L 640 1038.63 L 643.5 1036.88 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: 1025px; margin-left: 640px;">
+                        <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="640" y="1028" 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="580" y="975" 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: 990px; margin-left: 581px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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="640" y="994" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        fix_distortion
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 640 795 L 640 828.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 640 833.88 L 636.5 826.88 L 640 828.63 L 643.5 826.88 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: 815px; margin-left: 640px;">
+                        <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="640" y="818" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    */pointcloud_raw
+                </text>
+            </switch>
+        </g>
+        <rect x="580" y="765" 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: 780px; margin-left: 581px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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="640" y="784" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    packets_to_...
+                </text>
+            </switch>
+        </g>
+        <path d="M 640 865 L 640 898.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 640 903.88 L 636.5 896.88 L 640 898.63 L 643.5 896.88 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: 885px; margin-left: 640px;">
+                        <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="640" y="888" 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="580" y="835" 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: 850px; margin-left: 581px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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="640" y="854" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        crop_box_...
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 640 935 L 640 968.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 640 973.88 L 636.5 966.88 L 640 968.63 L 643.5 966.88 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: 955px; margin-left: 640px;">
+                        <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="640" y="958" 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="580" y="905" 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: 920px; margin-left: 581px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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="640" y="924" 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="580" y="1045" 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: 1060px; margin-left: 581px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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="640" y="1064" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        ring_outlier_filter
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 710 1155 L 710 1203.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 710 1208.88 L 706.5 1201.88 L 710 1203.63 L 713.5 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: 1175px; margin-left: 710px;">
+                        <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="710" y="1178" 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="650" y="1115" 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: 1135px; margin-left: 651px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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="710" y="1139" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        concat_filter
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 640 1075 L 640 1095.46 L 710 1095.46 L 710 1108.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 710 1113.88 L 706.5 1106.88 L 710 1108.63 L 713.5 1106.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 790 1075 L 790 1095.46 L 710 1095.46 L 710 1108.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 710 1113.88 L 706.5 1106.88 L 710 1108.63 L 713.5 1106.88 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="390" y="1205" 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: 1225px; margin-left: 391px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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="450" y="1229" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        gnss_poser
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 450 1155 L 450 1198.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 450 1203.88 L 446.5 1196.88 L 450 1198.63 L 453.5 1196.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <rect x="390" y="1115" 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: 1135px; margin-left: 391px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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="450" y="1139" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    gnss_driver
+                </text>
+            </switch>
+        </g>
+        <rect x="873" y="1125" 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: 1145px; margin-left: 874px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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="933" y="1149" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    imu_driver
+                </text>
+            </switch>
+        </g>
+        <path d="M 933 1165 L 933 1238.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 933 1243.88 L 929.5 1236.88 L 933 1238.63 L 936.5 1236.88 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: 1205px; margin-left: 933px;">
+                        <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="933" y="1208" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
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+                    <text x="3560" y="1431" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        system_error_...
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 3560 1269 L 3560.08 1105 L 3426.37 1105" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 3421.12 1105 L 3428.12 1101.5 L 3426.37 1105 L 3428.12 1108.5 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: 1185px; margin-left: 3505px;">
+                        <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="3505" y="1188" 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="3500" y="1269" 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: 1289px; margin-left: 3501px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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="3560" y="1293" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        emergency_handler
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 3560 1775 L 3560 1844.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 3560 1849.88 L 3556.5 1842.88 L 3560 1844.63 L 3563.5 1842.88 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: 1813px; margin-left: 3560px;">
+                        <div data-drawio-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="3560" y="1817" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /autoware/state
+                </text>
+            </switch>
+        </g>
+        <path d="M 3620 1755 L 3660.08 1755 L 3660.01 1844.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 3660 1849.88 L 3656.51 1842.88 L 3660.01 1844.63 L 3663.51 1842.88 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: 1811px; margin-left: 3661px;">
+                        <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="3661" y="1815" 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="3500" y="1735" 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: 1755px; margin-left: 3501px;">
+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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="3560" y="1759" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                        ad_service_...
+                    </text>
+                </switch>
+            </g>
+        </a>
+        <path d="M 3710 1535 L 3710 1455 L 3626.37 1455" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 3621.12 1455 L 3628.12 1451.5 L 3626.37 1455 L 3628.12 1458.5 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: 1506px; margin-left: 3710px;">
+                        <div data-drawio-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="3710" y="1509" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /control/c...
+                </text>
+            </switch>
+        </g>
+        <path d="M 3930 1675 L 3560 1675 L 3560 1728.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 3560 1733.88 L 3556.5 1726.88 L 3560 1728.63 L 3563.5 1726.88 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: 1705px; margin-left: 3779px;">
+                        <div data-drawio-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="3779" y="1708" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /contr...
+                </text>
+            </switch>
+        </g>
+        <path d="M 3500 1755 L 3470.08 1755 L 3470.01 1844.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 3470 1849.88 L 3466.51 1842.88 L 3470.01 1844.63 L 3473.51 1842.88 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: 1811px; margin-left: 3460px;">
+                        <div data-drawio-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="3460" y="1815" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /autoware/engage
+                </text>
+            </switch>
+        </g>
+        <path d="M 140 205 L 140 2085 L 4340 2085 L 4340 205 L 140 205" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 2095 40 L 2095 114.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/>
+        <path d="M 2095 119.88 L 2091.5 112.88 L 2095 114.63 L 2098.5 112.88 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: 56px; margin-left: 2086px;">
+                        <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/
+                                <br/>
+                                mission_planning/goal
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2086" y="59" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
+                    /planning/...
+                </text>
+            </switch>
+        </g>
+        <rect x="155" y="225" width="110" height="30" 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: 108px; height: 1px; padding-top: 240px; margin-left: 156px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 21px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">
+                                Autoware
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="210" y="246" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="21px" text-anchor="middle">
+                    Autoware
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+        </g>
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+        <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/shift_decider">
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+                    <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
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+                                    shift_decider
+                                </div>
+                            </div>
+                        </div>
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+            </g>
+        </a>
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+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: 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: 692px; margin-left: 2800px;">
+                        <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;">
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+                                /diagnostics
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="2800" y="695" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">
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+            </switch>
+        </g>
+        <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/lane_departure_checker">
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+                    <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-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_departure_
+                                    <br/>
+                                    checker
+                                </div>
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+                                <font style="font-size: 11px;">
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